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Diffstat (limited to 'src/argaze.test/ArUcoMarkers/ArUcoTracker.py')
| -rw-r--r-- | src/argaze.test/ArUcoMarkers/ArUcoTracker.py | 63 |
1 files changed, 63 insertions, 0 deletions
diff --git a/src/argaze.test/ArUcoMarkers/ArUcoTracker.py b/src/argaze.test/ArUcoMarkers/ArUcoTracker.py new file mode 100644 index 0000000..67bbef9 --- /dev/null +++ b/src/argaze.test/ArUcoMarkers/ArUcoTracker.py @@ -0,0 +1,63 @@ +#!/usr/bin/env python + +import unittest +import os +import math + +from argaze.ArUcoMarkers import ArUcoMarkersDictionary, ArUcoCamera, ArUcoTracker + +import cv2 as cv +import numpy + +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.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) + +if __name__ == '__main__': + + unittest.main()
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