#!/usr/bin/env python

import unittest
import os

from argaze import ArScene

import numpy

class TestArSceneClass(unittest.TestCase):
    """Test ArScene class."""

    def test_from_json(self):
        """Test ArScene creation from json file."""
        
        # Edit scene file path
        current_directory = os.path.dirname(os.path.abspath(__file__))
        json_filepath = os.path.join(current_directory, 'utils/scene.json')

        # Load scene
        ar_scene = ArScene.ArScene.from_json(json_filepath)

        # Check scene meta data
        self.assertEqual(ar_scene.name, "TestScene")
        self.assertEqual(ar_scene.aruco_dictionary.name, "DICT_ARUCO_ORIGINAL")
        self.assertEqual(ar_scene.aruco_marker_size, 3.0)

        # Check ArUco camera
        self.assertEqual(ar_scene.aruco_camera.rms, 1.0)
        self.assertIsNone(numpy.testing.assert_array_equal(ar_scene.aruco_camera.dimensions, [1920, 1080]))
        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 scene
        self.assertEqual(ar_scene.angle_tolerance, 1.0)
        self.assertEqual(ar_scene.distance_tolerance, 2.0)
        self.assertEqual(len(ar_scene.aruco_scene.places), 2)

        # Check ArUco scene places
        self.assertIsNone(numpy.testing.assert_array_equal(ar_scene.aruco_scene.places['A'].translation, [1, 0, 0]))
        self.assertIsNone(numpy.testing.assert_array_equal(ar_scene.aruco_scene.places['A'].rotation, [[1.,0.,0.],[0.,1.,0.],[0.,0.,1.]]))
        self.assertEqual(ar_scene.aruco_scene.places['A'].marker.identifier, 0)

        self.assertIsNone(numpy.testing.assert_array_equal(ar_scene.aruco_scene.places['B'].translation, [0, 1, 0]))
        self.assertIsNone(numpy.testing.assert_array_almost_equal(ar_scene.aruco_scene.places['B'].rotation, [[0.,0.,1.],[0., 1.,0.],[-1.,0.,0.]]))
        self.assertEqual(ar_scene.aruco_scene.places['B'].marker.identifier, 1)

        # Check AOI scene
        self.assertEqual(len(ar_scene.aoi_scene.items()), 1)
        self.assertEqual(ar_scene.aoi_scene['Test'].size, 4)

if __name__ == '__main__':

    unittest.main()