#!/usr/bin/env python

""" """

__author__ = "Théo de la Hogue"
__credits__ = []
__copyright__ = "Copyright 2023, Ecole Nationale de l'Aviation Civile (ENAC)"
__license__ = "BSD"

import unittest
import os

from argaze.ArUcoMarkers import ArUcoCamera

import numpy

class TestArUcoCameraClass(unittest.TestCase):
    """Test ArUcoCamera class."""

    def test_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
        aruco_camera = ArUcoCamera.ArUcoCamera.from_json(json_filepath)

        # 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.marker_size, 3.0)
        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_array_equal(ar_scene.aruco_markers_group.places[0].translation, [1, 0, 0]))
        self.assertIsNone(numpy.testing.assert_array_equal(ar_scene.aruco_markers_group.places[0].rotation, [[1.,0.,0.],[0.,1.,0.],[0.,0.,1.]]))
        self.assertEqual(ar_scene.aruco_markers_group.places[0].marker.identifier, 0)

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

        # Check AOI scene 
        self.assertEqual(len(ar_scene.aoi_scene.items()), 1)
        self.assertEqual(ar_scene.aoi_scene['Test'].points_number, 4)
        self.assertIsNone(numpy.testing.assert_array_equal(ar_scene.aoi_scene['Test'].size, [1., 1., 0.]))

        # Check ArScene
        self.assertEqual(ar_scene.angle_tolerance, 1.0)
        self.assertEqual(ar_scene.distance_tolerance, 2.0)
        
if __name__ == '__main__':

    unittest.main()