# 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: centerRadiusCNN
# Author: Thibaud Teil
# Creation Date: January 10, 2020
#
import pytest
import 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 CenterRadiusCNN 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
try:
from Basilisk.fswAlgorithms import centerRadiusCNN
except ImportError:
importErr = True
reasonErr = "CenterRadiusCNN not built---check opNav 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, saveImage", [
("mars.jpg", False),
("mars2.jpg", False),
("mars3.jpg", False)
])
# update "module" in this function name to reflect the module name
def test_module(show_plots, image, saveImage):
"""
Unit test for CNN module for radius and center finding. Each parameter reads a different image.
They are both images of Mars, and were not in the training data.
"""
# each test method requires a single assert method to be called
[testResults, testMessage] = cnnTest(show_plots, image, saveImage)
assert testResults < 1, testMessage
def cnnTest(show_plots, image, 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.
unitTestSim.TotalSim.terminateSimulation()
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 = centerRadiusCNN.CenterRadiusCNN()
moduleConfig.ModelTag = "cnn"
# Add test module to runtime call list
unitTestSim.AddModelToTask(unitTaskName, moduleConfig)
# moduleConfig.imageInMsgName = "sample_image"
moduleConfig.opnavCirclesOutMsgName = "circles"
moduleConfig.pathToNetwork = path + "/../CAD.onnx"
moduleConfig.filename = imagePath
moduleConfig.pixelNoise = [5,5,5]
circles = []
if image == "mars.jpg":
circles = [(254.81655883789062, 263.2418518066406, 120.9570541381836)]
if image == "mars2.jpg":
circles = [(269.21127319, 231.63162231, 144.85394287)]
# Setup logging on the test module output message so that we get all the writes to it
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()
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__":
if importErr:
print(reasonErr)
exit(1)
cnnTest(True, "mars.jpg", True) # mars images