def test_requires_in_range_marker_id(marker_type: MarkerType) -> None:
MarkerCamera(marker_type.max_id, marker_size=200, marker_type=marker_type)
with pytest.raises(ValueError) as e:
MarkerCamera(marker_type.max_id + 1, marker_size=200, marker_type=marker_type)
assert "must be less than the maximum allowed" in e.value.args[0]
def test_sees_nothing_in_blank_image():
marker_camera = MarkerCamera(25,
marker_dict=MarkerDict.DICT_6X6_50,
marker_size=200)
empty_frame = numpy.zeros((200, 200, 3), numpy.uint8)
markers = list(marker_camera.process_frame(frame=empty_frame))
assert markers == []
def test_process_eager_frame_without_calibrations(marker_type: MarkerType) -> None:
marker_camera = MarkerCamera(
MAX_ALL_ALLOWED_ID, marker_size=200, marker_type=marker_type
)
marker_camera.calibration_params = None
with pytest.raises(MissingCalibrationsError):
list(marker_camera.process_frame_eager())
def is_valid_calibration(filename: Path) -> bool:
if not filename.is_file():
return False
# First, Try and parse the file
try:
parse_calibration_file(filename)
except (SystemError, ValueError):
return False
with tempfile.NamedTemporaryFile(suffix=".png") as temp_file:
marker_camera = MarkerCamera(0,
200,
marker_type=MarkerType.APRILTAG_36H11)
marker_camera.save_frame(Path(temp_file.name))
image_camera = ImageFileCamera(
Path(temp_file.name),
marker_size=200,
marker_type=MarkerType.APRILTAG_36H11,
calibration_file=filename,
)
# Sanity check the image camera
if image_camera.get_visible_markers() != [0]:
return False
# Then, confirm the detection works
if len(list(marker_camera.process_frame_eager())) != 1:
return False
return True
def test_marker_type_max_id_disallowed(marker_type: MarkerType) -> None:
camera = MarkerCamera(marker_type.max_id,
marker_size=100,
marker_type=marker_type)
camera.marker_id = marker_type.max_id + 1 # There's an assertion in the constructor
with pytest.raises(cv2.error):
camera.get_visible_markers()
def setUp(self):
self.marker_camera = MarkerCamera(
self.MARKER_ID,
marker_dict=MarkerDict.DICT_6X6_50,
marker_size=self.MARKER_SIZE,
)
self.markers = list(self.marker_camera.process_frame())
self.marker = self.markers[0]
def test_saved_image(temp_image_file, marker_id):
marker_camera = MarkerCamera(marker_id,
marker_dict=MarkerDict.DICT_6X6_50,
marker_size=200)
marker_camera.save_frame(temp_image_file)
image_file_camera = ImageFileCamera(temp_image_file,
marker_dict=MarkerDict.DICT_6X6_50)
assert image_file_camera.get_visible_markers() == [marker_id]
def setUp(self) -> None:
self.marker_camera = MarkerCamera(
self.MARKER_ID,
marker_size=self.MARKER_SIZE,
marker_type=MarkerType.ARUCO_6X6,
)
self.markers = list(self.marker_camera.process_frame_eager())
self.marker = self.markers[0]
def setUp(self) -> None:
self.marker_camera = MarkerCamera(
self.MARKER_ID,
marker_size=self.MARKER_SIZE,
marker_type=MarkerType.ARUCO_6X6,
)
self.marker_camera.calibration_params = None
self.markers = list(self.marker_camera.process_frame())
self.marker = self.markers[0]
def test_saved_image(
marker_type: MarkerType, temp_image_file: Path, marker_id: int
) -> None:
marker_camera = MarkerCamera(marker_id, marker_size=200, marker_type=marker_type)
marker_camera.save_frame(temp_image_file)
image_file_camera = ImageFileCamera(
temp_image_file, marker_type=marker_type, marker_size=200
)
assert image_file_camera.get_visible_markers() == [marker_id]
def test_detect_at_minimum_size(marker_type: MarkerType) -> None:
marker_camera = MarkerCamera(
0,
marker_size=marker_type.min_marker_image_size,
marker_type=marker_type,
border_size=MarkerCamera.MIN_BORDER_SIZE,
)
frame = marker_camera.capture_frame()
assert frame.shape == marker_camera.get_resolution()
marker = next(marker_camera.process_frame(frame=frame))
assert marker.id == 0
def test_marker_size(
marker_type: MarkerType, temp_image_file: Path, marker_id: int
) -> None:
class TestCamera(ImageFileCamera):
def get_marker_size(self, inner_marker_id: int) -> int:
return inner_marker_id * 10
marker_camera = MarkerCamera(marker_id, marker_size=200, marker_type=marker_type)
marker_camera.save_frame(temp_image_file)
image_file_camera = TestCamera(temp_image_file, marker_type=marker_type)
marker = next(image_file_camera.process_frame())
assert marker.size == marker_id * 10
assert marker.id == marker_id
def test_no_markers(temp_image_file: Path) -> None:
marker_camera = MarkerCamera(
MAX_ALL_ALLOWED_ID,
marker_size=100,
marker_type=MarkerType.ARUCO_4X4,
)
marker_camera.save_frame(temp_image_file)
image_file_camera = ImageFileCamera(
temp_image_file, marker_type=MarkerType.ARUCO_5X5, marker_size=100
)
assert marker_camera.marker_type != image_file_camera.marker_type
assert image_file_camera.get_visible_markers() == []
def test_detects_markers(marker_id):
markers = list(
MarkerCamera(marker_id,
marker_dict=MarkerDict.DICT_6X6_50,
marker_size=200).process_frame())
assert len(markers) == 1
assert markers[0].id == marker_id
def test_minimum_marker_size(marker_type: MarkerType) -> None:
camera = MarkerCamera(
marker_type.max_id,
marker_size=marker_type.min_marker_image_size,
marker_type=marker_type,
)
assert camera.get_visible_markers() == [marker_type.max_id]
with pytest.raises(ValueError) as e:
MarkerCamera(
marker_type.max_id,
marker_size=marker_type.min_marker_image_size - 1,
marker_type=marker_type,
)
assert "marker must be at least" in e.value.args[0]
class UncalibratedMarkerTestCase(MarkerTestCase):
EXPECTED_DICT_KEYS = {"id", "size", "pixel_corners"}
def setUp(self) -> None:
self.marker_camera = MarkerCamera(
self.MARKER_ID,
marker_size=self.MARKER_SIZE,
marker_type=MarkerType.ARUCO_6X6,
)
self.marker_camera.calibration_params = None
self.markers = list(self.marker_camera.process_frame())
self.marker = self.markers[0]
def test_is_uncalibrated(self) -> None:
self.assertIsInstance(self.marker, UncalibratedMarker)
with self.assertRaises(MissingCalibrationsError):
self.marker._get_pose_vectors()
def __getattribute__(self, name: str) -> Any:
attr = super().__getattribute__(name)
if name in [
"test_orientation",
"test_distance",
"test_cartesian_coordinates",
"test_spherical_coordinates",
]:
def test_raises(*args: Any, **kwargs: Any) -> None:
with self.assertRaises(MissingCalibrationsError):
attr(*args, **kwargs)
return test_raises
return attr
def test_detects_markers(marker_type: MarkerType, marker_id: int) -> None:
markers = list(
MarkerCamera(
marker_id, marker_size=100, marker_type=marker_type
).process_frame()
)
assert len(markers) == 1
assert markers[0].id == marker_id
def test_eager_capture(marker_id):
markers = list(
MarkerCamera(marker_id,
marker_dict=MarkerDict.DICT_6X6_50,
marker_size=200).process_frame_eager())
assert len(markers) == 1
assert markers[0].id == marker_id
assert markers[0]._is_eager()
class MarkerFromDictTestCase(EagerMarkerTestCase):
def setUp(self):
self.marker_camera = MarkerCamera(
self.MARKER_ID,
marker_dict=MarkerDict.DICT_6X6_50,
marker_size=self.MARKER_SIZE,
)
self.markers = list(self.marker_camera.process_frame())
self.marker = Marker.from_dict(self.markers[0].as_dict())
def test_eager_capture(marker_type: MarkerType, marker_id: int) -> None:
markers = list(
MarkerCamera(
marker_id, marker_size=200, marker_type=marker_type
).process_frame_eager()
)
assert len(markers) == 1
assert markers[0].id == marker_id
assert isinstance(markers[0], EagerMarker)
class EagerMarkerTestCase(MarkerTestCase):
def setUp(self):
self.marker_camera = MarkerCamera(
self.MARKER_ID,
marker_dict=MarkerDict.DICT_6X6_50,
marker_size=self.MARKER_SIZE,
)
self.markers = list(self.marker_camera.process_frame_eager())
self.marker = self.markers[0]
def test_is_eager(self):
self.assertTrue(self.marker._is_eager())
@patch("cv2.aruco.estimatePoseSingleMarkers")
def test_doesnt_calculate_pose(self, pose_mock):
assert self.marker._tvec is not None
assert self.marker._rvec is not None
pose_mock.assert_not_called()
class EagerMarkerTestCase(MarkerTestCase):
def setUp(self) -> None:
self.marker_camera = MarkerCamera(
self.MARKER_ID,
marker_size=self.MARKER_SIZE,
marker_type=MarkerType.ARUCO_6X6,
)
self.markers = list(self.marker_camera.process_frame_eager())
self.marker = self.markers[0]
@patch("cv2.aruco.estimatePoseSingleMarkers")
def test_doesnt_calculate_pose(self, pose_mock: Any) -> None:
assert self.marker._tvec is not None
assert self.marker._rvec is not None
pose_mock.assert_not_called()
def test_is_eager(self) -> None:
self.assertIsInstance(self.marker, EagerMarker)
def main(args: argparse.Namespace) -> None:
from PIL import Image, ImageDraw
marker_type = MarkerType[args.type]
output_dir: Path = args.path.resolve()
output_dir.mkdir(exist_ok=True, parents=True)
marker_ids = (parse_ranges(args.range)
if args.range != "ALL" else marker_type.marker_ids)
for marker_id in sorted(marker_ids):
with MarkerCamera(
marker_id,
marker_type=marker_type,
marker_size=marker_type.min_marker_image_size,
) as camera:
camera.border_size = 1 # HACK: There's validation in the constructor
print("Saving", marker_id) # noqa:T001
if args.raw:
camera.save_frame(output_dir / "{}.png".format(marker_id))
else:
image = Image.fromarray(camera.capture_frame())
# Resize the image to the required size
resized_image = image.resize((500, 500), resample=0)
img_size = resized_image.size[0]
ImageDraw.Draw(resized_image).text(
(25, img_size - 25),
args.description_format.format(
marker_type=marker_type.name, marker_id=marker_id),
anchor="lt",
)
resized_image.save(output_dir / "{}.png".format(marker_id))
def test_camera_as_context_manager():
with MarkerCamera(25, marker_dict=MarkerDict.DICT_6X6_50,
marker_size=200) as marker_camera:
markers = list(marker_camera.get_visible_markers())
assert markers == [25]
class MarkerTestCase(TestCase):
MARKER_SIZE = 200
MARKER_ID = MAX_ALL_ALLOWED_ID
EXPECTED_DICT_KEYS = {"id", "size", "pixel_corners", "rvec", "tvec"}
def setUp(self) -> None:
self.marker_camera = MarkerCamera(
self.MARKER_ID,
marker_size=self.MARKER_SIZE,
marker_type=MarkerType.ARUCO_6X6,
)
self.markers = list(
self.marker_camera.process_frame()) # type: List[BaseMarker]
self.marker = self.markers[0]
def assertIsType(self, a: Any, b: Any) -> None:
self.assertEqual(type(a), b)
def test_marker_size(self) -> None:
self.assertEqual(self.marker.size, self.MARKER_SIZE)
def test_marker_id(self) -> None:
self.assertEqual(self.marker.id, self.MARKER_ID)
def test_marker_type(self) -> None:
self.assertEqual(self.marker.marker_type, MarkerType.ARUCO_6X6)
def test_pixel_corners(self) -> None:
self.assertEqual(len(self.marker.pixel_corners), 4)
border_size = self.marker_camera.border_size
tl, tr, br, bl = self.marker.pixel_corners
self.assertEqual(tl, (border_size, border_size))
self.assertEqual(tr, (self.MARKER_SIZE + border_size - 1, border_size))
self.assertEqual(
br,
(self.MARKER_SIZE + border_size - 1,
self.MARKER_SIZE + border_size - 1),
)
self.assertEqual(bl, (border_size, self.MARKER_SIZE + border_size - 1))
def test_pixel_centre(self) -> None:
tl, _, br, _ = self.marker.pixel_corners
self.assertEqual(self.marker.pixel_centre, (139, 139))
def test_distance(self) -> None:
self.assertAlmostEqual(self.marker.distance, 900,
delta=100) # HACK: Sometimes it changes
def test_orientation(self) -> None:
rot_x, rot_y, rot_z = self.marker.orientation
self.assertIn(int(rot_x), [3, -3]) # HACK: Sometimes it changes
self.assertEqual(int(rot_y), 0)
self.assertEqual(int(rot_z), 0)
def test_cartesian_coordinates(self) -> None:
x, y, z = self.marker.cartesian
self.assertAlmostEqual(int(x), 52,
delta=10) # HACK: Sometimes it changes
self.assertAlmostEqual(int(y), 15,
delta=20) # HACK: Sometimes it changes
self.assertAlmostEqual(int(z), 910,
delta=100) # HACK: Sometimes it changes
def test_spherical_coordinates(self) -> None:
rot_x, rot_y, dist = self.marker.spherical
self.assertEqual(dist, self.marker.distance)
self.assertAlmostEqual(rot_x, 0, delta=0.1)
self.assertAlmostEqual(rot_y, 0, delta=0.1)
def test_as_dict(self) -> None:
marker_dict = self.marker.as_dict()
self.assertIsInstance(marker_dict, dict)
self.assertEqual(self.EXPECTED_DICT_KEYS, set(marker_dict.keys()))
self.assertEqual(marker_dict["size"], self.MARKER_SIZE)
self.assertEqual(marker_dict["id"], self.MARKER_ID)
def test_as_dict_json(self) -> None:
marker_dict = self.marker.as_dict()
created_marker_dict = json.loads(json.dumps(self.marker.as_dict()))
self.assertEqual(marker_dict, created_marker_dict)
self.assertEqual(self.EXPECTED_DICT_KEYS, set(marker_dict.keys()))
def test_dict_value_types(self) -> None:
marker_dict = self.marker.as_dict()
self.assertIsType(marker_dict["id"], int)
self.assertIsType(marker_dict["size"], int)
pixel_corners = marker_dict["pixel_corners"]
self.assertIsType(pixel_corners, list)
self.assertIsType(pixel_corners[0], list)
self.assertIsType(pixel_corners[0][0], float)
if "rvec" in marker_dict:
self.assertIsType(marker_dict["rvec"], list)
self.assertIsType(marker_dict["rvec"][0], float)
self.assertIsType(marker_dict["tvec"], list)
self.assertIsType(marker_dict["tvec"][0], float)
def test_marker_types(self) -> None:
self.assertIsType(self.marker.id, int)
self.assertIsType(self.marker.size, int)
self.assertIsType(self.marker.pixel_corners[0].x, float)
self.assertIsType(self.marker.pixel_corners[0].y, float)
self.assertIsType(self.marker.pixel_centre.x, float)
self.assertIsType(self.marker.pixel_centre.y, float)
if "rvec" in self.EXPECTED_DICT_KEYS:
self.assertIsType(self.marker.distance, int)
self.assertIsType(self.marker.spherical.rot_x, float)
self.assertIsType(self.marker.spherical.rot_y, float)
self.assertIsType(self.marker.spherical.dist, int)
self.assertIsType(self.marker.cartesian.x, float)
self.assertIsType(self.marker.cartesian.y, float)
self.assertIsType(self.marker.cartesian.z, float)
def test_repr(self) -> None:
self.assertIn(str(self.MARKER_ID), repr(self.marker))
self.assertIn(str(self.MARKER_SIZE), repr(self.marker))
self.assertIn("ARUCO_6X6", repr(self.marker))
# Eager markers also show their distance
if isinstance(self.marker, EagerMarker):
self.assertIn(str(self.marker.distance), repr(self.marker))
def test_process_frame_eager(benchmark: Callable,
marker_camera: MarkerCamera) -> None:
frame = marker_camera.capture_frame()
benchmark(lambda: list(marker_camera.process_frame_eager(frame=frame)))
def test_get_visible_markers(benchmark: Callable,
marker_camera: MarkerCamera) -> None:
frame = marker_camera.capture_frame()
benchmark(marker_camera.get_visible_markers, frame=frame)
def test_saved_image_with_annotation(temp_image_file, marker_id):
marker_camera = MarkerCamera(marker_id,
marker_dict=MarkerDict.DICT_6X6_50,
marker_size=200)
output_file = temp_image_file
marker_camera.save_frame(output_file, annotate=True)
def test_marker_with_falsy_id():
with MarkerCamera(0, marker_dict=MarkerDict.DICT_6X6_50,
marker_size=200) as marker_camera:
markers = list(marker_camera.get_visible_markers())
assert markers == [0]
def test_detects_marker_ids(marker_id):
markers = MarkerCamera(marker_id,
marker_dict=MarkerDict.DICT_6X6_50,
marker_size=200).get_visible_markers()
assert markers == [marker_id]
