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#!/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()
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