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Diffstat (limited to 'src/argaze.test/ArUcoMarkers/ArUcoCamera.py')
| -rw-r--r-- | src/argaze.test/ArUcoMarkers/ArUcoCamera.py | 74 |
1 files changed, 74 insertions, 0 deletions
diff --git a/src/argaze.test/ArUcoMarkers/ArUcoCamera.py b/src/argaze.test/ArUcoMarkers/ArUcoCamera.py new file mode 100644 index 0000000..6145f40 --- /dev/null +++ b/src/argaze.test/ArUcoMarkers/ArUcoCamera.py @@ -0,0 +1,74 @@ +#!/usr/bin/env python + +""" """ + +__author__ = "Théo de la Hogue" +__credits__ = [] +__copyright__ = "Copyright 2023, Ecole Nationale de l'Aviation Civile (ENAC)" +__license__ = "BSD" + +import unittest +import os + +from argaze.ArUcoMarkers import ArUcoCamera + +import numpy + +class TestArUcoCameraClass(unittest.TestCase): + """Test ArUcoCamera class.""" + + def test_from_json(self): + """Test ArUcoCamera creation from json file.""" + + # Edit test aruco camera file path + current_directory = os.path.dirname(os.path.abspath(__file__)) + json_filepath = os.path.join(current_directory, 'utils/aruco_camera.json') + + # Load test aruco camera + aruco_camera = ArUcoCamera.ArUcoCamera.from_json(json_filepath) + + # Check aruco camera meta data + self.assertEqual(aruco_camera.name, "TestArUcoCamera") + + # Check ArUco detector + self.assertEqual(aruco_camera.aruco_detector.dictionary.name, "DICT_ARUCO_ORIGINAL") + self.assertEqual(aruco_camera.aruco_detector.marker_size, 3.0) + self.assertEqual(aruco_camera.aruco_detector.parameters.cornerRefinementMethod, 3) + self.assertEqual(aruco_camera.aruco_detector.parameters.aprilTagQuadSigma, 2) + self.assertEqual(aruco_camera.aruco_detector.parameters.aprilTagDeglitch, 1) + + # Check ArUco detector optic parameters + self.assertEqual(aruco_camera.aruco_detector.optic_parameters.rms, 1.0) + self.assertIsNone(numpy.testing.assert_array_equal(aruco_camera.aruco_detector.optic_parameters.dimensions, [1920, 1080])) + self.assertIsNone(numpy.testing.assert_array_equal(aruco_camera.aruco_detector.optic_parameters.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(aruco_camera.aruco_detector.optic_parameters.D, [-1.0, -0.5, 0.0, 0.5, 1.0])) + + # Check camera scenes + self.assertEqual(len(aruco_camera.scenes), 2) + self.assertIsNone(numpy.testing.assert_array_equal(list(aruco_camera.scenes.keys()), ["TestSceneA", "TestSceneB"])) + + # Load test scene + ar_scene = aruco_camera.scenes["TestSceneA"] + + # Check Aruco scene + self.assertEqual(len(ar_scene.aruco_markers_group.places), 2) + self.assertIsNone(numpy.testing.assert_array_equal(ar_scene.aruco_markers_group.places[0].translation, [1, 0, 0])) + self.assertIsNone(numpy.testing.assert_array_equal(ar_scene.aruco_markers_group.places[0].rotation, [[1.,0.,0.],[0.,1.,0.],[0.,0.,1.]])) + self.assertEqual(ar_scene.aruco_markers_group.places[0].marker.identifier, 0) + + self.assertIsNone(numpy.testing.assert_array_equal(ar_scene.aruco_markers_group.places[1].translation, [0, 1, 0])) + self.assertIsNone(numpy.testing.assert_array_almost_equal(ar_scene.aruco_markers_group.places[1].rotation, [[0.,0.,1.],[0., 1.,0.],[-1.,0.,0.]])) + self.assertEqual(ar_scene.aruco_markers_group.places[1].marker.identifier, 1) + + # Check AOI scene + self.assertEqual(len(ar_scene.aoi_scene.items()), 1) + self.assertEqual(ar_scene.aoi_scene['Test'].points_number, 4) + self.assertIsNone(numpy.testing.assert_array_equal(ar_scene.aoi_scene['Test'].size, [1., 1., 0.])) + + # 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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