arbeiten an unitTests

Abhängigkeit macht Probleme

test/01_read_ArUco.test.js

@@ -4,9 +4,26 @@ const fs = require('fs');
 const path = require('path');
 
 describe('Aruco Detection Script', () => {
-  const scriptPath = 'programs/01_read_Aruco_jpg_to_json.py';
+  const scriptPath = 'programs/01_read_AruCo_jpg_to_json.py';
   const calibrationFile = 'data/settings/callibration_cam0.npz';
-  const screenshotsDir = 'test/data/screenShots';
+  const sourceScreenshotsDir = path.join(__dirname, 'data', 'screenShots');
+  const screenshotFiles = [
+    'snapshot_video0_1778819665744.jpg',
+    'snapshot_video1_1778819665744.jpg',
+  ];
+
+  beforeEach(() => {
+    screenshotFiles.forEach((file) => {
+      const src = path.join(sourceScreenshotsDir, file);
+      if (!fs.existsSync(src)) {
+        throw new Error(`Missing test fixture screenshot: ${src}`);
+      }
+    });
+  });
+
+  afterEach(() => {
+    // Keep generated detection JSON files in the screenshot directory.
+  });
 
   test('should exist and be executable', () => {
     expect(fs.existsSync(scriptPath)).toBe(true);
@@ -17,38 +34,28 @@ describe('Aruco Detection Script', () => {
   });
 
   test('should have screenshot directory', () => {
-    expect(fs.existsSync(screenshotsDir)).toBe(true);
+    expect(fs.existsSync(sourceScreenshotsDir)).toBe(true);
   });
 
   test('should process screenshots successfully', () => {
-    const screenshots = fs.readdirSync(screenshotsDir)
-      .filter(file => file.endsWith('.jpg') || file.endsWith('.png'));
-    
+    const screenshots = fs.readdirSync(sourceScreenshotsDir)
+      .filter(file => file.endsWith('.jpg') || file.endsWith('.png'))
+      .filter(file => screenshotFiles.includes(file));
+
     expect(screenshots.length).toBeGreaterThan(0);
-    
+
     screenshots.forEach(screenshot => {
-      const screenshotPath = path.join(screenshotsDir, screenshot);
+      const screenshotPath = path.join(sourceScreenshotsDir, screenshot);
       const jsonPath = screenshotPath.replace(/\.(jpg|png)$/i, '_aruco_detection.json');
-      
-      // Lösche alte JSON-Datei, falls vorhanden
-      if (fs.existsSync(jsonPath)) {
-        fs.unlinkSync(jsonPath);
-      }
-      
-      // Führe das Python-Skript aus
-      const cmd = `python ${scriptPath} -i ${screenshotPath} -npz ${calibrationFile} -cameraId 0`;
-      
+      const cmd = `python ${scriptPath} -i "${screenshotPath}" -npz "${calibrationFile}" -cameraId 0`;
+
       try {
         execSync(cmd, { stdio: 'inherit' });
-        
-        // Überprüfe, ob JSON-Datei erstellt wurde
         expect(fs.existsSync(jsonPath)).toBe(true);
-        
-        // Lese und prüfe JSON-Inhalt
+
         const jsonData = JSON.parse(fs.readFileSync(jsonPath, 'utf8'));
         expect(jsonData).toBeDefined();
         expect(typeof jsonData).toBe('object');
-        
       } catch (error) {
         fail(`Failed to process ${screenshot}: ${error.message}`);
       }

test/02_build_scene.test.js

@@ -6,35 +6,46 @@ const path = require('path');
 describe('Build Scene JSON Script', () => {
   const scriptPath = 'programs/02_build_scene_json.py';
   const timestamp = 1778819665744;
-  const testDir = './test/data/screenShots';
+  const screenshotDir = path.join(__dirname, 'data', 'screenShots');
+  const detectionFiles = [
+    'snapshot_video0_1778819665744_aruco_detection.json',
+    'snapshot_video1_1778819665744_aruco_detection.json',
+  ];
+
+  beforeEach(() => {
+    detectionFiles.forEach((file) => {
+      const src = path.join(screenshotDir, file);
+      if (!fs.existsSync(src)) {
+        throw new Error(`Missing test fixture detection file: ${src}`);
+      }
+    });
+  });
+
+  afterEach(() => {
+    // Keep the generated scene JSON in the screenshot directory for real-world behavior.
+  });
 
   test('should exist and be executable', () => {
     expect(fs.existsSync(scriptPath)).toBe(true);
   });
 
   test('should build scene JSON with timestamp parameter', () => {
-    // Überprüfe, ob der Test-Ordner existiert
-    expect(fs.existsSync(testDir)).toBe(true);
-    
-    // Führe das Python-Skript mit den korrekten Parametern aus
-    const cmd = `python ${scriptPath} -timestamp ${timestamp} -dir ${testDir}`;
-    
+    const cmd = `python ${scriptPath} -timestamp ${timestamp} -dir "${screenshotDir}"`;
+
     try {
-      //execSync(cmd, { stdio: 'inherit' });
-      //execSync(cmd, { stdio: 'pipe' });
-      execSync(cmd);
-      console.log("TEST START", process.pid, Date.now());
+      execSync(cmd, { stdio: 'inherit' });
     } catch (error) {
       throw new Error(`Failed to build scene JSON: ${error.message}`);
     }
-    // Überprüfe, ob die erwartete Ausgabedatei erstellt wurde
-    const expectedJsonFile = `./test/data/screenShots/scene_${timestamp}.json`;
+
+    const expectedJsonFile = path.join(screenshotDir, `scene_${timestamp}.json`);
     expect(fs.existsSync(expectedJsonFile)).toBe(true);
-    
-    // Prüfe den Inhalt der JSON-Datei
+
     const jsonData = JSON.parse(fs.readFileSync(expectedJsonFile, 'utf8'));
     expect(jsonData).toBeDefined();
     expect(typeof jsonData).toBe('object');
+    expect(jsonData.cameras).toBeDefined();
+    expect(Object.keys(jsonData.cameras).sort()).toEqual(['0', '1']);
   });
 
   test('should handle timestamp parameter correctly', () => {

test/03a_cameraPose.test.js

@@ -7,10 +7,35 @@ describe('Camera Pose Script', () => {
   const projectRoot = path.resolve(__dirname, '..');
   const scriptPath = path.resolve(projectRoot, 'programs/03a_cameraPose.py');
   const timestamp = 1778819665744;
-  const sceneFile = path.resolve(projectRoot, `test/data/screenShots/scene_${timestamp}.json`);
-  const robotDir = path.resolve(projectRoot, 'test/data/robot');
-  const robotFile = path.resolve(robotDir, 'robot.json');
-  const outputFile = path.resolve(projectRoot, `test/data/screenShots/scene_${timestamp}_cameras.json`);
+  const screenshotDir = path.join(__dirname, 'data', 'screenShots');
+  const detectionFiles = [
+    'snapshot_video0_1778819665744_aruco_detection.json',
+    'snapshot_video1_1778819665744_aruco_detection.json',
+  ];
+  const robotFile = path.resolve(projectRoot, 'test/data/robot/robot.json');
+  const sceneFile = path.join(screenshotDir, `scene_${timestamp}.json`);
+  const outputFile = path.join(screenshotDir, `scene_${timestamp}_cameras.json`);
+
+  beforeEach(() => {
+    detectionFiles.forEach((file) => {
+      const src = path.join(screenshotDir, file);
+      if (!fs.existsSync(src)) {
+        throw new Error(`Missing test fixture detection file: ${src}`);
+      }
+    });
+
+    if (!fs.existsSync(sceneFile)) {
+      throw new Error(`Missing scene file generated by step 2: ${sceneFile}`);
+    }
+
+    if (fs.existsSync(outputFile)) {
+      fs.unlinkSync(outputFile);
+    }
+  });
+
+  afterEach(() => {
+    // Keep the generated scene and camera JSON in the screenshot directory.
+  });
 
   test('should exist and be executable', () => {
     expect(fs.existsSync(scriptPath)).toBe(true);

test/AA_readTwoImages.test.js

@@ -1,32 +1,52 @@
-
 const { execSync } = require('child_process');
 const fs = require('fs');
+const os = require('os');
 const path = require('path');
 
 const BASE_PATH = path.join(__dirname, '..');
 const PYTHON_CMD = process.platform === 'win32' ? 'python' : 'python3';
+const screenshotFiles = [
+  'snapshot_video0_1778819665744.jpg',
+  'snapshot_video1_1778819665744.jpg',
+];
+
+let tempDir;
 
 describe('Camera Pose Script', () => {
+  beforeEach(() => {
+    tempDir = fs.mkdtempSync(path.join(os.tmpdir(), 'AA_readTwoImages-'));
+    const sourceDir = path.join(__dirname, 'data', 'screenShots');
 
-   test('should build scene JSON with timestamp parameter', () => {
+    screenshotFiles.forEach((file) => {
+      const src = path.join(sourceDir, file);
+      const dst = path.join(tempDir, file);
+      if (!fs.existsSync(src)) {
+        throw new Error(`Missing test fixture screenshot: ${src}`);
+      }
+      fs.copyFileSync(src, dst);
+    });
+  });
 
-        const outDir = "test/data/screenShots";
-        const strFile0 = path.join(outDir, "snapshot_video0_1778819665744.jpg");
-        const strFile1 = path.join(outDir, "snapshot_video1_1778819665744.jpg");
+  afterEach(() => {
+    if (tempDir && fs.existsSync(tempDir)) {
+      fs.rmSync(tempDir, { recursive: true, force: true });
+    }
+  });
 
-        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 ${path.join(BASE_PATH, 'data/settings/settings1m.json')}`;
+  test('should execute readTwoImages without modifying shared fixtures', () => {
+    const strFile0 = path.join(tempDir, 'snapshot_video0_1778819665744.jpg');
+    const strFile1 = path.join(tempDir, 'snapshot_video1_1778819665744.jpg');
+    const command2 = `${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}`);
-              }
-   });
+    try {
+      execSync(command2, { stdio: 'inherit' });
+    } catch (error) {
+      fail(`Failed to execute command: ${error.message}`);
+    }
+  });
 });

test/data/screenShots/snapshot_video0_1778819665744_two_cam.csv

@@ -1,19 +0,0 @@
-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