#!/usr/bin/env python

import unittest
import os
import math

from argaze.ArUcoMarkers import ArUcoScene

import cv2 as cv
import numpy

class TestArUcoSceneClass(unittest.TestCase):
    """Test ArUcoScene class."""

    def test_new(self):
        """Test ArUcoScene creation."""

        # Edit file path
        current_directory = os.path.dirname(os.path.abspath(__file__))
        obj_filepath = os.path.join(current_directory, 'utils/scene.obj')

        # Load file
        aruco_scene = ArUcoScene.ArUcoScene(1, obj_filepath)

         # Check ArUcoScene creation
        self.assertEqual(len(aruco_scene.places), 2)
        self.assertIsNone(numpy.testing.assert_array_equal(aruco_scene.identifiers, [0, 1]))

        self.assertIsNone(numpy.testing.assert_array_equal(aruco_scene.places['DICT_ARUCO_ORIGINAL#0'].translation, [0.5, 0.5, 0.]))
        self.assertIsNone(numpy.testing.assert_array_equal(aruco_scene.places['DICT_ARUCO_ORIGINAL#0'].rotation, [[1., 0., 0.], [0., 1., 0.], [0., 0., 1.]]))

        self.assertIsNone(numpy.testing.assert_array_equal(aruco_scene.places['DICT_ARUCO_ORIGINAL#1'].translation, [10.5, 10.5, 0.]))
        self.assertIsNone(numpy.testing.assert_array_equal(aruco_scene.places['DICT_ARUCO_ORIGINAL#1'].rotation, [[1., 0., 0.], [0., 1., 0.], [0., 0., 1.]]))


if __name__ == '__main__':

    unittest.main()