Changing and testing ArUcoScene class.

2 files changed, 55 insertions, 0 deletions

diff --git a/src/argaze.test/ArUcoMarkers/ArUcoScene.py b/src/argaze.test/ArUcoMarkers/ArUcoScene.py
new file mode 100644
index 0000000..537469e
--- /dev/null
+++ b/src/argaze.test/ArUcoMarkers/ArUcoScene.py
@@ -0,0 +1,38 @@
+#!/usr/bin/env python
+
+import unittest
+import os
+import math
+
+from argaze.ArUcoMarkers import ArUcoScene
+
+import cv2 as cv
+import numpy
+
+class TestArUcoSceneClass(unittest.TestCase):
+    """Test ArUcoScene class."""
+
+    def test_new(self):
+        """Test ArUcoScene creation."""
+
+        # Edit file path
+        current_directory = os.path.dirname(os.path.abspath(__file__))
+        obj_filepath = os.path.join(current_directory, 'utils/scene.obj')
+
+        # Load file
+        aruco_scene = ArUcoScene.ArUcoScene(1, obj_filepath)
+
+         # Check ArUcoScene creation
+        self.assertEqual(len(aruco_scene.places), 2)
+        self.assertIsNone(numpy.testing.assert_array_equal(aruco_scene.identifiers, [0, 1]))
+
+        self.assertIsNone(numpy.testing.assert_array_equal(aruco_scene.places['DICT_ARUCO_ORIGINAL#0'].translation, [0.5, 0.5, 0.]))
+        self.assertIsNone(numpy.testing.assert_array_equal(aruco_scene.places['DICT_ARUCO_ORIGINAL#0'].rotation, [[1., 0., 0.], [0., 1., 0.], [0., 0., 1.]]))
+
+        self.assertIsNone(numpy.testing.assert_array_equal(aruco_scene.places['DICT_ARUCO_ORIGINAL#1'].translation, [10.5, 10.5, 0.]))
+        self.assertIsNone(numpy.testing.assert_array_equal(aruco_scene.places['DICT_ARUCO_ORIGINAL#1'].rotation, [[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/utils/scene.obj b/src/argaze.test/ArUcoMarkers/utils/scene.obj
new file mode 100644
index 0000000..51c8148
--- /dev/null
+++ b/src/argaze.test/ArUcoMarkers/utils/scene.obj
@@ -0,0 +1,17 @@
+# .OBJ file for ArUcoScene unitary test
+o DICT_ARUCO_ORIGINAL#0_Marker
+v 0.000000 0.000000 0.000000
+v 1.000000 0.000000 0.000000
+v 0.000000 1.000000 0.000000
+v 1.000000 1.000000 0.000000
+vn 0.0000 0.0000 1.0000
+s off
+f 1//1 2//1 4//1 3//1
+o DICT_ARUCO_ORIGINAL#1_Marker
+v 10.000000 10.000000 0.000000
+v 11.000000 10.000000 0.000000
+v 10.000000 11.000000 0.000000
+v 11.000000 11.000000 0.000000
+vn 0.0000 0.0000 1.0000
+s off
+f 5//2 6//2 8//2 7//2