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
class TestImageAnalyzer(unittest.TestCase):
def setUp(self):
self.num_timestamps = 7
self.fov_deg = 92
self.fov_rad = math.radians(self.fov_deg)
self.object_universe = ObjectUniverse(
num_timestamps=self.num_timestamps)
self.camera = Camera()
self.camera.set_fov_deg(self.fov_deg).set_actual_position((0, 0))
for timestamp in range(self.num_timestamps):
self.camera.set_state_of_pan_motor_angle_at_timestamp(0, timestamp)
self.viewable_object = ViewableObject()
self.object_universe.add_camera(self.camera).\
add_viewable_objects(self.viewable_object)
self.angles = [
-math.pi / 4,
-math.pi / 8,
math.pi / 8,
math.pi / 4,
]
self.image_width = self.camera.get_image_generator().get_image_width()
self.d = self.image_width / 2 / math.tan(self.fov_rad / 2)
self.x_s = [self.d * math.tan(a) for a in self.angles]
self.positions = [(self.d, x) for x in self.x_s]
self.sequence = [0, 1, 0, 2, 3, 2, 1]
for timestamp, s in enumerate(self.sequence):
self.viewable_object.set_position_at_timestamp(
self.positions[s], timestamp)
self.subtended_angles = [
math.pi / 8,
-math.pi / 8,
3 * math.pi / 8,
math.pi / 8,
-math.pi / 8,
-math.pi / 4,
]
self.image_analyzer = ImageAnalyzer(self.camera)
self.image_analyzer.set_images(self.camera.get_image_generator(
).get_x_for_all_inview_objects_for_all_camera_time())
def test_angles(self):
for i, _ in enumerate(self.subtended_angles):
a_s = self.image_analyzer.get_subtended_angles_for_all_objects(
i, i + 1)
self.assertAlmostEqual(a_s[self.viewable_object],
self.subtended_angles[i])
def setUp(self):
self.initial_num_timestamps = 100
self.boundary = Boundary([(0, 0), (100, 0), (100, 100), (0, 100)])
self.moving_object = RandomlyMovingObject(
self.boundary, num_timestamps=self.initial_num_timestamps)
self.stationary_object = StationaryObject(
(100, 100), num_timestamps=self.initial_num_timestamps)
self.viewable_objects = [self.moving_object, self.stationary_object]
self.object_universe = ObjectUniverse()
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 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 setUp(self):
self.num_timestamps = 100
self.object_universe = ObjectUniverse(num_timestamps=self.num_timestamps)
self.camera = Camera(fov_deg=90, actual_position=(0,0))
self.in_view_positions = [(1,0), (2,1), (2,-1)]
self.out_view_positions = [(-1,0), (1,2), (1,-2)]
self.in_view_objects = list(map(
lambda pos: StationaryObject(pos, name='in_view'),
self.in_view_positions)
)
self.out_view_objects = list(map(
lambda pos: StationaryObject(pos, name='out_view'),
self.out_view_positions)
)
self.object_universe.clear_viewable_objects().add_viewable_objects(self.in_view_objects + self.out_view_objects)
self.object_universe.add_camera(self.camera)
def setUp(self, num_randomly_moving_objects=10):
self.num_randomly_moving_objects = num_randomly_moving_objects
self.num_timestamps = 60
self.tag_gps_angle_threshold = math.radians(7)
self.object_universe = ObjectUniverse(
num_timestamps=self.num_timestamps)
self.camera = Camera()
self.camera.set_actual_position((100, 400)).\
set_gps_position((100,380)).\
set_gps_max_error(25).\
set_fov_rad(math.pi/2)
self.boundary = Boundary([(220, 300), (420, 100), (420, 700),
(220, 500)])
self.tag = RandomlyMovingTag(boundary=self.boundary)
self.viewable_objects = [self.tag]
for _ in range(self.num_randomly_moving_objects):
self.viewable_objects.append(
RandomlyMovingObject(boundary=self.boundary))
self.object_universe.add_camera(self.camera).\
add_viewable_objects(self.viewable_objects)
for timestamp in range(self.num_timestamps):
self.camera.set_state_of_pan_motor_angle_at_timestamp(0, timestamp)
self.camera.get_computer_vision().set_cv_ids_for_all_camera_time()
self.object_motion_analyzer = ObjectMotionAnalyzer(
self.camera,
self.tag,
tag_gps_angle_threshold=self.tag_gps_angle_threshold)
self.frames = self.object_motion_analyzer.get_complete_frames()
return self
class Demo:
def __init__(self):
# Setup physical environment
self.num_timestamps = 100
self.camera = Camera()
self.camera.set_actual_position((100,300)).\
set_gps_position((100,290)).\
set_gps_max_error(10).\
set_fov_deg(70)
for timestamp in range(self.num_timestamps):
self.camera.set_pan_angle_deg(0, timestamp)
self.cv = ComputerVision()
self.camera.set_computer_vision(self.cv)
self.boundary = Boundary([(150, 100), (150, 550), (300, 550),
(300, 100)])
self.viewable_objects = []
for _ in range(20):
self.viewable_objects.append(
RandomlyMovingObject(boundary=self.boundary))
self.object_universe = ObjectUniverse(
num_timestamps=self.num_timestamps)
self.object_universe.add_camera(self.camera).\
add_viewable_objects(self.viewable_objects)
self.cv.set_cv_ids_for_all_camera_time()
# Rendering
renderable_objects = [
self.boundary,
self.object_universe,
]
RenderOrchestrator(self.num_timestamps,
seconds_per_timestamp=0.2,
renderable_objects=renderable_objects).run()
def setUp(self, num_randomly_moving_objects=0):
self.num_randomly_moving_objects = num_randomly_moving_objects
self.num_timestamps = 100
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 = []
for y in range(100, 800, 50):
self.viewable_objects.append(StationaryObject((301, y)))
self.boundary = Boundary([(200, 200), (400, 200), (400, 600),
(200, 600)])
for _ in range(self.num_randomly_moving_objects):
self.viewable_objects.append(
RandomlyMovingObject(boundary=self.boundary))
self.viewable_objects.append(RandomlyMovingTag(boundary=self.boundary))
self.object_universe.add_camera(self.camera).\
add_viewable_objects(self.viewable_objects)
self.camera.get_computer_vision().set_cv_ids_for_all_camera_time()
self.image_renderer = ImageRenderer(self.camera.get_image_generator())
self.image_renderer.set_computer_vision(
self.camera.get_computer_vision())
return self
class TestCamera(unittest.TestCase):
def setUp(self):
self.num_timestamps = 100
self.object_universe = ObjectUniverse(num_timestamps=self.num_timestamps)
self.camera = Camera(fov_deg=90, actual_position=(0,0))
self.in_view_positions = [(1,0), (2,1), (2,-1)]
self.out_view_positions = [(-1,0), (1,2), (1,-2)]
self.in_view_objects = list(map(
lambda pos: StationaryObject(pos, name='in_view'),
self.in_view_positions)
)
self.out_view_objects = list(map(
lambda pos: StationaryObject(pos, name='out_view'),
self.out_view_positions)
)
self.object_universe.clear_viewable_objects().add_viewable_objects(self.in_view_objects + self.out_view_objects)
self.object_universe.add_camera(self.camera)
def test_object_universe_has_correct_objects(self):
self.assertEqual(self.object_universe.get_num_viewable_objects(), 6)
named_out_view = list(filter(lambda obj: obj.get_name() == 'out_view',
self.object_universe.get_viewable_objects()))
named_in_view = list(filter(lambda obj: obj.get_name() == 'in_view',
self.object_universe.get_viewable_objects()))
self.assertEqual(len(named_in_view), 3)
self.assertEqual(len(named_out_view), 3)
def test_camera_viewable_objects(self):
self.assertEqual(len(self.camera.get_objects_in_view(0)), 3)
for obj in self.camera.get_objects_in_view(0):
self.assertEqual(obj.get_name(), 'in_view')
def test_camera_not_viewable_objects(self):
self.assertEqual(len(self.camera.get_objects_out_view(0)), 3)
for obj in self.camera.get_objects_out_view(0):
self.assertEqual(obj.get_name(), 'out_view')
def test_camera_state_history_length_changes_when_object_universe_num_timestamps_changes(self):
self.assertEqual(self.camera.get_state_history_len(), self.num_timestamps)
self.object_universe.set_num_timestamps(50)
self.assertEqual(self.camera.get_state_history_len(), 50)
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 setUp(self, tag_gps_angle_threshold=6, compass_err_deg=3.7):
self.tag_gps_angle_threshold = tag_gps_angle_threshold
self.compass_err_deg = compass_err_deg
self.num_timestamps = 50
self.tag_gps_angle_threshold = math.radians(self.tag_gps_angle_threshold)
self.object_universe = ObjectUniverse(num_timestamps=self.num_timestamps)
self.camera = Camera()
self.camera.set_actual_position((100, 400)).\
set_gps_position((100,380)).\
set_gps_max_error(25).\
set_fov_rad(math.pi/2).\
set_compass_error_rad(math.radians(self.compass_err_deg))
self.boundary = Boundary([(220,300), (420,100), (420,700), (220, 500)])
self.tag = RandomlyMovingTag(boundary=self.boundary)
self.viewable_objects = [self.tag]
self.object_universe.add_camera(self.camera).\
add_viewable_objects(self.viewable_objects)
for timestamp in range(self.num_timestamps):
self.camera.set_state_of_pan_motor_angle_at_timestamp(0, timestamp)
self.camera.get_computer_vision().set_cv_ids_for_all_camera_time()
self.base_position_calibrator = BasePositionCalibrator(self.camera,
self.tag,
tag_gps_angle_threshold=self.tag_gps_angle_threshold)
self.base_angle_calibrator = BaseAngleCalibrator(self.base_position_calibrator)
return self
class TestObjectUniverse(unittest.TestCase):
def setUp(self):
self.initial_num_timestamps = 100
self.boundary = Boundary([(0, 0), (100, 0), (100, 100), (0, 100)])
self.moving_object = RandomlyMovingObject(
self.boundary, num_timestamps=self.initial_num_timestamps)
self.stationary_object = StationaryObject(
(100, 100), num_timestamps=self.initial_num_timestamps)
self.viewable_objects = [self.moving_object, self.stationary_object]
self.object_universe = ObjectUniverse()
def test_object_universe_has_correct_num_timestamps(self):
self.assertEqual(
self.object_universe.set_num_timestamps(50).get_num_timestamps(),
50)
def test_viewable_objects_have_correct_num_initial_timestamps(self):
for vo in self.viewable_objects:
self.assertEqual(vo.get_position_history_len(),
self.initial_num_timestamps)
def test_viewable_objects_get_history_len_from_universe_they_are_addded_to(
self):
self.object_universe.set_num_timestamps(50).add_viewable_objects(
self.viewable_objects)
for vo in self.object_universe.get_viewable_objects():
self.assertEqual(vo.get_position_history_len(), 50)
def test_changing_univererse_lifespan_changes_history_for_all_included_viewable_objects(
self):
self.object_universe.set_num_timestamps(50).add_viewable_objects(
self.viewable_objects)
self.object_universe.set_num_timestamps(1000)
for vo in self.object_universe.get_viewable_objects():
self.assertEqual(vo.get_position_history_len(), 1000)
def test_when_viewable_object_position_history_is_reduced_it_is_a_truncated_version_of_original_postion_history(
self):
self.object_universe.set_num_timestamps(50).add_viewable_objects(
self.viewable_objects)
for vo in self.object_universe.get_viewable_objects():
for timestamp in range(vo.get_num_timestamps()):
self.assertIsNotNone(vo.get_position_at_timestamp(timestamp))
class TestImageRenderer(unittest.TestCase):
def setUp(self, num_randomly_moving_objects=0):
self.num_randomly_moving_objects = num_randomly_moving_objects
self.num_timestamps = 100
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 = []
for y in range(100, 800, 50):
self.viewable_objects.append(StationaryObject((301, y)))
self.boundary = Boundary([(200, 200), (400, 200), (400, 600),
(200, 600)])
for _ in range(self.num_randomly_moving_objects):
self.viewable_objects.append(
RandomlyMovingObject(boundary=self.boundary))
self.viewable_objects.append(RandomlyMovingTag(boundary=self.boundary))
self.object_universe.add_camera(self.camera).\
add_viewable_objects(self.viewable_objects)
self.camera.get_computer_vision().set_cv_ids_for_all_camera_time()
self.image_renderer = ImageRenderer(self.camera.get_image_generator())
self.image_renderer.set_computer_vision(
self.camera.get_computer_vision())
return self
def test_default_image_width_is_640(self):
self.assertEqual(self.camera.get_image_generator().get_image_width(),
640)
self.assertEqual(self.image_renderer.get_image_width(), 640)
def test_all_in_view_objects_are_projected_within_image_width(self):
x_for_all_inview_objects = self.camera.image_generator.get_x_for_all_inview_objects_for_all_camera_time(
)
for x_s in x_for_all_inview_objects:
for obj in x_s.keys():
self.assertLess(abs(x_s[obj]),
self.image_renderer.get_image_width() / 2)
def visualize(self):
renderable_objects = [
self.boundary,
self.object_universe,
]
RenderOrchestrator(self.num_timestamps,
seconds_per_timestamp=0.2,
renderable_objects=renderable_objects).run()
class TestBaseAngleCalibrator(unittest.TestCase):
def setUp(self, tag_gps_angle_threshold=6, compass_err_deg=3.7):
self.tag_gps_angle_threshold = tag_gps_angle_threshold
self.compass_err_deg = compass_err_deg
self.num_timestamps = 50
self.tag_gps_angle_threshold = math.radians(self.tag_gps_angle_threshold)
self.object_universe = ObjectUniverse(num_timestamps=self.num_timestamps)
self.camera = Camera()
self.camera.set_actual_position((100, 400)).\
set_gps_position((100,380)).\
set_gps_max_error(25).\
set_fov_rad(math.pi/2).\
set_compass_error_rad(math.radians(self.compass_err_deg))
self.boundary = Boundary([(220,300), (420,100), (420,700), (220, 500)])
self.tag = RandomlyMovingTag(boundary=self.boundary)
self.viewable_objects = [self.tag]
self.object_universe.add_camera(self.camera).\
add_viewable_objects(self.viewable_objects)
for timestamp in range(self.num_timestamps):
self.camera.set_state_of_pan_motor_angle_at_timestamp(0, timestamp)
self.camera.get_computer_vision().set_cv_ids_for_all_camera_time()
self.base_position_calibrator = BasePositionCalibrator(self.camera,
self.tag,
tag_gps_angle_threshold=self.tag_gps_angle_threshold)
self.base_angle_calibrator = BaseAngleCalibrator(self.base_position_calibrator)
return self
def test_base_angle_calibrator_result_is_almost_equal_to_compass_error(self):
calibrated_error = self.base_angle_calibrator.get_base_angle_error()
compass_error = self.camera.get_compass_error_rad()
self.assertAlmostEqual(calibrated_error, compass_error)
def test_get_frame_returns_a_complete_frame(self):
frame = self.base_angle_calibrator._get_frame()
self.assertEqual(type(frame), dict)
self.assertGreater(len(frame), 0)
def test_get_tag_angle_relative_to_center_in_image_returns_an_angle(self):
angle = self.base_angle_calibrator._get_tag_angle_relative_to_center_in_image()
self.assertEqual(type(angle), float)
def visualize(self):
renderable_objects = [
self.boundary,
self.object_universe,
self.base_position_calibrator,
]
RenderOrchestrator(self.num_timestamps,
seconds_per_timestamp=0.2,
renderable_objects=renderable_objects).run()
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)
class TestBasePositionCalibrator(unittest.TestCase):
def setUp(self, num_randomly_moving_objects=10, tag_gps_angle_threshold=6):
self.num_randomly_moving_objects = num_randomly_moving_objects
self.num_timestamps = 50
self.tag_gps_angle_threshold = math.radians(tag_gps_angle_threshold)
self.object_universe = ObjectUniverse(
num_timestamps=self.num_timestamps)
self.camera = Camera()
self.camera.set_actual_position((100, 400)).\
set_gps_position((100,380)).\
set_gps_max_error(25).\
set_fov_rad(math.pi/2)
self.boundary = Boundary([(220, 300), (420, 100), (420, 700),
(220, 500)])
self.tag = RandomlyMovingTag(boundary=self.boundary)
self.r_objs = []
for _ in range(self.num_randomly_moving_objects):
self.r_objs.append(RandomlyMovingObject(boundary=self.boundary))
self.viewable_objects = [self.tag] + self.r_objs
self.object_universe.add_camera(self.camera).\
add_viewable_objects(self.viewable_objects)
for timestamp in range(self.num_timestamps):
self.camera.set_state_of_pan_motor_angle_at_timestamp(0, timestamp)
self.camera.get_computer_vision().set_cv_ids_for_all_camera_time()
self.base_position_calibrator = BasePositionCalibrator(
self.camera,
self.tag,
tag_gps_angle_threshold=self.tag_gps_angle_threshold)
return self
def test_get_all_circumcircle_objects_gets_only_cc_objects(self):
# Wrote this test while tracking down a bug which seems to be in ObjectPositionAnalyzer but which I discovered
# when testing BaseAngleCalibrator. But I cant reproduce it here or in TestObjectMotionAnalyzer
ccs = self.base_position_calibrator._get_all_circumcircle_objects()
self.assertGreater(len(ccs), 0)
for cc in ccs:
self.assertEqual(type(cc), Circumcircles)
def test_tag_candidate_is_always_the_tag(self):
self.assertEqual(self.tag,
self.base_position_calibrator.get_tag_candidate())
def test_get_base_position_returns_close_to_actual_base_position(self):
cbp = self.base_position_calibrator.get_base_position()
abp = self.camera.get_actual_position()
self.assertEqual(type(cbp), tuple)
self.assertEqual(type(abp), tuple)
for i, _ in enumerate(cbp):
self.assertAlmostEqual(cbp[i], abp[i], places=4)
def test_get_intersection_points_returns_a_multipoint(self):
points = self.base_position_calibrator._get_points_where_error_circle_intersections_intersect_each_other(
)
self.assertGreater(len(points), 0)
self.assertEqual(type(points), MultiPoint)
def test_all_error_circle_intersections_interesect_each_other(self):
intersections = self.base_position_calibrator.get_all_error_circle_intersections(
)
for a in intersections:
for b in intersections:
self.assertTrue(a.intersects(b))
def test_get_all_error_circle_intersections_gets_a_list_of_linestrings(
self):
intersections = self.base_position_calibrator.get_all_error_circle_intersections(
)
self.assertGreater(len(intersections), 0)
for isect in intersections:
self.assertEqual(type(isect), LineString)
def test_get_all_circumcircle_objects_returns_circumcircle_objects_for_the_tag(
self):
ccs = self.base_position_calibrator._get_all_circumcircle_objects()
self.assertGreater(len(ccs), 0)
for cc in ccs:
self.assertEqual(type(cc), Circumcircles)
def visualize(self):
renderable_objects = [
self.boundary,
self.object_universe,
self.base_position_calibrator,
]
RenderOrchestrator(self.num_timestamps,
seconds_per_timestamp=0.2,
renderable_objects=renderable_objects).run()
class TestObjectMotionAnalyzer(unittest.TestCase):
def setUp(self, num_randomly_moving_objects=10):
self.num_randomly_moving_objects = num_randomly_moving_objects
self.num_timestamps = 60
self.tag_gps_angle_threshold = math.radians(7)
self.object_universe = ObjectUniverse(
num_timestamps=self.num_timestamps)
self.camera = Camera()
self.camera.set_actual_position((100, 400)).\
set_gps_position((100,380)).\
set_gps_max_error(25).\
set_fov_rad(math.pi/2)
self.boundary = Boundary([(220, 300), (420, 100), (420, 700),
(220, 500)])
self.tag = RandomlyMovingTag(boundary=self.boundary)
self.viewable_objects = [self.tag]
for _ in range(self.num_randomly_moving_objects):
self.viewable_objects.append(
RandomlyMovingObject(boundary=self.boundary))
self.object_universe.add_camera(self.camera).\
add_viewable_objects(self.viewable_objects)
for timestamp in range(self.num_timestamps):
self.camera.set_state_of_pan_motor_angle_at_timestamp(0, timestamp)
self.camera.get_computer_vision().set_cv_ids_for_all_camera_time()
self.object_motion_analyzer = ObjectMotionAnalyzer(
self.camera,
self.tag,
tag_gps_angle_threshold=self.tag_gps_angle_threshold)
self.frames = self.object_motion_analyzer.get_complete_frames()
return self
def test_get_c1_high_def_returns_a_linear_ring(self):
ccs = self.object_motion_analyzer.get_circumcircles_for_object_for_all_frames(
self.tag)
for cc in ccs:
self.assertEqual(type(cc.get_c1_high_def()), LinearRing)
def test_get_c1_low_def_returns_a_linear_ring(self):
ccs = self.object_motion_analyzer.get_circumcircles_for_object_for_all_frames(
self.tag)
for cc in ccs:
self.assertEqual(type(cc.get_c1_low_def()), LinearRing)
def test_get_c2_high_def_returns_a_linear_ring(self):
ccs = self.object_motion_analyzer.get_circumcircles_for_object_for_all_frames(
self.tag)
for cc in ccs:
self.assertEqual(type(cc.get_c2_high_def()), LinearRing)
def test_get_c2_low_def_returns_a_linear_ring(self):
ccs = self.object_motion_analyzer.get_circumcircles_for_object_for_all_frames(
self.tag)
for cc in ccs:
self.assertEqual(type(cc.get_c2_low_def()), LinearRing)
def test_intersection_with_error_circle_for_tag_always_returns_linestring(
self):
ccs = self.object_motion_analyzer.get_circumcircles_for_object_for_all_frames(
self.tag)
for cc in ccs:
isect = cc.get_error_circle_intersection()
self.assertEqual(type(isect), LineString)
def test_get_all_cirumcircles_for_object_for_all_frames_returns_list_of_cc_objects(
self):
# The setup ensures that the randomly moving tag is in every frame.
ccs = self.object_motion_analyzer.get_circumcircles_for_object_for_all_frames(
self.tag)
self.assertGreater(len(ccs), 0)
for cc in ccs:
self.assertEqual(type(cc), Circumcircles)
def test_circumcircles_added_for_each_viewable_object_in_each_frame(self):
for frame in self.frames:
if not self.object_motion_analyzer.is_terminal_frame(frame):
objs = self.object_motion_analyzer.get_in_view_objects(frame)
self.assertEqual(len(objs),
self.num_randomly_moving_objects + 1)
for obj in self.object_motion_analyzer.get_in_view_objects(
frame):
self.assertIsInstance(
self.object_motion_analyzer.
get_circumcircles_for_object_in_frame(frame, obj),
Circumcircles)
def test_angle_between_positions_is_greater_than_threshold(self):
for frame in self.frames:
if not self.object_motion_analyzer.is_terminal_frame(frame):
self.assertGreater(
abs(self.object_motion_analyzer.get_tag_position_analyzer(
).get_angle_between_positions(frame)),
self.tag_gps_angle_threshold)
def test_rotation_same_as_tag_for_tag(self):
for frame in self.frames:
rot = self.object_motion_analyzer.get_rotation_same_as_tag(
frame, self.tag)
if self.object_motion_analyzer.is_terminal_frame(frame):
self.assertEqual(rot, None)
else:
self.assertTrue(rot)
def test_tag_circumcircles_always_intersect_error_circle(self):
for frame in self.frames:
if not self.object_motion_analyzer.is_terminal_frame(frame):
tag = self.object_motion_analyzer.get_tag(frame)
isects = self.object_motion_analyzer.get_circumcircles(
frame)[tag].get_intersects_error_circle()
self.assertTrue(isects)
def visualize(self):
self.boundary_renderer = BoundaryRenderer(self.boundary)
self.camera_renderer = CameraRenderer(self.camera)
self.viewable_objects_renderer = ViewableObjectsRenderer(
self.viewable_objects,
computer_vision=self.camera.get_computer_vision())
self.image_renderer = ImageRenderer(self.camera.get_image_generator())
self.image_renderer.set_computer_vision(
self.camera.get_computer_vision())
self.circumcircle_renderer = BasePositionCalibratorRenderer(
self.object_motion_analyzer)
self.renderers = [
self.camera_renderer,
self.viewable_objects_renderer,
self.boundary_renderer,
self.image_renderer,
self.circumcircle_renderer,
]
self.animator = Animator(element_renderers=self.renderers,
num_timestamps=self.num_timestamps,
seconds_per_timestamp=0.2)
TKRenderer().set_canvas_height(900).\
set_canvas_width(1000).\
set_scale(1).\
set_mouse_click_callback(self.animator.play).\
start_tk_event_loop()
class TestObjectStatsProcessor(unittest.TestCase):
def setUp(self):
self.num_timestamps = 50
self.tag_gps_angle_threshold = math.radians(6)
self.object_universe = ObjectUniverse(
num_timestamps=self.num_timestamps)
self.camera = Camera()
self.camera.set_actual_position((100, 400)).\
set_gps_position((100,380)).\
set_gps_max_error(25).\
set_fov_rad(math.pi/2)
self.boundary = Boundary([(220, 300), (420, 100), (420, 700),
(220, 500)])
self.tag = RandomlyMovingTag(boundary=self.boundary)
self.r_objs = []
for _ in range(20):
self.r_objs.append(RandomlyMovingObject(boundary=self.boundary))
self.viewable_objects = [self.tag] + self.r_objs
self.object_universe.add_camera(self.camera).\
add_viewable_objects(self.viewable_objects)
for timestamp in range(self.num_timestamps):
self.camera.set_state_of_pan_motor_angle_at_timestamp(0, timestamp)
self.camera.get_computer_vision().set_cv_ids_for_all_camera_time()
self.object_motion_analyzer = ObjectMotionAnalyzer(
self.camera,
self.tag,
tag_gps_angle_threshold=self.tag_gps_angle_threshold)
self.object_stats_processor = ObjectsStatsProcessor(
self.object_motion_analyzer)
return self
def test_get_all_eliminated_before_timestamp(self):
for timestamp in range(self.num_timestamps):
eliminated = []
for obj in self.object_stats_processor.get_processed_objects():
if self.object_stats_processor.get_elimination_t(
obj
) != None and self.object_stats_processor.get_elimination_t(
obj) <= timestamp:
eliminated.append(obj)
eliminated.sort(key=self.get_id)
es = self.object_stats_processor.get_all_eliminated_before_timestamp(
timestamp)
es.sort(key=self.get_id)
self.assertEqual(eliminated, es)
def get_id(self, obj):
return id(obj)
def test_tag_is_top_ranked_object(self):
self.assertEqual(self.object_stats_processor.get_top_ranked_object(),
self.tag)
def test_all_ranked_objects_always_moved_same_direction_as_tag(self):
ranked = self.object_stats_processor.get_ranked_objects()
for obj in ranked:
self.assertTrue(
self.object_stats_processor.get_didnt_move_opposite_to_tag(
obj))
def test_all_objects_eliminated_for_opposite_are_marked_eliminated_with_same_time_as_opposite_time(
self):
for obj in self.object_stats_processor.get_all_moved_oposite():
self.assertTrue(
self.object_stats_processor.get_did_move_opposite_to_tag(obj))
self.assertEqual(
self.object_stats_processor.get_moved_opposite_to_tag_t(obj),
self.object_stats_processor.get_elimination_t(obj))
def test_didnt_intersect_t_is_an_int_or_none(self):
for obj in self.object_stats_processor.get_processed_objects():
if self.object_stats_processor.get_didnt_intersect_error_circle_t(
obj) != None:
self.assertEqual(
type(
self.object_stats_processor.
get_didnt_intersect_error_circle_t(obj)), int)
def test_all_objects_never_moved_in_opposite_direction_are_marked_eliminated_if_they_have_fewer_intersections_than_top_ranked_objects(
self):
for obj in self.object_stats_processor.get_all_that_always_moved_same_direction_as_tag(
):
if obj not in self.object_stats_processor.get_top_ranked_objects():
self.assertTrue(
self.object_stats_processor.get_eliminated(obj))
last_frame = self.object_stats_processor.get_object_motion_analyzer(
).get_tag_position_analyzer().get_last_complete_frame()
early_time_of_last_frame = self.object_stats_processor.get_object_motion_analyzer(
).get_tag_position_analyzer().get_early_min_max_timestamp(
last_frame)
self.assertEqual(
early_time_of_last_frame,
self.object_stats_processor.get_elimination_t(obj))
def test_tag_always_intersects(self):
o = self.object_stats_processor.get_processed_objects()
t = self.object_stats_processor.get_didnt_intersect_error_circle_n(
self.tag)
self.assertEqual(
self.object_stats_processor.get_didnt_intersect_error_circle_n(
self.tag), 0)
def test_get_to_ranked_objects_returns_all_with_same_didnt_intersect_n_as_top_ranked_object(
self):
top_ranked = self.object_stats_processor.get_top_ranked_object()
top_ranked_n = self.object_stats_processor.get_didnt_intersect_error_circle_n(
top_ranked)
ranked_objs = self.object_stats_processor.get_ranked_objects()
num_ranked_objs = len(ranked_objs)
moved_opposite = self.object_stats_processor.get_all_moved_oposite()[0]
for obj in ranked_objs:
self.object_stats_processor._processed_objects[obj][
self.object_stats_processor.
didnt_intersect_error_circle_n] = top_ranked_n
self.assertEqual(
num_ranked_objs,
len(self.object_stats_processor.get_top_ranked_objects()))
self.object_stats_processor._processed_objects[moved_opposite][
self.object_stats_processor.
didnt_intersect_error_circle_n] = top_ranked_n
self.object_stats_processor._processed_objects[moved_opposite][
self.object_stats_processor.eliminated] = False
self.object_stats_processor._processed_objects[moved_opposite][
self.object_stats_processor.moved_opposite_to_tag_n] = 0
self.object_stats_processor._processed_objects[moved_opposite][
self.object_stats_processor.moved_opposite_to_tag_t] = None
self.assertEqual(
num_ranked_objs + 1,
len(self.object_stats_processor.get_top_ranked_objects()))
def visualize(self):
self.boundary_renderer = BoundaryRenderer(self.boundary)
self.camera_renderer = CameraRenderer(self.camera)
self.viewable_objects_renderer = ViewableObjectsRenderer(
self.viewable_objects,
computer_vision=self.camera.get_computer_vision())
self.image_renderer = ImageRenderer(self.camera.get_image_generator())
self.image_renderer.set_computer_vision(
self.camera.get_computer_vision())
self.circumcircle_renderer = BasePositionCalibratorRenderer(
self.object_motion_analyzer)
self.renderers = [
self.camera_renderer,
self.viewable_objects_renderer,
self.boundary_renderer,
self.image_renderer,
self.circumcircle_renderer,
]
self.animator = Animator(element_renderers=self.renderers,
num_timestamps=self.num_timestamps,
seconds_per_timestamp=0.2)
TKRenderer().set_canvas_height(900).\
set_canvas_width(1000).\
set_scale(1).\
set_mouse_click_callback(self.animator.play).\
start_tk_event_loop()
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)
