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/ArUcoMarker/ArUcoBoard.py | 50 +++++
src/argaze.test/ArUcoMarker/ArUcoCamera.py | 80 ++++++++
src/argaze.test/ArUcoMarker/ArUcoDetector.py | 149 ++++++++++++++
src/argaze.test/ArUcoMarker/ArUcoMarker.py | 40 ++++
.../ArUcoMarker/ArUcoMarkerDictionary.py | 50 +++++
.../ArUcoMarker/ArUcoOpticCalibrator.py | 61 ++++++
src/argaze.test/ArUcoMarker/ArUcoScene.py | 227 +++++++++++++++++++++
src/argaze.test/ArUcoMarker/__init__.py | 0
src/argaze.test/ArUcoMarker/utils/aoi_3d.obj | 7 +
.../ArUcoMarker/utils/aruco_camera.json | 98 +++++++++
src/argaze.test/ArUcoMarker/utils/detector.json | 42 ++++
.../ArUcoMarker/utils/detector_parameters.json | 5 +
.../ArUcoMarker/utils/full_hd_board.png | Bin 0 -> 18475 bytes
.../ArUcoMarker/utils/full_hd_marker.png | Bin 0 -> 116210 bytes
.../ArUcoMarker/utils/optic_parameters.json | 31 +++
src/argaze.test/ArUcoMarker/utils/scene.json | 20 ++
src/argaze.test/ArUcoMarker/utils/scene.obj | 22 ++
src/argaze.test/ArUcoMarkers/ArUcoBoard.py | 50 -----
src/argaze.test/ArUcoMarkers/ArUcoCamera.py | 80 --------
src/argaze.test/ArUcoMarkers/ArUcoDetector.py | 149 --------------
src/argaze.test/ArUcoMarkers/ArUcoMarker.py | 40 ----
.../ArUcoMarkers/ArUcoMarkersDictionary.py | 50 -----
.../ArUcoMarkers/ArUcoOpticCalibrator.py | 61 ------
src/argaze.test/ArUcoMarkers/ArUcoScene.py | 227 ---------------------
src/argaze.test/ArUcoMarkers/__init__.py | 0
src/argaze.test/ArUcoMarkers/utils/aoi_3d.obj | 7 -
.../ArUcoMarkers/utils/aruco_camera.json | 98 ---------
src/argaze.test/ArUcoMarkers/utils/detector.json | 42 ----
.../ArUcoMarkers/utils/detector_parameters.json | 5 -
.../ArUcoMarkers/utils/full_hd_board.png | Bin 18475 -> 0 bytes
.../ArUcoMarkers/utils/full_hd_marker.png | Bin 116210 -> 0 bytes
.../ArUcoMarkers/utils/optic_parameters.json | 31 ---
src/argaze.test/ArUcoMarkers/utils/scene.json | 20 --
src/argaze.test/ArUcoMarkers/utils/scene.obj | 22 --
34 files changed, 882 insertions(+), 882 deletions(-)
create mode 100644 src/argaze.test/ArUcoMarker/ArUcoBoard.py
create mode 100644 src/argaze.test/ArUcoMarker/ArUcoCamera.py
create mode 100644 src/argaze.test/ArUcoMarker/ArUcoDetector.py
create mode 100644 src/argaze.test/ArUcoMarker/ArUcoMarker.py
create mode 100644 src/argaze.test/ArUcoMarker/ArUcoMarkerDictionary.py
create mode 100644 src/argaze.test/ArUcoMarker/ArUcoOpticCalibrator.py
create mode 100644 src/argaze.test/ArUcoMarker/ArUcoScene.py
create mode 100644 src/argaze.test/ArUcoMarker/__init__.py
create mode 100644 src/argaze.test/ArUcoMarker/utils/aoi_3d.obj
create mode 100644 src/argaze.test/ArUcoMarker/utils/aruco_camera.json
create mode 100644 src/argaze.test/ArUcoMarker/utils/detector.json
create mode 100644 src/argaze.test/ArUcoMarker/utils/detector_parameters.json
create mode 100644 src/argaze.test/ArUcoMarker/utils/full_hd_board.png
create mode 100644 src/argaze.test/ArUcoMarker/utils/full_hd_marker.png
create mode 100644 src/argaze.test/ArUcoMarker/utils/optic_parameters.json
create mode 100644 src/argaze.test/ArUcoMarker/utils/scene.json
create mode 100644 src/argaze.test/ArUcoMarker/utils/scene.obj
delete mode 100644 src/argaze.test/ArUcoMarkers/ArUcoBoard.py
delete mode 100644 src/argaze.test/ArUcoMarkers/ArUcoCamera.py
delete mode 100644 src/argaze.test/ArUcoMarkers/ArUcoDetector.py
delete mode 100644 src/argaze.test/ArUcoMarkers/ArUcoMarker.py
delete mode 100644 src/argaze.test/ArUcoMarkers/ArUcoMarkersDictionary.py
delete mode 100644 src/argaze.test/ArUcoMarkers/ArUcoOpticCalibrator.py
delete mode 100644 src/argaze.test/ArUcoMarkers/ArUcoScene.py
delete mode 100644 src/argaze.test/ArUcoMarkers/__init__.py
delete mode 100644 src/argaze.test/ArUcoMarkers/utils/aoi_3d.obj
delete mode 100644 src/argaze.test/ArUcoMarkers/utils/aruco_camera.json
delete mode 100644 src/argaze.test/ArUcoMarkers/utils/detector.json
delete mode 100644 src/argaze.test/ArUcoMarkers/utils/detector_parameters.json
delete mode 100644 src/argaze.test/ArUcoMarkers/utils/full_hd_board.png
delete mode 100644 src/argaze.test/ArUcoMarkers/utils/full_hd_marker.png
delete mode 100644 src/argaze.test/ArUcoMarkers/utils/optic_parameters.json
delete mode 100644 src/argaze.test/ArUcoMarkers/utils/scene.json
delete mode 100644 src/argaze.test/ArUcoMarkers/utils/scene.obj
(limited to 'src/argaze.test')
diff --git a/src/argaze.test/ArUcoMarker/ArUcoBoard.py b/src/argaze.test/ArUcoMarker/ArUcoBoard.py
new file mode 100644
index 0000000..b20be13
--- /dev/null
+++ b/src/argaze.test/ArUcoMarker/ArUcoBoard.py
@@ -0,0 +1,50 @@
+"""
+
+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
+
+from argaze.ArUcoMarker import ArUcoBoard, ArUcoMarkerDictionary
+
+import numpy
+
+class TestArUcoBoardClass(unittest.TestCase):
+ """Test ArUcoBoard class."""
+
+ def test_new(self):
+ """Test ArUcoBoard creation using a dictionary instance."""
+
+ columns = 4
+ rows = 3
+ square_size = 2
+ marker_size = 1
+
+ # Check ArUco board creation
+ aruco_dictionary = ArUcoMarkerDictionary.ArUcoMarkerDictionary('DICT_APRILTAG_16h5')
+ aruco_board = ArUcoBoard.ArUcoBoard(columns, rows, square_size, marker_size, aruco_dictionary)
+
+ # Check ArUco board dictionary name
+ self.assertEqual(aruco_board.dictionary.name, 'DICT_APRILTAG_16h5')
+ self.assertIsNone(numpy.testing.assert_array_equal(aruco_board.identifiers, [i for i in range(int((columns*rows)/2))]))
+ self.assertIsNone(numpy.testing.assert_array_equal(aruco_board.size, [columns, rows]))
+ self.assertEqual(aruco_board.markers_number, int((columns*rows)/2))
+ self.assertEqual(aruco_board.corners_number, (columns-1)*(rows-1))
+
+if __name__ == '__main__':
+
+ unittest.main()
\ No newline at end of file
diff --git a/src/argaze.test/ArUcoMarker/ArUcoCamera.py b/src/argaze.test/ArUcoMarker/ArUcoCamera.py
new file mode 100644
index 0000000..eb930ab
--- /dev/null
+++ b/src/argaze.test/ArUcoMarker/ArUcoCamera.py
@@ -0,0 +1,80 @@
+"""
+
+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 argaze
+
+import numpy
+
+class TestArUcoCameraClass(unittest.TestCase):
+ """Test ArUcoCamera class."""
+
+ def test_from_json(self):
+ """Test ArUcoCamera creation from json file."""
+
+ # Edit test aruco camera file path
+ current_directory = os.path.dirname(os.path.abspath(__file__))
+ json_filepath = os.path.join(current_directory, 'utils/aruco_camera.json')
+
+ # Load test aruco camera
+ with argaze.load(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__':
+
+ unittest.main()
\ No newline at end of file
diff --git a/src/argaze.test/ArUcoMarker/ArUcoDetector.py b/src/argaze.test/ArUcoMarker/ArUcoDetector.py
new file mode 100644
index 0000000..40b7d00
--- /dev/null
+++ b/src/argaze.test/ArUcoMarker/ArUcoDetector.py
@@ -0,0 +1,149 @@
+"""
+
+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.ArUcoMarker import ArUcoMarkerDictionary, ArUcoOpticCalibrator, ArUcoDetector, ArUcoBoard
+
+import cv2 as cv
+import numpy
+
+class TestDetectorParametersClass(unittest.TestCase):
+ """Test DetectorParameters class."""
+
+ def test_from_json(self):
+ """Test DetectorParameters creation from json file."""
+
+ # Edit file path
+ current_directory = os.path.dirname(os.path.abspath(__file__))
+ json_filepath = os.path.join(current_directory, 'utils/detector_parameters.json')
+
+ # Load file
+ detector_parameters = ArUcoDetector.DetectorParameters.from_json(json_filepath)
+
+ # Check data
+ self.assertEqual(detector_parameters.cornerRefinementMethod, 3)
+ self.assertEqual(detector_parameters.aprilTagQuadSigma, 2)
+ self.assertEqual(detector_parameters.aprilTagDeglitch, 1)
+
+ # Check bad data access fails
+ with self.assertRaises(AttributeError):
+
+ detector_parameters.unknown_data = 1
+
+class TestArUcoDetectorClass(unittest.TestCase):
+ """Test ArUcoDetector class."""
+
+ def test_new(self):
+ """Test ArUcoDetector creation."""
+
+ aruco_detector = ArUcoDetector.ArUcoDetector(marker_size=3)
+
+ # 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.optic_parameters.dimensions, [0, 0]))
+ self.assertEqual(aruco_detector.detected_markers_number(), 0)
+ self.assertEqual(aruco_detector.detected_markers(), {})
+
+ aruco_dictionary = ArUcoMarkerDictionary.ArUcoMarkerDictionary('DICT_APRILTAG_16h5')
+ aruco_detector = ArUcoDetector.ArUcoDetector(aruco_dictionary, 5.2)
+
+ # 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.optic_parameters.dimensions, [0, 0]))
+ self.assertEqual(aruco_detector.detected_markers_number(), 0)
+ self.assertEqual(aruco_detector.detected_markers(), {})
+
+ def test_from_json(self):
+ """Test ArUcoDetector creation."""
+
+ # Edit file path
+ current_directory = os.path.dirname(os.path.abspath(__file__))
+ json_filepath = os.path.join(current_directory, 'utils/detector.json')
+
+ # Load file
+ aruco_detector = ArUcoDetector.ArUcoDetector.from_json(json_filepath)
+
+ # 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.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)
+
+ def test_detect(self):
+ """Test detect method."""
+
+ aruco_detector = ArUcoDetector.ArUcoDetector(marker_size=3)
+
+ # Load picture Full HD to test ArUcoMarker detection
+ current_directory = os.path.dirname(os.path.abspath(__file__))
+ image = cv.imread(os.path.join(current_directory, 'utils/full_hd_marker.png'))
+
+ # Check ArUcoMarker detection
+ aruco_detector.detect_markers(image)
+
+ self.assertEqual(aruco_detector.detected_markers_number(), 1)
+
+ self.assertEqual(aruco_detector.detected_markers()[0].dictionary, aruco_detector.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 pose estimation
+ aruco_detector.estimate_markers_pose([0])
+
+ # 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([[1., 0., 0.], [0., -1., 0.], [0., 0., -1.]]), 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_board = ArUcoBoard.ArUcoBoard(7, 5, 5, 3)
+ aruco_detector = ArUcoDetector.ArUcoDetector(marker_size=3)
+
+ # Load picture Full HD to test ArUcoMarker board detection
+ current_directory = os.path.dirname(os.path.abspath(__file__))
+ image = cv.imread(os.path.join(current_directory, 'utils/full_hd_board.png'))
+
+ # Check ArUcoMarker board detection
+ aruco_detector.detect_board(image, 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()
\ No newline at end of file
diff --git a/src/argaze.test/ArUcoMarker/ArUcoMarker.py b/src/argaze.test/ArUcoMarker/ArUcoMarker.py
new file mode 100644
index 0000000..6518c8c
--- /dev/null
+++ b/src/argaze.test/ArUcoMarker/ArUcoMarker.py
@@ -0,0 +1,40 @@
+"""
+
+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
+
+from argaze.ArUcoMarker import ArUcoMarkerDictionary, ArUcoMarker
+
+class TestArUcoMarkerClass(unittest.TestCase):
+ """Test ArUcoMarker class."""
+
+ def test_new(self):
+ """Test ArUcoMarker creation."""
+
+ # Check DICT_ARUCO_ORIGINAL ArUcoMarker creation
+ aruco_dictionary = ArUcoMarkerDictionary.ArUcoMarkerDictionary('DICT_ARUCO_ORIGINAL')
+
+ aruco_marker = aruco_dictionary.create_marker(0, 3)
+
+ self.assertEqual(aruco_marker.dictionary, aruco_dictionary)
+ self.assertEqual(aruco_marker.identifier, 0)
+ self.assertEqual(aruco_marker.size, 3)
+
+if __name__ == '__main__':
+
+ unittest.main()
\ No newline at end of file
diff --git a/src/argaze.test/ArUcoMarker/ArUcoMarkerDictionary.py b/src/argaze.test/ArUcoMarker/ArUcoMarkerDictionary.py
new file mode 100644
index 0000000..2f80a67
--- /dev/null
+++ b/src/argaze.test/ArUcoMarker/ArUcoMarkerDictionary.py
@@ -0,0 +1,50 @@
+"""
+
+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
+
+from argaze.ArUcoMarker import ArUcoMarkerDictionary
+
+class TestArUcoMarkerDictionaryClass(unittest.TestCase):
+ """Test ArUcoMarkerDictionary class."""
+
+ def test_new(self):
+ """Test ArUcoMarkerDictionary creation."""
+
+ # Check that ArUcoMarkerDictionary creation fails with bad name
+ with self.assertRaises(NameError):
+
+ aruco_dictionary = ArUcoMarkerDictionary.ArUcoMarkerDictionary('BAD_DICT_NAME')
+
+ # Check default ArUcoMarkerDictionary creation
+ aruco_dictionary = ArUcoMarkerDictionary.ArUcoMarkerDictionary()
+
+ self.assertEqual(aruco_dictionary.name, 'DICT_ARUCO_ORIGINAL')
+ self.assertEqual(aruco_dictionary.format, '5X5')
+ self.assertEqual(aruco_dictionary.number, 1024)
+
+ # Check DICT_APRILTAG_16h5 ArUcoMarkerDictionary creation
+ aruco_dictionary = ArUcoMarkerDictionary.ArUcoMarkerDictionary('DICT_APRILTAG_16h5')
+
+ self.assertEqual(aruco_dictionary.name, 'DICT_APRILTAG_16h5')
+ self.assertEqual(aruco_dictionary.format, '4X4')
+ self.assertEqual(aruco_dictionary.number, 30)
+
+if __name__ == '__main__':
+
+ unittest.main()
\ No newline at end of file
diff --git a/src/argaze.test/ArUcoMarker/ArUcoOpticCalibrator.py b/src/argaze.test/ArUcoMarker/ArUcoOpticCalibrator.py
new file mode 100644
index 0000000..d019a5d
--- /dev/null
+++ b/src/argaze.test/ArUcoMarker/ArUcoOpticCalibrator.py
@@ -0,0 +1,61 @@
+"""
+
+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
+
+from argaze.ArUcoMarker 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/ArUcoMarker/ArUcoScene.py b/src/argaze.test/ArUcoMarker/ArUcoScene.py
new file mode 100644
index 0000000..67cb668
--- /dev/null
+++ b/src/argaze.test/ArUcoMarker/ArUcoScene.py
@@ -0,0 +1,227 @@
+"""
+
+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.ArUcoMarker import ArUcoMarkerGroup, ArUcoMarker
+
+import cv2 as cv
+import numpy
+
+class TestArUcoMarkerGroupClass(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 = ArUcoMarkerGroup.ArUcoMarkerGroup.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 = ArUcoMarkerGroup.ArUcoMarkerGroup.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 ArUcoMarkerGroup creation."""
+
+ self.new_from_obj()
+ self.setup_markers()
+
+ # Check ArUcoMarkerGroup 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 ArUcoMarkerGroup creation."""
+
+ self.new_from_json()
+ self.setup_markers()
+
+ # Check ArUcoMarkerGroup 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 ArUcoMarkerGroup 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 ArUcoMarkerGroup 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 ArUcoMarkerGroup 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 ArUcoMarkerGroup 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("ArUcoMarkerGroup estimate_pose_from_axis_markers method is broken.")
+ def test_estimate_pose_from_axis_markers(self):
+ """Test ArUcoMarkerGroup 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
diff --git a/src/argaze.test/ArUcoMarker/__init__.py b/src/argaze.test/ArUcoMarker/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/src/argaze.test/ArUcoMarker/utils/aoi_3d.obj b/src/argaze.test/ArUcoMarker/utils/aoi_3d.obj
new file mode 100644
index 0000000..92e85bd
--- /dev/null
+++ b/src/argaze.test/ArUcoMarker/utils/aoi_3d.obj
@@ -0,0 +1,7 @@
+o Test
+v 0.000000 0.000000 0.000000
+v 25.000000 0.000000 0.000000
+v 0.000000 14.960000 0.000000
+v 25.000000 14.960000 0.000000
+s off
+f 1 2 4 3
diff --git a/src/argaze.test/ArUcoMarker/utils/aruco_camera.json b/src/argaze.test/ArUcoMarker/utils/aruco_camera.json
new file mode 100644
index 0000000..980dc9f
--- /dev/null
+++ b/src/argaze.test/ArUcoMarker/utils/aruco_camera.json
@@ -0,0 +1,98 @@
+{
+ "name": "TestArUcoCamera",
+ "size": [1920, 1080],
+ "aruco_detector": {
+ "dictionary": {
+ "name": "DICT_ARUCO_ORIGINAL"
+ },
+ "optic_parameters": {
+ "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
+ ]
+ },
+ "parameters": {
+ "cornerRefinementMethod": 3,
+ "aprilTagQuadSigma": 2,
+ "aprilTagDeglitch": 1
+ }
+ },
+ "scenes": {
+ "TestSceneA" : {
+ "aruco_markers_group": {
+ "dictionary": "DICT_ARUCO_ORIGINAL",
+ "places": {
+ "0": {
+ "translation": [1, 0, 0],
+ "rotation": [0, 0, 0],
+ "size": 3.0
+ },
+ "1": {
+ "translation": [0, 1, 0],
+ "rotation": [0, 90, 0],
+ "size": 3.0
+ }
+ }
+ },
+ "layers": {
+ "Main" : {
+ "aoi_scene": "aoi_3d.obj"
+ }
+ },
+ "angle_tolerance": 1.0,
+ "distance_tolerance": 2.0
+ },
+ "TestSceneB" : {
+ "aruco_markers_group": {
+ "dictionary": "DICT_ARUCO_ORIGINAL",
+ "places": {
+ "0": {
+ "translation": [1, 0, 0],
+ "rotation": [0, 0, 0],
+ "size": 3.0
+ },
+ "1": {
+ "translation": [0, 1, 0],
+ "rotation": [0, 90, 0],
+ "size": 3.0
+ }
+ }
+ },
+ "layers": {
+ "Main" : {
+ "aoi_scene": "aoi_3d.obj"
+ }
+ },
+ "angle_tolerance": 1.0,
+ "distance_tolerance": 2.0
+ }
+ },
+ "layers": {
+ "Main": {}
+ }
+}
\ No newline at end of file
diff --git a/src/argaze.test/ArUcoMarker/utils/detector.json b/src/argaze.test/ArUcoMarker/utils/detector.json
new file mode 100644
index 0000000..8aada6d
--- /dev/null
+++ b/src/argaze.test/ArUcoMarker/utils/detector.json
@@ -0,0 +1,42 @@
+{
+ "dictionary": {
+ "name": "DICT_ARUCO_ORIGINAL"
+ },
+ "marker_size": 3.0,
+ "optic_parameters": {
+ "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
+ ]
+ },
+ "parameters": {
+ "cornerRefinementMethod": 3,
+ "aprilTagQuadSigma": 2,
+ "aprilTagDeglitch": 1
+ }
+}
\ No newline at end of file
diff --git a/src/argaze.test/ArUcoMarker/utils/detector_parameters.json b/src/argaze.test/ArUcoMarker/utils/detector_parameters.json
new file mode 100644
index 0000000..d26a3fa
--- /dev/null
+++ b/src/argaze.test/ArUcoMarker/utils/detector_parameters.json
@@ -0,0 +1,5 @@
+{
+ "cornerRefinementMethod": 3,
+ "aprilTagQuadSigma": 2,
+ "aprilTagDeglitch": 1
+}
\ No newline at end of file
diff --git a/src/argaze.test/ArUcoMarker/utils/full_hd_board.png b/src/argaze.test/ArUcoMarker/utils/full_hd_board.png
new file mode 100644
index 0000000..d30b300
Binary files /dev/null and b/src/argaze.test/ArUcoMarker/utils/full_hd_board.png differ
diff --git a/src/argaze.test/ArUcoMarker/utils/full_hd_marker.png b/src/argaze.test/ArUcoMarker/utils/full_hd_marker.png
new file mode 100644
index 0000000..42146fe
Binary files /dev/null and b/src/argaze.test/ArUcoMarker/utils/full_hd_marker.png differ
diff --git a/src/argaze.test/ArUcoMarker/utils/optic_parameters.json b/src/argaze.test/ArUcoMarker/utils/optic_parameters.json
new file mode 100644
index 0000000..988731c
--- /dev/null
+++ b/src/argaze.test/ArUcoMarker/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/ArUcoMarker/utils/scene.json b/src/argaze.test/ArUcoMarker/utils/scene.json
new file mode 100644
index 0000000..bdd9ae8
--- /dev/null
+++ b/src/argaze.test/ArUcoMarker/utils/scene.json
@@ -0,0 +1,20 @@
+{
+ "dictionary": {
+ "name": "DICT_ARUCO_ORIGINAL"
+ },
+ "marker_size": 1,
+ "places": {
+ "0": {
+ "translation": [0, 0, 0],
+ "rotation": [0, 0, 0]
+ },
+ "1": {
+ "translation": [10, 10, 0],
+ "rotation": [0, 0, 0]
+ },
+ "2": {
+ "translation": [0, 10, 0],
+ "rotation": [0, 0, 0]
+ }
+ }
+}
diff --git a/src/argaze.test/ArUcoMarker/utils/scene.obj b/src/argaze.test/ArUcoMarker/utils/scene.obj
new file mode 100644
index 0000000..1eb9f81
--- /dev/null
+++ b/src/argaze.test/ArUcoMarker/utils/scene.obj
@@ -0,0 +1,22 @@
+# .OBJ file for ArUcoMarkerGroup unitary test
+o DICT_ARUCO_ORIGINAL#0_Marker
+v -0.500000 -0.500000 0.000000
+v 0.500000 -0.500000 0.000000
+v -0.500000 0.500000 0.000000
+v 0.500000 0.500000 0.000000
+vn 0.0000 0.0000 1.0000
+f 1//1 2//1 4//1 3//1
+o DICT_ARUCO_ORIGINAL#1_Marker
+v 9.500000 9.500000 0.000000
+v 10.500000 9.500000 0.000000
+v 9.500000 10.500000 0.000000
+v 10.500000 10.500000 0.000000
+vn 0.0000 0.0000 1.0000
+f 5//2 6//2 8//2 7//2
+o DICT_ARUCO_ORIGINAL#2_Marker
+v -0.500000 9.500000 0.000000
+v 0.500000 9.500000 0.000000
+v -0.500000 10.500000 0.000000
+v 0.500000 10.500000 0.000000
+vn 0.0000 0.0000 1.0000
+f 9//3 10//3 12//3 11//3
diff --git a/src/argaze.test/ArUcoMarkers/ArUcoBoard.py b/src/argaze.test/ArUcoMarkers/ArUcoBoard.py
deleted file mode 100644
index 0bfa568..0000000
--- a/src/argaze.test/ArUcoMarkers/ArUcoBoard.py
+++ /dev/null
@@ -1,50 +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
-
-from argaze.ArUcoMarkers import ArUcoBoard, ArUcoMarkersDictionary
-
-import numpy
-
-class TestArUcoBoardClass(unittest.TestCase):
- """Test ArUcoBoard class."""
-
- def test_new(self):
- """Test ArUcoBoard creation using a dictionary instance."""
-
- columns = 4
- rows = 3
- square_size = 2
- marker_size = 1
-
- # Check ArUco board creation
- aruco_dictionary = ArUcoMarkersDictionary.ArUcoMarkersDictionary('DICT_APRILTAG_16h5')
- aruco_board = ArUcoBoard.ArUcoBoard(columns, rows, square_size, marker_size, aruco_dictionary)
-
- # Check ArUco board dictionary name
- self.assertEqual(aruco_board.dictionary.name, 'DICT_APRILTAG_16h5')
- self.assertIsNone(numpy.testing.assert_array_equal(aruco_board.identifiers, [i for i in range(int((columns*rows)/2))]))
- self.assertIsNone(numpy.testing.assert_array_equal(aruco_board.size, [columns, rows]))
- self.assertEqual(aruco_board.markers_number, int((columns*rows)/2))
- self.assertEqual(aruco_board.corners_number, (columns-1)*(rows-1))
-
-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
deleted file mode 100644
index eb930ab..0000000
--- a/src/argaze.test/ArUcoMarkers/ArUcoCamera.py
+++ /dev/null
@@ -1,80 +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 argaze
-
-import numpy
-
-class TestArUcoCameraClass(unittest.TestCase):
- """Test ArUcoCamera class."""
-
- def test_from_json(self):
- """Test ArUcoCamera creation from json file."""
-
- # Edit test aruco camera file path
- current_directory = os.path.dirname(os.path.abspath(__file__))
- json_filepath = os.path.join(current_directory, 'utils/aruco_camera.json')
-
- # Load test aruco camera
- with argaze.load(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__':
-
- unittest.main()
\ No newline at end of file
diff --git a/src/argaze.test/ArUcoMarkers/ArUcoDetector.py b/src/argaze.test/ArUcoMarkers/ArUcoDetector.py
deleted file mode 100644
index 62e8a09..0000000
--- a/src/argaze.test/ArUcoMarkers/ArUcoDetector.py
+++ /dev/null
@@ -1,149 +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 ArUcoMarkersDictionary, ArUcoOpticCalibrator, ArUcoDetector, ArUcoBoard
-
-import cv2 as cv
-import numpy
-
-class TestDetectorParametersClass(unittest.TestCase):
- """Test DetectorParameters class."""
-
- def test_from_json(self):
- """Test DetectorParameters creation from json file."""
-
- # Edit file path
- current_directory = os.path.dirname(os.path.abspath(__file__))
- json_filepath = os.path.join(current_directory, 'utils/detector_parameters.json')
-
- # Load file
- detector_parameters = ArUcoDetector.DetectorParameters.from_json(json_filepath)
-
- # Check data
- self.assertEqual(detector_parameters.cornerRefinementMethod, 3)
- self.assertEqual(detector_parameters.aprilTagQuadSigma, 2)
- self.assertEqual(detector_parameters.aprilTagDeglitch, 1)
-
- # Check bad data access fails
- with self.assertRaises(AttributeError):
-
- detector_parameters.unknown_data = 1
-
-class TestArUcoDetectorClass(unittest.TestCase):
- """Test ArUcoDetector class."""
-
- def test_new(self):
- """Test ArUcoDetector creation."""
-
- aruco_detector = ArUcoDetector.ArUcoDetector(marker_size=3)
-
- # 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.optic_parameters.dimensions, [0, 0]))
- self.assertEqual(aruco_detector.detected_markers_number(), 0)
- self.assertEqual(aruco_detector.detected_markers(), {})
-
- aruco_dictionary = ArUcoMarkersDictionary.ArUcoMarkersDictionary('DICT_APRILTAG_16h5')
- aruco_detector = ArUcoDetector.ArUcoDetector(aruco_dictionary, 5.2)
-
- # 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.optic_parameters.dimensions, [0, 0]))
- self.assertEqual(aruco_detector.detected_markers_number(), 0)
- self.assertEqual(aruco_detector.detected_markers(), {})
-
- def test_from_json(self):
- """Test ArUcoDetector creation."""
-
- # Edit file path
- current_directory = os.path.dirname(os.path.abspath(__file__))
- json_filepath = os.path.join(current_directory, 'utils/detector.json')
-
- # Load file
- aruco_detector = ArUcoDetector.ArUcoDetector.from_json(json_filepath)
-
- # 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.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)
-
- def test_detect(self):
- """Test detect method."""
-
- aruco_detector = ArUcoDetector.ArUcoDetector(marker_size=3)
-
- # Load picture Full HD to test ArUcoMarker detection
- current_directory = os.path.dirname(os.path.abspath(__file__))
- image = cv.imread(os.path.join(current_directory, 'utils/full_hd_marker.png'))
-
- # Check ArUcoMarker detection
- aruco_detector.detect_markers(image)
-
- self.assertEqual(aruco_detector.detected_markers_number(), 1)
-
- self.assertEqual(aruco_detector.detected_markers()[0].dictionary, aruco_detector.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 pose estimation
- aruco_detector.estimate_markers_pose([0])
-
- # 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([[1., 0., 0.], [0., -1., 0.], [0., 0., -1.]]), 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_board = ArUcoBoard.ArUcoBoard(7, 5, 5, 3)
- aruco_detector = ArUcoDetector.ArUcoDetector(marker_size=3)
-
- # Load picture Full HD to test ArUcoMarker board detection
- current_directory = os.path.dirname(os.path.abspath(__file__))
- image = cv.imread(os.path.join(current_directory, 'utils/full_hd_board.png'))
-
- # Check ArUcoMarker board detection
- aruco_detector.detect_board(image, 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()
\ No newline at end of file
diff --git a/src/argaze.test/ArUcoMarkers/ArUcoMarker.py b/src/argaze.test/ArUcoMarkers/ArUcoMarker.py
deleted file mode 100644
index de88623..0000000
--- a/src/argaze.test/ArUcoMarkers/ArUcoMarker.py
+++ /dev/null
@@ -1,40 +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
-
-from argaze.ArUcoMarkers import ArUcoMarkersDictionary, ArUcoMarker
-
-class TestArUcoMarkerClass(unittest.TestCase):
- """Test ArUcoMarker class."""
-
- def test_new(self):
- """Test ArUcoMarker creation."""
-
- # Check DICT_ARUCO_ORIGINAL ArUcoMarker creation
- aruco_dictionary = ArUcoMarkersDictionary.ArUcoMarkersDictionary('DICT_ARUCO_ORIGINAL')
-
- aruco_marker = aruco_dictionary.create_marker(0, 3)
-
- self.assertEqual(aruco_marker.dictionary, aruco_dictionary)
- self.assertEqual(aruco_marker.identifier, 0)
- self.assertEqual(aruco_marker.size, 3)
-
-if __name__ == '__main__':
-
- unittest.main()
\ No newline at end of file
diff --git a/src/argaze.test/ArUcoMarkers/ArUcoMarkersDictionary.py b/src/argaze.test/ArUcoMarkers/ArUcoMarkersDictionary.py
deleted file mode 100644
index 7a5e9e8..0000000
--- a/src/argaze.test/ArUcoMarkers/ArUcoMarkersDictionary.py
+++ /dev/null
@@ -1,50 +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
-
-from argaze.ArUcoMarkers import ArUcoMarkersDictionary
-
-class TestArUcoMarkersDictionaryClass(unittest.TestCase):
- """Test ArUcoMarkersDictionary class."""
-
- def test_new(self):
- """Test ArUcoMarkersDictionary creation."""
-
- # Check that ArUcoMarkersDictionary creation fails with bad name
- with self.assertRaises(NameError):
-
- aruco_dictionary = ArUcoMarkersDictionary.ArUcoMarkersDictionary('BAD_DICT_NAME')
-
- # Check default ArUcoMarkersDictionary creation
- aruco_dictionary = ArUcoMarkersDictionary.ArUcoMarkersDictionary()
-
- self.assertEqual(aruco_dictionary.name, 'DICT_ARUCO_ORIGINAL')
- self.assertEqual(aruco_dictionary.format, '5X5')
- self.assertEqual(aruco_dictionary.number, 1024)
-
- # Check DICT_APRILTAG_16h5 ArUcoMarkersDictionary creation
- aruco_dictionary = ArUcoMarkersDictionary.ArUcoMarkersDictionary('DICT_APRILTAG_16h5')
-
- self.assertEqual(aruco_dictionary.name, 'DICT_APRILTAG_16h5')
- self.assertEqual(aruco_dictionary.format, '4X4')
- self.assertEqual(aruco_dictionary.number, 30)
-
-if __name__ == '__main__':
-
- unittest.main()
\ No newline at end of file
diff --git a/src/argaze.test/ArUcoMarkers/ArUcoOpticCalibrator.py b/src/argaze.test/ArUcoMarkers/ArUcoOpticCalibrator.py
deleted file mode 100644
index 79d2ead..0000000
--- a/src/argaze.test/ArUcoMarkers/ArUcoOpticCalibrator.py
+++ /dev/null
@@ -1,61 +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
-
-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/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
diff --git a/src/argaze.test/ArUcoMarkers/__init__.py b/src/argaze.test/ArUcoMarkers/__init__.py
deleted file mode 100644
index e69de29..0000000
diff --git a/src/argaze.test/ArUcoMarkers/utils/aoi_3d.obj b/src/argaze.test/ArUcoMarkers/utils/aoi_3d.obj
deleted file mode 100644
index 92e85bd..0000000
--- a/src/argaze.test/ArUcoMarkers/utils/aoi_3d.obj
+++ /dev/null
@@ -1,7 +0,0 @@
-o Test
-v 0.000000 0.000000 0.000000
-v 25.000000 0.000000 0.000000
-v 0.000000 14.960000 0.000000
-v 25.000000 14.960000 0.000000
-s off
-f 1 2 4 3
diff --git a/src/argaze.test/ArUcoMarkers/utils/aruco_camera.json b/src/argaze.test/ArUcoMarkers/utils/aruco_camera.json
deleted file mode 100644
index 980dc9f..0000000
--- a/src/argaze.test/ArUcoMarkers/utils/aruco_camera.json
+++ /dev/null
@@ -1,98 +0,0 @@
-{
- "name": "TestArUcoCamera",
- "size": [1920, 1080],
- "aruco_detector": {
- "dictionary": {
- "name": "DICT_ARUCO_ORIGINAL"
- },
- "optic_parameters": {
- "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
- ]
- },
- "parameters": {
- "cornerRefinementMethod": 3,
- "aprilTagQuadSigma": 2,
- "aprilTagDeglitch": 1
- }
- },
- "scenes": {
- "TestSceneA" : {
- "aruco_markers_group": {
- "dictionary": "DICT_ARUCO_ORIGINAL",
- "places": {
- "0": {
- "translation": [1, 0, 0],
- "rotation": [0, 0, 0],
- "size": 3.0
- },
- "1": {
- "translation": [0, 1, 0],
- "rotation": [0, 90, 0],
- "size": 3.0
- }
- }
- },
- "layers": {
- "Main" : {
- "aoi_scene": "aoi_3d.obj"
- }
- },
- "angle_tolerance": 1.0,
- "distance_tolerance": 2.0
- },
- "TestSceneB" : {
- "aruco_markers_group": {
- "dictionary": "DICT_ARUCO_ORIGINAL",
- "places": {
- "0": {
- "translation": [1, 0, 0],
- "rotation": [0, 0, 0],
- "size": 3.0
- },
- "1": {
- "translation": [0, 1, 0],
- "rotation": [0, 90, 0],
- "size": 3.0
- }
- }
- },
- "layers": {
- "Main" : {
- "aoi_scene": "aoi_3d.obj"
- }
- },
- "angle_tolerance": 1.0,
- "distance_tolerance": 2.0
- }
- },
- "layers": {
- "Main": {}
- }
-}
\ No newline at end of file
diff --git a/src/argaze.test/ArUcoMarkers/utils/detector.json b/src/argaze.test/ArUcoMarkers/utils/detector.json
deleted file mode 100644
index 8aada6d..0000000
--- a/src/argaze.test/ArUcoMarkers/utils/detector.json
+++ /dev/null
@@ -1,42 +0,0 @@
-{
- "dictionary": {
- "name": "DICT_ARUCO_ORIGINAL"
- },
- "marker_size": 3.0,
- "optic_parameters": {
- "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
- ]
- },
- "parameters": {
- "cornerRefinementMethod": 3,
- "aprilTagQuadSigma": 2,
- "aprilTagDeglitch": 1
- }
-}
\ No newline at end of file
diff --git a/src/argaze.test/ArUcoMarkers/utils/detector_parameters.json b/src/argaze.test/ArUcoMarkers/utils/detector_parameters.json
deleted file mode 100644
index d26a3fa..0000000
--- a/src/argaze.test/ArUcoMarkers/utils/detector_parameters.json
+++ /dev/null
@@ -1,5 +0,0 @@
-{
- "cornerRefinementMethod": 3,
- "aprilTagQuadSigma": 2,
- "aprilTagDeglitch": 1
-}
\ No newline at end of file
diff --git a/src/argaze.test/ArUcoMarkers/utils/full_hd_board.png b/src/argaze.test/ArUcoMarkers/utils/full_hd_board.png
deleted file mode 100644
index d30b300..0000000
Binary files a/src/argaze.test/ArUcoMarkers/utils/full_hd_board.png and /dev/null differ
diff --git a/src/argaze.test/ArUcoMarkers/utils/full_hd_marker.png b/src/argaze.test/ArUcoMarkers/utils/full_hd_marker.png
deleted file mode 100644
index 42146fe..0000000
Binary files a/src/argaze.test/ArUcoMarkers/utils/full_hd_marker.png and /dev/null differ
diff --git a/src/argaze.test/ArUcoMarkers/utils/optic_parameters.json b/src/argaze.test/ArUcoMarkers/utils/optic_parameters.json
deleted file mode 100644
index 988731c..0000000
--- a/src/argaze.test/ArUcoMarkers/utils/optic_parameters.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/scene.json b/src/argaze.test/ArUcoMarkers/utils/scene.json
deleted file mode 100644
index bdd9ae8..0000000
--- a/src/argaze.test/ArUcoMarkers/utils/scene.json
+++ /dev/null
@@ -1,20 +0,0 @@
-{
- "dictionary": {
- "name": "DICT_ARUCO_ORIGINAL"
- },
- "marker_size": 1,
- "places": {
- "0": {
- "translation": [0, 0, 0],
- "rotation": [0, 0, 0]
- },
- "1": {
- "translation": [10, 10, 0],
- "rotation": [0, 0, 0]
- },
- "2": {
- "translation": [0, 10, 0],
- "rotation": [0, 0, 0]
- }
- }
-}
diff --git a/src/argaze.test/ArUcoMarkers/utils/scene.obj b/src/argaze.test/ArUcoMarkers/utils/scene.obj
deleted file mode 100644
index c233da2..0000000
--- a/src/argaze.test/ArUcoMarkers/utils/scene.obj
+++ /dev/null
@@ -1,22 +0,0 @@
-# .OBJ file for ArUcoMarkersGroup unitary test
-o DICT_ARUCO_ORIGINAL#0_Marker
-v -0.500000 -0.500000 0.000000
-v 0.500000 -0.500000 0.000000
-v -0.500000 0.500000 0.000000
-v 0.500000 0.500000 0.000000
-vn 0.0000 0.0000 1.0000
-f 1//1 2//1 4//1 3//1
-o DICT_ARUCO_ORIGINAL#1_Marker
-v 9.500000 9.500000 0.000000
-v 10.500000 9.500000 0.000000
-v 9.500000 10.500000 0.000000
-v 10.500000 10.500000 0.000000
-vn 0.0000 0.0000 1.0000
-f 5//2 6//2 8//2 7//2
-o DICT_ARUCO_ORIGINAL#2_Marker
-v -0.500000 9.500000 0.000000
-v 0.500000 9.500000 0.000000
-v -0.500000 10.500000 0.000000
-v 0.500000 10.500000 0.000000
-vn 0.0000 0.0000 1.0000
-f 9//3 10//3 12//3 11//3
--
cgit v1.1