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-rw-r--r--src/argaze.test/ArUcoMarkers/ArUcoScene.py227
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diff --git a/src/argaze.test/ArUcoMarkers/ArUcoScene.py b/src/argaze.test/ArUcoMarkers/ArUcoScene.py
deleted file mode 100644
index f29b1d3..0000000
--- a/src/argaze.test/ArUcoMarkers/ArUcoScene.py
+++ /dev/null
@@ -1,227 +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 ArUcoMarkersGroup, ArUcoMarker
-
-import cv2 as cv
-import numpy
-
-class TestArUcoMarkersGroupClass(unittest.TestCase):
-
- def new_from_obj(self):
-
- # Edit file path
- current_directory = os.path.dirname(os.path.abspath(__file__))
- obj_filepath = os.path.join(current_directory, 'utils/scene.obj')
-
- # Load file
- self.aruco_markers_group = ArUcoMarkersGroup.ArUcoMarkersGroup.from_obj(obj_filepath)
-
- def new_from_json(self):
-
- # Edit file path
- current_directory = os.path.dirname(os.path.abspath(__file__))
- json_filepath = os.path.join(current_directory, 'utils/scene.json')
-
- # Load file
- self.aruco_markers_group = ArUcoMarkersGroup.ArUcoMarkersGroup.from_json(json_filepath)
-
- def setup_markers(self):
-
- # Prepare detected markers
- self.detected_markers = {
- 0: ArUcoMarker.ArUcoMarker('DICT_ARUCO_ORIGINAL', 0, 1.),
- 1: ArUcoMarker.ArUcoMarker('DICT_ARUCO_ORIGINAL', 1, 1.),
- 2: ArUcoMarker.ArUcoMarker('DICT_ARUCO_ORIGINAL', 2, 1.),
- 3: ArUcoMarker.ArUcoMarker('DICT_ARUCO_ORIGINAL', 3, 1.)
- }
-
- # Prepare scene markers and remaining markers
- self.scene_markers, self.remaining_markers = self.aruco_markers_group.filter_markers(self.detected_markers())
-
- def test_new_from_obj(self):
- """Test ArUcoMarkersGroup creation."""
-
- self.new_from_obj()
- self.setup_markers()
-
- # Check ArUcoMarkersGroup creation
- self.assertEqual(len(self.aruco_markers_group.places), 3)
- self.assertIsNone(numpy.testing.assert_array_equal(self.aruco_markers_group.identifiers, [0, 1, 2]))
- self.assertEqual(self.aruco_markers_group.marker_size, 1.)
-
- self.assertEqual(self.aruco_markers_group.places[0].marker.identifier, 0)
- self.assertIsNone(numpy.testing.assert_array_equal(self.aruco_markers_group.places[0].translation, [0., 0., 0.]))
- self.assertIsNone(numpy.testing.assert_array_equal(self.aruco_markers_group.places[0].rotation, [[1., 0., 0.], [0., 1., 0.], [0., 0., 1.]]))
-
- self.assertEqual(self.aruco_markers_group.places[1].marker.identifier, 1)
- self.assertIsNone(numpy.testing.assert_array_equal(self.aruco_markers_group.places[1].translation, [10., 10., 0.]))
- self.assertIsNone(numpy.testing.assert_array_equal(self.aruco_markers_group.places[1].rotation, [[1., 0., 0.], [0., 1., 0.], [0., 0., 1.]]))
-
- self.assertEqual(self.aruco_markers_group.places[2].marker.identifier, 2)
- self.assertIsNone(numpy.testing.assert_array_equal(self.aruco_markers_group.places[2].translation, [0., 10., 0.]))
- self.assertIsNone(numpy.testing.assert_array_equal(self.aruco_markers_group.places[2].rotation, [[1., 0., 0.], [0., 1., 0.], [0., 0., 1.]]))
-
- def test_new_from_json(self):
- """Test ArUcoMarkersGroup creation."""
-
- self.new_from_json()
- self.setup_markers()
-
- # Check ArUcoMarkersGroup creation
- self.assertEqual(len(self.aruco_markers_group.places), 3)
- self.assertIsNone(numpy.testing.assert_array_equal(self.aruco_markers_group.identifiers, [0, 1, 2]))
- self.assertEqual(self.aruco_markers_group.marker_size, 1.)
-
- self.assertEqual(self.aruco_markers_group.places[0].marker.identifier, 0)
- self.assertIsNone(numpy.testing.assert_array_equal(self.aruco_markers_group.places[0].translation, [0., 0., 0.]))
- self.assertIsNone(numpy.testing.assert_array_equal(self.aruco_markers_group.places[0].rotation, [[1., 0., 0.], [0., 1., 0.], [0., 0., 1.]]))
-
- self.assertEqual(self.aruco_markers_group.places[1].marker.identifier, 1)
- self.assertIsNone(numpy.testing.assert_array_equal(self.aruco_markers_group.places[1].translation, [10., 10., 0.]))
- self.assertIsNone(numpy.testing.assert_array_equal(self.aruco_markers_group.places[1].rotation, [[1., 0., 0.], [0., 1., 0.], [0., 0., 1.]]))
-
- self.assertEqual(self.aruco_markers_group.places[2].marker.identifier, 2)
- self.assertIsNone(numpy.testing.assert_array_equal(self.aruco_markers_group.places[2].translation, [0., 10., 0.]))
- self.assertIsNone(numpy.testing.assert_array_equal(self.aruco_markers_group.places[2].rotation, [[1., 0., 0.], [0., 1., 0.], [0., 0., 1.]]))
-
- def test_filter_markers(self):
- """Test ArUcoMarkersGroup markers filtering."""
-
- self.new_from_obj()
- self.setup_markers()
-
- # Check scene markers and remaining markers
- self.assertEqual(len(self.scene_markers), 3)
- self.assertEqual(len(self.remaining_markers), 1)
-
- self.assertIsNone(numpy.testing.assert_array_equal(list(self.scene_markers.keys()), self.aruco_markers_group.identifiers))
- self.assertIsNone(numpy.testing.assert_array_equal(list(self.remaining_markers.keys()), [3]))
-
- def test_check_markers_consistency(self):
- """Test ArUcoMarkersGroup markers consistency checking."""
-
- self.new_from_obj()
- self.setup_markers()
-
- # Edit consistent marker poses
- self.scene_markers[0].translation = numpy.array([1., 1., 5.])
- self.scene_markers[0].rotation = numpy.array([[1., 0., 0.], [0., 1., 0.], [0., 0., 1.]])
-
- self.scene_markers[1].translation = numpy.array([11., 11., 5.])
- self.scene_markers[1].rotation = numpy.array([[1., 0., 0.], [0., 1., 0.], [0., 0., 1.]])
-
- self.scene_markers[2].translation = numpy.array([1., 11., 5.])
- self.scene_markers[2].rotation = numpy.array([[1., 0., 0.], [0., 1., 0.], [0., 0., 1.]])
-
- # Check consistency
- consistent_markers, unconsistent_markers, unconsistencies = self.aruco_markers_group.check_markers_consistency(self.scene_markers, 1, 1)
-
- # Check consistent markers, unconsistent markers and unconsistencies
- self.assertEqual(len(consistent_markers), 3)
- self.assertEqual(len(unconsistent_markers), 0)
- self.assertEqual(len(unconsistencies['rotation']), 0)
- self.assertEqual(len(unconsistencies['translation']), 0)
-
- self.assertIsNone(numpy.testing.assert_array_equal(list(consistent_markers.keys()), self.aruco_markers_group.identifiers))
-
- # Edit unconsistent marker poses
- self.scene_markers[2].translation = numpy.array([5., 15., 5.])
-
- # Check consistency
- consistent_markers, unconsistent_markers, unconsistencies = self.aruco_markers_group.check_markers_consistency(self.scene_markers, 1, 1)
-
- # Check consistent markers, unconsistent markers and unconsistencies
- self.assertEqual(len(consistent_markers), 2)
- self.assertEqual(len(unconsistent_markers), 1)
- self.assertEqual(len(unconsistencies['rotation']), 0)
- self.assertEqual(len(unconsistencies['translation']), 2)
-
- self.assertIsNone(numpy.testing.assert_array_equal(list(unconsistent_markers.keys()), [2]))
- self.assertIsNone(numpy.testing.assert_array_equal(list(unconsistencies['translation'].keys()), ['0/2', '1/2']))
- self.assertIsNone(numpy.testing.assert_array_equal(list(unconsistencies['translation']['0/2'].keys()), ['current', 'expected']))
- self.assertIsNone(numpy.testing.assert_array_equal(list(unconsistencies['translation']['1/2'].keys()), ['current', 'expected']))
-
- def test_estimate_pose_from_single_marker(self):
- """Test ArUcoMarkersGroup pose estimation from single marker."""
-
- self.new_from_obj()
- self.setup_markers()
-
- # Edit marke pose
- self.scene_markers[0].translation = numpy.array([1., 1., 5.])
- self.scene_markers[0].rotation = numpy.array([[1., 0., 0.], [0., 1., 0.], [0., 0., 1.]])
-
- # Estimate pose
- tvec, rmat = self.aruco_markers_group.estimate_pose_from_single_marker(self.scene_markers[0])
-
- self.assertIsNone(numpy.testing.assert_array_equal(tvec, [1., 1., 5.]))
- self.assertIsNone(numpy.testing.assert_array_equal(rmat, [[1., 0., 0.], [0., 1., 0.], [0., 0., 1.]]))
-
- def test_estimate_pose_from_markers(self):
- """Test ArUcoMarkersGroup pose estimation from markers."""
-
- self.new_from_obj()
- self.setup_markers()
-
- # Edit markers pose
- self.scene_markers[0].translation = numpy.array([1., 1., 5.])
- self.scene_markers[0].rotation = numpy.array([[1., 0., 0.], [0., 1., 0.], [0., 0., 1.]])
-
- self.scene_markers[1].translation = numpy.array([11., 11., 5.])
- self.scene_markers[1].rotation = numpy.array([[1., 0., 0.], [0., 1., 0.], [0., 0., 1.]])
-
- self.scene_markers[2].translation = numpy.array([1., 11., 5.])
- self.scene_markers[2].rotation = numpy.array([[1., 0., 0.], [0., 1., 0.], [0., 0., 1.]])
-
- # Estimate pose
- tvec, rmat = self.aruco_markers_group.estimate_pose_from_markers(self.scene_markers)
-
- self.assertIsNone(numpy.testing.assert_array_equal(tvec, [1., 1., 5.]))
- self.assertIsNone(numpy.testing.assert_array_equal(rmat, [[1., 0., 0.], [0., 1., 0.], [0., 0., 1.]]))
-
- @unittest.skip("ArUcoMarkersGroup estimate_pose_from_axis_markers method is broken.")
- def test_estimate_pose_from_axis_markers(self):
- """Test ArUcoMarkersGroup pose estimation from axis markers."""
-
- self.new_from_obj()
- self.setup_markers()
-
- # Edit markers pose
- self.scene_markers[0].translation = numpy.array([1., 1., 5.])
- self.scene_markers[0].rotation = numpy.array([[1., 0., 0.], [0., 1., 0.], [0., 0., 1.]])
-
- self.scene_markers[1].translation = numpy.array([11., 11., 5.])
- self.scene_markers[1].rotation = numpy.array([[1., 0., 0.], [0., 1., 0.], [0., 0., 1.]])
-
- self.scene_markers[2].translation = numpy.array([1., 11., 5.])
- self.scene_markers[2].rotation = numpy.array([[1., 0., 0.], [0., 1., 0.], [0., 0., 1.]])
-
- # Estimate pose
- tvec, rmat = self.aruco_markers_group.estimate_pose_from_axis_markers(self.scene_markers[2], self.scene_markers[1], self.scene_markers[0])
-
- self.assertIsNone(numpy.testing.assert_array_equal(tvec, [1., 1., 5.]))
- self.assertIsNone(numpy.testing.assert_array_equal(rmat, [[1., 0., 0.], [0., -1., 0.], [0., 0., -1.]]))
-
-if __name__ == '__main__':
-
- unittest.main() \ No newline at end of file
generated by cgit v1.1 at 2024-11-10 11:33:33 +0000