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Diffstat (limited to 'src/argaze.test/ArUcoMarker/ArUcoDetector.py')
| -rw-r--r-- | src/argaze.test/ArUcoMarker/ArUcoDetector.py | 149 |
1 files changed, 149 insertions, 0 deletions
diff --git a/src/argaze.test/ArUcoMarker/ArUcoDetector.py b/src/argaze.test/ArUcoMarker/ArUcoDetector.py new file mode 100644 index 0000000..40b7d00 --- /dev/null +++ b/src/argaze.test/ArUcoMarker/ArUcoDetector.py @@ -0,0 +1,149 @@ +""" + +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.ArUcoMarker import ArUcoMarkerDictionary, 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 = ArUcoMarkerDictionary.ArUcoMarkerDictionary('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()
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