class ObjectRecognitionTests(unittest.TestCase):
def setUp(self):
self.ch = RappPlatformAPI()
rospack = rospkg.RosPack()
self.pkgDir = rospack.get_path('rapp_testing_tools')
def test_cat_test(self):
imagepath = path.join(self.pkgDir, 'test_data', 'cat.jpg')
validResponse = {
'object_class': 'boa constrictor, Constrictor constrictor',
'error': ''
}
response = self.ch.objectRecognitionCaffe(imagepath)
self.assertEqual(response, validResponse)
def test_wrongPath(self):
imagepath = path.join(self.pkgDir, '', 'cat.jpg')
response = self.ch.objectRecognitionCaffe(imagepath)
self.assertNotEqual(response['error'], u'')
def test_wrongPathType(self):
imagepath = 3
response = self.ch.objectRecognitionCaffe(imagepath)
self.assertNotEqual(response['error'], u'')
class ObjectRecognitionTests(unittest.TestCase):
def setUp(self):
self.ch = RappPlatformAPI()
rospack = rospkg.RosPack()
self.pkgDir = rospack.get_path('rapp_testing_tools')
def test_cat_test(self):
imagepath = path.join(self.pkgDir, 'test_data', 'cat.jpg')
validResponse = {
'object_class': 'boa constrictor, Constrictor constrictor',
'error': ''
}
response = self.ch.objectRecognitionCaffe(imagepath)
self.assertEqual(response, validResponse)
def test_wrongPath(self):
imagepath = path.join(self.pkgDir, '', 'cat.jpg')
response = self.ch.objectRecognitionCaffe(imagepath)
self.assertNotEqual(response['error'], u'')
def test_wrongPathType(self):
imagepath = 3
response = self.ch.objectRecognitionCaffe(imagepath)
self.assertNotEqual(response['error'], u'')
def RappObjectRecCaffe(self, imageString, image):
path = imageORimageString(imageString, image) #path of saved image.
ch = RappPlatformAPI(address=addr)
response = ch.objectRecognitionCaffe(
path) # Use the server's path of the image.
return response
# Delay to stabilize the head
time.sleep(1)
image_name = "img_" + str(i * 3 + j) + ".jpg"
# Capture an image from the NAO cameras
rh.vision.capturePhoto("/home/nao/" + image_name, "front", "640x480")
# Get the photo to the PC
rh.utilities.moveFileToPC("/home/nao/" + image_name, \
home + image_name)
imageFilepath = home + image_name
# Get the responses
qr_resp = ch.qrDetection(imageFilepath)
face_resp = ch.faceDetection(imageFilepath, False)
obj_resp = ch.objectRecognitionCaffe(imageFilepath)
# Prints for debugging purposes
print str(global_counter) + ": " + str(qr_resp)
print str(global_counter) + ": " + str(face_resp)
print str(global_counter) + ": " + str(obj_resp)
print "\n"
# Store the objects and the respective head angles
# Store the unique QR codes
if len(qr_resp['qr_centers']) != 0:
# Transform Image-frame angles to NAO-frame
obj_frame_ang = pointToRads(
qr_resp['qr_centers'][0]['x'],
qr_resp['qr_centers'][0]['y'],
640.0,
