# 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