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68 lines
2.6 KiB
68 lines
2.6 KiB
#!/usr/bin/env python |
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# Python 2/3 compatibility |
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from __future__ import print_function |
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import os, numpy as np |
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import cv2 as cv |
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from tests_common import NewOpenCVTests |
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class aruco_test(NewOpenCVTests): |
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def test_aruco_detect_markers(self): |
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aruco_params = cv.aruco.DetectorParameters() |
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aruco_dict = cv.aruco.getPredefinedDictionary(cv.aruco.DICT_4X4_250) |
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id = 2 |
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marker_size = 100 |
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offset = 10 |
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img_marker = cv.aruco.generateImageMarker(aruco_dict, id, marker_size, aruco_params.markerBorderBits) |
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img_marker = np.pad(img_marker, pad_width=offset, mode='constant', constant_values=255) |
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gold_corners = np.array([[offset, offset],[marker_size+offset-1.0,offset], |
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[marker_size+offset-1.0,marker_size+offset-1.0], |
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[offset, marker_size+offset-1.0]], dtype=np.float32) |
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expected_corners, expected_ids, expected_rejected = cv.aruco.detectMarkers(img_marker, aruco_dict, |
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parameters=aruco_params) |
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self.assertEqual(1, len(expected_ids)) |
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self.assertEqual(id, expected_ids[0]) |
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for i in range(0, len(expected_corners)): |
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np.testing.assert_array_equal(gold_corners, expected_corners[i].reshape(4, 2)) |
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def test_drawCharucoDiamond(self): |
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aruco_dict = cv.aruco.getPredefinedDictionary(cv.aruco.DICT_4X4_50) |
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img = cv.aruco.drawCharucoDiamond(aruco_dict, np.array([0, 1, 2, 3]), 100, 80) |
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self.assertTrue(img is not None) |
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def test_write_read_dict(self): |
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try: |
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aruco_dict = cv.aruco.getPredefinedDictionary(cv.aruco.DICT_5X5_50) |
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markers_gold = aruco_dict.bytesList |
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# write aruco_dict |
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filename = "test_dict.yml" |
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fs_write = cv.FileStorage(filename, cv.FileStorage_WRITE) |
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aruco_dict.writeDictionary(fs_write) |
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fs_write.release() |
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# reset aruco_dict |
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aruco_dict = cv.aruco.getPredefinedDictionary(cv.aruco.DICT_6X6_250) |
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# read aruco_dict |
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fs_read = cv.FileStorage(filename, cv.FileStorage_READ) |
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aruco_dict.readDictionary(fs_read.root()) |
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fs_read.release() |
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# check equal |
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self.assertEqual(aruco_dict.markerSize, 5) |
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self.assertEqual(aruco_dict.maxCorrectionBits, 3) |
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np.testing.assert_array_equal(aruco_dict.bytesList, markers_gold) |
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finally: |
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if os.path.exists(filename): |
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os.remove(filename) |
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if __name__ == '__main__': |
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NewOpenCVTests.bootstrap()
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