Old Python new unitTest

Die alte Datei neu mit UnitTest überprüfen

programs/03a_cameraPose.py

@@ -53,24 +53,26 @@ def marker_corners_world(center, size_m):
 # Build correspondences for one camera
 # ------------------------------------------------------------
 
-def build_correspondences(camera, robot_markers, marker_size_m):
+def build_correspondences(camera_id, scene_markers, robot_markers, marker_size_m):
 
     obj_pts = []
     img_pts = []
 
-    for obs in camera["observations"]:
-        mid = int(obs["marker_id"])
-
+    for marker_id, marker_data in scene_markers.items():
+        mid = int(marker_id)
+        
         if mid not in robot_markers:
             continue
 
-        center = robot_markers[mid]
+        # Find observations for this camera
+        for obs in marker_data.get("observations", []):
+            if obs.get("camera_id") == camera_id:
+                center = robot_markers[mid]
+                obj_corners = marker_corners_world(center, marker_size_m)
+                img_corners = np.array(obs["corners_px"], dtype=np.float32)
 
-        obj_corners = marker_corners_world(center, marker_size_m)
-        img_corners = np.array(obs["corners_px"], dtype=np.float32)
-
-        obj_pts.append(obj_corners)
-        img_pts.append(img_corners)
+                obj_pts.append(obj_corners)
+                img_pts.append(img_corners)
 
     if len(obj_pts) == 0:
         return None, None
@@ -141,7 +143,8 @@ def main():
         dist = np.array(cam["distortion_coefficients"], dtype=np.float32)
 
         obj_pts, img_pts = build_correspondences(
-            cam,
+            cam_id,
+            scene["markers"],
             robot_markers,
             args.marker_size
         )

test/00_testSetup.json

@@ -0,0 +1,16 @@
+[
+    {
+        "name":"Test 0",
+        "robot":"test/data/robot/robot.json",
+        "image":[
+            {
+                "timestamp":11778819665744,
+                "file":"test/data/screenShots/snapshot_video0_11778819665744.jpg"
+            }, 
+            {
+                "timestamp":11778819665744,
+                "file":"test/data/screenShots/snapshot_video1_11778819665744.jpg"
+            }
+        ]
+    }
+]

test/03a_cameraPose.test.js

@@ -6,7 +6,7 @@ const path = require('path');
 describe('Camera Pose Script', () => {
   const projectRoot = path.resolve(__dirname, '..');
   const scriptPath = path.resolve(projectRoot, 'programs/03a_cameraPose.py');
-  const timestamp = 11778819665744;
+  const timestamp = 1778819665744;
   const sceneFile = path.resolve(projectRoot, `test/data/screenShots/scene_${timestamp}.json`);
   const robotDir = path.resolve(projectRoot, 'test/data/robot');
   const robotFile = path.resolve(robotDir, 'robot.json');
@@ -44,6 +44,6 @@ describe('Camera Pose Script', () => {
   });
 
   test('should handle timestamp parameter correctly', () => {
-    expect(timestamp).toBe(11778819665744);
+    expect(timestamp).toBe(1778819665744);
   });
 });

test/AA_readTwoImages.test.js

@@ -0,0 +1,32 @@
+
+const { execSync } = require('child_process');
+const fs = require('fs');
+const path = require('path');
+
+const BASE_PATH = path.join(__dirname, '..');
+const PYTHON_CMD = process.platform === 'win32' ? 'python' : 'python3';
+
+describe('Camera Pose Script', () => {
+
+   test('should build scene JSON with timestamp parameter', () => {
+
+        const outDir = "test/data/screenShots";
+        const strFile0 = path.join(outDir, "snapshot_video0_1778819665744.jpg");
+        const strFile1 = path.join(outDir, "snapshot_video1_1778819665744.jpg");
+
+        const command2 = `${PYTHON_CMD} ${path.join(BASE_PATH, 'programs/readTwoImages.py')} \
+        -i ${strFile0} \
+        -i ${strFile1} \
+        -npz ${path.join(BASE_PATH, 'data/settings/callibration_cam0.npz')} \
+        -npz ${path.join(BASE_PATH, 'data/settings/callibration_cam1.npz')} \
+        -settings ${path.join(BASE_PATH, 'data/settings/settings1m.json')}`;
+
+
+              try {
+                execSync(command2, { stdio: 'inherit' });
+                
+              } catch (error) {
+                fail(`Failed to execute command: ${error.message}`);
+              }
+   });
+});

test/data/screenShots/snapshot_video0_1778819665744_two_cam.csv

@@ -0,0 +1,19 @@
+id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,yaw_deg,seen_by
+camera 0,-288.32,-668.94,620.08,-127.297,-0.964,-47.004
+camera 1,19.49,-429.99,990.98,-160.689,-18.539,-15.506
+178,439.69,-460.64,28.28,20.063,23.695,124.140,2
+197,293.21,-130.34,56.04,41.568,89.171,-137.649,1
+198,330.33,-45.10,96.09,-2.443,0.707,-2.481,3
+200,259.80,-22.21,120.92,1.031,0.666,6.589,3
+201,222.85,54.74,107.27,87.712,0.106,-89.274,3
+204,257.00,127.56,129.27,-3.728,2.213,-4.119,3
+205,799.81,-91.06,1.74,154.524,-44.854,-117.977,3
+207,860.56,34.00,-80.07,77.108,-60.238,-49.231,2
+210,12.46,40.52,-36.47,-1.952,-0.234,1.515,1
+211,198.84,-0.23,0.85,-0.958,0.368,0.705,3
+215,199.06,-90.46,0.87,1.174,1.061,-0.775,3
+217,626.85,21.82,-50.90,1.053,2.929,-0.136,2
+226,423.39,-131.40,92.73,143.471,-41.661,-93.691,3
+228,418.38,-237.27,59.10,2.243,-36.678,0.143,2
+229,333.27,-135.08,95.13,125.337,-42.171,-76.089,3
+243,355.53,-153.74,39.82,91.028,1.926,2.884,1