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 +++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 67 insertions(+)
 create mode 100644 src/argaze.test/ArFeatures.py

(limited to 'src/argaze.test/ArFeatures.py')

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
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