From 9ce64a6c47156fe28e484633e2c8932c682fbf85 Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Wed, 15 Feb 2023 18:16:54 +0100
Subject: Major rewrite to allow multi ArScene managements with new ArFeatures.

---
 src/argaze.test/ArUcoMarkers/ArUcoDetector.py | 105 ++++++++++++++++++++++++++
 1 file changed, 105 insertions(+)
 create 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
new file mode 100644
index 0000000..ab29024
--- /dev/null
+++ b/src/argaze.test/ArUcoMarkers/ArUcoDetector.py
@@ -0,0 +1,105 @@
+#!/usr/bin/env python
+
+import unittest
+import os
+import math
+
+from argaze.ArUcoMarkers import ArUcoMarkersDictionary, ArUcoCamera, ArUcoDetector, ArUcoBoard
+
+import cv2 as cv
+import numpy
+
+class TestDetectionParametersClass(unittest.TestCase):
+    """Test DetectionParameters class."""
+
+    def test_from_json(self):
+        """Test DetectionParameters creation from json file."""
+        
+        # Edit traking data file path
+        current_directory = os.path.dirname(os.path.abspath(__file__))
+        json_filepath = os.path.join(current_directory, 'utils/detecter.json')
+
+        # Load project
+        detection_parameters = ArUcoDetector.DetectionParameters.from_json(json_filepath)
+
+        # Check data
+        self.assertEqual(detection_parameters.cornerRefinementMethod, 3)
+        self.assertEqual(detection_parameters.aprilTagQuadSigma, 2)
+        self.assertEqual(detection_parameters.aprilTagDeglitch, 1)
+
+        # Check bad data access fails
+        with self.assertRaises(AttributeError):
+
+            detection_parameters.unknown_data = 1
+
+class TestArUcoDetectorClass(unittest.TestCase):
+    """Test ArUcoDetector class."""
+
+    def test_new(self):
+        """Test ArUcoDetector creation."""
+
+        aruco_dictionary = ArUcoMarkersDictionary.ArUcoMarkersDictionary('DICT_ARUCO_ORIGINAL')
+        aruco_camera = ArUcoCamera.ArUcoCamera()
+        aruco_detector = ArUcoDetector.ArUcoDetector(aruco_dictionary, 3, aruco_camera)
+
+         # Check ArUcoDetector creation
+        self.assertEqual(aruco_detector.detected_markers_number, 0)
+        self.assertEqual(aruco_detector.detected_markers, {})
+
+    def test_detect(self):
+        """Test detect method."""
+
+        aruco_dictionary = ArUcoMarkersDictionary.ArUcoMarkersDictionary('DICT_ARUCO_ORIGINAL')
+        aruco_camera = ArUcoCamera.ArUcoCamera()
+        aruco_detector = ArUcoDetector.ArUcoDetector(aruco_dictionary, 3, aruco_camera)
+
+        # Load picture Full HD to test ArUcoMarker detection
+        current_directory = os.path.dirname(os.path.abspath(__file__))
+        frame = cv.imread(os.path.join(current_directory, 'utils/full_hd_marker.png'))
+
+        # Check ArUcoMarker detection
+        aruco_detector.detect(frame)
+
+        self.assertEqual(aruco_detector.detected_markers_number, 1)
+
+        self.assertEqual(aruco_detector.detected_markers[0].dictionary, aruco_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 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([math.pi, 0., 0.]), 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_dictionary = ArUcoMarkersDictionary.ArUcoMarkersDictionary('DICT_ARUCO_ORIGINAL')
+        aruco_board = ArUcoBoard.ArUcoBoard(aruco_dictionary, 7, 5, 5, 3)
+        aruco_camera = ArUcoCamera.ArUcoCamera()
+        aruco_detector = ArUcoDetector.ArUcoDetector(aruco_dictionary, 3, aruco_camera)
+
+        # Load picture Full HD to test ArUcoMarker board detection
+        current_directory = os.path.dirname(os.path.abspath(__file__))
+        frame = cv.imread(os.path.join(current_directory, 'utils/full_hd_board.png'))
+
+        # Check ArUcoMarker board detection
+        aruco_detector.detect_board(frame, 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() 
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