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Diffstat (limited to 'src/argaze.test/ArUcoMarkers/ArUcoTracker.py')
| -rw-r--r-- | src/argaze.test/ArUcoMarkers/ArUcoTracker.py | 105 |
1 files changed, 0 insertions, 105 deletions
diff --git a/src/argaze.test/ArUcoMarkers/ArUcoTracker.py b/src/argaze.test/ArUcoMarkers/ArUcoTracker.py deleted file mode 100644 index 87373ea..0000000 --- a/src/argaze.test/ArUcoMarkers/ArUcoTracker.py +++ /dev/null @@ -1,105 +0,0 @@ -#!/usr/bin/env python - -import unittest -import os -import math - -from argaze.ArUcoMarkers import ArUcoMarkersDictionary, ArUcoCamera, ArUcoTracker, ArUcoBoard - -import cv2 as cv -import numpy - -class TestTrackingDataClass(unittest.TestCase): - """Test TrackingData class.""" - - def test_from_json(self): - """Test TrackingData 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/tracker.json') - - # Load project - tracking_data = ArUcoTracker.TrackingData.from_json(json_filepath) - - # Check data - self.assertEqual(tracking_data.cornerRefinementMethod, 3) - self.assertEqual(tracking_data.aprilTagQuadSigma, 2) - self.assertEqual(tracking_data.aprilTagDeglitch, 1) - - # Check bad data access fails - with self.assertRaises(AttributeError): - - tracking_data.unknown_data = 1 - -class TestArUcoTrackerClass(unittest.TestCase): - """Test ArUcoTracker class.""" - - def test_new(self): - """Test ArUcoTracker creation.""" - - aruco_dictionary = ArUcoMarkersDictionary.ArUcoMarkersDictionary('DICT_ARUCO_ORIGINAL') - aruco_camera = ArUcoCamera.ArUcoCamera() - aruco_tracker = ArUcoTracker.ArUcoTracker(aruco_dictionary, 3, aruco_camera) - - # Check ArUcoTracker creation - self.assertEqual(aruco_tracker.tracked_markers_number, 0) - self.assertEqual(aruco_tracker.tracked_markers, {}) - - def test_track(self): - """Test track method.""" - - aruco_dictionary = ArUcoMarkersDictionary.ArUcoMarkersDictionary('DICT_ARUCO_ORIGINAL') - aruco_camera = ArUcoCamera.ArUcoCamera() - aruco_tracker = ArUcoTracker.ArUcoTracker(aruco_dictionary, 3, aruco_camera) - - # Load picture Full HD to test ArUcoMarker tracking - current_directory = os.path.dirname(os.path.abspath(__file__)) - frame = cv.imread(os.path.join(current_directory, 'utils/full_hd_marker.png')) - - # Check ArUcoMarker tracking - aruco_tracker.track(frame) - - self.assertEqual(aruco_tracker.tracked_markers_number, 1) - - self.assertEqual(aruco_tracker.tracked_markers[0].dictionary, aruco_dictionary) - self.assertEqual(aruco_tracker.tracked_markers[0].identifier, 0) - self.assertEqual(aruco_tracker.tracked_markers[0].size, 3) - - # Check corner positions with -/+ 10 pixels precision - self.assertIsNone(numpy.testing.assert_almost_equal(aruco_tracker.tracked_markers[0].corners[0][0].astype(int), numpy.array([3823, 2073]), decimal=-1)) - self.assertIsNone(numpy.testing.assert_almost_equal(aruco_tracker.tracked_markers[0].corners[0][1].astype(int), numpy.array([4177, 2073]), decimal=-1)) - self.assertIsNone(numpy.testing.assert_almost_equal(aruco_tracker.tracked_markers[0].corners[0][2].astype(int), numpy.array([4177, 2427]), decimal=-1)) - self.assertIsNone(numpy.testing.assert_almost_equal(aruco_tracker.tracked_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_tracker.tracked_markers[0].translation, numpy.array([33.87, 19.05, 0.]), decimal=1)) - self.assertIsNone(numpy.testing.assert_almost_equal(aruco_tracker.tracked_markers[0].rotation, numpy.array([math.pi, 0., 0.]), decimal=3)) - - # Check track metrics - track_count, markers_count = aruco_tracker.track_metrics - self.assertEqual(track_count, 1) - self.assertEqual(markers_count[0], 1) - - def test_track_board(self): - """Test track board method.""" - - aruco_dictionary = ArUcoMarkersDictionary.ArUcoMarkersDictionary('DICT_ARUCO_ORIGINAL') - aruco_board = ArUcoBoard.ArUcoBoard(aruco_dictionary, 7, 5, 5, 3) - aruco_camera = ArUcoCamera.ArUcoCamera() - aruco_tracker = ArUcoTracker.ArUcoTracker(aruco_dictionary, 3, aruco_camera) - - # Load picture Full HD to test ArUcoMarker board tracking - 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 tracking - aruco_tracker.track_board(frame, aruco_board, aruco_board.markers_number) - - self.assertEqual(aruco_tracker.board_corners_number, aruco_board.corners_number) - self.assertEqual(len(aruco_tracker.board_corners), 24) - self.assertEqual(len(aruco_tracker.board_corners_identifier), 24) - -if __name__ == '__main__': - - unittest.main()
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