From 9ce64a6c47156fe28e484633e2c8932c682fbf85 Mon Sep 17 00:00:00 2001 From: Théo de la Hogue Date: Wed, 15 Feb 2023 18:16:54 +0100 Subject: Major rewrite to allow multi ArScene managements with new ArFeatures. --- src/argaze.test/ArScene.py | 8 +- src/argaze.test/ArUcoMarkers/ArUcoDetector.py | 105 ++++++++++++++++++++++++++ src/argaze.test/ArUcoMarkers/ArUcoTracker.py | 105 -------------------------- src/argaze.test/utils/scene.json | 2 +- 4 files changed, 110 insertions(+), 110 deletions(-) create mode 100644 src/argaze.test/ArUcoMarkers/ArUcoDetector.py delete mode 100644 src/argaze.test/ArUcoMarkers/ArUcoTracker.py (limited to 'src/argaze.test') diff --git a/src/argaze.test/ArScene.py b/src/argaze.test/ArScene.py index 449530b..5180c12 100644 --- a/src/argaze.test/ArScene.py +++ b/src/argaze.test/ArScene.py @@ -31,10 +31,10 @@ class TestArSceneClass(unittest.TestCase): self.assertIsNone(numpy.testing.assert_array_equal(ar_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(ar_scene.aruco_camera.D, [-1.0, -0.5, 0.0, 0.5, 1.0])) - # Check ArUco tracker - self.assertEqual(ar_scene.aruco_tracker.tracking_data.cornerRefinementMethod, 3) - self.assertEqual(ar_scene.aruco_tracker.tracking_data.aprilTagQuadSigma, 2) - self.assertEqual(ar_scene.aruco_tracker.tracking_data.aprilTagDeglitch, 1) + # Check ArUco detecter + self.assertEqual(ar_scene.aruco_detector.detection_parameters.cornerRefinementMethod, 3) + self.assertEqual(ar_scene.aruco_detector.detection_parameters.aprilTagQuadSigma, 2) + self.assertEqual(ar_scene.aruco_detector.detection_parameters.aprilTagDeglitch, 1) # Check ArUco scene self.assertEqual(ar_scene.angle_tolerance, 1.0) diff --git a/src/argaze.test/ArUcoMarkers/ArUcoDetector.py b/src/argaze.test/ArUcoMarkers/ArUcoDetector.py new file mode 100644 index 0000000..ab29024 --- /dev/null +++ b/src/argaze.test/ArUcoMarkers/ArUcoDetector.py @@ -0,0 +1,105 @@ +#!/usr/bin/env python + +import unittest +import os +import math + +from argaze.ArUcoMarkers import ArUcoMarkersDictionary, ArUcoCamera, ArUcoDetector, ArUcoBoard + +import cv2 as cv +import numpy + +class TestDetectionParametersClass(unittest.TestCase): + """Test DetectionParameters class.""" + + def test_from_json(self): + """Test DetectionParameters 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/detecter.json') + + # Load project + detection_parameters = ArUcoDetector.DetectionParameters.from_json(json_filepath) + + # Check data + self.assertEqual(detection_parameters.cornerRefinementMethod, 3) + self.assertEqual(detection_parameters.aprilTagQuadSigma, 2) + self.assertEqual(detection_parameters.aprilTagDeglitch, 1) + + # Check bad data access fails + with self.assertRaises(AttributeError): + + detection_parameters.unknown_data = 1 + +class TestArUcoDetectorClass(unittest.TestCase): + """Test ArUcoDetector class.""" + + def test_new(self): + """Test ArUcoDetector creation.""" + + aruco_dictionary = ArUcoMarkersDictionary.ArUcoMarkersDictionary('DICT_ARUCO_ORIGINAL') + aruco_camera = ArUcoCamera.ArUcoCamera() + aruco_detector = ArUcoDetector.ArUcoDetector(aruco_dictionary, 3, aruco_camera) + + # Check ArUcoDetector creation + self.assertEqual(aruco_detector.detected_markers_number, 0) + self.assertEqual(aruco_detector.detected_markers, {}) + + def test_detect(self): + """Test detect method.""" + + aruco_dictionary = ArUcoMarkersDictionary.ArUcoMarkersDictionary('DICT_ARUCO_ORIGINAL') + aruco_camera = ArUcoCamera.ArUcoCamera() + aruco_detector = ArUcoDetector.ArUcoDetector(aruco_dictionary, 3, aruco_camera) + + # Load picture Full HD to test ArUcoMarker detection + current_directory = os.path.dirname(os.path.abspath(__file__)) + frame = cv.imread(os.path.join(current_directory, 'utils/full_hd_marker.png')) + + # Check ArUcoMarker detection + aruco_detector.detect(frame) + + self.assertEqual(aruco_detector.detected_markers_number, 1) + + self.assertEqual(aruco_detector.detected_markers[0].dictionary, aruco_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 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([math.pi, 0., 0.]), 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_dictionary = ArUcoMarkersDictionary.ArUcoMarkersDictionary('DICT_ARUCO_ORIGINAL') + aruco_board = ArUcoBoard.ArUcoBoard(aruco_dictionary, 7, 5, 5, 3) + aruco_camera = ArUcoCamera.ArUcoCamera() + aruco_detector = ArUcoDetector.ArUcoDetector(aruco_dictionary, 3, aruco_camera) + + # Load picture Full HD to test ArUcoMarker board detection + current_directory = os.path.dirname(os.path.abspath(__file__)) + frame = cv.imread(os.path.join(current_directory, 'utils/full_hd_board.png')) + + # Check ArUcoMarker board detection + aruco_detector.detect_board(frame, 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/ArUcoTracker.py b/src/argaze.test/ArUcoMarkers/ArUcoTracker.py deleted file mode 100644 index 87373ea..0000000 --- a/src/argaze.test/ArUcoMarkers/ArUcoTracker.py +++ /dev/null @@ -1,105 +0,0 @@ -#!/usr/bin/env python - -import unittest -import os -import math - -from argaze.ArUcoMarkers import ArUcoMarkersDictionary, ArUcoCamera, ArUcoTracker, ArUcoBoard - -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.""" - - def test_new(self): - """Test ArUcoTracker creation.""" - - aruco_dictionary = ArUcoMarkersDictionary.ArUcoMarkersDictionary('DICT_ARUCO_ORIGINAL') - aruco_camera = ArUcoCamera.ArUcoCamera() - aruco_tracker = ArUcoTracker.ArUcoTracker(aruco_dictionary, 3, aruco_camera) - - # Check ArUcoTracker creation - self.assertEqual(aruco_tracker.tracked_markers_number, 0) - self.assertEqual(aruco_tracker.tracked_markers, {}) - - def test_track(self): - """Test track method.""" - - aruco_dictionary = ArUcoMarkersDictionary.ArUcoMarkersDictionary('DICT_ARUCO_ORIGINAL') - aruco_camera = ArUcoCamera.ArUcoCamera() - aruco_tracker = ArUcoTracker.ArUcoTracker(aruco_dictionary, 3, aruco_camera) - - # Load picture Full HD to test ArUcoMarker tracking - current_directory = os.path.dirname(os.path.abspath(__file__)) - frame = cv.imread(os.path.join(current_directory, 'utils/full_hd_marker.png')) - - # Check ArUcoMarker tracking - aruco_tracker.track(frame) - - self.assertEqual(aruco_tracker.tracked_markers_number, 1) - - self.assertEqual(aruco_tracker.tracked_markers[0].dictionary, aruco_dictionary) - self.assertEqual(aruco_tracker.tracked_markers[0].identifier, 0) - self.assertEqual(aruco_tracker.tracked_markers[0].size, 3) - - # Check corner positions with -/+ 10 pixels precision - self.assertIsNone(numpy.testing.assert_almost_equal(aruco_tracker.tracked_markers[0].corners[0][0].astype(int), numpy.array([3823, 2073]), decimal=-1)) - self.assertIsNone(numpy.testing.assert_almost_equal(aruco_tracker.tracked_markers[0].corners[0][1].astype(int), numpy.array([4177, 2073]), decimal=-1)) - self.assertIsNone(numpy.testing.assert_almost_equal(aruco_tracker.tracked_markers[0].corners[0][2].astype(int), numpy.array([4177, 2427]), decimal=-1)) - self.assertIsNone(numpy.testing.assert_almost_equal(aruco_tracker.tracked_markers[0].corners[0][3].astype(int), numpy.array([3823, 2427]), decimal=-1)) - - # Check marker translation with -/+ 0.1 cm precision and rotation with -/+ 0.001 radian precision - self.assertIsNone(numpy.testing.assert_almost_equal(aruco_tracker.tracked_markers[0].translation, numpy.array([33.87, 19.05, 0.]), decimal=1)) - self.assertIsNone(numpy.testing.assert_almost_equal(aruco_tracker.tracked_markers[0].rotation, numpy.array([math.pi, 0., 0.]), decimal=3)) - - # Check track metrics - track_count, markers_count = aruco_tracker.track_metrics - self.assertEqual(track_count, 1) - self.assertEqual(markers_count[0], 1) - - def test_track_board(self): - """Test track board method.""" - - aruco_dictionary = ArUcoMarkersDictionary.ArUcoMarkersDictionary('DICT_ARUCO_ORIGINAL') - aruco_board = ArUcoBoard.ArUcoBoard(aruco_dictionary, 7, 5, 5, 3) - aruco_camera = ArUcoCamera.ArUcoCamera() - aruco_tracker = ArUcoTracker.ArUcoTracker(aruco_dictionary, 3, aruco_camera) - - # Load picture Full HD to test ArUcoMarker board tracking - current_directory = os.path.dirname(os.path.abspath(__file__)) - frame = cv.imread(os.path.join(current_directory, 'utils/full_hd_board.png')) - - # Check ArUcoMarker board tracking - aruco_tracker.track_board(frame, aruco_board, aruco_board.markers_number) - - self.assertEqual(aruco_tracker.board_corners_number, aruco_board.corners_number) - self.assertEqual(len(aruco_tracker.board_corners), 24) - self.assertEqual(len(aruco_tracker.board_corners_identifier), 24) - -if __name__ == '__main__': - - unittest.main() \ No newline at end of file diff --git a/src/argaze.test/utils/scene.json b/src/argaze.test/utils/scene.json index 4e1cc20..25aacc8 100644 --- a/src/argaze.test/utils/scene.json +++ b/src/argaze.test/utils/scene.json @@ -33,7 +33,7 @@ 1.0 ] }, - "aruco_tracker": { + "aruco_detector": { "cornerRefinementMethod": 3, "aprilTagQuadSigma": 2, "aprilTagDeglitch": 1 -- cgit v1.1