def test_meters_per_pixel():
C = CameraParams(lens=4.0,
sensorwidth=5.0,
xresolution=1024,
yresolution=800)
frame_time = 1478954763.0
pos = mav_position.MavPosition(-50, 145, 120, 0, 0, 90, frame_time)
ret = meters_per_pixel(pos, C)
assert abs(0.1463 - ret) < 0.001
pos = mav_position.MavPosition(-50, 145, 85, 3, 1, 45, frame_time)
ret = meters_per_pixel(pos, C)
assert abs(0.1041 - ret) < 0.001
def test_JoeLog_JoeIterator():
joelog = cuav_joe.JoeLog(os.path.join('.', 'joe.log'), False)
regions = []
frame_time = 1478954763.0
C = CameraParams(lens=4.0,
sensorwidth=5.0,
xresolution=1024,
yresolution=768)
regions.append(cuav_region.Region(10, 10, 25, 23, None, scan_score=450))
regions.append(cuav_region.Region(200, 205, 252, 236, None,
scan_score=420))
pos = mav_position.MavPosition(-30, 145, 34.56, 20, -56.67, 345,
frame_time)
joelog.add_regions(frame_time, regions, pos, 'img2017111312451230Z.png')
joeread = cuav_joe.JoeIterator(os.path.join('.', 'joe.log'))
joeret = joeread.getjoes()
assert len(joeret) == 2
assert joeret[
0] == "JoePosition(lat=-30.000235 lon=144.999639 MavPosition(pos -30.000000 145.000000 alt=34.6 roll=20.0 pitch=-56.7 yaw=345.0) img2017111312451230Z.png None (10, 10, 25, 23) latlon=(-30.000235126851315, 144.9996388367703) score=None Sat Nov 12 23:46:03 2016 2016111212460300Z)" or "JoePosition(lat=-30.000235 lon=144.999639 MavPosition(pos -30.000000 145.000000 alt=34.6 roll=20.0 pitch=-56.7 yaw=345.0) img2017111312451230Z.png None (10, 10, 25, 23) latlon=(-30.000235126851315, 144.9996388367703) score=None Sat Nov 12 12:46:03 2016 2016111212460300Z)"
assert joeret[
1] == "JoePosition(lat=-30.000367 lon=144.999711 MavPosition(pos -30.000000 145.000000 alt=34.6 roll=20.0 pitch=-56.7 yaw=345.0) img2017111312451230Z.png None (200, 205, 252, 236) latlon=(-30.000366794010567, 144.9997107272955) score=None Sat Nov 12 23:46:03 2016 2016111212460300Z)" or "JoePosition(lat=-30.000367 lon=144.999711 MavPosition(pos -30.000000 145.000000 alt=34.6 roll=20.0 pitch=-56.7 yaw=345.0) img2017111312451230Z.png None (200, 205, 252, 236) latlon=(-30.000366794010567, 144.9997107272955) score=None Sat Nov 12 12:46:03 2016 2016111212460300Z)"
os.remove(os.path.join('.', 'joe.log'))
def test_addLandingZoneMany():
lz = cuav_landingregion.LandingZone()
for i in range(0, 100):
r = cuav_region.Region(1020, 658, 1050, 678, (30, 30))
r.latlon = (random.uniform(-90, 90), random.uniform(-180, 180))
r.score = random.randint(0, 1000)
pos = mav_position.MavPosition(r.latlon[0], r.latlon[1], 80, 0, 0, 0, 1)
lz.checkaddregion(r, pos)
assert len(lz.regionClumps) == 100
def test_addLandingZone():
lz = cuav_landingregion.LandingZone()
for i in range(0, 10):
r = cuav_region.Region(1020, 658, 1050, 678, (30, 30))
r.latlon = (23, 34)
pos = mav_position.MavPosition(23, 24, 80, 0, 0, 0, 1)
r.score = 20
lz.checkaddregion(r, pos)
assert len(lz.regionClumps) == 1
def test_MavPosition():
mav = mav_position.MavPosition(-30,
145,
34.56,
20,
-56.67,
345,
frame_time=None)
assert str(
mav
) == "MavPosition(pos -30.000000 145.000000 alt=34.6 roll=20.0 pitch=-56.7 yaw=345.0)"
def test_calcLandingZone():
lz = cuav_landingregion.LandingZone()
for i in range(0, 100):
r = cuav_region.Region(1020, 658, 1050, 678, (30, 30))
r.latlon = (random.uniform(-0.001, 0.001)+34, random.uniform(-0.001, 0.001)-140)
r.score = random.randint(0, 1000)
pos = mav_position.MavPosition(r.latlon[0], r.latlon[1], 80, 0, 0, 0, 1)
lz.checkaddregion(r, pos)
ret = lz.calclandingzone()
assert ret == True
def test_MosaicRegion():
regOne = cuav_region.Region(1020, 658, 1050, 678, (30, 30))
regOne.latlon=(-26.6398870, 151.8220000)
regOne.score = 20
pos = mav_position.MavPosition(-30, 145, 34.56, 20, -56.67, 345, frame_time=None)
pos.time = int(time.time())
im_orig = cv2.imread(os.path.join(os.getcwd(), 'tests', 'testdata', 'test-8bit.png'))
full_thumbnail = im_orig[1:80, 1:80]
small_thumbnail = im_orig[2:12, 10:20]
mos = cuav_mosaic.MosaicRegion(2, regOne, "nofile.png", pos, full_thumbnail, small_thumbnail)
mos.tag_image_available()
assert mos.small_thumbnail[2,9,0] == 0
assert mos.small_thumbnail[2,9,1] == 255
assert mos.small_thumbnail[2,9,2] == 255
assert "MavPosition(pos -30.000000 145.000000 alt=34.6 roll=20.0 pitch=-56.7 yaw=345.0)" in str(mos)
def test_gps_position_from_image_region():
frame_time = 1478954763.0
pos = mav_position.MavPosition(-50, 145, 120, 0, 0, 90, frame_time)
region = cuav_region.Region(10, 10, 25, 23, None, scan_score=450)
C = CameraParams(lens=4.0,
sensorwidth=5.0,
xresolution=1024,
yresolution=800)
(lat, lon) = gps_position_from_image_region(region,
pos,
width=1024,
height=800,
C=C,
altitude=None)
assert abs(-49.99934 - lat) < 0.00001
assert abs(145.00078 - lon) < 0.00001
def test_filter_boundary():
OBC_boundary = cuav_util.polygon_load(os.path.join(os.getcwd(), 'tests', 'testdata', 'OBC_boundary.txt'))
regions = []
regOne = cuav_region.Region(1020, 658, 1050, 678, (30, 30))
regOne.latlon=(-26.6398870, 151.8220000)
regOne.score = 20
regions.append(regOne)
regTwo = cuav_region.Region(1020, 658, 1050, 678, (30, 30))
regTwo.score = 32
regTwo.latlon=(-26.6418700, 151.8709260)
regions.append(regTwo)
pos = mav_position.MavPosition(-30, 145, 34.56, 20, -56.67, 345, frame_time=None)
ret = cuav_region.filter_boundary(regions, OBC_boundary, pos)
assert len(ret) == 2
assert ret[0].score == 0
assert ret[1].score == 32
def test_gps_position_from_xy():
C = CameraParams(lens=4.0,
sensorwidth=5.0,
xresolution=1024,
yresolution=800)
frame_time = 1478954763.0
pos = mav_position.MavPosition(-50, 145, 120, 0, 0, 90, frame_time)
(lat, lon) = gps_position_from_xy(512,
400,
pos,
C=C,
altitude=120,
shape=None)
assert abs(-50 - lat) < 0.00001
assert abs(145 - lon) < 0.00001
(lat, lon) = gps_position_from_xy(200,
100,
pos,
C=C,
altitude=120,
shape=None)
assert abs(-49.999589 - lat) < 0.00001
assert abs(145.000614 - lon) < 0.00001
def test_Mosaic():
#slipmap = mp_slipmap.MPSlipMap(service='GoogleSat', elevation=True, title='Map')
#mocked_slipmap.return_value = 1
#monkeypatch.setattr('slipmap', lambda x: 1)
mocked_slipmap = mock.MagicMock(return_value=1)
C_params = CameraParams(lens=4.0, sensorwidth=5.0, xresolution=1280, yresolution=960)
mosaic = cuav_mosaic.Mosaic(mocked_slipmap, C=C_params)
mosaic.set_mosaic_size((200, 200))
assert mosaic.mosaic.shape == (175, 175, 3)
f = os.path.join(os.getcwd(), 'tests', 'testdata', 'raw2016111223465120Z.png')
img = cv2.imread(f)
pos = mav_position.MavPosition(-30, 145, 34.56, 20, -56.67, 345, frame_time=1478994408.76)
regions = []
regions.append(cuav_region.Region(1020, 658, 1050, 678, (30, 30), scan_score=20))
regions.append(cuav_region.Region(30, 54, 50, 74, (20, 20), scan_score=15))
regions.append(cuav_region.Region(30, 54, 55, 79, (25, 25), scan_score=10))
for i in range(40):
regions.append(cuav_region.Region(200, 600, 220, 620, (20, 20), scan_score=45))
composite = cuav_region.CompositeThumbnail(img, regions)
thumbs = cuav_mosaic.ExtractThumbs(composite, len(regions))
mosaic.add_regions(regions, thumbs, f, pos)
mosaic.add_image(1478994408.76, f, pos)
mosaic.show_region(0)
mosaic.view_imagefile(f)
assert mosaic.find_image_idx(f) == 0
mosaic.view_imagefile_by_idx(0)
mocked_key = mock.MagicMock(return_value=1)
mocked_key.objkey = "region 1"
assert mosaic.show_selected(mocked_key) == True
mosaic.show_closest((-30, 145), mocked_key)
mosaic.view_image.terminate()
#mosaic.map_menu_callback
#mosaic.map_callback
OBC_boundary = cuav_util.polygon_load(os.path.join(os.getcwd(), 'tests', 'testdata', 'OBC_boundary.txt'))
mosaic.set_boundary(OBC_boundary)
mosaic.change_page(1)
mosaic.hide_page()
assert len(mosaic.regions_sorted) == 25
mosaic.unhide_all()
assert len(mosaic.regions_sorted) == 43
for i in ['Score', 'ScoreReverse', 'Distinctiveness', 'Whiteness', 'Time']:
mosaic.sort_type = i
mosaic.re_sort()
#mosaic.menu_event
assert mosaic.started() == True
mosaic.popup_show_image(mosaic.regions[2])
mosaic.popup_fetch_image(mosaic.regions[2], 'fetchImageFull')
assert len(mosaic.get_image_requests()) == 1
mosaic.view_image.terminate()
#mosaic.menu_event_view
mocked_pos = mock.MagicMock(return_value=1)
mocked_pos.x = 10
mocked_pos.y = 10
assert mosaic.pos_to_region(mocked_pos) == mosaic.regions[0]
assert mosaic.objkey_to_region(mocked_key) == mosaic.regions[1]
#mosaic.mouse_event
#mosaic.mouse_event_view
mosaic.key_event(1)
assert mosaic.region_on_page(2, 0) == True
assert mosaic.region_on_page(2000, 20) == False
mosaic.mouse_region = mosaic.regions[0]
mosaic.display_mosaic_region(0)
mosaic.redisplay_mosaic()
assert mosaic.make_thumb(img, regions[0], 8).shape == (8, 8, 3)
assert mosaic.make_thumb(img, regions[0], 30).shape == (30, 30, 3)
mosaic.tag_image(1478994408.76)
#mosaic.check_events
mosaic.image_mosaic.terminate()
def test_MosaicImage():
pos = mav_position.MavPosition(-30, 145, 34.56, 20, -56.67, 345, frame_time=None)
pos.time = int(time.time())
im = cuav_mosaic.MosaicImage(int(time.time()), "nofile.png", pos)
assert "nofile.png" in str(im)