Improving and testing ArUcoMarkers module.

3 files changed, 80 insertions, 24 deletions

diff --git a/src/argaze.test/ArUcoMarkers/ArUcoDetector.py b/src/argaze.test/ArUcoMarkers/ArUcoDetector.py
index ab29024..3272f1c 100644
--- a/src/argaze.test/ArUcoMarkers/ArUcoDetector.py
+++ b/src/argaze.test/ArUcoMarkers/ArUcoDetector.py
@@ -9,28 +9,28 @@ from argaze.ArUcoMarkers import ArUcoMarkersDictionary, ArUcoCamera, ArUcoDetect
 import cv2 as cv
 import numpy
 
-class TestDetectionParametersClass(unittest.TestCase):
-    """Test DetectionParameters class."""
+class TestDetectorParametersClass(unittest.TestCase):
+    """Test DetectorParameters class."""
 
     def test_from_json(self):
-        """Test DetectionParameters creation from json file."""
+        """Test DetectorParameters creation from json file."""
         
-        # Edit traking data file path
+        # Edit file path
         current_directory = os.path.dirname(os.path.abspath(__file__))
-        json_filepath = os.path.join(current_directory, 'utils/detecter.json')
+        json_filepath = os.path.join(current_directory, 'utils/detector_parameters.json')
 
-        # Load project
-        detection_parameters = ArUcoDetector.DetectionParameters.from_json(json_filepath)
+        # Load file
+        detector_parameters = ArUcoDetector.DetectorParameters.from_json(json_filepath)
 
         # Check data
-        self.assertEqual(detection_parameters.cornerRefinementMethod, 3)
-        self.assertEqual(detection_parameters.aprilTagQuadSigma, 2)
-        self.assertEqual(detection_parameters.aprilTagDeglitch, 1)
+        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):
 
-            detection_parameters.unknown_data = 1
+            detector_parameters.unknown_data = 1
 
 class TestArUcoDetectorClass(unittest.TestCase):
     """Test ArUcoDetector class."""
@@ -38,31 +38,46 @@ class TestArUcoDetectorClass(unittest.TestCase):
     def test_new(self):
         """Test ArUcoDetector creation."""
 
-        aruco_dictionary = ArUcoMarkersDictionary.ArUcoMarkersDictionary('DICT_ARUCO_ORIGINAL')
-        aruco_camera = ArUcoCamera.ArUcoCamera()
-        aruco_detector = ArUcoDetector.ArUcoDetector(aruco_dictionary, 3, aruco_camera)
+        aruco_detector = ArUcoDetector.ArUcoDetector(marker_size=3)
 
          # Check ArUcoDetector creation
+        self.assertEqual(aruco_detector.dictionary.name, 'DICT_ARUCO_ORIGINAL')
+        self.assertIsNone(numpy.testing.assert_array_equal(aruco_detector.camera.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.assertIsNone(numpy.testing.assert_array_equal(aruco_detector.camera.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_dictionary = ArUcoMarkersDictionary.ArUcoMarkersDictionary('DICT_ARUCO_ORIGINAL')
-        aruco_camera = ArUcoCamera.ArUcoCamera()
-        aruco_detector = ArUcoDetector.ArUcoDetector(aruco_dictionary, 3, aruco_camera)
+        aruco_detector = ArUcoDetector.ArUcoDetector(marker_size=3)
 
         # Load picture Full HD to test ArUcoMarker detection
         current_directory = os.path.dirname(os.path.abspath(__file__))
         frame = cv.imread(os.path.join(current_directory, 'utils/full_hd_marker.png'))
 
         # Check ArUcoMarker detection
-        aruco_detector.detect(frame)
+        aruco_detector.detect_markers(frame)
 
         self.assertEqual(aruco_detector.detected_markers_number, 1)
 
-        self.assertEqual(aruco_detector.detected_markers[0].dictionary, aruco_dictionary)
+        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)
 
@@ -72,9 +87,12 @@ class TestArUcoDetectorClass(unittest.TestCase):
         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([math.pi, 0., 0.]), decimal=3))
+        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
@@ -84,10 +102,8 @@ class TestArUcoDetectorClass(unittest.TestCase):
     def test_detect_board(self):
         """Test detect board method."""
 
-        aruco_dictionary = ArUcoMarkersDictionary.ArUcoMarkersDictionary('DICT_ARUCO_ORIGINAL')
-        aruco_board = ArUcoBoard.ArUcoBoard(aruco_dictionary, 7, 5, 5, 3)
-        aruco_camera = ArUcoCamera.ArUcoCamera()
-        aruco_detector = ArUcoDetector.ArUcoDetector(aruco_dictionary, 3, aruco_camera)
+        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__))
diff --git a/src/argaze.test/ArUcoMarkers/utils/detector.json b/src/argaze.test/ArUcoMarkers/utils/detector.json
new file mode 100644
index 0000000..a8350f3
--- /dev/null
+++ b/src/argaze.test/ArUcoMarkers/utils/detector.json
@@ -0,0 +1,40 @@
+{
+    "dictionary": "DICT_ARUCO_ORIGINAL",
+    "marker_size": 3.0,
+    "camera": {
+        "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/tracker.json b/src/argaze.test/ArUcoMarkers/utils/detector_parameters.json
index d26a3fa..d26a3fa 100644
--- a/src/argaze.test/ArUcoMarkers/utils/tracker.json
+++ b/src/argaze.test/ArUcoMarkers/utils/detector_parameters.json