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Diffstat (limited to 'src/argaze.test/ArFeatures.py')
| -rw-r--r-- | src/argaze.test/ArFeatures.py | 67 |
1 files changed, 67 insertions, 0 deletions
diff --git a/src/argaze.test/ArFeatures.py b/src/argaze.test/ArFeatures.py new file mode 100644 index 0000000..8e7ff49 --- /dev/null +++ b/src/argaze.test/ArFeatures.py @@ -0,0 +1,67 @@ +#!/usr/bin/env python + +import unittest +import os + +from argaze import ArFeatures + +import numpy + +class TestArEnvironmentClass(unittest.TestCase): + """Test ArEnvironment class.""" + + def test_from_json(self): + """Test ArEnvironment creation from json file.""" + + # Edit test environment file path + current_directory = os.path.dirname(os.path.abspath(__file__)) + json_filepath = os.path.join(current_directory, 'utils/environment.json') + + # Load test environment + ar_environment = ArFeatures.ArEnvironment.from_json(json_filepath) + + # Check environment meta data + self.assertEqual(ar_environment.name, "TestEnvironment") + + # Check ArUco detector + self.assertEqual(ar_environment.aruco_detector.dictionary.name, "DICT_ARUCO_ORIGINAL") + self.assertEqual(ar_environment.aruco_detector.marker_size, 3.0) + self.assertEqual(ar_environment.aruco_detector.parameters.cornerRefinementMethod, 3) + self.assertEqual(ar_environment.aruco_detector.parameters.aprilTagQuadSigma, 2) + self.assertEqual(ar_environment.aruco_detector.parameters.aprilTagDeglitch, 1) + + # Check ArUco detector camera + self.assertEqual(ar_environment.aruco_detector.camera.rms, 1.0) + self.assertIsNone(numpy.testing.assert_array_equal(ar_environment.aruco_detector.camera.dimensions, [1920, 1080])) + self.assertIsNone(numpy.testing.assert_array_equal(ar_environment.aruco_detector.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(ar_environment.aruco_detector.camera.D, [-1.0, -0.5, 0.0, 0.5, 1.0])) + + # Check environment scenes + self.assertEqual(len(ar_environment.scenes), 1) + self.assertIsNone(numpy.testing.assert_array_equal(list(ar_environment.scenes.keys()), ["TestScene"])) + + # Load test scene + ar_scene = ar_environment.scenes["TestScene"] + + # Check Aruco scene + self.assertEqual(len(ar_scene.aruco_scene.places), 2) + self.assertIsNone(numpy.testing.assert_array_equal(ar_scene.aruco_scene.places['A'].translation, [1, 0, 0])) + self.assertIsNone(numpy.testing.assert_array_equal(ar_scene.aruco_scene.places['A'].rotation, [[1.,0.,0.],[0.,1.,0.],[0.,0.,1.]])) + self.assertEqual(ar_scene.aruco_scene.places['A'].marker.identifier, 0) + + self.assertIsNone(numpy.testing.assert_array_equal(ar_scene.aruco_scene.places['B'].translation, [0, 1, 0])) + self.assertIsNone(numpy.testing.assert_array_almost_equal(ar_scene.aruco_scene.places['B'].rotation, [[0.,0.,1.],[0., 1.,0.],[-1.,0.,0.]])) + self.assertEqual(ar_scene.aruco_scene.places['B'].marker.identifier, 1) + + # Check AOI scene + self.assertEqual(len(ar_scene.aoi_scene.items()), 1) + self.assertEqual(ar_scene.aoi_scene['Test'].size, 4) + + # Check ArScene + self.assertEqual(ar_scene.angle_tolerance, 1.0) + self.assertEqual(ar_scene.distance_tolerance, 2.0) + + +if __name__ == '__main__': + + unittest.main()
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