From 4d0de7c804914a55977635ec6bc46beb0cf7808a Mon Sep 17 00:00:00 2001 From: Théo de la Hogue Date: Wed, 17 Apr 2024 13:32:51 +0200 Subject: Renaming ArUcoMarkers into ArUcoMarker --- src/argaze.test/ArUcoMarkers/ArUcoDetector.py | 149 -------------------------- 1 file changed, 149 deletions(-) delete mode 100644 src/argaze.test/ArUcoMarkers/ArUcoDetector.py (limited to 'src/argaze.test/ArUcoMarkers/ArUcoDetector.py') diff --git a/src/argaze.test/ArUcoMarkers/ArUcoDetector.py b/src/argaze.test/ArUcoMarkers/ArUcoDetector.py deleted file mode 100644 index 62e8a09..0000000 --- a/src/argaze.test/ArUcoMarkers/ArUcoDetector.py +++ /dev/null @@ -1,149 +0,0 @@ -""" - -This program is free software: you can redistribute it and/or modify it under -the terms of the GNU General Public License as published by the Free Software -Foundation, either version 3 of the License, or (at your option) any later -version. -This program is distributed in the hope that it will be useful, but WITHOUT -ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. -You should have received a copy of the GNU General Public License along with -this program. If not, see . -""" - -__author__ = "Théo de la Hogue" -__credits__ = [] -__copyright__ = "Copyright 2023, Ecole Nationale de l'Aviation Civile (ENAC)" -__license__ = "GPLv3" - -import unittest -import os -import math - -from argaze.ArUcoMarkers import ArUcoMarkersDictionary, ArUcoOpticCalibrator, ArUcoDetector, ArUcoBoard - -import cv2 as cv -import numpy - -class TestDetectorParametersClass(unittest.TestCase): - """Test DetectorParameters class.""" - - def test_from_json(self): - """Test DetectorParameters creation from json file.""" - - # Edit file path - current_directory = os.path.dirname(os.path.abspath(__file__)) - json_filepath = os.path.join(current_directory, 'utils/detector_parameters.json') - - # Load file - detector_parameters = ArUcoDetector.DetectorParameters.from_json(json_filepath) - - # Check data - self.assertEqual(detector_parameters.cornerRefinementMethod, 3) - self.assertEqual(detector_parameters.aprilTagQuadSigma, 2) - self.assertEqual(detector_parameters.aprilTagDeglitch, 1) - - # Check bad data access fails - with self.assertRaises(AttributeError): - - detector_parameters.unknown_data = 1 - -class TestArUcoDetectorClass(unittest.TestCase): - """Test ArUcoDetector class.""" - - def test_new(self): - """Test ArUcoDetector creation.""" - - aruco_detector = ArUcoDetector.ArUcoDetector(marker_size=3) - - # Check ArUcoDetector creation - self.assertEqual(aruco_detector.dictionary.name, 'DICT_ARUCO_ORIGINAL') - self.assertEqual(aruco_detector.marker_size, 3) - self.assertIsNone(numpy.testing.assert_array_equal(aruco_detector.optic_parameters.dimensions, [0, 0])) - self.assertEqual(aruco_detector.detected_markers_number(), 0) - self.assertEqual(aruco_detector.detected_markers(), {}) - - aruco_dictionary = ArUcoMarkersDictionary.ArUcoMarkersDictionary('DICT_APRILTAG_16h5') - aruco_detector = ArUcoDetector.ArUcoDetector(aruco_dictionary, 5.2) - - # Check ArUcoDetector creation - self.assertEqual(aruco_detector.dictionary.name, 'DICT_APRILTAG_16h5') - self.assertEqual(aruco_detector.marker_size, 5.2) - self.assertIsNone(numpy.testing.assert_array_equal(aruco_detector.optic_parameters.dimensions, [0, 0])) - self.assertEqual(aruco_detector.detected_markers_number(), 0) - self.assertEqual(aruco_detector.detected_markers(), {}) - - def test_from_json(self): - """Test ArUcoDetector creation.""" - - # Edit file path - current_directory = os.path.dirname(os.path.abspath(__file__)) - json_filepath = os.path.join(current_directory, 'utils/detector.json') - - # Load file - aruco_detector = ArUcoDetector.ArUcoDetector.from_json(json_filepath) - - # Check ArUcoDetector creation - self.assertEqual(aruco_detector.dictionary.name, 'DICT_ARUCO_ORIGINAL') - self.assertEqual(aruco_detector.marker_size, 3) - self.assertIsNone(numpy.testing.assert_array_equal(aruco_detector.optic_parameters.dimensions, [1920, 1080])) - self.assertEqual(aruco_detector.parameters.cornerRefinementMethod, 3) - self.assertEqual(aruco_detector.parameters.aprilTagQuadSigma, 2) - self.assertEqual(aruco_detector.parameters.aprilTagDeglitch, 1) - - def test_detect(self): - """Test detect method.""" - - aruco_detector = ArUcoDetector.ArUcoDetector(marker_size=3) - - # Load picture Full HD to test ArUcoMarker detection - current_directory = os.path.dirname(os.path.abspath(__file__)) - image = cv.imread(os.path.join(current_directory, 'utils/full_hd_marker.png')) - - # Check ArUcoMarker detection - aruco_detector.detect_markers(image) - - self.assertEqual(aruco_detector.detected_markers_number(), 1) - - self.assertEqual(aruco_detector.detected_markers()[0].dictionary, aruco_detector.dictionary) - self.assertEqual(aruco_detector.detected_markers()[0].identifier, 0) - self.assertEqual(aruco_detector.detected_markers()[0].size, 3) - - # Check corner positions with -/+ 10 pixels precision - self.assertIsNone(numpy.testing.assert_almost_equal(aruco_detector.detected_markers()[0].corners[0][0].astype(int), numpy.array([3823, 2073]), decimal=-1)) - self.assertIsNone(numpy.testing.assert_almost_equal(aruco_detector.detected_markers()[0].corners[0][1].astype(int), numpy.array([4177, 2073]), decimal=-1)) - self.assertIsNone(numpy.testing.assert_almost_equal(aruco_detector.detected_markers()[0].corners[0][2].astype(int), numpy.array([4177, 2427]), decimal=-1)) - self.assertIsNone(numpy.testing.assert_almost_equal(aruco_detector.detected_markers()[0].corners[0][3].astype(int), numpy.array([3823, 2427]), decimal=-1)) - - # Check marker pose estimation - aruco_detector.estimate_markers_pose([0]) - - # Check marker translation with -/+ 0.1 cm precision and rotation with -/+ 0.001 radian precision - self.assertIsNone(numpy.testing.assert_almost_equal(aruco_detector.detected_markers()[0].translation, numpy.array([33.87, 19.05, 0.]), decimal=1)) - self.assertIsNone(numpy.testing.assert_almost_equal(aruco_detector.detected_markers()[0].rotation, numpy.array([[1., 0., 0.], [0., -1., 0.], [0., 0., -1.]]), decimal=3)) - - # Check detect metrics - detect_count, markers_count = aruco_detector.detection_metrics - self.assertEqual(detect_count, 1) - self.assertEqual(markers_count[0], 1) - - def test_detect_board(self): - """Test detect board method.""" - - aruco_board = ArUcoBoard.ArUcoBoard(7, 5, 5, 3) - aruco_detector = ArUcoDetector.ArUcoDetector(marker_size=3) - - # Load picture Full HD to test ArUcoMarker board detection - current_directory = os.path.dirname(os.path.abspath(__file__)) - image = cv.imread(os.path.join(current_directory, 'utils/full_hd_board.png')) - - # Check ArUcoMarker board detection - aruco_detector.detect_board(image, aruco_board, aruco_board.markers_number) - - self.assertEqual(aruco_detector.board_corners_number(), aruco_board.corners_number) - self.assertEqual(len(aruco_detector.board_corners()), 24) - self.assertEqual(len(aruco_detector.board_corners_identifier()), 24) - -if __name__ == '__main__': - - unittest.main() \ No newline at end of file -- cgit v1.1