From f4d60a6cd1e1d8810cf4b9ad7f63a8718069f73a Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Mon, 4 Sep 2023 22:03:46 +0200
Subject: First work on new AR pipeline architecture. Class renaming and
 replacing.

---
 src/argaze.test/ArUcoMarkers/ArUcoCamera.py | 74 +++++++++++++++++++++++++++++
 1 file changed, 74 insertions(+)
 create mode 100644 src/argaze.test/ArUcoMarkers/ArUcoCamera.py

(limited to 'src/argaze.test/ArUcoMarkers/ArUcoCamera.py')

diff --git a/src/argaze.test/ArUcoMarkers/ArUcoCamera.py b/src/argaze.test/ArUcoMarkers/ArUcoCamera.py
new file mode 100644
index 0000000..6145f40
--- /dev/null
+++ b/src/argaze.test/ArUcoMarkers/ArUcoCamera.py
@@ -0,0 +1,74 @@
+#!/usr/bin/env python
+
+""" """
+
+__author__ = "Théo de la Hogue"
+__credits__ = []
+__copyright__ = "Copyright 2023, Ecole Nationale de l'Aviation Civile (ENAC)"
+__license__ = "BSD"
+
+import unittest
+import os
+
+from argaze.ArUcoMarkers import ArUcoCamera
+
+import numpy
+
+class TestArUcoCameraClass(unittest.TestCase):
+    """Test ArUcoCamera class."""
+
+    def test_from_json(self):
+        """Test ArUcoCamera creation from json file."""
+        
+        # Edit test aruco camera file path
+        current_directory = os.path.dirname(os.path.abspath(__file__))
+        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)
+        
+if __name__ == '__main__':
+
+    unittest.main()
\ No newline at end of file
-- 
cgit v1.1