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#!/usr/bin/env python
import unittest
import os
from argaze import ArFeatures
import numpy
class TestArEnvironmentClass(unittest.TestCase):
"""Test ArEnvironment class."""
def test_from_json(self):
"""Test ArEnvironment creation from json file."""
# Edit test environment file path
current_directory = os.path.dirname(os.path.abspath(__file__))
json_filepath = os.path.join(current_directory, 'utils/environment.json')
# Load test environment
ar_environment = ArFeatures.ArEnvironment.from_json(json_filepath)
# Check environment meta data
self.assertEqual(ar_environment.name, "TestEnvironment")
# Check ArUco detector
self.assertEqual(ar_environment.aruco_detector.dictionary.name, "DICT_ARUCO_ORIGINAL")
self.assertEqual(ar_environment.aruco_detector.marker_size, 3.0)
self.assertEqual(ar_environment.aruco_detector.parameters.cornerRefinementMethod, 3)
self.assertEqual(ar_environment.aruco_detector.parameters.aprilTagQuadSigma, 2)
self.assertEqual(ar_environment.aruco_detector.parameters.aprilTagDeglitch, 1)
# Check ArUco detector camera
self.assertEqual(ar_environment.aruco_detector.camera.rms, 1.0)
self.assertIsNone(numpy.testing.assert_array_equal(ar_environment.aruco_detector.camera.dimensions, [1920, 1080]))
self.assertIsNone(numpy.testing.assert_array_equal(ar_environment.aruco_detector.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_environment.aruco_detector.camera.D, [-1.0, -0.5, 0.0, 0.5, 1.0]))
# Check environment scenes
self.assertEqual(len(ar_environment.scenes), 2)
self.assertIsNone(numpy.testing.assert_array_equal(list(ar_environment.scenes.keys()), ["TestSceneA", "TestSceneB"]))
# Load test scene
ar_scene = ar_environment.scenes["TestSceneA"]
# Check Aruco scene
self.assertEqual(len(ar_scene.aruco_scene.places), 2)
self.assertIsNone(numpy.testing.assert_array_equal(ar_scene.aruco_scene.places[0].translation, [1, 0, 0]))
self.assertIsNone(numpy.testing.assert_array_equal(ar_scene.aruco_scene.places[0].rotation, [[1.,0.,0.],[0.,1.,0.],[0.,0.,1.]]))
self.assertEqual(ar_scene.aruco_scene.places[0].marker.identifier, 0)
self.assertIsNone(numpy.testing.assert_array_equal(ar_scene.aruco_scene.places[1].translation, [0, 1, 0]))
self.assertIsNone(numpy.testing.assert_array_almost_equal(ar_scene.aruco_scene.places[1].rotation, [[0.,0.,1.],[0., 1.,0.],[-1.,0.,0.]]))
self.assertEqual(ar_scene.aruco_scene.places[1].marker.identifier, 1)
# Check AOI scene
self.assertEqual(len(ar_scene.aoi_scene.items()), 1)
self.assertEqual(ar_scene.aoi_scene['Test'].size, 4)
# Check ArScene
self.assertEqual(ar_scene.angle_tolerance, 1.0)
self.assertEqual(ar_scene.distance_tolerance, 2.0)
if __name__ == '__main__':
unittest.main()
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