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-rw-r--r--src/argaze.test/ArFeatures.py67
-rw-r--r--src/argaze.test/ArScene.py59
-rw-r--r--src/argaze.test/utils/environment.json60
-rw-r--r--src/argaze.test/utils/scene.json56
-rw-r--r--src/argaze/ArFeatures.py32
5 files changed, 142 insertions, 132 deletions
diff --git a/src/argaze.test/ArFeatures.py b/src/argaze.test/ArFeatures.py
new file mode 100644
index 0000000..8e7ff49
--- /dev/null
+++ b/src/argaze.test/ArFeatures.py
@@ -0,0 +1,67 @@
+#!/usr/bin/env python
+
+import unittest
+import os
+
+from argaze import ArFeatures
+
+import numpy
+
+class TestArEnvironmentClass(unittest.TestCase):
+ """Test ArEnvironment class."""
+
+ def test_from_json(self):
+ """Test ArEnvironment creation from json file."""
+
+ # Edit test environment file path
+ current_directory = os.path.dirname(os.path.abspath(__file__))
+ json_filepath = os.path.join(current_directory, 'utils/environment.json')
+
+ # Load test environment
+ ar_environment = ArFeatures.ArEnvironment.from_json(json_filepath)
+
+ # Check environment meta data
+ self.assertEqual(ar_environment.name, "TestEnvironment")
+
+ # Check ArUco detector
+ self.assertEqual(ar_environment.aruco_detector.dictionary.name, "DICT_ARUCO_ORIGINAL")
+ self.assertEqual(ar_environment.aruco_detector.marker_size, 3.0)
+ self.assertEqual(ar_environment.aruco_detector.parameters.cornerRefinementMethod, 3)
+ self.assertEqual(ar_environment.aruco_detector.parameters.aprilTagQuadSigma, 2)
+ self.assertEqual(ar_environment.aruco_detector.parameters.aprilTagDeglitch, 1)
+
+ # Check ArUco detector camera
+ self.assertEqual(ar_environment.aruco_detector.camera.rms, 1.0)
+ self.assertIsNone(numpy.testing.assert_array_equal(ar_environment.aruco_detector.camera.dimensions, [1920, 1080]))
+ self.assertIsNone(numpy.testing.assert_array_equal(ar_environment.aruco_detector.camera.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(ar_environment.aruco_detector.camera.D, [-1.0, -0.5, 0.0, 0.5, 1.0]))
+
+ # Check environment scenes
+ self.assertEqual(len(ar_environment.scenes), 1)
+ self.assertIsNone(numpy.testing.assert_array_equal(list(ar_environment.scenes.keys()), ["TestScene"]))
+
+ # Load test scene
+ ar_scene = ar_environment.scenes["TestScene"]
+
+ # Check Aruco scene
+ self.assertEqual(len(ar_scene.aruco_scene.places), 2)
+ self.assertIsNone(numpy.testing.assert_array_equal(ar_scene.aruco_scene.places['A'].translation, [1, 0, 0]))
+ self.assertIsNone(numpy.testing.assert_array_equal(ar_scene.aruco_scene.places['A'].rotation, [[1.,0.,0.],[0.,1.,0.],[0.,0.,1.]]))
+ self.assertEqual(ar_scene.aruco_scene.places['A'].marker.identifier, 0)
+
+ self.assertIsNone(numpy.testing.assert_array_equal(ar_scene.aruco_scene.places['B'].translation, [0, 1, 0]))
+ self.assertIsNone(numpy.testing.assert_array_almost_equal(ar_scene.aruco_scene.places['B'].rotation, [[0.,0.,1.],[0., 1.,0.],[-1.,0.,0.]]))
+ self.assertEqual(ar_scene.aruco_scene.places['B'].marker.identifier, 1)
+
+ # Check AOI scene
+ self.assertEqual(len(ar_scene.aoi_scene.items()), 1)
+ self.assertEqual(ar_scene.aoi_scene['Test'].size, 4)
+
+ # Check ArScene
+ self.assertEqual(ar_scene.angle_tolerance, 1.0)
+ self.assertEqual(ar_scene.distance_tolerance, 2.0)
+
+
+if __name__ == '__main__':
+
+ unittest.main() \ No newline at end of file
diff --git a/src/argaze.test/ArScene.py b/src/argaze.test/ArScene.py
deleted file mode 100644
index 5180c12..0000000
--- a/src/argaze.test/ArScene.py
+++ /dev/null
@@ -1,59 +0,0 @@
-#!/usr/bin/env python
-
-import unittest
-import os
-
-from argaze import ArScene
-
-import numpy
-
-class TestArSceneClass(unittest.TestCase):
- """Test ArScene class."""
-
- def test_from_json(self):
- """Test ArScene creation from json file."""
-
- # Edit scene file path
- current_directory = os.path.dirname(os.path.abspath(__file__))
- json_filepath = os.path.join(current_directory, 'utils/scene.json')
-
- # Load scene
- ar_scene = ArScene.ArScene.from_json(json_filepath)
-
- # Check scene meta data
- self.assertEqual(ar_scene.name, "TestScene")
- self.assertEqual(ar_scene.aruco_dictionary.name, "DICT_ARUCO_ORIGINAL")
- self.assertEqual(ar_scene.aruco_marker_size, 3.0)
-
- # Check ArUco camera
- self.assertEqual(ar_scene.aruco_camera.rms, 1.0)
- self.assertIsNone(numpy.testing.assert_array_equal(ar_scene.aruco_camera.dimensions, [1920, 1080]))
- self.assertIsNone(numpy.testing.assert_array_equal(ar_scene.aruco_camera.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(ar_scene.aruco_camera.D, [-1.0, -0.5, 0.0, 0.5, 1.0]))
-
- # Check ArUco detecter
- self.assertEqual(ar_scene.aruco_detector.detection_parameters.cornerRefinementMethod, 3)
- self.assertEqual(ar_scene.aruco_detector.detection_parameters.aprilTagQuadSigma, 2)
- self.assertEqual(ar_scene.aruco_detector.detection_parameters.aprilTagDeglitch, 1)
-
- # Check ArUco scene
- self.assertEqual(ar_scene.angle_tolerance, 1.0)
- self.assertEqual(ar_scene.distance_tolerance, 2.0)
- self.assertEqual(len(ar_scene.aruco_scene.places), 2)
-
- # Check ArUco scene places
- self.assertIsNone(numpy.testing.assert_array_equal(ar_scene.aruco_scene.places['A'].translation, [1, 0, 0]))
- self.assertIsNone(numpy.testing.assert_array_equal(ar_scene.aruco_scene.places['A'].rotation, [[1.,0.,0.],[0.,1.,0.],[0.,0.,1.]]))
- self.assertEqual(ar_scene.aruco_scene.places['A'].marker.identifier, 0)
-
- self.assertIsNone(numpy.testing.assert_array_equal(ar_scene.aruco_scene.places['B'].translation, [0, 1, 0]))
- self.assertIsNone(numpy.testing.assert_array_almost_equal(ar_scene.aruco_scene.places['B'].rotation, [[0.,0.,1.],[0., 1.,0.],[-1.,0.,0.]]))
- self.assertEqual(ar_scene.aruco_scene.places['B'].marker.identifier, 1)
-
- # Check AOI scene
- self.assertEqual(len(ar_scene.aoi_scene.items()), 1)
- self.assertEqual(ar_scene.aoi_scene['Test'].size, 4)
-
-if __name__ == '__main__':
-
- unittest.main() \ No newline at end of file
diff --git a/src/argaze.test/utils/environment.json b/src/argaze.test/utils/environment.json
new file mode 100644
index 0000000..d5f8639
--- /dev/null
+++ b/src/argaze.test/utils/environment.json
@@ -0,0 +1,60 @@
+{
+ "name": "TestEnvironment",
+ "aruco_detector": {
+ "dictionary": "DICT_ARUCO_ORIGINAL",
+ "marker_size": 3.0,
+ "camera": {
+ "rms": 1.0,
+ "dimensions": [
+ 1920,
+ 1080
+ ],
+ "K": [
+ [
+ 1.0,
+ 0.0,
+ 1.0
+ ],
+ [
+ 0.0,
+ 1.0,
+ 1.0
+ ],
+ [
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ ],
+ "D": [
+ -1.0,
+ -0.5,
+ 0.0,
+ 0.5,
+ 1.0
+ ]
+ },
+ "parameters": {
+ "cornerRefinementMethod": 3,
+ "aprilTagQuadSigma": 2,
+ "aprilTagDeglitch": 1
+ }
+ },
+ "TestScene" : {
+ "aruco_scene": {
+ "A": {
+ "translation": [1, 0, 0],
+ "rotation": [0, 0, 0],
+ "marker": 0
+ },
+ "B": {
+ "translation": [0, 1, 0],
+ "rotation": [0, 90, 0],
+ "marker": 1
+ }
+ },
+ "aoi_scene": "aoi.obj",
+ "angle_tolerance": 1.0,
+ "distance_tolerance": 2.0
+ }
+} \ No newline at end of file
diff --git a/src/argaze.test/utils/scene.json b/src/argaze.test/utils/scene.json
deleted file mode 100644
index 25aacc8..0000000
--- a/src/argaze.test/utils/scene.json
+++ /dev/null
@@ -1,56 +0,0 @@
-{
- "name": "TestScene",
- "aruco_dictionary": "DICT_ARUCO_ORIGINAL",
- "aruco_marker_size": 3.0,
- "aruco_camera": {
- "rms": 1.0,
- "dimensions": [
- 1920,
- 1080
- ],
- "K": [
- [
- 1.0,
- 0.0,
- 1.0
- ],
- [
- 0.0,
- 1.0,
- 1.0
- ],
- [
- 0.0,
- 0.0,
- 1.0
- ]
- ],
- "D": [
- -1.0,
- -0.5,
- 0.0,
- 0.5,
- 1.0
- ]
- },
- "aruco_detector": {
- "cornerRefinementMethod": 3,
- "aprilTagQuadSigma": 2,
- "aprilTagDeglitch": 1
- },
- "aruco_scene": {
- "A": {
- "translation": [1, 0, 0],
- "rotation": [0, 0, 0],
- "marker": 0
- },
- "B": {
- "translation": [0, 1, 0],
- "rotation": [0, 90, 0],
- "marker": 1
- }
- },
- "aoi_scene": "aoi.obj",
- "angle_tolerance": 1.0,
- "distance_tolerance": 2.0
-} \ No newline at end of file
diff --git a/src/argaze/ArFeatures.py b/src/argaze/ArFeatures.py
index 25fd10d..e66b1ac 100644
--- a/src/argaze/ArFeatures.py
+++ b/src/argaze/ArFeatures.py
@@ -24,10 +24,10 @@ class ArEnvironment():
"""Define an Augmented Reality environment based ArUco marker detection."""
name: str
- """Environement name."""
+ """Environement name"""
aruco_detector: ArUcoDetector.ArUcoDetector = field(init=False, default_factory=ArUcoDetector.ArUcoDetector)
- """ArUco detecor."""
+ """ArUco detector"""
def __init__(self, **kwargs):
@@ -40,17 +40,14 @@ class ArEnvironment():
self.__scenes[name] = ArScene(self, **scene_kwargs)
- def __getitem__(self, name) -> ArSceneType:
- """Get an ArScene of the environment."""
-
- return self.__scenes[name]
-
@classmethod
def from_json(self, json_filepath: str) -> ArSceneType:
"""Load ArEnvironment from .json file."""
with open(json_filepath) as configuration_file:
+ self.__working_directory = os.path.dirname(json_filepath)
+
return ArEnvironment(**json.load(configuration_file))
def __str__(self) -> str:
@@ -63,15 +60,16 @@ class ArEnvironment():
return output
- def items(self) -> Tuple[str, ArSceneType]:
- """Iterate over scenes."""
-
- return self.__scenes.items()
-
- def keys(self) -> list[str]:
- """Get scenes name."""
+ @property
+ def working_directory(self):
+ """Working directory path."""
+ return self.__working_directory
+
+ @property
+ def scenes(self) -> Tuple[str, ArSceneType]:
+ """Access to scenes dictionary."""
- return self.__scenes.keys()
+ return self.__scenes
class PoseEstimationFailed(Exception):
"""Exception raised by ArScene project method when the pose can't be estimated due to unconsistencies."""
@@ -121,7 +119,7 @@ class ArScene():
# str: relative path to .obj file
if type(aruco_scene_value) == str:
- aruco_scene_value = os.path.join(os.getcwd(), aruco_scene_value)
+ aruco_scene_value = os.path.join(self.__ar_environment.working_directory, aruco_scene_value)
self.aruco_scene = ArUcoScene.ArUcoScene(self.__ar_environment.aruco_detector.dictionary, self.__ar_environment.aruco_detector.marker_size, aruco_scene_value)
@@ -131,7 +129,7 @@ class ArScene():
# str: relative path to .obj file
if type(aoi_scene_value) == str:
- obj_filepath = os.path.join(os.getcwd(), aoi_scene_value)
+ obj_filepath = os.path.join(self.__ar_environment.working_directory, aoi_scene_value)
self.aoi_scene = AOI3DScene.AOI3DScene.from_obj(obj_filepath)
# dict: all AOI
generated by cgit v1.1 at 2024-11-10 12:25:43 +0000