From 0a7154cbaa43bb14aae62fc4324ad24c60949472 Mon Sep 17 00:00:00 2001 From: Théo de la Hogue Date: Tue, 29 Nov 2022 19:08:14 +0100 Subject: Renaming ArGazeProject into ArGazeScene. Removing useless old ArUcoSet related class. --- src/argaze.test/ArGazeProject.py | 34 -------------- src/argaze.test/ArGazeScene.py | 59 +++++++++++++++++++++++++ src/argaze.test/ArUcoMarkers/ArUcoCamera.py | 7 ++- src/argaze.test/ArUcoMarkers/ArUcoTracker.py | 23 ++++++++++ src/argaze.test/ArUcoMarkers/utils/tracker.json | 5 +++ src/argaze.test/utils/aoi.obj | 7 +++ src/argaze.test/utils/project.json | 34 -------------- src/argaze.test/utils/scene.json | 58 ++++++++++++++++++++++++ 8 files changed, 157 insertions(+), 70 deletions(-) delete mode 100644 src/argaze.test/ArGazeProject.py create mode 100644 src/argaze.test/ArGazeScene.py create mode 100644 src/argaze.test/ArUcoMarkers/utils/tracker.json create mode 100644 src/argaze.test/utils/aoi.obj delete mode 100644 src/argaze.test/utils/project.json create mode 100644 src/argaze.test/utils/scene.json (limited to 'src/argaze.test') diff --git a/src/argaze.test/ArGazeProject.py b/src/argaze.test/ArGazeProject.py deleted file mode 100644 index 8e449bf..0000000 --- a/src/argaze.test/ArGazeProject.py +++ /dev/null @@ -1,34 +0,0 @@ -#!/usr/bin/env python - -import unittest -import os - -from argaze import ArGazeProject - -import numpy - -class TestArGazeProjectClass(unittest.TestCase): - """Test ArGazeProject class.""" - - def test_from_json(self): - """Test ArGazeProject creation from json file.""" - - # Edit project file path - current_directory = os.path.dirname(os.path.abspath(__file__)) - json_filepath = os.path.join(current_directory, 'utils/project.json') - - # Load project - argaze_project = ArGazeProject.ArGazeProject.from_json(json_filepath) - - # Check project meta data - self.assertEqual(argaze_project.name, "TestProject") - - # Check ArUco camera - self.assertEqual(argaze_project.aruco_camera.rms, 1.0) - self.assertIsNone(numpy.testing.assert_array_equal(argaze_project.aruco_camera.dimensions, [1920, 1080])) - self.assertIsNone(numpy.testing.assert_array_equal(argaze_project.aruco_camera.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(argaze_project.aruco_camera.D, [-1.0, -0.5, 0.0, 0.5, 1.0])) - -if __name__ == '__main__': - - unittest.main() \ No newline at end of file diff --git a/src/argaze.test/ArGazeScene.py b/src/argaze.test/ArGazeScene.py new file mode 100644 index 0000000..4d0b3ae --- /dev/null +++ b/src/argaze.test/ArGazeScene.py @@ -0,0 +1,59 @@ +#!/usr/bin/env python + +import unittest +import os + +from argaze import ArGazeScene + +import numpy + +class TestArGazeSceneClass(unittest.TestCase): + """Test ArGazeScene class.""" + + def test_from_json(self): + """Test ArGazeScene creation from json file.""" + + # Edit scene file path + current_directory = os.path.dirname(os.path.abspath(__file__)) + json_filepath = os.path.join(current_directory, 'utils/scene.json') + + # Load scene + argaze_scene = ArGazeScene.ArGazeScene.from_json(json_filepath) + + # Check scene meta data + self.assertEqual(argaze_scene.name, "TestScene") + self.assertEqual(argaze_scene.aruco_dictionary.name, "DICT_ARUCO_ORIGINAL") + self.assertEqual(argaze_scene.aruco_marker_size, 3.0) + + # Check ArUco camera + self.assertEqual(argaze_scene.aruco_camera.rms, 1.0) + self.assertIsNone(numpy.testing.assert_array_equal(argaze_scene.aruco_camera.dimensions, [1920, 1080])) + self.assertIsNone(numpy.testing.assert_array_equal(argaze_scene.aruco_camera.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(argaze_scene.aruco_camera.D, [-1.0, -0.5, 0.0, 0.5, 1.0])) + + # Check ArUco tracker + self.assertEqual(argaze_scene.aruco_tracker.tracking_data.cornerRefinementMethod, 3) + self.assertEqual(argaze_scene.aruco_tracker.tracking_data.aprilTagQuadSigma, 2) + self.assertEqual(argaze_scene.aruco_tracker.tracking_data.aprilTagDeglitch, 1) + + # Check ArUco scene + self.assertEqual(argaze_scene.aruco_scene.angle_tolerance, 1.0) + self.assertEqual(argaze_scene.aruco_scene.distance_tolerance, 2.0) + self.assertEqual(len(argaze_scene.aruco_scene.places), 2) + + # Check ArUco scene places + self.assertIsNone(numpy.testing.assert_array_equal(argaze_scene.aruco_scene.places['A'].translation, [1, 0, 0])) + self.assertIsNone(numpy.testing.assert_array_equal(argaze_scene.aruco_scene.places['A'].rotation, [0, 0, 0])) + self.assertEqual(argaze_scene.aruco_scene.places['A'].marker.identifier, 0) + + self.assertIsNone(numpy.testing.assert_array_equal(argaze_scene.aruco_scene.places['B'].translation, [0, 1, 0])) + self.assertIsNone(numpy.testing.assert_array_equal(argaze_scene.aruco_scene.places['B'].rotation, [0, 90, 0])) + self.assertEqual(argaze_scene.aruco_scene.places['B'].marker.identifier, 1) + + # Check AOI scene + self.assertEqual(len(argaze_scene.aoi_scene.items()), 1) + self.assertEqual(argaze_scene.aoi_scene['Test'].size, 4) + +if __name__ == '__main__': + + unittest.main() \ No newline at end of file diff --git a/src/argaze.test/ArUcoMarkers/ArUcoCamera.py b/src/argaze.test/ArUcoMarkers/ArUcoCamera.py index 7e50e8c..ef78b04 100644 --- a/src/argaze.test/ArUcoMarkers/ArUcoCamera.py +++ b/src/argaze.test/ArUcoMarkers/ArUcoCamera.py @@ -18,7 +18,10 @@ class TestArUcoCameraClass(unittest.TestCase): # Check ArUco camera self.assertEqual(aruco_camera.rms, 0.0) - self.assertIsNone(numpy.testing.assert_array_equal(aruco_camera.dimensions, numpy.array([0, 0]))) + + #self.assertEqual(type(aruco_camera.K), numpy.array) + + self.assertIsNone(numpy.testing.assert_array_equal(aruco_camera.dimensions, [0, 0])) self.assertIsNone(numpy.testing.assert_array_equal(aruco_camera.K, ArUcoCamera.K0)) self.assertIsNone(numpy.testing.assert_array_equal(aruco_camera.D, ArUcoCamera.D0)) @@ -33,7 +36,7 @@ class TestArUcoCameraClass(unittest.TestCase): # Check ArUco camera self.assertEqual(aruco_camera.rms, 1.0) - self.assertIsNone(numpy.testing.assert_array_equal(aruco_camera.dimensions, numpy.array([1920, 1080]))) + self.assertIsNone(numpy.testing.assert_array_equal(aruco_camera.dimensions, [1920, 1080])) self.assertIsNone(numpy.testing.assert_array_equal(aruco_camera.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.D, [-1.0, -0.5, 0.0, 0.5, 1.0])) diff --git a/src/argaze.test/ArUcoMarkers/ArUcoTracker.py b/src/argaze.test/ArUcoMarkers/ArUcoTracker.py index acc0000..87373ea 100644 --- a/src/argaze.test/ArUcoMarkers/ArUcoTracker.py +++ b/src/argaze.test/ArUcoMarkers/ArUcoTracker.py @@ -9,6 +9,29 @@ from argaze.ArUcoMarkers import ArUcoMarkersDictionary, ArUcoCamera, ArUcoTracke import cv2 as cv import numpy +class TestTrackingDataClass(unittest.TestCase): + """Test TrackingData class.""" + + def test_from_json(self): + """Test TrackingData 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/tracker.json') + + # Load project + tracking_data = ArUcoTracker.TrackingData.from_json(json_filepath) + + # Check data + self.assertEqual(tracking_data.cornerRefinementMethod, 3) + self.assertEqual(tracking_data.aprilTagQuadSigma, 2) + self.assertEqual(tracking_data.aprilTagDeglitch, 1) + + # Check bad data access fails + with self.assertRaises(AttributeError): + + tracking_data.unknown_data = 1 + class TestArUcoTrackerClass(unittest.TestCase): """Test ArUcoTracker class.""" diff --git a/src/argaze.test/ArUcoMarkers/utils/tracker.json b/src/argaze.test/ArUcoMarkers/utils/tracker.json new file mode 100644 index 0000000..d26a3fa --- /dev/null +++ b/src/argaze.test/ArUcoMarkers/utils/tracker.json @@ -0,0 +1,5 @@ +{ + "cornerRefinementMethod": 3, + "aprilTagQuadSigma": 2, + "aprilTagDeglitch": 1 +} \ No newline at end of file diff --git a/src/argaze.test/utils/aoi.obj b/src/argaze.test/utils/aoi.obj new file mode 100644 index 0000000..ed4554f --- /dev/null +++ b/src/argaze.test/utils/aoi.obj @@ -0,0 +1,7 @@ +o Test +v 0.000000 0.000000 0.000000 +v 1.000000 0.000000 0.000000 +v 0.000000 1.000000 0.000000 +v 1.000000 1.000000 0.000000 +s off +f 1 2 4 3 diff --git a/src/argaze.test/utils/project.json b/src/argaze.test/utils/project.json deleted file mode 100644 index e2812f2..0000000 --- a/src/argaze.test/utils/project.json +++ /dev/null @@ -1,34 +0,0 @@ -{ - "name": "TestProject", - "aruco_camera": { - "rms": 1.0, - "dimensions": [ - 1920, - 1080 - ], - "K": [ - [ - 1.0, - 0.0, - 1.0 - ], - [ - 0.0, - 1.0, - 1.0 - ], - [ - 0.0, - 0.0, - 1.0 - ] - ], - "D": [ - -1.0, - -0.5, - 0.0, - 0.5, - 1.0 - ] - } -} \ No newline at end of file diff --git a/src/argaze.test/utils/scene.json b/src/argaze.test/utils/scene.json new file mode 100644 index 0000000..1f80eac --- /dev/null +++ b/src/argaze.test/utils/scene.json @@ -0,0 +1,58 @@ +{ + "name": "TestScene", + "aruco_dictionary": "DICT_ARUCO_ORIGINAL", + "aruco_marker_size": 3.0, + "aruco_camera": { + "rms": 1.0, + "dimensions": [ + 1920, + 1080 + ], + "K": [ + [ + 1.0, + 0.0, + 1.0 + ], + [ + 0.0, + 1.0, + 1.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "D": [ + -1.0, + -0.5, + 0.0, + 0.5, + 1.0 + ] + }, + "aruco_tracker": { + "cornerRefinementMethod": 3, + "aprilTagQuadSigma": 2, + "aprilTagDeglitch": 1 + }, + "aruco_scene": { + "places": { + "A": { + "translation": [1, 0, 0], + "rotation": [0, 0, 0], + "marker": 0 + }, + "B": { + "translation": [0, 1, 0], + "rotation": [0, 90, 0], + "marker": 1 + } + }, + "angle_tolerance": 1.0, + "distance_tolerance": 2.0 + }, + "aoi_scene": "aoi.obj" +} \ No newline at end of file -- cgit v1.1