initial commit

tests/TraceCad.Tests/SheetCalibratorTests.cs

@@ -0,0 +1,60 @@
+using OpenCvSharp;
+using OpenCvSharp.Aruco;
+using TraceCad.Vision.Calibration;
+using Xunit;
+
+namespace TraceCad.Tests;
+
+public sealed class SheetCalibratorTests
+{
+    [Fact]
+    public void CalibrateDetectsSyntheticA4SheetMarkers()
+    {
+        const double pixelsPerMillimetre = 4.0;
+        var template = ReferenceSheetTemplate.DefaultA4();
+        using var sheet = new Mat(
+            (int)Math.Round(template.HeightMm * pixelsPerMillimetre),
+            (int)Math.Round(template.WidthMm * pixelsPerMillimetre),
+            MatType.CV_8UC3,
+            Scalar.White);
+        var dictionary = CvAruco.GetPredefinedDictionary(PredefinedDictionaryName.Dict5X5_1000);
+
+        foreach (var marker in template.Markers)
+        {
+            using var markerImage = new Mat();
+            dictionary.GenerateImageMarker(
+                marker.Id,
+                (int)Math.Round(marker.SizeMm * pixelsPerMillimetre),
+                markerImage,
+                1);
+            using var markerColor = new Mat();
+            Cv2.CvtColor(markerImage, markerColor, ColorConversionCodes.GRAY2BGR);
+
+            var target = new Rect(
+                (int)Math.Round(marker.TopLeftMm.X * pixelsPerMillimetre),
+                (int)Math.Round(marker.TopLeftMm.Y * pixelsPerMillimetre),
+                markerColor.Width,
+                markerColor.Height);
+            markerColor.CopyTo(new Mat(sheet, target));
+        }
+
+        var tempDirectory = Directory.CreateTempSubdirectory("easytrace-calibration-test-").FullName;
+        try
+        {
+            var imagePath = Path.Combine(tempDirectory, "sheet.png");
+            Cv2.ImWrite(imagePath, sheet);
+
+            var result = new SheetCalibrator().Calibrate(imagePath, tempDirectory, template);
+
+            Assert.True(result.Success, result.Message);
+            Assert.Equal(8, result.MatchedMarkerCount);
+            Assert.Equal(0.125, result.MmPerPixel, 9);
+            Assert.Equal("perspective + marker residual warp", result.CorrectionMode);
+            Assert.True(File.Exists(result.CorrectedImagePath));
+        }
+        finally
+        {
+            Directory.Delete(tempDirectory, recursive: true);
+        }
+    }
+}