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-rw-r--r--src/argaze.test/ArUcoMarkers/ArUcoDetector.py149
1 files changed, 0 insertions, 149 deletions
diff --git a/src/argaze.test/ArUcoMarkers/ArUcoDetector.py b/src/argaze.test/ArUcoMarkers/ArUcoDetector.py
deleted file mode 100644
index 62e8a09..0000000
--- a/src/argaze.test/ArUcoMarkers/ArUcoDetector.py
+++ /dev/null
@@ -1,149 +0,0 @@
-"""
-
-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.ArUcoMarkers import ArUcoMarkersDictionary, 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 = ArUcoMarkersDictionary.ArUcoMarkersDictionary('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() \ No newline at end of file
generated by cgit v1.1 at 2024-09-02 06:58:56 +0000