Add Python test harness for openCVHelp class (#1557)

photon-lib/py/test/simCameraProperties_test.py

@@ -0,0 +1,105 @@
+import math
+
+import numpy as np
+import pytest
+from photonlibpy.estimation import RotTrlTransform3d
+from photonlibpy.simulation import SimCameraProperties
+from wpimath.geometry import Rotation2d, Translation3d
+
+
+@pytest.fixture(autouse=True)
+def scp() -> SimCameraProperties:
+    props = SimCameraProperties()
+    props.setCalibration(1000, 1000, fovDiag=Rotation2d(math.radians(90.0)))
+    return props
+
+
+def test_Constructor() -> None:
+    SimCameraProperties()
+    with pytest.raises(Exception):
+        SimCameraProperties("4774")
+
+
+def test_GetPixelYaw(scp) -> None:
+    rot = scp.getPixelYaw(scp.getResWidth() / 2)
+    assert rot.degrees() == pytest.approx(0.0, abs=1.0)
+    rot = scp.getPixelYaw(0.0)
+    # FOV is square
+    assert rot.degrees() == pytest.approx(45.0 / math.sqrt(2.0), abs=5.0)
+    rot = scp.getPixelYaw(scp.getResWidth())
+    assert rot.degrees() == pytest.approx(-45.0 / math.sqrt(2.0), abs=5.0)
+
+
+def test_GetPixelPitch(scp) -> None:
+    rot = scp.getPixelPitch(scp.getResHeight() / 2)
+    assert rot.degrees() == pytest.approx(0.0, abs=1.0)
+    rot = scp.getPixelPitch(0.0)
+    # FOV is square
+    assert rot.degrees() == pytest.approx(-45.0 / math.sqrt(2.0), abs=5.0)
+    rot = scp.getPixelPitch(scp.getResHeight())
+    assert rot.degrees() == pytest.approx(45.0 / math.sqrt(2.0), abs=5.0)
+
+
+def test_GetPixelRot(scp) -> None:
+    rot = scp.getPixelRot(np.array([scp.getResWidth() / 2.0, scp.getResHeight() / 2.0]))
+    assert rot.x_degrees == pytest.approx(0.0, abs=5)
+    assert rot.y_degrees == pytest.approx(0.0, abs=5)
+    assert rot.z_degrees == pytest.approx(0.0, abs=5)
+    rot = scp.getPixelRot(np.array([0.0, 0.0]))
+    assert rot.x_degrees == pytest.approx(0.0, abs=5)
+    assert rot.y_degrees == pytest.approx(-45.0 / math.sqrt(2.0), abs=5)
+    assert rot.z_degrees == pytest.approx(45.0 / math.sqrt(2.0), abs=5)
+    rot = scp.getPixelRot(np.array([scp.getResWidth(), scp.getResHeight()]))
+    assert rot.x_degrees == pytest.approx(0.0, abs=5)
+    assert rot.y_degrees == pytest.approx(45.0 / math.sqrt(2.0), abs=5)
+    assert rot.z_degrees == pytest.approx(-45.0 / math.sqrt(2.0), abs=5)
+
+
+def test_GetCorrectedPixelRot(scp) -> None:
+    rot = scp.getCorrectedPixelRot(
+        np.array([scp.getResWidth() / 2.0, scp.getResHeight() / 2.0])
+    )
+    assert rot.x_degrees == pytest.approx(0.0, abs=5)
+    assert rot.y_degrees == pytest.approx(0.0, abs=5)
+    assert rot.z_degrees == pytest.approx(0.0, abs=5)
+    rot = scp.getCorrectedPixelRot(np.array([0.0, 0.0]))
+    assert rot.x_degrees == pytest.approx(0.0, abs=5)
+    assert rot.y_degrees == pytest.approx(-45.0 / math.sqrt(2.0), abs=5)
+    assert rot.z_degrees == pytest.approx(45.0 / math.sqrt(2.0), abs=5)
+    rot = scp.getCorrectedPixelRot(np.array([scp.getResWidth(), scp.getResHeight()]))
+    assert rot.x_degrees == pytest.approx(0.0, abs=5)
+    assert rot.y_degrees == pytest.approx(45.0 / math.sqrt(2.0), abs=5)
+    assert rot.z_degrees == pytest.approx(-45.0 / math.sqrt(2.0), abs=5)
+
+
+def test_GetVisibleLine(scp) -> None:
+    camRt = RotTrlTransform3d()
+    a = Translation3d()
+    b = Translation3d()
+    retval = scp.getVisibleLine(camRt, a, b)
+    assert retval == (None, None)
+
+    a = Translation3d(-5.0, -0.1, 0)
+    b = Translation3d(5.0, 0.1, 0)
+    retval = scp.getVisibleLine(camRt, a, b)
+    assert retval == (0.5, 0.5)
+
+
+def test_EstPixelNoise(scp) -> None:
+    with pytest.raises(Exception):
+        scp.test_EstPixelNoise(np.array([0, 0]))
+    with pytest.raises(Exception):
+        scp.test_EstPixelNoise(np.array([[0], [0]]))
+
+    pts = np.array([[[0, 0]], [[0, 0]]])
+
+    # No noise parameters set
+    noisy = scp.estPixelNoise(pts)
+    for n, p in zip(noisy, pts):
+        assert n.all() == p.all()
+
+    # Noise parameters set
+    scp.setCalibError(1.0, 1.0)
+    noisy = scp.estPixelNoise(pts)
+    for n, p in zip(noisy, pts):
+        assert n.any() != p.any()