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_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 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_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_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_saved_image_with_annotation(
temp_image_file: Path, marker_id: int, marker_type: MarkerType
) -> None:
marker_camera = MarkerCamera(marker_id, marker_size=200, marker_type=marker_type)
output_file = temp_image_file
marker_camera.save_frame(output_file, annotate=True)
