''' '''
'''
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: HoughCirlces
# Author: Thibaud Teil
# Creation Date: March 13, 2019
#
import pytest
import sys, os, inspect
import numpy as np
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, unitTestSupport
from Basilisk.utilities import macros
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()
# terminateSimulation() is needed if multiple unit test scripts are run
# that run a simulation for the test. This creates a fresh and
# consistent simulation environment for each test run.
bitmapArray = []
# # 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 and associated C++ container
moduleConfig = houghCircles.HoughCircles()
moduleConfig.ModelTag = "houghCircles"
# Add test module to runtime call list
unitTestSim.AddModelToTask(unitTaskName, moduleConfig)
moduleConfig.imageInMsgName = "sample_image"
moduleConfig.opnavCirclesOutMsgName = "circles"
moduleConfig.filename = imagePath
moduleConfig.expectedCircles = maxCircles
moduleConfig.cannyThresh = cannyHigh
moduleConfig.voteThresh = cannyLow
moduleConfig.houghMinDist = minDist
moduleConfig.houghMinRadius = minRad
moduleConfig.blurrSize = blur
moduleConfig.dpValue = dp
moduleConfig.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 = houghCircles.CameraImageMsg()
inputMessageData.timeTag = int(1E9)
inputMessageData.cameraID = 1
unitTestSupport.setMessage(unitTestSim.TotalSim,
unitProcessName,
moduleConfig.imageInMsgName,
inputMessageData)
# Setup logging on the test module output message so that we get all the writes to it
unitTestSim.TotalSim.logThisMessage(moduleConfig.imageInMsgName, testProcessRate)
unitTestSim.TotalSim.logThisMessage(moduleConfig.opnavCirclesOutMsgName, testProcessRate)
# 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()
# pointer = unitTestSim.pullMessageLogData(moduleConfig.imageInMsgName + ".imagePointer", range(pointerLength))
centers = unitTestSim.pullMessageLogData(moduleConfig.opnavCirclesOutMsgName + ".circlesCenters", list(range(10*2)))
radii = unitTestSim.pullMessageLogData(moduleConfig.opnavCirclesOutMsgName + ".circlesRadii", list(range(10)))
# 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+1], centers[-1, 2*j+2], radii[-1, j+1]))
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