Source code for test_centerRadiusCNN


# 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
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# WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
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# 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 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 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() # # 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 module = centerRadiusCNN.CenterRadiusCNN() module.ModelTag = "cnn" # Add test module to runtime call list unitTestSim.AddModelToTask(unitTaskName, module) module.pathToNetwork = path + "/../CAD.onnx" module.filename = imagePath module.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 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[:, :10*2] radii = dataLog.circlesRadii[:, :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, 0:])): 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__": if importErr: print(reasonErr) exit(1) cnnTest(True, "mars.jpg", True) # mars images