Source code for test_houghCirlces


 # ISC License
 #
 # Copyright (c) 2016, Autonomous Vehicle Systems Lab, University of Colorado at Boulder
 #
 # Permission to use, copy, modify, and/or distribute this software for any
 # purpose with or without fee is hereby granted, provided that the above
 # copyright notice and this permission notice appear in all copies.
 #
 # THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
 # WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
 # MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
 # ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
 # WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
 # ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
 # OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.


#
#   Unit Test Script
#   Module Name:        HoughCircles
#   Author:             Thibaud Teil
#   Creation Date:      March 13, 2019
#

import inspect
import os

import numpy as np
import pytest

filename = inspect.getframeinfo(inspect.currentframe()).filename
path = os.path.dirname(os.path.abspath(filename))
bskName = 'Basilisk'
splitPath = path.split(bskName)

# Import all of the modules that we are going to be called in this simulation
importErr = False
reasonErr = ""
try:
    from PIL import Image, ImageDraw
except ImportError:
    importErr = True
    reasonErr = "python Pillow package not installed---can't test HoughCircle module"

# Import all of the modules that we are going to be called in this simulation
from Basilisk.utilities import SimulationBaseClass
from Basilisk.utilities import macros
from Basilisk.architecture import messaging

try:
    from Basilisk.fswAlgorithms import houghCircles
except ImportError:
    importErr = True
    reasonErr = "Hough Circles not built---check OpenCV option"

# Uncomment this line is this test is to be skipped in the global unit test run, adjust message as needed.
# @pytest.mark.skipif(conditionstring)
# Uncomment this line if this test has an expected failure, adjust message as needed.
# @pytest.mark.xfail(conditionstring)
# Provide a unique test method name, starting with 'test_'.

[docs]@pytest.mark.skipif(importErr, reason= reasonErr) @pytest.mark.parametrize("image, blur, maxCircles, minDist, minRad, cannyLow, cannyHigh, dp, saveImage", [ ("mars.png", 5, 1, 50, 20, 20, 200, 1, False), #Mars image ("moons.png", 5, 10, 25, 10, 20, 200, 1, False) # Moon images ]) # update "module" in this function name to reflect the module name def test_module(show_plots, image, blur, maxCircles , minDist , minRad, cannyLow, cannyHigh, dp, saveImage): """ Unit test for Hough Circles. The unit test specifically runs on 2 images: 1. A crescent Mars: This image only contains a slim Mars crescent 2. Moons: This image contains several Moon crescents This modules compares directly to the expected circles from the images. """ # each test method requires a single assert method to be called [testResults, testMessage] = houghCirclesTest(show_plots, image, blur, maxCircles , minDist , minRad, cannyLow, cannyHigh, dp, saveImage) assert testResults < 1, testMessage
def houghCirclesTest(show_plots, image, blur, maxCircles , minDist , minRad, cannyLow, cannyHigh, dp, saveImage): # Truth values from python imagePath = path + '/' + image input_image = Image.open(imagePath) input_image.load() ################################################# testFailCount = 0 # zero unit test result counter testMessages = [] # create empty array to store test log messages unitTaskName = "unitTask" # arbitrary name (don't change) unitProcessName = "TestProcess" # arbitrary name (don't change) # Create a sim module as an empty container unitTestSim = SimulationBaseClass.SimBaseClass() # # Create test thread testProcessRate = macros.sec2nano(0.5) # update process rate update time testProc = unitTestSim.CreateNewProcess(unitProcessName) testProc.addTask(unitTestSim.CreateNewTask(unitTaskName, testProcessRate)) # Construct algorithm module = houghCircles.HoughCircles() module.ModelTag = "houghCircles" # Add test module to runtime call list unitTestSim.AddModelToTask(unitTaskName, module) module.filename = imagePath module.expectedCircles = maxCircles module.cannyThresh = cannyHigh module.voteThresh = cannyLow module.houghMinDist = minDist module.houghMinRadius = minRad module.blurrSize = blur module.dpValue = dp module.houghMaxRadius = int(input_image.size[0]/1.25) circles = [] if image == "mars.png": circles = [(250, 260, 110)] if image == "moons.png": circles = [(205, 155, 48.900001525878906), (590, 313, 46.29999923706055), (590, 165, 46.29999923706055), (400, 313, 43.79999923706055), (400, 151.5, 45), (210, 313, 45)] # Create input message and size it because the regular creator of that message # is not part of the test. inputMessageData = messaging.CameraImageMsgPayload() inputMessageData.timeTag = int(1E9) inputMessageData.cameraID = 1 imgInMsg = messaging.CameraImageMsg().write(inputMessageData) module.imageInMsg.subscribeTo(imgInMsg) # Setup logging on the test module output message so that we get all the writes to it dataLog = module.opnavCirclesOutMsg.recorder() unitTestSim.AddModelToTask(unitTaskName, dataLog) # Need to call the self-init and cross-init methods unitTestSim.InitializeSimulation() # Set the simulation time. # NOTE: the total simulation time may be longer than this value. The # simulation is stopped at the next logging event on or after the # simulation end time. unitTestSim.ConfigureStopTime(macros.sec2nano(2.0)) # seconds to stop simulation # Begin the simulation time run set above unitTestSim.ExecuteSimulation() centers = dataLog.circlesCenters radii = dataLog.circlesRadii # Output image: output_image = Image.new("RGB", input_image.size) output_image.paste(input_image) draw_result = ImageDraw.Draw(output_image) imageProcCircles = [] for j in range(len(radii[-1,1:])): if radii[-1,j] > 0: imageProcCircles.append((centers[-1, 2*j], centers[-1, 2*j+1], radii[-1, j])) for x, y, r in imageProcCircles: draw_result.ellipse((x - r, y - r, x + r, y + r), outline=(255, 0, 0, 0)) # Save output image if saveImage: output_image.save("result_"+ image) if show_plots: print(imageProcCircles[0]) output_image.show() # print out success message if no error were found for testCircle, refCircle in zip(imageProcCircles, circles): for i in range(3): if np.abs((testCircle[i] - refCircle[i])/refCircle[i])>1: testFailCount+=1 testMessages.append("Test failed processing " + image) # each test method requires a single assert method to be called # this check below just makes sure no sub-test failures were found return [testFailCount, ''.join(testMessages)] # # This statement below ensures that the unitTestScript can be run as a # stand-along python script # if __name__ == "__main__": houghCirclesTest(True, "moons.png", 5, 10, 25, 10, 20, 200, 1, True) # Moon images