02_build_Scene Python

mit Test

.vscode/settings.json

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+
+{
+  "jest.autoRun": "off"
+}

jest.config.js

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+
+module.exports = {
+  testPathIgnorePatterns: ["/test/data/screenshot/"],
+  watchPathIgnorePatterns: ["/test/data/screenshot/"]
+};

programs/02_build_scene_json.py

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+#!/usr/bin/env python3
+
+import argparse
+import glob
+import json
+import os
+import time
+from collections import defaultdict
+
+
+# ------------------------------------------------------------
+
+def load_detection_json(path):
+
+    with open(path, 'r', encoding='utf-8') as f:
+        data = json.load(f)
+
+    return data
+
+
+# ------------------------------------------------------------
+
+def find_detection_files(directory, timestamp):
+
+    pattern = os.path.join(
+        directory,
+        f'*_{timestamp}_aruco_detection.json'
+    )
+
+    files = sorted(glob.glob(pattern))
+
+    return files
+
+
+# ------------------------------------------------------------
+
+def build_scene(detection_files, timestamp):
+
+    scene = {
+
+        "schema_version": "1.0",
+
+        "scene_timestamp": str(timestamp),
+
+        "created_utc": time.strftime(
+            "%Y-%m-%dT%H:%M:%SZ",
+            time.gmtime()
+        ),
+
+        "cameras": {},
+
+        "markers": {}
+    }
+
+    marker_map = defaultdict(list)
+
+    # --------------------------------------------------------
+    # Read all camera detection jsons
+    # --------------------------------------------------------
+
+    for json_file in detection_files:
+
+        data = load_detection_json(json_file)
+
+        cam = data["camera"]
+        img = data["image"]
+
+        basename = os.path.basename(json_file)
+        # snapshot_video1_1778819665744_aruco_detection.json
+        parts = basename.split('_')
+        video_part = parts[1]          # "video1"
+        camera_id = video_part.replace('video', '')
+
+        # ----------------------------------------------------
+        # Camera information
+        # ----------------------------------------------------
+
+        scene["cameras"][camera_id] = {
+
+            "camera_id": camera_id,
+
+            "intrinsics_file": cam["intrinsics_file"],
+
+            "camera_matrix": cam["camera_matrix"],
+
+            "distortion_coefficients":
+                cam["distortion_coefficients"],
+
+            "image": {
+
+                "image_file": img["image_file"],
+
+                "image_sha256": img["image_sha256"],
+
+                "width_px": img["width_px"],
+
+                "height_px": img["height_px"]
+            }
+        }
+
+        # ----------------------------------------------------
+        # Marker observations
+        # ----------------------------------------------------
+
+        for obs in data["observations"]:
+
+            marker_id = str(obs["marker_id"])
+
+            observation = {
+
+                "camera_id": camera_id,
+
+                "center_px": obs["center_px"],
+
+                "corners_px": obs["corners_px"],
+
+                "bbox_px": obs["bbox_px"],
+
+                "quality": obs["quality"]
+            }
+
+            marker_map[marker_id].append(observation)
+
+    # --------------------------------------------------------
+    # Convert marker map
+    # --------------------------------------------------------
+
+    for marker_id, observations in marker_map.items():
+
+        scene["markers"][marker_id] = {
+
+            "marker_id": int(marker_id),
+
+            "num_observations": len(observations),
+
+            "observations": observations
+        }
+
+    return scene
+
+
+# ------------------------------------------------------------
+
+def main():
+
+    parser = argparse.ArgumentParser()
+
+    parser.add_argument(
+        '-timestamp',
+        required=True,
+        help='Scene timestamp'
+    )
+
+    parser.add_argument(
+        '-dir',
+        default='.',
+        help='Directory containing detection json files'
+    )
+
+    parser.add_argument(
+        '-o',
+        '--output',
+        default=None
+    )
+
+    args = parser.parse_args()
+
+    detection_files = find_detection_files(
+        args.dir,
+        args.timestamp
+    )
+
+    if len(detection_files) == 0:
+
+        raise RuntimeError(
+            f'No detection json files found for timestamp '
+            f'{args.timestamp}'
+        )
+
+    print('Found detection files:')
+
+    for f in detection_files:
+        print('  ', f)
+
+    scene = build_scene(
+        detection_files,
+        args.timestamp
+    )
+
+    # --------------------------------------------------------
+    # Output filename
+    # --------------------------------------------------------
+
+    if args.output is None:
+
+        out_json = os.path.join(
+            args.dir,
+            f'scene_{args.timestamp}.json'
+        )
+
+    else:
+
+        out_json = args.output
+
+    with open(out_json, 'w', encoding='utf-8') as f:
+
+        json.dump(scene, f, indent=2)
+
+    print()
+    print(f'Saved scene: {out_json}')
+
+
+# ------------------------------------------------------------
+
+if __name__ == '__main__':
+    main()

test/02_build_scene.test.js

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+// test/02_build_scene_json.test.js
+const { execSync } = require('child_process');
+const fs = require('fs');
+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';
+
+  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}`;
+    
+    try {
+      //execSync(cmd, { stdio: 'inherit' });
+      //execSync(cmd, { stdio: 'pipe' });
+      execSync(cmd);
+      console.log("TEST START", process.pid, Date.now());
+    } 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`;
+    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');
+  });
+
+  test('should handle timestamp parameter correctly', () => {
+    // Überprüfe, ob der Timestamp korrekt verarbeitet wird
+    expect(timestamp).toBe(1778819665744);
+  });
+});