def test_test_camera():
"""Test the basic camera test."""
shutil.copytree('./tests/test_CameraCorrected', 'data')
c = camera_fusion.CameraCorrected(0, 11)
c.calibrate_camera_correction()
# Testing camera setup
with mock.patch('camera_fusion.CameraCorrected.read',
return_value=np.load('./data/real_captured_frame.npy')):
c.test_camera()
shutil.rmtree('data')
def test_PostureBuffer_pop():
"""Test PostureBuffer buffer abilities."""
rvec = np.array([[1], [0], [0]])
tvec = np.array([[1], [0], [0]])
c = camera_fusion.CameraCorrected(0, 11)
frvec, ftvec = c.board_post.update(rvec, tvec)
b_rvecs_shape = c.board_post.buff_rvecs.shape
b_tvecs_shape = c.board_post.buff_tvecs.shape
assert (frvec.shape, ftvec.shape, b_rvecs_shape,
b_tvecs_shape) == ((3, ), (3, ), (3, 1), (3, 1))
def test_initialize():
"""Test CameraCorrected's initialize function."""
c = camera_fusion.CameraCorrected(0, 11)
c.settings = [(0, 0), (1, 1), (3, 1280), (4, 720)]
frame = np.load('./tests/test_CameraCorrected/real_captured_frame.npy')
c.current_frame = frame
with mock.patch('cv2.VideoCapture', return_value=Vc(c)):
with mock.patch(
'camera_fusion.CameraCorrected.calibrate_camera_correction'):
with mock.patch('camera_fusion.CameraCorrected.read',
return_value=frame):
c.initialize()
def test_read_undistort():
"""Test the read_undistort function."""
c = camera_fusion.CameraCorrected(0, 11)
shutil.rmtree('data')
shutil.copytree('./tests/test_CameraCorrected', 'data')
c.calibrate_camera_correction()
with mock.patch('camera_fusion.CameraCorrected.read',
return_value=np.load('./data/real_captured_frame.npy')):
frame_undistored = c.read_undistort()
valid_frame_undistored = np.load('./data/real_undistored_frame.npy')
np.testing.assert_array_equal(valid_frame_undistored, frame_undistored)
shutil.rmtree('data')
def test_draw_text():
"""Test draw_text function."""
c = camera_fusion.CameraCorrected(0, 11)
c.width = 1280
c.height = 720
frame = np.load('./tests/test_CameraCorrected/real_captured_frame.npy')
frame = c.draw_text(frame, 'test') # 33 fps
np.save('./tests/test_CameraCorrected/real_captured_frame_withText.npy',
frame)
np.testing.assert_array_equal(
np.load(
'./tests/test_CameraCorrected/real_captured_frame_withText.npy'),
frame)
def test_draw_fps():
"""Test draw_fps function."""
with mock.patch('time.time', return_value=0):
c = camera_fusion.CameraCorrected(0, 11)
c.width = 1280
c.height = 720
frame = np.load('./tests/test_CameraCorrected/real_captured_frame.npy')
with mock.patch('time.time', return_value=0.03):
frame = c.draw_fps(frame) # 33 fps
np.testing.assert_array_equal(
np.load(
'./tests/test_CameraCorrected/real_captured_frame_with_30fps.npy'),
frame)
def test_PostureBuffer_filter():
"""Test PostureBuffer filtering."""
rvec = np.array([[0.1], [0.2], [0]])
tvec = np.array([[0.2], [0.1], [0]])
c = camera_fusion.CameraCorrected(0, 0)
frvec, ftvec = c.board_post.update(rvec, tvec)
frvec, ftvec = c.board_post.update(rvec * 0.1, tvec * 0.1)
frvec, ftvec = c.board_post.update(rvec, tvec)
# This should trigger the filter default avg_max_std=0.1 maximal limit
frvec, ftvec = c.board_post.update(rvec * 2, tvec * 2)
frvec, ftvec = c.board_post.update(rvec * 3, tvec * 3)
np.testing.assert_allclose([[0.3], [0.6], [0.0]], frvec)
np.testing.assert_allclose([[0.6], [0.3], [0.]], ftvec)
def test__update_frame():
"""Test the _update_frame function."""
c = camera_fusion.CameraCorrected(0, 11)
c.stop = False
shutil.rmtree('data')
shutil.copytree('./tests/test_CameraCorrected', 'data')
real_captured_frame = np.load('./data/real_captured_frame.npy')
c.cap = Vc(c, real_captured_frame)
c.calibrate_camera_correction()
# Testing camera frame read and update
c.cap = Vc(c, real_captured_frame)
c._update_frame()
np.testing.assert_array_equal(c.current_frame, real_captured_frame)
shutil.rmtree('data')
def test_estimate_board_posture():
"""Test the estimate_board_posture function."""
c = camera_fusion.CameraCorrected(0, 11)
shutil.rmtree('data')
shutil.copytree('./tests/test_CameraCorrected', 'data')
c.calibrate_camera_correction()
real_captured_frame = np.load('./data/real_captured_frame.npy')
with mock.patch('camera_fusion.CameraCorrected.read',
return_value=real_captured_frame):
frame = c.estimate_board_posture()
correct_board_posture_frame = np.load(
'./data/correct_board_posture_frame.npy')
np.testing.assert_array_equal(frame, correct_board_posture_frame)
shutil.rmtree('data')
def test_detect_markers():
"""Test the detect_markers function."""
c = camera_fusion.CameraCorrected(0, 11)
shutil.rmtree('data')
shutil.copytree('./tests/test_CameraCorrected', 'data')
c.calibrate_camera_correction()
real_captured_frame = np.load('./data/real_captured_frame.npy')
with mock.patch('camera_fusion.CameraCorrected.read',
return_value=real_captured_frame):
frame, corners, ids = c.detect_markers()
np.testing.assert_array_equal(frame, real_captured_frame)
correct_corners = np.array([[[[1112., 506.], [1111., 374.], [1245., 368.],
[1245., 500.]]],
[[[22., 194.], [11., 57.], [144., 51.],
[158., 189.]]],
[[[744., 164.], [739., 23.], [878., 17.],
[879., 157.]]],
[[[243., 715.], [236., 585.], [366., 580.],
[373., 708.]]],
[[[591., 699.], [584., 570.], [714., 565.],
[720., 694.]]],
[[[940., 688.], [934., 558.], [1067., 552.],
[1072., 684.]]],
[[[57., 549.], [45., 419.], [178., 413.],
[189., 543.]]],
[[[407., 534.], [399., 405.], [529., 399.],
[538., 528.]]],
[[[757., 519.], [752., 390.], [884., 384.],
[888., 514.]]],
[[[220., 367.], [207., 234.], [341., 228.],
[351., 362.]]],
[[[573., 353.], [565., 219.], [699., 213.],
[705., 347.]]],
[[[930., 337.], [927., 201.], [1062., 195.],
[1065., 330.]]],
[[[383., 180.], [372., 42.], [508., 34.],
[517., 175.]]]])
np.testing.assert_array_equal(corners, correct_corners)
correct_ids = np.array([[15], [1], [11], [2], [7], [12], [0], [5], [10],
[3], [8], [13], [6]])
np.testing.assert_array_equal(ids, correct_ids)
shutil.rmtree('data')
def test_calibrate_camera_correction():
"""Test calibrate_camera_correction function."""
c = camera_fusion.CameraCorrected(0, 11)
assert os.path.isdir('./data')
shutil.rmtree('data')
shutil.copytree('./tests/test_CameraCorrected', 'data')
c.calibrate_camera_correction()
assert c.aruco_dict_num == 11
assert c.charuco_square_length == 3.7999999999999999e-02
assert c.charuco_marker_size == 2.9000000000000001e-02
assert c.width == 1280
assert c.height == 720
np.testing.assert_allclose(
[[1.0824122780443031e+03, 0., 6.4165850036653376e+02],
[0., 1.0824122780443031e+03, 3.5960861017399100e+02], [0., 0., 1.]],
c.camera_matrix)
np.testing.assert_allclose([[
7.6732549196567842e-02, -4.1976860824194072e-02, 0., 0.,
-1.8028155099783838e-01
]], c.dist_coeffs)
shutil.rmtree('data')
def test_PostureBuffer():
"""Test PostureBuffer class definition."""
c = camera_fusion.CameraCorrected(0, 11)
assert c.board_post.window_length == 4