From 4a5c7ad8bf29afc5af893c524e5753de302873b7 Mon Sep 17 00:00:00 2001 From: Théo de la Hogue Date: Wed, 14 Jun 2023 11:36:40 +0200 Subject: Renaming ArUcoCamera into ArUcoOpticCalibrator. Using OpticParameters class to handle K and D parameters. --- src/argaze.test/ArFeatures.py | 10 ++--- src/argaze.test/ArUcoMarkers/ArUcoCamera.py | 52 ---------------------- src/argaze.test/ArUcoMarkers/ArUcoDetector.py | 8 ++-- .../ArUcoMarkers/ArUcoOpticCalibrator.py | 52 ++++++++++++++++++++++ src/argaze.test/ArUcoMarkers/utils/camera.json | 31 ------------- src/argaze.test/ArUcoMarkers/utils/detector.json | 2 +- .../ArUcoMarkers/utils/optic_parameters.json | 31 +++++++++++++ src/argaze.test/utils/environment.json | 2 +- 8 files changed, 94 insertions(+), 94 deletions(-) delete mode 100644 src/argaze.test/ArUcoMarkers/ArUcoCamera.py create mode 100644 src/argaze.test/ArUcoMarkers/ArUcoOpticCalibrator.py delete mode 100644 src/argaze.test/ArUcoMarkers/utils/camera.json create mode 100644 src/argaze.test/ArUcoMarkers/utils/optic_parameters.json (limited to 'src/argaze.test') diff --git a/src/argaze.test/ArFeatures.py b/src/argaze.test/ArFeatures.py index 3f7972d..5da63d1 100644 --- a/src/argaze.test/ArFeatures.py +++ b/src/argaze.test/ArFeatures.py @@ -37,11 +37,11 @@ class TestArEnvironmentClass(unittest.TestCase): self.assertEqual(ar_environment.aruco_detector.parameters.aprilTagQuadSigma, 2) self.assertEqual(ar_environment.aruco_detector.parameters.aprilTagDeglitch, 1) - # Check ArUco detector camera - self.assertEqual(ar_environment.aruco_detector.camera.rms, 1.0) - self.assertIsNone(numpy.testing.assert_array_equal(ar_environment.aruco_detector.camera.dimensions, [1920, 1080])) - self.assertIsNone(numpy.testing.assert_array_equal(ar_environment.aruco_detector.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(ar_environment.aruco_detector.camera.D, [-1.0, -0.5, 0.0, 0.5, 1.0])) + # Check ArUco detector optic parameters + self.assertEqual(ar_environment.aruco_detector.optic_parameters.rms, 1.0) + self.assertIsNone(numpy.testing.assert_array_equal(ar_environment.aruco_detector.optic_parameters.dimensions, [1920, 1080])) + self.assertIsNone(numpy.testing.assert_array_equal(ar_environment.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(ar_environment.aruco_detector.optic_parameters.D, [-1.0, -0.5, 0.0, 0.5, 1.0])) # Check environment scenes self.assertEqual(len(ar_environment.scenes), 2) diff --git a/src/argaze.test/ArUcoMarkers/ArUcoCamera.py b/src/argaze.test/ArUcoMarkers/ArUcoCamera.py deleted file mode 100644 index 7a53070..0000000 --- a/src/argaze.test/ArUcoMarkers/ArUcoCamera.py +++ /dev/null @@ -1,52 +0,0 @@ -#!/usr/bin/env python - -""" """ - -__author__ = "Théo de la Hogue" -__credits__ = [] -__copyright__ = "Copyright 2023, Ecole Nationale de l'Aviation Civile (ENAC)" -__license__ = "BSD" - -import unittest -import os - -from argaze.ArUcoMarkers import ArUcoCamera - -import numpy - -class TestArUcoCameraClass(unittest.TestCase): - """Test ArUcoCamera class.""" - - def test_new(self): - """Test ArUcoCamera creation.""" - - # Check defaut camera creation - aruco_camera = ArUcoCamera.ArUcoCamera() - - # Check ArUco camera - self.assertEqual(aruco_camera.rms, 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)) - - def test_from_json(self): - - # Edit camera file path - current_directory = os.path.dirname(os.path.abspath(__file__)) - json_filepath = os.path.join(current_directory, 'utils/camera.json') - - # Load camera calibration - aruco_camera = ArUcoCamera.ArUcoCamera.from_json(json_filepath) - - # Check ArUco camera - self.assertEqual(aruco_camera.rms, 1.0) - 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])) - -if __name__ == '__main__': - - unittest.main() \ No newline at end of file diff --git a/src/argaze.test/ArUcoMarkers/ArUcoDetector.py b/src/argaze.test/ArUcoMarkers/ArUcoDetector.py index cd7c90c..750aaa5 100644 --- a/src/argaze.test/ArUcoMarkers/ArUcoDetector.py +++ b/src/argaze.test/ArUcoMarkers/ArUcoDetector.py @@ -11,7 +11,7 @@ import unittest import os import math -from argaze.ArUcoMarkers import ArUcoMarkersDictionary, ArUcoCamera, ArUcoDetector, ArUcoBoard +from argaze.ArUcoMarkers import ArUcoMarkersDictionary, ArUcoOpticCalibrator, ArUcoDetector, ArUcoBoard import cv2 as cv import numpy @@ -50,7 +50,7 @@ class TestArUcoDetectorClass(unittest.TestCase): # 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.camera.dimensions, [0, 0])) + 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, {}) @@ -60,7 +60,7 @@ class TestArUcoDetectorClass(unittest.TestCase): # 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.camera.dimensions, [0, 0])) + 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, {}) @@ -77,7 +77,7 @@ class TestArUcoDetectorClass(unittest.TestCase): # 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.camera.dimensions, [1920, 1080])) + 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) diff --git a/src/argaze.test/ArUcoMarkers/ArUcoOpticCalibrator.py b/src/argaze.test/ArUcoMarkers/ArUcoOpticCalibrator.py new file mode 100644 index 0000000..45b7669 --- /dev/null +++ b/src/argaze.test/ArUcoMarkers/ArUcoOpticCalibrator.py @@ -0,0 +1,52 @@ +#!/usr/bin/env python + +""" """ + +__author__ = "Théo de la Hogue" +__credits__ = [] +__copyright__ = "Copyright 2023, Ecole Nationale de l'Aviation Civile (ENAC)" +__license__ = "BSD" + +import unittest +import os + +from argaze.ArUcoMarkers import ArUcoOpticCalibrator + +import numpy + +class TestOpticParametersClass(unittest.TestCase): + """Test OpticParameters class.""" + + def test_new(self): + """Test OpticParameters creation.""" + + # Check defaut optic parameters creation + optic_parameters = ArUcoOpticCalibrator.OpticParameters() + + # Check ArUco optic parameters + self.assertEqual(optic_parameters.rms, 0.0) + + #self.assertEqual(type(optic_parameters.K), numpy.array) + + self.assertIsNone(numpy.testing.assert_array_equal(optic_parameters.dimensions, [0, 0])) + self.assertIsNone(numpy.testing.assert_array_equal(optic_parameters.K, ArUcoOpticCalibrator.K0)) + self.assertIsNone(numpy.testing.assert_array_equal(optic_parameters.D, ArUcoOpticCalibrator.D0)) + + def test_from_json(self): + + # Edit optic parameters file path + current_directory = os.path.dirname(os.path.abspath(__file__)) + json_filepath = os.path.join(current_directory, 'utils/optic_parameters.json') + + # Load optic parameters + optic_parameters = ArUcoOpticCalibrator.OpticParameters.from_json(json_filepath) + + # Check ArUco camera + self.assertEqual(optic_parameters.rms, 1.0) + self.assertIsNone(numpy.testing.assert_array_equal(optic_parameters.dimensions, [1920, 1080])) + self.assertIsNone(numpy.testing.assert_array_equal(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(optic_parameters.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/ArUcoMarkers/utils/camera.json b/src/argaze.test/ArUcoMarkers/utils/camera.json deleted file mode 100644 index 988731c..0000000 --- a/src/argaze.test/ArUcoMarkers/utils/camera.json +++ /dev/null @@ -1,31 +0,0 @@ -{ - "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/ArUcoMarkers/utils/detector.json b/src/argaze.test/ArUcoMarkers/utils/detector.json index a239bf8..8aada6d 100644 --- a/src/argaze.test/ArUcoMarkers/utils/detector.json +++ b/src/argaze.test/ArUcoMarkers/utils/detector.json @@ -3,7 +3,7 @@ "name": "DICT_ARUCO_ORIGINAL" }, "marker_size": 3.0, - "camera": { + "optic_parameters": { "rms": 1.0, "dimensions": [ 1920, diff --git a/src/argaze.test/ArUcoMarkers/utils/optic_parameters.json b/src/argaze.test/ArUcoMarkers/utils/optic_parameters.json new file mode 100644 index 0000000..988731c --- /dev/null +++ b/src/argaze.test/ArUcoMarkers/utils/optic_parameters.json @@ -0,0 +1,31 @@ +{ + "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/environment.json b/src/argaze.test/utils/environment.json index 57d04cf..df1c771 100644 --- a/src/argaze.test/utils/environment.json +++ b/src/argaze.test/utils/environment.json @@ -5,7 +5,7 @@ "name": "DICT_ARUCO_ORIGINAL" }, "marker_size": 3.0, - "camera": { + "optic_parameters": { "rms": 1.0, "dimensions": [ 1920, -- cgit v1.1