From 9d2ce1f204adb7f735ea0113cb0e870a79a25de0 Mon Sep 17 00:00:00 2001 From: Théo de la Hogue Date: Tue, 14 Mar 2023 15:22:27 +0100 Subject: Improving and testing ArUcoMarkers module. --- src/argaze.test/ArUcoMarkers/ArUcoDetector.py | 64 ++++++++++++++-------- src/argaze.test/ArUcoMarkers/utils/detector.json | 40 ++++++++++++++ .../ArUcoMarkers/utils/detector_parameters.json | 5 ++ src/argaze.test/ArUcoMarkers/utils/tracker.json | 5 -- 4 files changed, 85 insertions(+), 29 deletions(-) create mode 100644 src/argaze.test/ArUcoMarkers/utils/detector.json create mode 100644 src/argaze.test/ArUcoMarkers/utils/detector_parameters.json delete mode 100644 src/argaze.test/ArUcoMarkers/utils/tracker.json (limited to 'src/argaze.test') diff --git a/src/argaze.test/ArUcoMarkers/ArUcoDetector.py b/src/argaze.test/ArUcoMarkers/ArUcoDetector.py index ab29024..3272f1c 100644 --- a/src/argaze.test/ArUcoMarkers/ArUcoDetector.py +++ b/src/argaze.test/ArUcoMarkers/ArUcoDetector.py @@ -9,28 +9,28 @@ from argaze.ArUcoMarkers import ArUcoMarkersDictionary, ArUcoCamera, ArUcoDetect import cv2 as cv import numpy -class TestDetectionParametersClass(unittest.TestCase): - """Test DetectionParameters class.""" +class TestDetectorParametersClass(unittest.TestCase): + """Test DetectorParameters class.""" def test_from_json(self): - """Test DetectionParameters creation from json file.""" + """Test DetectorParameters creation from json file.""" - # Edit traking data file path + # Edit file path current_directory = os.path.dirname(os.path.abspath(__file__)) - json_filepath = os.path.join(current_directory, 'utils/detecter.json') + json_filepath = os.path.join(current_directory, 'utils/detector_parameters.json') - # Load project - detection_parameters = ArUcoDetector.DetectionParameters.from_json(json_filepath) + # Load file + detector_parameters = ArUcoDetector.DetectorParameters.from_json(json_filepath) # Check data - self.assertEqual(detection_parameters.cornerRefinementMethod, 3) - self.assertEqual(detection_parameters.aprilTagQuadSigma, 2) - self.assertEqual(detection_parameters.aprilTagDeglitch, 1) + 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): - detection_parameters.unknown_data = 1 + detector_parameters.unknown_data = 1 class TestArUcoDetectorClass(unittest.TestCase): """Test ArUcoDetector class.""" @@ -38,31 +38,46 @@ class TestArUcoDetectorClass(unittest.TestCase): 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) + aruco_detector = ArUcoDetector.ArUcoDetector(marker_size=3) # Check ArUcoDetector creation + self.assertEqual(aruco_detector.dictionary.name, 'DICT_ARUCO_ORIGINAL') + self.assertIsNone(numpy.testing.assert_array_equal(aruco_detector.camera.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.assertIsNone(numpy.testing.assert_array_equal(aruco_detector.camera.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_dictionary = ArUcoMarkersDictionary.ArUcoMarkersDictionary('DICT_ARUCO_ORIGINAL') - aruco_camera = ArUcoCamera.ArUcoCamera() - aruco_detector = ArUcoDetector.ArUcoDetector(aruco_dictionary, 3, aruco_camera) + aruco_detector = ArUcoDetector.ArUcoDetector(marker_size=3) # 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) + aruco_detector.detect_markers(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].dictionary, aruco_detector.dictionary) self.assertEqual(aruco_detector.detected_markers[0].identifier, 0) self.assertEqual(aruco_detector.detected_markers[0].size, 3) @@ -72,9 +87,12 @@ class TestArUcoDetectorClass(unittest.TestCase): 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([math.pi, 0., 0.]), decimal=3)) + 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 @@ -84,10 +102,8 @@ class TestArUcoDetectorClass(unittest.TestCase): 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) + 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__)) diff --git a/src/argaze.test/ArUcoMarkers/utils/detector.json b/src/argaze.test/ArUcoMarkers/utils/detector.json new file mode 100644 index 0000000..a8350f3 --- /dev/null +++ b/src/argaze.test/ArUcoMarkers/utils/detector.json @@ -0,0 +1,40 @@ +{ + "dictionary": "DICT_ARUCO_ORIGINAL", + "marker_size": 3.0, + "camera": { + "rms": 1.0, + "dimensions": [ + 1920, + 1080 + ], + "K": [ + [ + 1.0, + 0.0, + 1.0 + ], + [ + 0.0, + 1.0, + 1.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "D": [ + -1.0, + -0.5, + 0.0, + 0.5, + 1.0 + ] + }, + "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 new file mode 100644 index 0000000..d26a3fa --- /dev/null +++ b/src/argaze.test/ArUcoMarkers/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/ArUcoMarkers/utils/tracker.json b/src/argaze.test/ArUcoMarkers/utils/tracker.json deleted file mode 100644 index d26a3fa..0000000 --- a/src/argaze.test/ArUcoMarkers/utils/tracker.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "cornerRefinementMethod": 3, - "aprilTagQuadSigma": 2, - "aprilTagDeglitch": 1 -} \ No newline at end of file -- cgit v1.1