Adding new test for ArUcoCamera. Testing board tracking.

5 files changed, 94 insertions, 2 deletions

diff --git a/src/argaze.test/ArUcoMarkers/ArUcoCamera.py b/src/argaze.test/ArUcoMarkers/ArUcoCamera.py
new file mode 100644
index 0000000..7e50e8c
--- /dev/null
+++ b/src/argaze.test/ArUcoMarkers/ArUcoCamera.py
@@ -0,0 +1,42 @@
+#!/usr/bin/env python
+
+import unittest
+import os
+
+from argaze.ArUcoMarkers import ArUcoCamera
+
+import numpy
+
+class TestArUcoCameraClass(unittest.TestCase):
+    """Test ArUcoCamera class."""
+
+    def test_new(self):
+        """Test ArUcoCamera creation."""
+
+        # Check defaut camera creation
+        aruco_camera = ArUcoCamera.ArUcoCamera()
+
+        # Check ArUco camera
+        self.assertEqual(aruco_camera.rms, 0.0)
+        self.assertIsNone(numpy.testing.assert_array_equal(aruco_camera.dimensions, numpy.array([0, 0])))
+        self.assertIsNone(numpy.testing.assert_array_equal(aruco_camera.K, ArUcoCamera.K0))
+        self.assertIsNone(numpy.testing.assert_array_equal(aruco_camera.D, ArUcoCamera.D0))
+
+    def test_from_json(self):
+
+        # Edit camera file path
+        current_directory = os.path.dirname(os.path.abspath(__file__))
+        json_filepath = os.path.join(current_directory, 'utils/camera.json')
+
+        # Load camera calibration
+        aruco_camera = ArUcoCamera.ArUcoCamera.from_json(json_filepath)
+
+        # Check ArUco camera
+        self.assertEqual(aruco_camera.rms, 1.0)
+        self.assertIsNone(numpy.testing.assert_array_equal(aruco_camera.dimensions, numpy.array([1920, 1080])))
+        self.assertIsNone(numpy.testing.assert_array_equal(aruco_camera.K, [[1.0, 0.0, 1.0], [0.0, 1.0, 1.0], [0.0, 0.0, 1.0]]))
+        self.assertIsNone(numpy.testing.assert_array_equal(aruco_camera.D, [-1.0, -0.5, 0.0, 0.5, 1.0]))
+
+if __name__ == '__main__':
+
+    unittest.main() 
\ No newline at end of file
diff --git a/src/argaze.test/ArUcoMarkers/ArUcoTracker.py b/src/argaze.test/ArUcoMarkers/ArUcoTracker.py
index 67bbef9..acc0000 100644
--- a/src/argaze.test/ArUcoMarkers/ArUcoTracker.py
+++ b/src/argaze.test/ArUcoMarkers/ArUcoTracker.py
@@ -4,7 +4,7 @@ import unittest
 import os
 import math
 
-from argaze.ArUcoMarkers import ArUcoMarkersDictionary, ArUcoCamera, ArUcoTracker
+from argaze.ArUcoMarkers import ArUcoMarkersDictionary, ArUcoCamera, ArUcoTracker, ArUcoBoard
 
 import cv2 as cv
 import numpy
@@ -32,7 +32,7 @@ class TestArUcoTrackerClass(unittest.TestCase):
 
         # Load picture Full HD to test ArUcoMarker tracking
         current_directory = os.path.dirname(os.path.abspath(__file__))
-        frame = cv.imread(os.path.join(current_directory, 'utils/full_hd.png'))
+        frame = cv.imread(os.path.join(current_directory, 'utils/full_hd_marker.png'))
 
         # Check ArUcoMarker tracking
         aruco_tracker.track(frame)
@@ -58,6 +58,25 @@ class TestArUcoTrackerClass(unittest.TestCase):
         self.assertEqual(track_count, 1)
         self.assertEqual(markers_count[0], 1)
 
+    def test_track_board(self):
+        """Test track board method."""
+
+        aruco_dictionary = ArUcoMarkersDictionary.ArUcoMarkersDictionary('DICT_ARUCO_ORIGINAL')
+        aruco_board = ArUcoBoard.ArUcoBoard(aruco_dictionary, 7, 5, 5, 3)
+        aruco_camera = ArUcoCamera.ArUcoCamera()
+        aruco_tracker = ArUcoTracker.ArUcoTracker(aruco_dictionary, 3, aruco_camera)
+
+        # Load picture Full HD to test ArUcoMarker board tracking
+        current_directory = os.path.dirname(os.path.abspath(__file__))
+        frame = cv.imread(os.path.join(current_directory, 'utils/full_hd_board.png'))
+
+        # Check ArUcoMarker board tracking
+        aruco_tracker.track_board(frame, aruco_board, aruco_board.markers_number)
+
+        self.assertEqual(aruco_tracker.board_corners_number, aruco_board.corners_number)
+        self.assertEqual(len(aruco_tracker.board_corners), 24)
+        self.assertEqual(len(aruco_tracker.board_corners_identifier), 24)
+
 if __name__ == '__main__':
 
     unittest.main() 
\ No newline at end of file
diff --git a/src/argaze.test/ArUcoMarkers/utils/camera.json b/src/argaze.test/ArUcoMarkers/utils/camera.json
new file mode 100644
index 0000000..988731c
--- /dev/null
+++ b/src/argaze.test/ArUcoMarkers/utils/camera.json
@@ -0,0 +1,31 @@
+{
+    "rms": 1.0,
+    "dimensions": [
+        1920,
+        1080
+    ],
+    "K": [
+        [
+            1.0,
+            0.0,
+            1.0
+        ],
+        [
+            0.0,
+            1.0,
+            1.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "D": [
+        -1.0,
+        -0.5,
+        0.0,
+        0.5,
+        1.0
+    ]
+}
\ No newline at end of file
diff --git a/src/argaze.test/ArUcoMarkers/utils/full_hd_board.png b/src/argaze.test/ArUcoMarkers/utils/full_hd_board.png
new file mode 100644
index 0000000..d30b300
--- /dev/null
+++ b/src/argaze.test/ArUcoMarkers/utils/full_hd_board.png
diff --git a/src/argaze.test/ArUcoMarkers/utils/full_hd.png b/src/argaze.test/ArUcoMarkers/utils/full_hd_marker.png
index 42146fe..42146fe 100644
--- a/src/argaze.test/ArUcoMarkers/utils/full_hd.png
+++ b/src/argaze.test/ArUcoMarkers/utils/full_hd_marker.png