diff options
Diffstat (limited to 'src/argaze.test/ArUcoMarkers/ArUcoDetector.py')
| -rw-r--r-- | src/argaze.test/ArUcoMarkers/ArUcoDetector.py | 105 |
1 files changed, 105 insertions, 0 deletions
diff --git a/src/argaze.test/ArUcoMarkers/ArUcoDetector.py b/src/argaze.test/ArUcoMarkers/ArUcoDetector.py new file mode 100644 index 0000000..ab29024 --- /dev/null +++ b/src/argaze.test/ArUcoMarkers/ArUcoDetector.py @@ -0,0 +1,105 @@ +#!/usr/bin/env python + +import unittest +import os +import math + +from argaze.ArUcoMarkers import ArUcoMarkersDictionary, ArUcoCamera, ArUcoDetector, ArUcoBoard + +import cv2 as cv +import numpy + +class TestDetectionParametersClass(unittest.TestCase): + """Test DetectionParameters class.""" + + def test_from_json(self): + """Test DetectionParameters creation from json file.""" + + # Edit traking data file path + current_directory = os.path.dirname(os.path.abspath(__file__)) + json_filepath = os.path.join(current_directory, 'utils/detecter.json') + + # Load project + detection_parameters = ArUcoDetector.DetectionParameters.from_json(json_filepath) + + # Check data + self.assertEqual(detection_parameters.cornerRefinementMethod, 3) + self.assertEqual(detection_parameters.aprilTagQuadSigma, 2) + self.assertEqual(detection_parameters.aprilTagDeglitch, 1) + + # Check bad data access fails + with self.assertRaises(AttributeError): + + detection_parameters.unknown_data = 1 + +class TestArUcoDetectorClass(unittest.TestCase): + """Test ArUcoDetector class.""" + + def test_new(self): + """Test ArUcoDetector creation.""" + + aruco_dictionary = ArUcoMarkersDictionary.ArUcoMarkersDictionary('DICT_ARUCO_ORIGINAL') + aruco_camera = ArUcoCamera.ArUcoCamera() + aruco_detector = ArUcoDetector.ArUcoDetector(aruco_dictionary, 3, aruco_camera) + + # Check ArUcoDetector creation + self.assertEqual(aruco_detector.detected_markers_number, 0) + self.assertEqual(aruco_detector.detected_markers, {}) + + def test_detect(self): + """Test detect method.""" + + aruco_dictionary = ArUcoMarkersDictionary.ArUcoMarkersDictionary('DICT_ARUCO_ORIGINAL') + aruco_camera = ArUcoCamera.ArUcoCamera() + aruco_detector = ArUcoDetector.ArUcoDetector(aruco_dictionary, 3, aruco_camera) + + # Load picture Full HD to test ArUcoMarker detection + current_directory = os.path.dirname(os.path.abspath(__file__)) + frame = cv.imread(os.path.join(current_directory, 'utils/full_hd_marker.png')) + + # Check ArUcoMarker detection + aruco_detector.detect(frame) + + self.assertEqual(aruco_detector.detected_markers_number, 1) + + self.assertEqual(aruco_detector.detected_markers[0].dictionary, aruco_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 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([math.pi, 0., 0.]), 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_dictionary = ArUcoMarkersDictionary.ArUcoMarkersDictionary('DICT_ARUCO_ORIGINAL') + aruco_board = ArUcoBoard.ArUcoBoard(aruco_dictionary, 7, 5, 5, 3) + aruco_camera = ArUcoCamera.ArUcoCamera() + aruco_detector = ArUcoDetector.ArUcoDetector(aruco_dictionary, 3, aruco_camera) + + # Load picture Full HD to test ArUcoMarker board detection + current_directory = os.path.dirname(os.path.abspath(__file__)) + frame = cv.imread(os.path.join(current_directory, 'utils/full_hd_board.png')) + + # Check ArUcoMarker board detection + aruco_detector.detect_board(frame, 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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