class TestImageGeneratorZeroAngle(unittest.TestCase):
def setUp(self):
self.num_timestamps = 2
self.fov = math.pi / 2
self.object_universe = ObjectUniverse(
num_timestamps=self.num_timestamps)
self.camera = Camera()
self.camera.set_fov_rad(math.pi / 2).\
set_actual_position((100,400)).\
set_gps_position((100,410)).\
set_gps_max_error(12).\
set_num_timestamps(self.num_timestamps)
for timestamp in range(self.num_timestamps):
self.camera.set_state_of_pan_motor_angle_at_timestamp(0, timestamp)
self.viewable_objects = [
StationaryObject((300, 599)),
StationaryObject((300, 201)),
]
self.object_universe.add_viewable_objects(self.viewable_objects)
self.object_universe.add_camera(self.camera)
def test_fov(self):
self.camera.image_generator.get_x_for_all_inview_objects_for_all_camera_time(
)
self.assertEqual(self.camera.get_image_generator().fov, math.pi / 2)
def test_d(self):
self.camera.image_generator.get_x_for_all_inview_objects_for_all_camera_time(
)
self.assertAlmostEqual(self.camera.get_image_generator().d, 320)
def test_get_x_remain_in_image_width(self):
r = self.camera.get_image_generator(
).get_x_for_all_inview_objects_for_all_camera_time()
for obj in self.viewable_objects:
x = r[0][obj]
self.assertLess(
abs(x),
self.camera.get_image_generator().get_image_width() / 2)
def test_image_width_default(self):
self.assertEqual(self.camera.get_image_generator().get_image_width(),
640)
def test_stationary_object_updates_its_num_timestamps_to_match_object_universe_it_gets_added_to(self):
ou = ObjectUniverse(num_timestamps=200)
ou.add_viewable_objects(self.so)
self.assertEqual(self.so.get_position_history_len(), 200)
for timestamp in range(0, 200):
self.assertEqual(self.so.get_position_at_timestamp(timestamp), self.pos)
class TestImageGenerator(unittest.TestCase):
def setUp(self):
self.num_timestamps = 10
self.fov = math.pi / 2
self.image_width = 1000
self.object_universe = ObjectUniverse(
num_timestamps=self.num_timestamps)
self.camera = Camera()
self.camera.set_actual_position((1,1)).\
set_fov_rad(self.fov).\
set_num_timestamps(self.num_timestamps).\
set_range(50000)
for timestamp in range(self.camera.get_num_timestamps()):
self.camera.set_state_of_pan_motor_angle_at_timestamp_rad(
math.pi / 4, timestamp)
self.cv = ComputerVision()
self.image_generator = ImageGenerator(image_width=self.image_width)
self.camera.set_computer_vision(self.cv).\
set_image_generator(self.image_generator)
self.viewable_objects = [
StationaryObject((2, 1 + math.tan(math.pi / 8))),
StationaryObject((1 + math.tan(math.pi / 8), 2)),
StationaryObject((10000, 1.1)),
StationaryObject((1.1, 10000)),
]
self.object_universe.add_viewable_objects(self.viewable_objects)
self.object_universe.add_camera(self.camera)
self.d = self.image_width / (2 * math.tan(self.fov / 2))
self.theta = math.pi / 8
def test_d_calculation_for_image_generator(self):
self.camera.get_image_generator(
).get_x_for_all_inview_objects_for_all_camera_time()
self.assertEqual(self.d, self.image_generator.d)
def test_theta_calculation_for_image_generator(self):
self.camera.get_image_generator(
).get_x_for_all_inview_objects_for_all_camera_time()
self.assertAlmostEqual(
-self.theta,
self.image_generator._get_theta_rad(self.viewable_objects[0], 0))
self.assertAlmostEqual(
self.theta,
self.image_generator._get_theta_rad(self.viewable_objects[1], 0))
def test_get_x_for_all_inview_objects_for_all_camera_time(self):
r = self.image_generator.get_x_for_all_inview_objects_for_all_camera_time(
)
for timestamp in range(self.camera.get_num_timestamps()):
self.assertAlmostEqual(r[timestamp][self.viewable_objects[0]],
-self.d * math.tan(math.pi / 8))
self.assertAlmostEqual(r[timestamp][self.viewable_objects[1]],
self.d * math.tan(math.pi / 8))
def test_get_x_for_distant_objects_at_edge_of_view_remain_in_image_width(
self):
r = self.image_generator.get_x_for_all_inview_objects_for_all_camera_time(
)
for obj in self.viewable_objects:
x = r[0][obj]
self.assertLess(abs(x), self.image_width / 2)
class TestComputerVision(unittest.TestCase):
def setUp(self):
self.num_timestamps = 6
self.object_universe = ObjectUniverse(num_timestamps=self.num_timestamps)
self.camera = Camera(fov_deg=90, actual_position=(0,0))
self.cv = ComputerVision()
self.camera.set_computer_vision(self.cv)
self.object_universe.add_camera(self.camera)
for timestamp, _ in enumerate(self.camera.get_state_history()):
self.camera.set_pan_angle_deg(0, timestamp)
self.out_pos = (1,2)
self.in_pos = (1,0)
self.out_obj = ViewableObject()
self.in_obj = ViewableObject()
self.in_out_in_obj = ViewableObject()
self.out_in_out_obj = ViewableObject()
self.viewable_objects = [
self.out_obj,
self.in_obj,
self.in_out_in_obj,
self.out_in_out_obj,
]
self.object_universe.add_viewable_objects(self.viewable_objects)
for timestamp, _ in enumerate(self.out_obj.position_history):
self.in_obj.set_position_at_timestamp(self.in_pos, timestamp)
self.out_obj.set_position_at_timestamp(self.out_pos, timestamp)
for timestamp in [0,1]:
self.in_out_in_obj.set_position_at_timestamp(self.in_pos, timestamp)
self.out_in_out_obj.set_position_at_timestamp(self.out_pos, timestamp)
for timestamp in [2,3]:
self.in_out_in_obj.set_position_at_timestamp(self.out_pos, timestamp)
self.out_in_out_obj.set_position_at_timestamp(self.in_pos, timestamp)
for timestamp in [4,5]:
self.in_out_in_obj.set_position_at_timestamp(self.in_pos, timestamp)
self.out_in_out_obj.set_position_at_timestamp(self.out_pos, timestamp)
self.cv.set_cv_ids_for_all_camera_time()
def test_camera_has_correct_number_of_timestamps(self):
self.assertEqual(self.camera.get_num_timestamps(), self.num_timestamps)
self.assertEqual(self.camera.get_state_history_len(), self.num_timestamps)
def test_viewable_objects_have_correct_number_of_timestamps(self):
for vo in self.viewable_objects:
self.assertEqual(vo.get_position_history_len(), self.num_timestamps)
self.assertEqual(vo.get_num_timestamps(), self.num_timestamps)
def test_objects_that_never_are_in_view_never_get_id(self):
for timestamp, _ in enumerate(self.out_obj.get_position_history()):
self.assertIsNone(self.cv.get_cv_id_for_obj_at_timestamp(self.out_obj, timestamp))
def test_it_ids_objects_that_come_into_view(self):
for timestamp in [0,1]:
self.assertIsNone(self.cv.get_cv_id_for_obj_at_timestamp(self.out_in_out_obj, timestamp))
self.assertIsNotNone(self.cv.get_cv_id_for_obj_at_timestamp(self.in_out_in_obj, timestamp))
self.assertEqual(self.cv.get_cv_id_for_obj_at_timestamp(self.in_out_in_obj, 0),
self.cv.get_cv_id_for_obj_at_timestamp(self.in_out_in_obj, 1))
def that_it_prefixes_the_ids_with_cv(self):
self.assertEqual(self.cv.get_cv_id_for_obj_at_timestamp(self.in_obj,0)[0:2], 'cv')
def test_it_retains_ids_of_objects_that_remain_in_view(self):
self.assertEqual(self.cv.get_cv_id_for_obj_at_timestamp(self.out_in_out_obj, 2),
self.cv.get_cv_id_for_obj_at_timestamp(self.out_in_out_obj, 3))
def test_it_removes_ids_of_objects_that_leave_view(self):
self.assertIsNone(self.cv.get_cv_id_for_obj_at_timestamp(self.out_in_out_obj, 4))
self.assertIsNone(self.cv.get_cv_id_for_obj_at_timestamp(self.out_in_out_obj, 5))
def test_it_re_ids_objects_that_come_back_in_view(self):
in_first = self.cv.get_cv_id_for_obj_at_timestamp(self.in_out_in_obj, 1)
in_again = self.cv.get_cv_id_for_obj_at_timestamp(self.in_out_in_obj, 4)
self.assertIsNotNone(in_first)
self.assertIsNotNone(in_again)
self.assertNotEqual(in_first, in_again)
