From b4ce337448a0edfad8d8112aeee81c33d39f3dcc Mon Sep 17 00:00:00 2001 From: Théo de la Hogue Date: Tue, 14 Mar 2023 09:05:14 +0100 Subject: Changing and testing ArFeatures interface. --- src/argaze.test/ArFeatures.py | 67 ++++++++++++++++++++++++++++++++++ src/argaze.test/ArScene.py | 59 ------------------------------ src/argaze.test/utils/environment.json | 60 ++++++++++++++++++++++++++++++ src/argaze.test/utils/scene.json | 56 ---------------------------- src/argaze/ArFeatures.py | 32 ++++++++-------- 5 files changed, 142 insertions(+), 132 deletions(-) create mode 100644 src/argaze.test/ArFeatures.py delete mode 100644 src/argaze.test/ArScene.py create mode 100644 src/argaze.test/utils/environment.json delete mode 100644 src/argaze.test/utils/scene.json 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 -- cgit v1.1