From 74fb292fd3fd8012dcf82f1d62a03ac738424b58 Mon Sep 17 00:00:00 2001 From: Théo de la Hogue Date: Thu, 29 Feb 2024 16:09:50 +0100 Subject: Updating more test. --- src/argaze.test/ArUcoMarkers/ArUcoCamera.py | 83 +++++++++++----------- .../ArUcoMarkers/utils/aruco_camera.json | 39 ++++++---- 2 files changed, 64 insertions(+), 58 deletions(-) (limited to 'src/argaze.test/ArUcoMarkers') diff --git a/src/argaze.test/ArUcoMarkers/ArUcoCamera.py b/src/argaze.test/ArUcoMarkers/ArUcoCamera.py index 6145f40..a3c5943 100644 --- a/src/argaze.test/ArUcoMarkers/ArUcoCamera.py +++ b/src/argaze.test/ArUcoMarkers/ArUcoCamera.py @@ -25,49 +25,46 @@ class TestArUcoCameraClass(unittest.TestCase): 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) + with ArUcoCamera.ArUcoCamera.from_json(json_filepath) as aruco_camera: + + # 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.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_allclose(ar_scene.aruco_markers_group.places[0].corners[0], [-0.5, 1.5, 0.], rtol=0, atol=1e-3)) + self.assertEqual(ar_scene.aruco_markers_group.places[0].marker.identifier, 0) + + self.assertIsNone(numpy.testing.assert_allclose(ar_scene.aruco_markers_group.places[1].corners[0], [0., 2.5, -1.5], rtol=0, atol=1e-3)) + self.assertEqual(ar_scene.aruco_markers_group.places[1].marker.identifier, 1) + + # Check layers and AOI scene + self.assertEqual(len(ar_scene.layers.items()), 1) + self.assertEqual(len(ar_scene.layers["Main"].aoi_scene), 1) + self.assertEqual(ar_scene.layers["Main"].aoi_scene['Test'].points_number, 4) + + # Check ArScene + self.assertEqual(ar_scene.angle_tolerance, 1.0) + self.assertEqual(ar_scene.distance_tolerance, 2.0) if __name__ == '__main__': diff --git a/src/argaze.test/ArUcoMarkers/utils/aruco_camera.json b/src/argaze.test/ArUcoMarkers/utils/aruco_camera.json index 7648916..980dc9f 100644 --- a/src/argaze.test/ArUcoMarkers/utils/aruco_camera.json +++ b/src/argaze.test/ArUcoMarkers/utils/aruco_camera.json @@ -1,10 +1,10 @@ { "name": "TestArUcoCamera", + "size": [1920, 1080], "aruco_detector": { "dictionary": { "name": "DICT_ARUCO_ORIGINAL" }, - "marker_size": 3.0, "optic_parameters": { "rms": 1.0, "dimensions": [ @@ -45,45 +45,54 @@ "scenes": { "TestSceneA" : { "aruco_markers_group": { - "marker_size": 3.0, - "dictionary": { - "name": "DICT_ARUCO_ORIGINAL" - }, + "dictionary": "DICT_ARUCO_ORIGINAL", "places": { "0": { "translation": [1, 0, 0], - "rotation": [0, 0, 0] + "rotation": [0, 0, 0], + "size": 3.0 }, "1": { "translation": [0, 1, 0], - "rotation": [0, 90, 0] + "rotation": [0, 90, 0], + "size": 3.0 } } }, - "aoi_scene": "aoi.obj", + "layers": { + "Main" : { + "aoi_scene": "aoi_3d.obj" + } + }, "angle_tolerance": 1.0, "distance_tolerance": 2.0 }, "TestSceneB" : { "aruco_markers_group": { - "marker_size": 3.0, - "dictionary": { - "name": "DICT_ARUCO_ORIGINAL" - }, + "dictionary": "DICT_ARUCO_ORIGINAL", "places": { "0": { "translation": [1, 0, 0], - "rotation": [0, 0, 0] + "rotation": [0, 0, 0], + "size": 3.0 }, "1": { "translation": [0, 1, 0], - "rotation": [0, 90, 0] + "rotation": [0, 90, 0], + "size": 3.0 } } }, - "aoi_scene": "aoi.obj", + "layers": { + "Main" : { + "aoi_scene": "aoi_3d.obj" + } + }, "angle_tolerance": 1.0, "distance_tolerance": 2.0 } + }, + "layers": { + "Main": {} } } \ No newline at end of file -- cgit v1.1