Renaming ArUcoMarkers into ArUcoMarker

17 files changed, 0 insertions, 882 deletions

diff --git a/src/argaze.test/ArUcoMarkers/ArUcoBoard.py b/src/argaze.test/ArUcoMarkers/ArUcoBoard.py
deleted file mode 100644
index 0bfa568..0000000
--- a/src/argaze.test/ArUcoMarkers/ArUcoBoard.py
+++ /dev/null
@@ -1,50 +0,0 @@
-""" 
-
-This program is free software: you can redistribute it and/or modify it under
-the terms of the GNU General Public License as published by the Free Software
-Foundation, either version 3 of the License, or (at your option) any later
-version.
-This program is distributed in the hope that it will be useful, but WITHOUT
-ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
-You should have received a copy of the GNU General Public License along with
-this program. If not, see <https://www.gnu.org/licenses/>.
-"""
-
-__author__ = "Théo de la Hogue"
-__credits__ = []
-__copyright__ = "Copyright 2023, Ecole Nationale de l'Aviation Civile (ENAC)"
-__license__ = "GPLv3"
-
-import unittest
-import os
-
-from argaze.ArUcoMarkers import ArUcoBoard, ArUcoMarkersDictionary
-
-import numpy
-
-class TestArUcoBoardClass(unittest.TestCase):
-    """Test ArUcoBoard class."""
-
-    def test_new(self):
-        """Test ArUcoBoard creation using a dictionary instance."""
-
-        columns = 4
-        rows = 3
-        square_size = 2 
-        marker_size = 1
-
-        # Check ArUco board creation
-        aruco_dictionary = ArUcoMarkersDictionary.ArUcoMarkersDictionary('DICT_APRILTAG_16h5')
-        aruco_board = ArUcoBoard.ArUcoBoard(columns, rows, square_size, marker_size, aruco_dictionary)
-
-        # Check ArUco board dictionary name
-        self.assertEqual(aruco_board.dictionary.name, 'DICT_APRILTAG_16h5')
-        self.assertIsNone(numpy.testing.assert_array_equal(aruco_board.identifiers, [i for i in range(int((columns*rows)/2))]))
-        self.assertIsNone(numpy.testing.assert_array_equal(aruco_board.size, [columns, rows]))
-        self.assertEqual(aruco_board.markers_number, int((columns*rows)/2))
-        self.assertEqual(aruco_board.corners_number, (columns-1)*(rows-1))
-
-if __name__ == '__main__':
-
-    unittest.main() 
\ No newline at end of file
diff --git a/src/argaze.test/ArUcoMarkers/ArUcoCamera.py b/src/argaze.test/ArUcoMarkers/ArUcoCamera.py
deleted file mode 100644
index eb930ab..0000000
--- a/src/argaze.test/ArUcoMarkers/ArUcoCamera.py
+++ /dev/null
@@ -1,80 +0,0 @@
-""" 
-
-This program is free software: you can redistribute it and/or modify it under
-the terms of the GNU General Public License as published by the Free Software
-Foundation, either version 3 of the License, or (at your option) any later
-version.
-This program is distributed in the hope that it will be useful, but WITHOUT
-ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
-You should have received a copy of the GNU General Public License along with
-this program. If not, see <https://www.gnu.org/licenses/>.
-"""
-
-__author__ = "Théo de la Hogue"
-__credits__ = []
-__copyright__ = "Copyright 2023, Ecole Nationale de l'Aviation Civile (ENAC)"
-__license__ = "GPLv3"
-
-import unittest
-import os
-
-import argaze
-
-import numpy
-
-class TestArUcoCameraClass(unittest.TestCase):
-    """Test ArUcoCamera class."""
-
-    def test_from_json(self):
-        """Test ArUcoCamera creation from json file."""
-        
-        # Edit test aruco camera file path
-        current_directory = os.path.dirname(os.path.abspath(__file__))
-        json_filepath = os.path.join(current_directory, 'utils/aruco_camera.json')
-
-        # Load test aruco camera
-        with argaze.load(json_filepath) as aruco_camera:
-
-            # Check aruco camera meta data
-            self.assertEqual(aruco_camera.name, "TestArUcoCamera")
-
-            # Check ArUco detector
-            self.assertEqual(aruco_camera.aruco_detector.dictionary.name, "DICT_ARUCO_ORIGINAL")
-            self.assertEqual(aruco_camera.aruco_detector.parameters.cornerRefinementMethod, 3)
-            self.assertEqual(aruco_camera.aruco_detector.parameters.aprilTagQuadSigma, 2)
-            self.assertEqual(aruco_camera.aruco_detector.parameters.aprilTagDeglitch, 1)
-
-            # Check ArUco detector optic parameters
-            self.assertEqual(aruco_camera.aruco_detector.optic_parameters.rms, 1.0)
-            self.assertIsNone(numpy.testing.assert_array_equal(aruco_camera.aruco_detector.optic_parameters.dimensions, [1920, 1080]))
-            self.assertIsNone(numpy.testing.assert_array_equal(aruco_camera.aruco_detector.optic_parameters.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.aruco_detector.optic_parameters.D, [-1.0, -0.5, 0.0, 0.5, 1.0]))
-
-            # Check camera scenes
-            self.assertEqual(len(aruco_camera.scenes), 2)
-            self.assertIsNone(numpy.testing.assert_array_equal(list(aruco_camera.scenes.keys()), ["TestSceneA", "TestSceneB"]))
-
-            # Load test scene
-            ar_scene = aruco_camera.scenes["TestSceneA"]
-
-            # Check Aruco scene
-            self.assertEqual(len(ar_scene.aruco_markers_group.places), 2)
-            self.assertIsNone(numpy.testing.assert_allclose(ar_scene.aruco_markers_group.places[0].corners[0], [-0.5, 1.5, 0.], rtol=0, atol=1e-3))
-            self.assertEqual(ar_scene.aruco_markers_group.places[0].marker.identifier, 0)
-
-            self.assertIsNone(numpy.testing.assert_allclose(ar_scene.aruco_markers_group.places[1].corners[0], [0., 2.5, -1.5], rtol=0, atol=1e-3))
-            self.assertEqual(ar_scene.aruco_markers_group.places[1].marker.identifier, 1)
-
-             # Check layers and AOI scene 
-            self.assertEqual(len(ar_scene.layers.items()), 1)
-            self.assertEqual(len(ar_scene.layers["Main"].aoi_scene), 1)
-            self.assertEqual(ar_scene.layers["Main"].aoi_scene['Test'].points_number, 4)
-
-            # Check ArScene
-            self.assertEqual(ar_scene.angle_tolerance, 1.0)
-            self.assertEqual(ar_scene.distance_tolerance, 2.0)
-        
-if __name__ == '__main__':
-
-    unittest.main()
\ No newline at end of file
diff --git a/src/argaze.test/ArUcoMarkers/ArUcoDetector.py b/src/argaze.test/ArUcoMarkers/ArUcoDetector.py
deleted file mode 100644
index 62e8a09..0000000
--- a/src/argaze.test/ArUcoMarkers/ArUcoDetector.py
+++ /dev/null
@@ -1,149 +0,0 @@
-""" 
-
-This program is free software: you can redistribute it and/or modify it under
-the terms of the GNU General Public License as published by the Free Software
-Foundation, either version 3 of the License, or (at your option) any later
-version.
-This program is distributed in the hope that it will be useful, but WITHOUT
-ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
-You should have received a copy of the GNU General Public License along with
-this program. If not, see <https://www.gnu.org/licenses/>.
-"""
-
-__author__ = "Théo de la Hogue"
-__credits__ = []
-__copyright__ = "Copyright 2023, Ecole Nationale de l'Aviation Civile (ENAC)"
-__license__ = "GPLv3"
-
-import unittest
-import os
-import math
-
-from argaze.ArUcoMarkers import ArUcoMarkersDictionary, ArUcoOpticCalibrator, ArUcoDetector, ArUcoBoard
-
-import cv2 as cv
-import numpy
-
-class TestDetectorParametersClass(unittest.TestCase):
-    """Test DetectorParameters class."""
-
-    def test_from_json(self):
-        """Test DetectorParameters creation from json file."""
-        
-        # Edit file path
-        current_directory = os.path.dirname(os.path.abspath(__file__))
-        json_filepath = os.path.join(current_directory, 'utils/detector_parameters.json')
-
-        # Load file
-        detector_parameters = ArUcoDetector.DetectorParameters.from_json(json_filepath)
-
-        # Check data
-        self.assertEqual(detector_parameters.cornerRefinementMethod, 3)
-        self.assertEqual(detector_parameters.aprilTagQuadSigma, 2)
-        self.assertEqual(detector_parameters.aprilTagDeglitch, 1)
-
-        # Check bad data access fails
-        with self.assertRaises(AttributeError):
-
-            detector_parameters.unknown_data = 1
-
-class TestArUcoDetectorClass(unittest.TestCase):
-    """Test ArUcoDetector class."""
-
-    def test_new(self):
-        """Test ArUcoDetector creation."""
-
-        aruco_detector = ArUcoDetector.ArUcoDetector(marker_size=3)
-
-         # Check ArUcoDetector creation
-        self.assertEqual(aruco_detector.dictionary.name, 'DICT_ARUCO_ORIGINAL')
-        self.assertEqual(aruco_detector.marker_size, 3)
-        self.assertIsNone(numpy.testing.assert_array_equal(aruco_detector.optic_parameters.dimensions, [0, 0]))
-        self.assertEqual(aruco_detector.detected_markers_number(), 0)
-        self.assertEqual(aruco_detector.detected_markers(), {})
-
-        aruco_dictionary = ArUcoMarkersDictionary.ArUcoMarkersDictionary('DICT_APRILTAG_16h5')
-        aruco_detector = ArUcoDetector.ArUcoDetector(aruco_dictionary, 5.2)
-
-         # Check ArUcoDetector creation
-        self.assertEqual(aruco_detector.dictionary.name, 'DICT_APRILTAG_16h5')
-        self.assertEqual(aruco_detector.marker_size, 5.2)
-        self.assertIsNone(numpy.testing.assert_array_equal(aruco_detector.optic_parameters.dimensions, [0, 0]))
-        self.assertEqual(aruco_detector.detected_markers_number(), 0)
-        self.assertEqual(aruco_detector.detected_markers(), {})
-
-    def test_from_json(self):
-        """Test ArUcoDetector creation."""
-
-        # Edit file path
-        current_directory = os.path.dirname(os.path.abspath(__file__))
-        json_filepath = os.path.join(current_directory, 'utils/detector.json')
-
-        # Load file
-        aruco_detector = ArUcoDetector.ArUcoDetector.from_json(json_filepath)
-
-         # Check ArUcoDetector creation
-        self.assertEqual(aruco_detector.dictionary.name, 'DICT_ARUCO_ORIGINAL')
-        self.assertEqual(aruco_detector.marker_size, 3)
-        self.assertIsNone(numpy.testing.assert_array_equal(aruco_detector.optic_parameters.dimensions, [1920, 1080]))
-        self.assertEqual(aruco_detector.parameters.cornerRefinementMethod, 3)
-        self.assertEqual(aruco_detector.parameters.aprilTagQuadSigma, 2)
-        self.assertEqual(aruco_detector.parameters.aprilTagDeglitch, 1)
-
-    def test_detect(self):
-        """Test detect method."""
-
-        aruco_detector = ArUcoDetector.ArUcoDetector(marker_size=3)
-
-        # Load picture Full HD to test ArUcoMarker detection
-        current_directory = os.path.dirname(os.path.abspath(__file__))
-        image = cv.imread(os.path.join(current_directory, 'utils/full_hd_marker.png'))
-
-        # Check ArUcoMarker detection
-        aruco_detector.detect_markers(image)
-
-        self.assertEqual(aruco_detector.detected_markers_number(), 1)
-
-        self.assertEqual(aruco_detector.detected_markers()[0].dictionary, aruco_detector.dictionary)
-        self.assertEqual(aruco_detector.detected_markers()[0].identifier, 0)
-        self.assertEqual(aruco_detector.detected_markers()[0].size, 3)
-
-        # Check corner positions with -/+ 10 pixels precision
-        self.assertIsNone(numpy.testing.assert_almost_equal(aruco_detector.detected_markers()[0].corners[0][0].astype(int), numpy.array([3823, 2073]), decimal=-1))
-        self.assertIsNone(numpy.testing.assert_almost_equal(aruco_detector.detected_markers()[0].corners[0][1].astype(int), numpy.array([4177, 2073]), decimal=-1))
-        self.assertIsNone(numpy.testing.assert_almost_equal(aruco_detector.detected_markers()[0].corners[0][2].astype(int), numpy.array([4177, 2427]), decimal=-1))
-        self.assertIsNone(numpy.testing.assert_almost_equal(aruco_detector.detected_markers()[0].corners[0][3].astype(int), numpy.array([3823, 2427]), decimal=-1))
-
-        # Check marker pose estimation
-        aruco_detector.estimate_markers_pose([0])
-
-        # Check marker translation with -/+ 0.1 cm precision and rotation with -/+ 0.001 radian precision
-        self.assertIsNone(numpy.testing.assert_almost_equal(aruco_detector.detected_markers()[0].translation, numpy.array([33.87, 19.05, 0.]), decimal=1))
-        self.assertIsNone(numpy.testing.assert_almost_equal(aruco_detector.detected_markers()[0].rotation, numpy.array([[1., 0., 0.], [0., -1., 0.], [0., 0., -1.]]), decimal=3))
-
-        # Check detect metrics
-        detect_count, markers_count = aruco_detector.detection_metrics
-        self.assertEqual(detect_count, 1)
-        self.assertEqual(markers_count[0], 1)
-
-    def test_detect_board(self):
-        """Test detect board method."""
-
-        aruco_board = ArUcoBoard.ArUcoBoard(7, 5, 5, 3)
-        aruco_detector = ArUcoDetector.ArUcoDetector(marker_size=3)
-
-        # Load picture Full HD to test ArUcoMarker board detection
-        current_directory = os.path.dirname(os.path.abspath(__file__))
-        image = cv.imread(os.path.join(current_directory, 'utils/full_hd_board.png'))
-
-        # Check ArUcoMarker board detection
-        aruco_detector.detect_board(image, aruco_board, aruco_board.markers_number)
-
-        self.assertEqual(aruco_detector.board_corners_number(), aruco_board.corners_number)
-        self.assertEqual(len(aruco_detector.board_corners()), 24)
-        self.assertEqual(len(aruco_detector.board_corners_identifier()), 24)
-
-if __name__ == '__main__':
-
-    unittest.main() 
\ No newline at end of file
diff --git a/src/argaze.test/ArUcoMarkers/ArUcoMarker.py b/src/argaze.test/ArUcoMarkers/ArUcoMarker.py
deleted file mode 100644
index de88623..0000000
--- a/src/argaze.test/ArUcoMarkers/ArUcoMarker.py
+++ /dev/null
@@ -1,40 +0,0 @@
-""" 
-
-This program is free software: you can redistribute it and/or modify it under
-the terms of the GNU General Public License as published by the Free Software
-Foundation, either version 3 of the License, or (at your option) any later
-version.
-This program is distributed in the hope that it will be useful, but WITHOUT
-ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
-You should have received a copy of the GNU General Public License along with
-this program. If not, see <https://www.gnu.org/licenses/>.
-"""
-
-__author__ = "Théo de la Hogue"
-__credits__ = []
-__copyright__ = "Copyright 2023, Ecole Nationale de l'Aviation Civile (ENAC)"
-__license__ = "GPLv3"
-
-import unittest
-
-from argaze.ArUcoMarkers import ArUcoMarkersDictionary, ArUcoMarker
-
-class TestArUcoMarkerClass(unittest.TestCase):
-    """Test ArUcoMarker class."""
-
-    def test_new(self):
-        """Test ArUcoMarker creation."""
-
-        # Check DICT_ARUCO_ORIGINAL ArUcoMarker creation
-        aruco_dictionary = ArUcoMarkersDictionary.ArUcoMarkersDictionary('DICT_ARUCO_ORIGINAL')
-
-        aruco_marker = aruco_dictionary.create_marker(0, 3)
-
-        self.assertEqual(aruco_marker.dictionary, aruco_dictionary)
-        self.assertEqual(aruco_marker.identifier, 0)
-        self.assertEqual(aruco_marker.size, 3)
-
-if __name__ == '__main__':
-
-    unittest.main() 
\ No newline at end of file
diff --git a/src/argaze.test/ArUcoMarkers/ArUcoMarkersDictionary.py b/src/argaze.test/ArUcoMarkers/ArUcoMarkersDictionary.py
deleted file mode 100644
index 7a5e9e8..0000000
--- a/src/argaze.test/ArUcoMarkers/ArUcoMarkersDictionary.py
+++ /dev/null
@@ -1,50 +0,0 @@
-""" 
-
-This program is free software: you can redistribute it and/or modify it under
-the terms of the GNU General Public License as published by the Free Software
-Foundation, either version 3 of the License, or (at your option) any later
-version.
-This program is distributed in the hope that it will be useful, but WITHOUT
-ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
-You should have received a copy of the GNU General Public License along with
-this program. If not, see <https://www.gnu.org/licenses/>.
-"""
-
-__author__ = "Théo de la Hogue"
-__credits__ = []
-__copyright__ = "Copyright 2023, Ecole Nationale de l'Aviation Civile (ENAC)"
-__license__ = "GPLv3"
-
-import unittest
-
-from argaze.ArUcoMarkers import ArUcoMarkersDictionary
-
-class TestArUcoMarkersDictionaryClass(unittest.TestCase):
-    """Test ArUcoMarkersDictionary class."""
-
-    def test_new(self):
-        """Test ArUcoMarkersDictionary creation."""
-
-        # Check that ArUcoMarkersDictionary creation fails with bad name
-        with self.assertRaises(NameError):
-
-            aruco_dictionary = ArUcoMarkersDictionary.ArUcoMarkersDictionary('BAD_DICT_NAME')
-
-        # Check default ArUcoMarkersDictionary creation
-        aruco_dictionary = ArUcoMarkersDictionary.ArUcoMarkersDictionary()
-
-        self.assertEqual(aruco_dictionary.name, 'DICT_ARUCO_ORIGINAL')
-        self.assertEqual(aruco_dictionary.format, '5X5')
-        self.assertEqual(aruco_dictionary.number, 1024)
-
-        # Check DICT_APRILTAG_16h5 ArUcoMarkersDictionary creation
-        aruco_dictionary = ArUcoMarkersDictionary.ArUcoMarkersDictionary('DICT_APRILTAG_16h5')
-
-        self.assertEqual(aruco_dictionary.name, 'DICT_APRILTAG_16h5')
-        self.assertEqual(aruco_dictionary.format, '4X4')
-        self.assertEqual(aruco_dictionary.number, 30)
-
-if __name__ == '__main__':
-
-    unittest.main() 
\ No newline at end of file
diff --git a/src/argaze.test/ArUcoMarkers/ArUcoOpticCalibrator.py b/src/argaze.test/ArUcoMarkers/ArUcoOpticCalibrator.py
deleted file mode 100644
index 79d2ead..0000000
--- a/src/argaze.test/ArUcoMarkers/ArUcoOpticCalibrator.py
+++ /dev/null
@@ -1,61 +0,0 @@
-""" 
-
-This program is free software: you can redistribute it and/or modify it under
-the terms of the GNU General Public License as published by the Free Software
-Foundation, either version 3 of the License, or (at your option) any later
-version.
-This program is distributed in the hope that it will be useful, but WITHOUT
-ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
-You should have received a copy of the GNU General Public License along with
-this program. If not, see <https://www.gnu.org/licenses/>.
-"""
-
-__author__ = "Théo de la Hogue"
-__credits__ = []
-__copyright__ = "Copyright 2023, Ecole Nationale de l'Aviation Civile (ENAC)"
-__license__ = "GPLv3"
-
-import unittest
-import os
-
-from argaze.ArUcoMarkers import ArUcoOpticCalibrator
-
-import numpy
-
-class TestOpticParametersClass(unittest.TestCase):
-    """Test OpticParameters class."""
-
-    def test_new(self):
-        """Test OpticParameters creation."""
-
-        # Check defaut optic parameters creation
-        optic_parameters = ArUcoOpticCalibrator.OpticParameters()
-
-        # Check ArUco optic parameters
-        self.assertEqual(optic_parameters.rms, 0.0)
-
-        #self.assertEqual(type(optic_parameters.K), numpy.array)
-
-        self.assertIsNone(numpy.testing.assert_array_equal(optic_parameters.dimensions, [0, 0]))
-        self.assertIsNone(numpy.testing.assert_array_equal(optic_parameters.K, ArUcoOpticCalibrator.K0))
-        self.assertIsNone(numpy.testing.assert_array_equal(optic_parameters.D, ArUcoOpticCalibrator.D0))
-
-    def test_from_json(self):
-
-        # Edit optic parameters file path
-        current_directory = os.path.dirname(os.path.abspath(__file__))
-        json_filepath = os.path.join(current_directory, 'utils/optic_parameters.json')
-
-        # Load optic parameters
-        optic_parameters = ArUcoOpticCalibrator.OpticParameters.from_json(json_filepath)
-
-        # Check ArUco camera
-        self.assertEqual(optic_parameters.rms, 1.0)
-        self.assertIsNone(numpy.testing.assert_array_equal(optic_parameters.dimensions, [1920, 1080]))
-        self.assertIsNone(numpy.testing.assert_array_equal(optic_parameters.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(optic_parameters.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/ArUcoScene.py b/src/argaze.test/ArUcoMarkers/ArUcoScene.py
deleted file mode 100644
index f29b1d3..0000000
--- a/src/argaze.test/ArUcoMarkers/ArUcoScene.py
+++ /dev/null
@@ -1,227 +0,0 @@
-""" 
-
-This program is free software: you can redistribute it and/or modify it under
-the terms of the GNU General Public License as published by the Free Software
-Foundation, either version 3 of the License, or (at your option) any later
-version.
-This program is distributed in the hope that it will be useful, but WITHOUT
-ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
-You should have received a copy of the GNU General Public License along with
-this program. If not, see <https://www.gnu.org/licenses/>.
-"""
-
-__author__ = "Théo de la Hogue"
-__credits__ = []
-__copyright__ = "Copyright 2023, Ecole Nationale de l'Aviation Civile (ENAC)"
-__license__ = "GPLv3"
-
-import unittest
-import os
-import math
-
-from argaze.ArUcoMarkers import ArUcoMarkersGroup, ArUcoMarker
-
-import cv2 as cv
-import numpy
-
-class TestArUcoMarkersGroupClass(unittest.TestCase):
-
-    def new_from_obj(self):
-
-        # Edit file path
-        current_directory = os.path.dirname(os.path.abspath(__file__))
-        obj_filepath = os.path.join(current_directory, 'utils/scene.obj')
-
-        # Load file
-        self.aruco_markers_group = ArUcoMarkersGroup.ArUcoMarkersGroup.from_obj(obj_filepath)
-
-    def new_from_json(self):
-
-        # Edit file path
-        current_directory = os.path.dirname(os.path.abspath(__file__))
-        json_filepath = os.path.join(current_directory, 'utils/scene.json')
-
-        # Load file
-        self.aruco_markers_group = ArUcoMarkersGroup.ArUcoMarkersGroup.from_json(json_filepath)
-
-    def setup_markers(self):
-
-        # Prepare detected markers
-        self.detected_markers = {
-            0: ArUcoMarker.ArUcoMarker('DICT_ARUCO_ORIGINAL', 0, 1.),
-            1: ArUcoMarker.ArUcoMarker('DICT_ARUCO_ORIGINAL', 1, 1.),
-            2: ArUcoMarker.ArUcoMarker('DICT_ARUCO_ORIGINAL', 2, 1.),
-            3: ArUcoMarker.ArUcoMarker('DICT_ARUCO_ORIGINAL', 3, 1.)
-        }
-
-        # Prepare scene markers and remaining markers
-        self.scene_markers, self.remaining_markers = self.aruco_markers_group.filter_markers(self.detected_markers())
-
-    def test_new_from_obj(self):
-        """Test ArUcoMarkersGroup creation."""
-
-        self.new_from_obj()
-        self.setup_markers()
-
-         # Check ArUcoMarkersGroup creation
-        self.assertEqual(len(self.aruco_markers_group.places), 3)
-        self.assertIsNone(numpy.testing.assert_array_equal(self.aruco_markers_group.identifiers, [0, 1, 2]))
-        self.assertEqual(self.aruco_markers_group.marker_size, 1.)
-
-        self.assertEqual(self.aruco_markers_group.places[0].marker.identifier, 0)
-        self.assertIsNone(numpy.testing.assert_array_equal(self.aruco_markers_group.places[0].translation, [0., 0., 0.]))
-        self.assertIsNone(numpy.testing.assert_array_equal(self.aruco_markers_group.places[0].rotation, [[1., 0., 0.], [0., 1., 0.], [0., 0., 1.]]))
-
-        self.assertEqual(self.aruco_markers_group.places[1].marker.identifier, 1)
-        self.assertIsNone(numpy.testing.assert_array_equal(self.aruco_markers_group.places[1].translation, [10., 10., 0.]))
-        self.assertIsNone(numpy.testing.assert_array_equal(self.aruco_markers_group.places[1].rotation, [[1., 0., 0.], [0., 1., 0.], [0., 0., 1.]]))
-
-        self.assertEqual(self.aruco_markers_group.places[2].marker.identifier, 2)
-        self.assertIsNone(numpy.testing.assert_array_equal(self.aruco_markers_group.places[2].translation, [0., 10., 0.]))
-        self.assertIsNone(numpy.testing.assert_array_equal(self.aruco_markers_group.places[2].rotation, [[1., 0., 0.], [0., 1., 0.], [0., 0., 1.]]))
-
-    def test_new_from_json(self):
-        """Test ArUcoMarkersGroup creation."""
-
-        self.new_from_json()
-        self.setup_markers()
-
-         # Check ArUcoMarkersGroup creation
-        self.assertEqual(len(self.aruco_markers_group.places), 3)
-        self.assertIsNone(numpy.testing.assert_array_equal(self.aruco_markers_group.identifiers, [0, 1, 2]))
-        self.assertEqual(self.aruco_markers_group.marker_size, 1.)
-
-        self.assertEqual(self.aruco_markers_group.places[0].marker.identifier, 0)
-        self.assertIsNone(numpy.testing.assert_array_equal(self.aruco_markers_group.places[0].translation, [0., 0., 0.]))
-        self.assertIsNone(numpy.testing.assert_array_equal(self.aruco_markers_group.places[0].rotation, [[1., 0., 0.], [0., 1., 0.], [0., 0., 1.]]))
-
-        self.assertEqual(self.aruco_markers_group.places[1].marker.identifier, 1)
-        self.assertIsNone(numpy.testing.assert_array_equal(self.aruco_markers_group.places[1].translation, [10., 10., 0.]))
-        self.assertIsNone(numpy.testing.assert_array_equal(self.aruco_markers_group.places[1].rotation, [[1., 0., 0.], [0., 1., 0.], [0., 0., 1.]]))
-
-        self.assertEqual(self.aruco_markers_group.places[2].marker.identifier, 2)
-        self.assertIsNone(numpy.testing.assert_array_equal(self.aruco_markers_group.places[2].translation, [0., 10., 0.]))
-        self.assertIsNone(numpy.testing.assert_array_equal(self.aruco_markers_group.places[2].rotation, [[1., 0., 0.], [0., 1., 0.], [0., 0., 1.]]))
-
-    def test_filter_markers(self):
-        """Test ArUcoMarkersGroup markers filtering."""
-
-        self.new_from_obj()
-        self.setup_markers()
-
-        # Check scene markers and remaining markers
-        self.assertEqual(len(self.scene_markers), 3)
-        self.assertEqual(len(self.remaining_markers), 1)
-
-        self.assertIsNone(numpy.testing.assert_array_equal(list(self.scene_markers.keys()), self.aruco_markers_group.identifiers))
-        self.assertIsNone(numpy.testing.assert_array_equal(list(self.remaining_markers.keys()), [3]))
-
-    def test_check_markers_consistency(self):
-        """Test ArUcoMarkersGroup markers consistency checking."""
-
-        self.new_from_obj()
-        self.setup_markers()
-
-        # Edit consistent marker poses
-        self.scene_markers[0].translation = numpy.array([1., 1., 5.])
-        self.scene_markers[0].rotation = numpy.array([[1., 0., 0.], [0., 1., 0.], [0., 0., 1.]])
-
-        self.scene_markers[1].translation = numpy.array([11., 11., 5.])
-        self.scene_markers[1].rotation = numpy.array([[1., 0., 0.], [0., 1., 0.], [0., 0., 1.]])
-
-        self.scene_markers[2].translation = numpy.array([1., 11., 5.])
-        self.scene_markers[2].rotation = numpy.array([[1., 0., 0.], [0., 1., 0.], [0., 0., 1.]])
-
-        # Check consistency
-        consistent_markers, unconsistent_markers, unconsistencies = self.aruco_markers_group.check_markers_consistency(self.scene_markers, 1, 1)
-
-        # Check consistent markers, unconsistent markers and unconsistencies
-        self.assertEqual(len(consistent_markers), 3)
-        self.assertEqual(len(unconsistent_markers), 0)
-        self.assertEqual(len(unconsistencies['rotation']), 0)
-        self.assertEqual(len(unconsistencies['translation']), 0)
-
-        self.assertIsNone(numpy.testing.assert_array_equal(list(consistent_markers.keys()), self.aruco_markers_group.identifiers))
-
-        # Edit unconsistent marker poses
-        self.scene_markers[2].translation = numpy.array([5., 15., 5.])
-
-        # Check consistency
-        consistent_markers, unconsistent_markers, unconsistencies = self.aruco_markers_group.check_markers_consistency(self.scene_markers, 1, 1)
-
-        # Check consistent markers, unconsistent markers and unconsistencies
-        self.assertEqual(len(consistent_markers), 2)
-        self.assertEqual(len(unconsistent_markers), 1)
-        self.assertEqual(len(unconsistencies['rotation']), 0)
-        self.assertEqual(len(unconsistencies['translation']), 2)
-
-        self.assertIsNone(numpy.testing.assert_array_equal(list(unconsistent_markers.keys()), [2]))
-        self.assertIsNone(numpy.testing.assert_array_equal(list(unconsistencies['translation'].keys()), ['0/2', '1/2']))
-        self.assertIsNone(numpy.testing.assert_array_equal(list(unconsistencies['translation']['0/2'].keys()), ['current', 'expected']))
-        self.assertIsNone(numpy.testing.assert_array_equal(list(unconsistencies['translation']['1/2'].keys()), ['current', 'expected']))
-
-    def test_estimate_pose_from_single_marker(self):
-        """Test ArUcoMarkersGroup pose estimation from single marker."""
-
-        self.new_from_obj()
-        self.setup_markers()
-
-        # Edit marke pose
-        self.scene_markers[0].translation = numpy.array([1., 1., 5.])
-        self.scene_markers[0].rotation = numpy.array([[1., 0., 0.], [0., 1., 0.], [0., 0., 1.]])
-
-        # Estimate pose
-        tvec, rmat = self.aruco_markers_group.estimate_pose_from_single_marker(self.scene_markers[0])
-
-        self.assertIsNone(numpy.testing.assert_array_equal(tvec, [1., 1., 5.]))
-        self.assertIsNone(numpy.testing.assert_array_equal(rmat, [[1., 0., 0.], [0., 1., 0.], [0., 0., 1.]]))
-
-    def test_estimate_pose_from_markers(self):
-        """Test ArUcoMarkersGroup pose estimation from markers."""
-
-        self.new_from_obj()
-        self.setup_markers()
-
-        # Edit markers pose
-        self.scene_markers[0].translation = numpy.array([1., 1., 5.])
-        self.scene_markers[0].rotation = numpy.array([[1., 0., 0.], [0., 1., 0.], [0., 0., 1.]])
-
-        self.scene_markers[1].translation = numpy.array([11., 11., 5.])
-        self.scene_markers[1].rotation = numpy.array([[1., 0., 0.], [0., 1., 0.], [0., 0., 1.]])
-
-        self.scene_markers[2].translation = numpy.array([1., 11., 5.])
-        self.scene_markers[2].rotation = numpy.array([[1., 0., 0.], [0., 1., 0.], [0., 0., 1.]])
-
-        # Estimate pose
-        tvec, rmat = self.aruco_markers_group.estimate_pose_from_markers(self.scene_markers)
-
-        self.assertIsNone(numpy.testing.assert_array_equal(tvec, [1., 1., 5.]))
-        self.assertIsNone(numpy.testing.assert_array_equal(rmat, [[1., 0., 0.], [0., 1., 0.], [0., 0., 1.]]))
-
-    @unittest.skip("ArUcoMarkersGroup estimate_pose_from_axis_markers method is broken.")
-    def test_estimate_pose_from_axis_markers(self):
-        """Test ArUcoMarkersGroup pose estimation from axis markers."""
-
-        self.new_from_obj()
-        self.setup_markers()
-
-        # Edit markers pose
-        self.scene_markers[0].translation = numpy.array([1., 1., 5.])
-        self.scene_markers[0].rotation = numpy.array([[1., 0., 0.], [0., 1., 0.], [0., 0., 1.]])
-
-        self.scene_markers[1].translation = numpy.array([11., 11., 5.])
-        self.scene_markers[1].rotation = numpy.array([[1., 0., 0.], [0., 1., 0.], [0., 0., 1.]])
-
-        self.scene_markers[2].translation = numpy.array([1., 11., 5.])
-        self.scene_markers[2].rotation = numpy.array([[1., 0., 0.], [0., 1., 0.], [0., 0., 1.]])
-
-        # Estimate pose
-        tvec, rmat = self.aruco_markers_group.estimate_pose_from_axis_markers(self.scene_markers[2], self.scene_markers[1], self.scene_markers[0])
-
-        self.assertIsNone(numpy.testing.assert_array_equal(tvec, [1., 1., 5.]))
-        self.assertIsNone(numpy.testing.assert_array_equal(rmat, [[1., 0., 0.], [0., -1., 0.], [0., 0., -1.]]))
-
-if __name__ == '__main__':
-
-    unittest.main() 
\ No newline at end of file
diff --git a/src/argaze.test/ArUcoMarkers/__init__.py b/src/argaze.test/ArUcoMarkers/__init__.py
deleted file mode 100644
index e69de29..0000000
--- a/src/argaze.test/ArUcoMarkers/__init__.py
+++ /dev/null
diff --git a/src/argaze.test/ArUcoMarkers/utils/aoi_3d.obj b/src/argaze.test/ArUcoMarkers/utils/aoi_3d.obj
deleted file mode 100644
index 92e85bd..0000000
--- a/src/argaze.test/ArUcoMarkers/utils/aoi_3d.obj
+++ /dev/null
@@ -1,7 +0,0 @@
-o Test
-v 0.000000 0.000000 0.000000
-v 25.000000 0.000000 0.000000
-v 0.000000 14.960000 0.000000
-v 25.000000 14.960000 0.000000
-s off
-f 1 2 4 3
diff --git a/src/argaze.test/ArUcoMarkers/utils/aruco_camera.json b/src/argaze.test/ArUcoMarkers/utils/aruco_camera.json
deleted file mode 100644
index 980dc9f..0000000
--- a/src/argaze.test/ArUcoMarkers/utils/aruco_camera.json
+++ /dev/null
@@ -1,98 +0,0 @@
-{
-	"name": "TestArUcoCamera",
-    "size": [1920, 1080],
-    "aruco_detector": {
-    	"dictionary": {
-            "name": "DICT_ARUCO_ORIGINAL"
-        },
-    	"optic_parameters": {
-            "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
-    	    ]
-        },
-        "parameters": {
-            "cornerRefinementMethod": 3,
-            "aprilTagQuadSigma": 2,
-            "aprilTagDeglitch": 1
-        }
-    },
-    "scenes": {
-        "TestSceneA" : {
-            "aruco_markers_group": {
-                "dictionary": "DICT_ARUCO_ORIGINAL",
-                "places": {
-                    "0": {
-                        "translation": [1, 0, 0],
-                        "rotation": [0, 0, 0],
-                        "size": 3.0
-                    },
-                    "1": {
-                        "translation": [0, 1, 0],
-                        "rotation": [0, 90, 0],
-                        "size": 3.0
-                    }
-                }
-            },
-            "layers": {
-                "Main" : {
-                    "aoi_scene": "aoi_3d.obj"
-                }
-            },
-            "angle_tolerance": 1.0,
-            "distance_tolerance": 2.0
-        },
-        "TestSceneB" : {
-            "aruco_markers_group": {
-                "dictionary": "DICT_ARUCO_ORIGINAL",
-                "places": {
-                    "0": {
-                        "translation": [1, 0, 0],
-                        "rotation": [0, 0, 0],
-                        "size": 3.0
-                    },
-                    "1": {
-                        "translation": [0, 1, 0],
-                        "rotation": [0, 90, 0],
-                        "size": 3.0
-                    }
-                }
-            },
-            "layers": {
-                "Main" : {
-                    "aoi_scene": "aoi_3d.obj"
-                }
-            },
-            "angle_tolerance": 1.0,
-            "distance_tolerance": 2.0
-        }
-    },
-    "layers": {
-        "Main": {}
-    }
-}
\ No newline at end of file
diff --git a/src/argaze.test/ArUcoMarkers/utils/detector.json b/src/argaze.test/ArUcoMarkers/utils/detector.json
deleted file mode 100644
index 8aada6d..0000000
--- a/src/argaze.test/ArUcoMarkers/utils/detector.json
+++ /dev/null
@@ -1,42 +0,0 @@
-{
-    "dictionary": {
-        "name": "DICT_ARUCO_ORIGINAL"
-    },
-    "marker_size": 3.0,
-    "optic_parameters": {
-        "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
-        ]
-    },
-    "parameters": {
-        "cornerRefinementMethod": 3,
-        "aprilTagQuadSigma": 2,
-        "aprilTagDeglitch": 1
-    }
-}
\ No newline at end of file
diff --git a/src/argaze.test/ArUcoMarkers/utils/detector_parameters.json b/src/argaze.test/ArUcoMarkers/utils/detector_parameters.json
deleted file mode 100644
index d26a3fa..0000000
--- a/src/argaze.test/ArUcoMarkers/utils/detector_parameters.json
+++ /dev/null
@@ -1,5 +0,0 @@
-{
-    "cornerRefinementMethod": 3,
-    "aprilTagQuadSigma": 2,
-    "aprilTagDeglitch": 1
-}
\ 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
deleted file mode 100644
index d30b300..0000000
--- a/src/argaze.test/ArUcoMarkers/utils/full_hd_board.png
+++ /dev/null
diff --git a/src/argaze.test/ArUcoMarkers/utils/full_hd_marker.png b/src/argaze.test/ArUcoMarkers/utils/full_hd_marker.png
deleted file mode 100644
index 42146fe..0000000
--- a/src/argaze.test/ArUcoMarkers/utils/full_hd_marker.png
+++ /dev/null
diff --git a/src/argaze.test/ArUcoMarkers/utils/optic_parameters.json b/src/argaze.test/ArUcoMarkers/utils/optic_parameters.json
deleted file mode 100644
index 988731c..0000000
--- a/src/argaze.test/ArUcoMarkers/utils/optic_parameters.json
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-    "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/scene.json b/src/argaze.test/ArUcoMarkers/utils/scene.json
deleted file mode 100644
index bdd9ae8..0000000
--- a/src/argaze.test/ArUcoMarkers/utils/scene.json
+++ /dev/null
@@ -1,20 +0,0 @@
-{
-	"dictionary": {
-        "name": "DICT_ARUCO_ORIGINAL"
-    },
-	"marker_size": 1,
-	"places": {
-		"0": {
-			"translation": [0, 0, 0],
-			"rotation": [0, 0, 0]
-		},
-		"1": {
-			"translation": [10, 10, 0],
-			"rotation": [0, 0, 0]
-		},
-		"2": {
-			"translation": [0, 10, 0],
-			"rotation": [0, 0, 0]
-		}
-	}
-}
diff --git a/src/argaze.test/ArUcoMarkers/utils/scene.obj b/src/argaze.test/ArUcoMarkers/utils/scene.obj
deleted file mode 100644
index c233da2..0000000
--- a/src/argaze.test/ArUcoMarkers/utils/scene.obj
+++ /dev/null
@@ -1,22 +0,0 @@
-# .OBJ file for ArUcoMarkersGroup unitary test
-o DICT_ARUCO_ORIGINAL#0_Marker
-v -0.500000 -0.500000 0.000000
-v 0.500000 -0.500000 0.000000
-v -0.500000 0.500000 0.000000
-v 0.500000 0.500000 0.000000
-vn 0.0000 0.0000 1.0000
-f 1//1 2//1 4//1 3//1
-o DICT_ARUCO_ORIGINAL#1_Marker
-v 9.500000 9.500000 0.000000
-v 10.500000 9.500000 0.000000
-v 9.500000 10.500000 0.000000
-v 10.500000 10.500000 0.000000
-vn 0.0000 0.0000 1.0000
-f 5//2 6//2 8//2 7//2
-o DICT_ARUCO_ORIGINAL#2_Marker
-v -0.500000 9.500000 0.000000
-v 0.500000 9.500000 0.000000
-v -0.500000 10.500000 0.000000
-v 0.500000 10.500000 0.000000
-vn 0.0000 0.0000 1.0000
-f 9//3 10//3 12//3 11//3