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/ArUcoScene.py | 227 ----------------------------- 1 file changed, 227 deletions(-) delete mode 100644 src/argaze.test/ArUcoMarkers/ArUcoScene.py (limited to 'src/argaze.test/ArUcoMarkers/ArUcoScene.py') diff --git a/src/argaze.test/ArUcoMarkers/ArUcoScene.py b/src/argaze.test/ArUcoMarkers/ArUcoScene.py deleted file mode 100644 index f29b1d3..0000000 --- a/src/argaze.test/ArUcoMarkers/ArUcoScene.py +++ /dev/null @@ -1,227 +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 ArUcoMarkersGroup, ArUcoMarker - -import cv2 as cv -import numpy - -class TestArUcoMarkersGroupClass(unittest.TestCase): - - def new_from_obj(self): - - # Edit file path - current_directory = os.path.dirname(os.path.abspath(__file__)) - obj_filepath = os.path.join(current_directory, 'utils/scene.obj') - - # Load file - self.aruco_markers_group = ArUcoMarkersGroup.ArUcoMarkersGroup.from_obj(obj_filepath) - - def new_from_json(self): - - # Edit file path - current_directory = os.path.dirname(os.path.abspath(__file__)) - json_filepath = os.path.join(current_directory, 'utils/scene.json') - - # Load file - self.aruco_markers_group = ArUcoMarkersGroup.ArUcoMarkersGroup.from_json(json_filepath) - - def setup_markers(self): - - # Prepare detected markers - self.detected_markers = { - 0: ArUcoMarker.ArUcoMarker('DICT_ARUCO_ORIGINAL', 0, 1.), - 1: ArUcoMarker.ArUcoMarker('DICT_ARUCO_ORIGINAL', 1, 1.), - 2: ArUcoMarker.ArUcoMarker('DICT_ARUCO_ORIGINAL', 2, 1.), - 3: ArUcoMarker.ArUcoMarker('DICT_ARUCO_ORIGINAL', 3, 1.) - } - - # Prepare scene markers and remaining markers - self.scene_markers, self.remaining_markers = self.aruco_markers_group.filter_markers(self.detected_markers()) - - def test_new_from_obj(self): - """Test ArUcoMarkersGroup creation.""" - - self.new_from_obj() - self.setup_markers() - - # Check ArUcoMarkersGroup creation - self.assertEqual(len(self.aruco_markers_group.places), 3) - self.assertIsNone(numpy.testing.assert_array_equal(self.aruco_markers_group.identifiers, [0, 1, 2])) - self.assertEqual(self.aruco_markers_group.marker_size, 1.) - - self.assertEqual(self.aruco_markers_group.places[0].marker.identifier, 0) - self.assertIsNone(numpy.testing.assert_array_equal(self.aruco_markers_group.places[0].translation, [0., 0., 0.])) - self.assertIsNone(numpy.testing.assert_array_equal(self.aruco_markers_group.places[0].rotation, [[1., 0., 0.], [0., 1., 0.], [0., 0., 1.]])) - - self.assertEqual(self.aruco_markers_group.places[1].marker.identifier, 1) - self.assertIsNone(numpy.testing.assert_array_equal(self.aruco_markers_group.places[1].translation, [10., 10., 0.])) - self.assertIsNone(numpy.testing.assert_array_equal(self.aruco_markers_group.places[1].rotation, [[1., 0., 0.], [0., 1., 0.], [0., 0., 1.]])) - - self.assertEqual(self.aruco_markers_group.places[2].marker.identifier, 2) - self.assertIsNone(numpy.testing.assert_array_equal(self.aruco_markers_group.places[2].translation, [0., 10., 0.])) - self.assertIsNone(numpy.testing.assert_array_equal(self.aruco_markers_group.places[2].rotation, [[1., 0., 0.], [0., 1., 0.], [0., 0., 1.]])) - - def test_new_from_json(self): - """Test ArUcoMarkersGroup creation.""" - - self.new_from_json() - self.setup_markers() - - # Check ArUcoMarkersGroup creation - self.assertEqual(len(self.aruco_markers_group.places), 3) - self.assertIsNone(numpy.testing.assert_array_equal(self.aruco_markers_group.identifiers, [0, 1, 2])) - self.assertEqual(self.aruco_markers_group.marker_size, 1.) - - self.assertEqual(self.aruco_markers_group.places[0].marker.identifier, 0) - self.assertIsNone(numpy.testing.assert_array_equal(self.aruco_markers_group.places[0].translation, [0., 0., 0.])) - self.assertIsNone(numpy.testing.assert_array_equal(self.aruco_markers_group.places[0].rotation, [[1., 0., 0.], [0., 1., 0.], [0., 0., 1.]])) - - self.assertEqual(self.aruco_markers_group.places[1].marker.identifier, 1) - self.assertIsNone(numpy.testing.assert_array_equal(self.aruco_markers_group.places[1].translation, [10., 10., 0.])) - self.assertIsNone(numpy.testing.assert_array_equal(self.aruco_markers_group.places[1].rotation, [[1., 0., 0.], [0., 1., 0.], [0., 0., 1.]])) - - self.assertEqual(self.aruco_markers_group.places[2].marker.identifier, 2) - self.assertIsNone(numpy.testing.assert_array_equal(self.aruco_markers_group.places[2].translation, [0., 10., 0.])) - self.assertIsNone(numpy.testing.assert_array_equal(self.aruco_markers_group.places[2].rotation, [[1., 0., 0.], [0., 1., 0.], [0., 0., 1.]])) - - def test_filter_markers(self): - """Test ArUcoMarkersGroup markers filtering.""" - - self.new_from_obj() - self.setup_markers() - - # Check scene markers and remaining markers - self.assertEqual(len(self.scene_markers), 3) - self.assertEqual(len(self.remaining_markers), 1) - - self.assertIsNone(numpy.testing.assert_array_equal(list(self.scene_markers.keys()), self.aruco_markers_group.identifiers)) - self.assertIsNone(numpy.testing.assert_array_equal(list(self.remaining_markers.keys()), [3])) - - def test_check_markers_consistency(self): - """Test ArUcoMarkersGroup markers consistency checking.""" - - self.new_from_obj() - self.setup_markers() - - # Edit consistent marker poses - self.scene_markers[0].translation = numpy.array([1., 1., 5.]) - self.scene_markers[0].rotation = numpy.array([[1., 0., 0.], [0., 1., 0.], [0., 0., 1.]]) - - self.scene_markers[1].translation = numpy.array([11., 11., 5.]) - self.scene_markers[1].rotation = numpy.array([[1., 0., 0.], [0., 1., 0.], [0., 0., 1.]]) - - self.scene_markers[2].translation = numpy.array([1., 11., 5.]) - self.scene_markers[2].rotation = numpy.array([[1., 0., 0.], [0., 1., 0.], [0., 0., 1.]]) - - # Check consistency - consistent_markers, unconsistent_markers, unconsistencies = self.aruco_markers_group.check_markers_consistency(self.scene_markers, 1, 1) - - # Check consistent markers, unconsistent markers and unconsistencies - self.assertEqual(len(consistent_markers), 3) - self.assertEqual(len(unconsistent_markers), 0) - self.assertEqual(len(unconsistencies['rotation']), 0) - self.assertEqual(len(unconsistencies['translation']), 0) - - self.assertIsNone(numpy.testing.assert_array_equal(list(consistent_markers.keys()), self.aruco_markers_group.identifiers)) - - # Edit unconsistent marker poses - self.scene_markers[2].translation = numpy.array([5., 15., 5.]) - - # Check consistency - consistent_markers, unconsistent_markers, unconsistencies = self.aruco_markers_group.check_markers_consistency(self.scene_markers, 1, 1) - - # Check consistent markers, unconsistent markers and unconsistencies - self.assertEqual(len(consistent_markers), 2) - self.assertEqual(len(unconsistent_markers), 1) - self.assertEqual(len(unconsistencies['rotation']), 0) - self.assertEqual(len(unconsistencies['translation']), 2) - - self.assertIsNone(numpy.testing.assert_array_equal(list(unconsistent_markers.keys()), [2])) - self.assertIsNone(numpy.testing.assert_array_equal(list(unconsistencies['translation'].keys()), ['0/2', '1/2'])) - self.assertIsNone(numpy.testing.assert_array_equal(list(unconsistencies['translation']['0/2'].keys()), ['current', 'expected'])) - self.assertIsNone(numpy.testing.assert_array_equal(list(unconsistencies['translation']['1/2'].keys()), ['current', 'expected'])) - - def test_estimate_pose_from_single_marker(self): - """Test ArUcoMarkersGroup pose estimation from single marker.""" - - self.new_from_obj() - self.setup_markers() - - # Edit marke pose - self.scene_markers[0].translation = numpy.array([1., 1., 5.]) - self.scene_markers[0].rotation = numpy.array([[1., 0., 0.], [0., 1., 0.], [0., 0., 1.]]) - - # Estimate pose - tvec, rmat = self.aruco_markers_group.estimate_pose_from_single_marker(self.scene_markers[0]) - - self.assertIsNone(numpy.testing.assert_array_equal(tvec, [1., 1., 5.])) - self.assertIsNone(numpy.testing.assert_array_equal(rmat, [[1., 0., 0.], [0., 1., 0.], [0., 0., 1.]])) - - def test_estimate_pose_from_markers(self): - """Test ArUcoMarkersGroup pose estimation from markers.""" - - self.new_from_obj() - self.setup_markers() - - # Edit markers pose - self.scene_markers[0].translation = numpy.array([1., 1., 5.]) - self.scene_markers[0].rotation = numpy.array([[1., 0., 0.], [0., 1., 0.], [0., 0., 1.]]) - - self.scene_markers[1].translation = numpy.array([11., 11., 5.]) - self.scene_markers[1].rotation = numpy.array([[1., 0., 0.], [0., 1., 0.], [0., 0., 1.]]) - - self.scene_markers[2].translation = numpy.array([1., 11., 5.]) - self.scene_markers[2].rotation = numpy.array([[1., 0., 0.], [0., 1., 0.], [0., 0., 1.]]) - - # Estimate pose - tvec, rmat = self.aruco_markers_group.estimate_pose_from_markers(self.scene_markers) - - self.assertIsNone(numpy.testing.assert_array_equal(tvec, [1., 1., 5.])) - self.assertIsNone(numpy.testing.assert_array_equal(rmat, [[1., 0., 0.], [0., 1., 0.], [0., 0., 1.]])) - - @unittest.skip("ArUcoMarkersGroup estimate_pose_from_axis_markers method is broken.") - def test_estimate_pose_from_axis_markers(self): - """Test ArUcoMarkersGroup pose estimation from axis markers.""" - - self.new_from_obj() - self.setup_markers() - - # Edit markers pose - self.scene_markers[0].translation = numpy.array([1., 1., 5.]) - self.scene_markers[0].rotation = numpy.array([[1., 0., 0.], [0., 1., 0.], [0., 0., 1.]]) - - self.scene_markers[1].translation = numpy.array([11., 11., 5.]) - self.scene_markers[1].rotation = numpy.array([[1., 0., 0.], [0., 1., 0.], [0., 0., 1.]]) - - self.scene_markers[2].translation = numpy.array([1., 11., 5.]) - self.scene_markers[2].rotation = numpy.array([[1., 0., 0.], [0., 1., 0.], [0., 0., 1.]]) - - # Estimate pose - tvec, rmat = self.aruco_markers_group.estimate_pose_from_axis_markers(self.scene_markers[2], self.scene_markers[1], self.scene_markers[0]) - - self.assertIsNone(numpy.testing.assert_array_equal(tvec, [1., 1., 5.])) - self.assertIsNone(numpy.testing.assert_array_equal(rmat, [[1., 0., 0.], [0., -1., 0.], [0., 0., -1.]])) - -if __name__ == '__main__': - - unittest.main() \ No newline at end of file -- cgit v1.1