diff options
| -rw-r--r-- | src/argaze.test/ArUcoMarkers/ArUcoScene.py | 38 | ||||
| -rw-r--r-- | src/argaze.test/ArUcoMarkers/utils/scene.obj | 17 | ||||
| -rw-r--r-- | src/argaze/ArUcoMarkers/ArUcoScene.py | 20 |
3 files changed, 72 insertions, 3 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 diff --git a/src/argaze/ArUcoMarkers/ArUcoScene.py b/src/argaze/ArUcoMarkers/ArUcoScene.py index 63aa136..795bfe4 100644 --- a/src/argaze/ArUcoMarkers/ArUcoScene.py +++ b/src/argaze/ArUcoMarkers/ArUcoScene.py @@ -38,14 +38,28 @@ class Place(): class ArUcoScene(): """Handle group of ArUco markers as one unique spatial entity and estimate its pose.""" - def __init__(self, dictionary: ArUcoMarkersDictionary.ArUcoMarkersDictionary, marker_size: float, data_places: dict | str = None): + def __init__(self, marker_size: float, places: dict | str, dictionary: ArUcoMarkersDictionary.ArUcoMarkersDictionary = None): """Define scene attributes.""" - self.__dictionary = dictionary + # Init expected marker size self.__marker_size = marker_size + # Handle dictionary str or instance + if dictionary != None: + + if type(dictionary) == str: + self.__dictionary = ArUcoMarkersDictionary.ArUcoMarkersDictionary(dictionary) + elif isinstance(dictionary, ArUcoMarkersDictionary.ArUcoMarkersDictionary): + self.__dictionary = dictionary + else: + raise ValueError(f'dictionary: {dictionary}') + + else: + + self.__dictionary = ArUcoMarkersDictionary.ArUcoMarkersDictionary() + # NEVER USE {} as default function argument - self.places = data_places + self.places = places @property def places(self) -> dict: |