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-rw-r--r--src/argaze.test/ArUcoMarkers/ArUcoCamera.py83
-rw-r--r--src/argaze.test/ArUcoMarkers/utils/aoi_3d.obj7
-rw-r--r--src/argaze.test/ArUcoMarkers/utils/aruco_camera.json39
3 files changed, 71 insertions, 58 deletions
diff --git a/src/argaze.test/ArUcoMarkers/ArUcoCamera.py b/src/argaze.test/ArUcoMarkers/ArUcoCamera.py
index 6145f40..a3c5943 100644
--- a/src/argaze.test/ArUcoMarkers/ArUcoCamera.py
+++ b/src/argaze.test/ArUcoMarkers/ArUcoCamera.py
@@ -25,49 +25,46 @@ class TestArUcoCameraClass(unittest.TestCase):
json_filepath = os.path.join(current_directory, 'utils/aruco_camera.json')
# Load test aruco camera
- aruco_camera = ArUcoCamera.ArUcoCamera.from_json(json_filepath)
-
- # Check aruco camera meta data
- self.assertEqual(aruco_camera.name, "TestArUcoCamera")
-
- # Check ArUco detector
- self.assertEqual(aruco_camera.aruco_detector.dictionary.name, "DICT_ARUCO_ORIGINAL")
- self.assertEqual(aruco_camera.aruco_detector.marker_size, 3.0)
- self.assertEqual(aruco_camera.aruco_detector.parameters.cornerRefinementMethod, 3)
- self.assertEqual(aruco_camera.aruco_detector.parameters.aprilTagQuadSigma, 2)
- self.assertEqual(aruco_camera.aruco_detector.parameters.aprilTagDeglitch, 1)
-
- # Check ArUco detector optic parameters
- self.assertEqual(aruco_camera.aruco_detector.optic_parameters.rms, 1.0)
- self.assertIsNone(numpy.testing.assert_array_equal(aruco_camera.aruco_detector.optic_parameters.dimensions, [1920, 1080]))
- self.assertIsNone(numpy.testing.assert_array_equal(aruco_camera.aruco_detector.optic_parameters.K, [[1.0, 0.0, 1.0], [0.0, 1.0, 1.0], [0.0, 0.0, 1.0]]))
- self.assertIsNone(numpy.testing.assert_array_equal(aruco_camera.aruco_detector.optic_parameters.D, [-1.0, -0.5, 0.0, 0.5, 1.0]))
-
- # Check camera scenes
- self.assertEqual(len(aruco_camera.scenes), 2)
- self.assertIsNone(numpy.testing.assert_array_equal(list(aruco_camera.scenes.keys()), ["TestSceneA", "TestSceneB"]))
-
- # Load test scene
- ar_scene = aruco_camera.scenes["TestSceneA"]
-
- # Check Aruco scene
- self.assertEqual(len(ar_scene.aruco_markers_group.places), 2)
- self.assertIsNone(numpy.testing.assert_array_equal(ar_scene.aruco_markers_group.places[0].translation, [1, 0, 0]))
- self.assertIsNone(numpy.testing.assert_array_equal(ar_scene.aruco_markers_group.places[0].rotation, [[1.,0.,0.],[0.,1.,0.],[0.,0.,1.]]))
- self.assertEqual(ar_scene.aruco_markers_group.places[0].marker.identifier, 0)
-
- self.assertIsNone(numpy.testing.assert_array_equal(ar_scene.aruco_markers_group.places[1].translation, [0, 1, 0]))
- self.assertIsNone(numpy.testing.assert_array_almost_equal(ar_scene.aruco_markers_group.places[1].rotation, [[0.,0.,1.],[0., 1.,0.],[-1.,0.,0.]]))
- self.assertEqual(ar_scene.aruco_markers_group.places[1].marker.identifier, 1)
-
- # Check AOI scene
- self.assertEqual(len(ar_scene.aoi_scene.items()), 1)
- self.assertEqual(ar_scene.aoi_scene['Test'].points_number, 4)
- self.assertIsNone(numpy.testing.assert_array_equal(ar_scene.aoi_scene['Test'].size, [1., 1., 0.]))
-
- # Check ArScene
- self.assertEqual(ar_scene.angle_tolerance, 1.0)
- self.assertEqual(ar_scene.distance_tolerance, 2.0)
+ with ArUcoCamera.ArUcoCamera.from_json(json_filepath) as aruco_camera:
+
+ # Check aruco camera meta data
+ self.assertEqual(aruco_camera.name, "TestArUcoCamera")
+
+ # Check ArUco detector
+ self.assertEqual(aruco_camera.aruco_detector.dictionary.name, "DICT_ARUCO_ORIGINAL")
+ self.assertEqual(aruco_camera.aruco_detector.parameters.cornerRefinementMethod, 3)
+ self.assertEqual(aruco_camera.aruco_detector.parameters.aprilTagQuadSigma, 2)
+ self.assertEqual(aruco_camera.aruco_detector.parameters.aprilTagDeglitch, 1)
+
+ # Check ArUco detector optic parameters
+ self.assertEqual(aruco_camera.aruco_detector.optic_parameters.rms, 1.0)
+ self.assertIsNone(numpy.testing.assert_array_equal(aruco_camera.aruco_detector.optic_parameters.dimensions, [1920, 1080]))
+ self.assertIsNone(numpy.testing.assert_array_equal(aruco_camera.aruco_detector.optic_parameters.K, [[1.0, 0.0, 1.0], [0.0, 1.0, 1.0], [0.0, 0.0, 1.0]]))
+ self.assertIsNone(numpy.testing.assert_array_equal(aruco_camera.aruco_detector.optic_parameters.D, [-1.0, -0.5, 0.0, 0.5, 1.0]))
+
+ # Check camera scenes
+ self.assertEqual(len(aruco_camera.scenes), 2)
+ self.assertIsNone(numpy.testing.assert_array_equal(list(aruco_camera.scenes.keys()), ["TestSceneA", "TestSceneB"]))
+
+ # Load test scene
+ ar_scene = aruco_camera.scenes["TestSceneA"]
+
+ # Check Aruco scene
+ self.assertEqual(len(ar_scene.aruco_markers_group.places), 2)
+ self.assertIsNone(numpy.testing.assert_allclose(ar_scene.aruco_markers_group.places[0].corners[0], [-0.5, 1.5, 0.], rtol=0, atol=1e-3))
+ self.assertEqual(ar_scene.aruco_markers_group.places[0].marker.identifier, 0)
+
+ self.assertIsNone(numpy.testing.assert_allclose(ar_scene.aruco_markers_group.places[1].corners[0], [0., 2.5, -1.5], rtol=0, atol=1e-3))
+ self.assertEqual(ar_scene.aruco_markers_group.places[1].marker.identifier, 1)
+
+ # Check layers and AOI scene
+ self.assertEqual(len(ar_scene.layers.items()), 1)
+ self.assertEqual(len(ar_scene.layers["Main"].aoi_scene), 1)
+ self.assertEqual(ar_scene.layers["Main"].aoi_scene['Test'].points_number, 4)
+
+ # Check ArScene
+ self.assertEqual(ar_scene.angle_tolerance, 1.0)
+ self.assertEqual(ar_scene.distance_tolerance, 2.0)
if __name__ == '__main__':
diff --git a/src/argaze.test/ArUcoMarkers/utils/aoi_3d.obj b/src/argaze.test/ArUcoMarkers/utils/aoi_3d.obj
new file mode 100644
index 0000000..92e85bd
--- /dev/null
+++ b/src/argaze.test/ArUcoMarkers/utils/aoi_3d.obj
@@ -0,0 +1,7 @@
+o Test
+v 0.000000 0.000000 0.000000
+v 25.000000 0.000000 0.000000
+v 0.000000 14.960000 0.000000
+v 25.000000 14.960000 0.000000
+s off
+f 1 2 4 3
diff --git a/src/argaze.test/ArUcoMarkers/utils/aruco_camera.json b/src/argaze.test/ArUcoMarkers/utils/aruco_camera.json
index 7648916..980dc9f 100644
--- a/src/argaze.test/ArUcoMarkers/utils/aruco_camera.json
+++ b/src/argaze.test/ArUcoMarkers/utils/aruco_camera.json
@@ -1,10 +1,10 @@
{
"name": "TestArUcoCamera",
+ "size": [1920, 1080],
"aruco_detector": {
"dictionary": {
"name": "DICT_ARUCO_ORIGINAL"
},
- "marker_size": 3.0,
"optic_parameters": {
"rms": 1.0,
"dimensions": [
@@ -45,45 +45,54 @@
"scenes": {
"TestSceneA" : {
"aruco_markers_group": {
- "marker_size": 3.0,
- "dictionary": {
- "name": "DICT_ARUCO_ORIGINAL"
- },
+ "dictionary": "DICT_ARUCO_ORIGINAL",
"places": {
"0": {
"translation": [1, 0, 0],
- "rotation": [0, 0, 0]
+ "rotation": [0, 0, 0],
+ "size": 3.0
},
"1": {
"translation": [0, 1, 0],
- "rotation": [0, 90, 0]
+ "rotation": [0, 90, 0],
+ "size": 3.0
}
}
},
- "aoi_scene": "aoi.obj",
+ "layers": {
+ "Main" : {
+ "aoi_scene": "aoi_3d.obj"
+ }
+ },
"angle_tolerance": 1.0,
"distance_tolerance": 2.0
},
"TestSceneB" : {
"aruco_markers_group": {
- "marker_size": 3.0,
- "dictionary": {
- "name": "DICT_ARUCO_ORIGINAL"
- },
+ "dictionary": "DICT_ARUCO_ORIGINAL",
"places": {
"0": {
"translation": [1, 0, 0],
- "rotation": [0, 0, 0]
+ "rotation": [0, 0, 0],
+ "size": 3.0
},
"1": {
"translation": [0, 1, 0],
- "rotation": [0, 90, 0]
+ "rotation": [0, 90, 0],
+ "size": 3.0
}
}
},
- "aoi_scene": "aoi.obj",
+ "layers": {
+ "Main" : {
+ "aoi_scene": "aoi_3d.obj"
+ }
+ },
"angle_tolerance": 1.0,
"distance_tolerance": 2.0
}
+ },
+ "layers": {
+ "Main": {}
}
} \ No newline at end of file
generated by cgit v1.1 at 2024-11-10 01:54:37 +0000