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#!/usr/bin/env python
import unittest
import os
import math
from argaze.ArUcoMarkers import ArUcoMarkersDictionary, ArUcoCamera, ArUcoDetector, ArUcoBoard
import cv2 as cv
import numpy
class TestDetectorParametersClass(unittest.TestCase):
"""Test DetectorParameters class."""
def test_from_json(self):
"""Test DetectorParameters creation from json file."""
# Edit file path
current_directory = os.path.dirname(os.path.abspath(__file__))
json_filepath = os.path.join(current_directory, 'utils/detector_parameters.json')
# Load file
detector_parameters = ArUcoDetector.DetectorParameters.from_json(json_filepath)
# Check data
self.assertEqual(detector_parameters.cornerRefinementMethod, 3)
self.assertEqual(detector_parameters.aprilTagQuadSigma, 2)
self.assertEqual(detector_parameters.aprilTagDeglitch, 1)
# Check bad data access fails
with self.assertRaises(AttributeError):
detector_parameters.unknown_data = 1
class TestArUcoDetectorClass(unittest.TestCase):
"""Test ArUcoDetector class."""
def test_new(self):
"""Test ArUcoDetector creation."""
aruco_detector = ArUcoDetector.ArUcoDetector(marker_size=3)
# Check ArUcoDetector creation
self.assertEqual(aruco_detector.dictionary.name, 'DICT_ARUCO_ORIGINAL')
self.assertEqual(aruco_detector.marker_size, 3)
self.assertIsNone(numpy.testing.assert_array_equal(aruco_detector.camera.dimensions, [0, 0]))
self.assertEqual(aruco_detector.detected_markers_number, 0)
self.assertEqual(aruco_detector.detected_markers, {})
aruco_dictionary = ArUcoMarkersDictionary.ArUcoMarkersDictionary('DICT_APRILTAG_16h5')
aruco_detector = ArUcoDetector.ArUcoDetector(aruco_dictionary, 5.2)
# Check ArUcoDetector creation
self.assertEqual(aruco_detector.dictionary.name, 'DICT_APRILTAG_16h5')
self.assertEqual(aruco_detector.marker_size, 5.2)
self.assertIsNone(numpy.testing.assert_array_equal(aruco_detector.camera.dimensions, [0, 0]))
self.assertEqual(aruco_detector.detected_markers_number, 0)
self.assertEqual(aruco_detector.detected_markers, {})
def test_from_json(self):
"""Test ArUcoDetector creation."""
# Edit file path
current_directory = os.path.dirname(os.path.abspath(__file__))
json_filepath = os.path.join(current_directory, 'utils/detector.json')
# Load file
aruco_detector = ArUcoDetector.ArUcoDetector.from_json(json_filepath)
# Check ArUcoDetector creation
self.assertEqual(aruco_detector.dictionary.name, 'DICT_ARUCO_ORIGINAL')
self.assertEqual(aruco_detector.marker_size, 3)
self.assertIsNone(numpy.testing.assert_array_equal(aruco_detector.camera.dimensions, [1920, 1080]))
self.assertEqual(aruco_detector.parameters.cornerRefinementMethod, 3)
self.assertEqual(aruco_detector.parameters.aprilTagQuadSigma, 2)
self.assertEqual(aruco_detector.parameters.aprilTagDeglitch, 1)
def test_detect(self):
"""Test detect method."""
aruco_detector = ArUcoDetector.ArUcoDetector(marker_size=3)
# Load picture Full HD to test ArUcoMarker detection
current_directory = os.path.dirname(os.path.abspath(__file__))
frame = cv.imread(os.path.join(current_directory, 'utils/full_hd_marker.png'))
# Check ArUcoMarker detection
aruco_detector.detect_markers(frame)
self.assertEqual(aruco_detector.detected_markers_number, 1)
self.assertEqual(aruco_detector.detected_markers[0].dictionary, aruco_detector.dictionary)
self.assertEqual(aruco_detector.detected_markers[0].identifier, 0)
self.assertEqual(aruco_detector.detected_markers[0].size, 3)
# Check corner positions with -/+ 10 pixels precision
self.assertIsNone(numpy.testing.assert_almost_equal(aruco_detector.detected_markers[0].corners[0][0].astype(int), numpy.array([3823, 2073]), decimal=-1))
self.assertIsNone(numpy.testing.assert_almost_equal(aruco_detector.detected_markers[0].corners[0][1].astype(int), numpy.array([4177, 2073]), decimal=-1))
self.assertIsNone(numpy.testing.assert_almost_equal(aruco_detector.detected_markers[0].corners[0][2].astype(int), numpy.array([4177, 2427]), decimal=-1))
self.assertIsNone(numpy.testing.assert_almost_equal(aruco_detector.detected_markers[0].corners[0][3].astype(int), numpy.array([3823, 2427]), decimal=-1))
# Check marker pose estimation
aruco_detector.estimate_markers_pose([0])
# Check marker translation with -/+ 0.1 cm precision and rotation with -/+ 0.001 radian precision
self.assertIsNone(numpy.testing.assert_almost_equal(aruco_detector.detected_markers[0].translation, numpy.array([33.87, 19.05, 0.]), decimal=1))
self.assertIsNone(numpy.testing.assert_almost_equal(aruco_detector.detected_markers[0].rotation, numpy.array([[1., 0., 0.], [0., -1., 0.], [0., 0., -1.]]), decimal=3))
# Check detect metrics
detect_count, markers_count = aruco_detector.detection_metrics
self.assertEqual(detect_count, 1)
self.assertEqual(markers_count[0], 1)
def test_detect_board(self):
"""Test detect board method."""
aruco_board = ArUcoBoard.ArUcoBoard(7, 5, 5, 3)
aruco_detector = ArUcoDetector.ArUcoDetector(marker_size=3)
# Load picture Full HD to test ArUcoMarker board detection
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 detection
aruco_detector.detect_board(frame, aruco_board, aruco_board.markers_number)
self.assertEqual(aruco_detector.board_corners_number, aruco_board.corners_number)
self.assertEqual(len(aruco_detector.board_corners), 24)
self.assertEqual(len(aruco_detector.board_corners_identifier), 24)
if __name__ == '__main__':
unittest.main()
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