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#!/usr/bin/env python
import unittest
import os
import math
from argaze.ArUcoMarkers import ArUcoMarkersDictionary, ArUcoCamera, ArUcoTracker
import cv2 as cv
import numpy
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.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)
if __name__ == '__main__':
unittest.main()
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