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"""
This program is free software: you can redistribute it and/or modify it under
the terms of the GNU General Public License as published by the Free Software
Foundation, either version 3 of the License, or (at your option) any later
version.
This program is distributed in the hope that it will be useful, but WITHOUT
ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
You should have received a copy of the GNU General Public License along with
this program. If not, see <http://www.gnu.org/licenses/>.
"""
__author__ = "Théo de la Hogue"
__credits__ = []
__copyright__ = "Copyright 2023, Ecole Nationale de l'Aviation Civile (ENAC)"
__license__ = "GPLv3"
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
with ArUcoCamera.ArUcoCamera.from_json(json_filepath) as aruco_camera:
# 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.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_allclose(ar_scene.aruco_markers_group.places[0].corners[0], [-0.5, 1.5, 0.], rtol=0, atol=1e-3))
self.assertEqual(ar_scene.aruco_markers_group.places[0].marker.identifier, 0)
self.assertIsNone(numpy.testing.assert_allclose(ar_scene.aruco_markers_group.places[1].corners[0], [0., 2.5, -1.5], rtol=0, atol=1e-3))
self.assertEqual(ar_scene.aruco_markers_group.places[1].marker.identifier, 1)
# Check layers and AOI scene
self.assertEqual(len(ar_scene.layers.items()), 1)
self.assertEqual(len(ar_scene.layers["Main"].aoi_scene), 1)
self.assertEqual(ar_scene.layers["Main"].aoi_scene['Test'].points_number, 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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