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
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)
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()
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)))
