#!/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()