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()
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)
