def test_extract_bits_for_proper_marker(self):
candidates, _ = aruco._detectCandidates(
self.gray_marker_0, aruco.DetectorParameters_create())
test_bits = MarkerDetectPar._extract_bits(self.gray_marker_0,
candidates[9])
np.testing.assert_array_equal(
test_bits,
np.array([[0, 0, 0, 0, 0, 0], [0, 1, 0, 1, 1,
0], [0, 0, 1, 0, 1, 0],
[0, 0, 0, 1, 1, 0], [0, 0, 0, 1, 0, 0],
[0, 0, 0, 0, 0, 0]]))
candidates, _ = aruco._detectCandidates(
self.gray_marker_0_trans, aruco.DetectorParameters_create())
test_bits = MarkerDetectPar._extract_bits(self.gray_marker_0_trans,
candidates[9])
np.testing.assert_array_equal(
test_bits,
np.array([[0, 0, 0, 0, 0, 0], [0, 1, 0, 1, 1,
0], [0, 0, 1, 0, 1, 0],
[0, 0, 0, 1, 1, 0], [0, 0, 0, 1, 0, 0],
[0, 0, 0, 0, 0, 0]]))
def test_get_border_errors_equals_aruco_method(self):
candidates, _ = aruco._detectCandidates(
self.gray_marker_0, aruco.DetectorParameters_create())
bits_marker_0 = MarkerDetectPar._extract_bits(self.gray_marker_0,
candidates[9])
true_err_count = aruco._getBorderErrors(
bits_marker_0, FiducialMarker.get_marker_size(),
MarkerDetectPar.params[MarkerDetectPar.markerBorderBits])
test_err_count = MarkerDetectPar._get_border_errors(
bits_marker_0, FiducialMarker.get_marker_size(),
MarkerDetectPar.params[MarkerDetectPar.markerBorderBits])
self.assertEqual(test_err_count, true_err_count)
candidates, _ = aruco._detectCandidates(
self.gray_marker_0_trans, aruco.DetectorParameters_create())
bits_marker_0_trans = MarkerDetectPar._extract_bits(
self.gray_marker_0_trans, candidates[9])
true_err_count = aruco._getBorderErrors(
bits_marker_0_trans, FiducialMarker.get_marker_size(),
MarkerDetectPar.params[MarkerDetectPar.markerBorderBits])
test_err_count = MarkerDetectPar._get_border_errors(
bits_marker_0_trans, FiducialMarker.get_marker_size(),
MarkerDetectPar.params[MarkerDetectPar.markerBorderBits])
self.assertEqual(test_err_count, true_err_count)
def test_extract_bits_equals_aruco_method(self):
candidates, _ = aruco._detectCandidates(
self.gray_marker_0, aruco.DetectorParameters_create())
true_bits = aruco._extractBits(
self.gray_marker_0, candidates[9],
FiducialMarker.get_marker_size(),
MarkerDetectPar.params[MarkerDetectPar.markerBorderBits],
MarkerDetectPar.params[
MarkerDetectPar.perspectiveRemovePixelPerCell],
MarkerDetectPar.params[
MarkerDetectPar.perspectiveRemoveIgnoredMarginPerCell],
MarkerDetectPar.params[MarkerDetectPar.minOtsuStdDev])
test_bits = MarkerDetectPar._extract_bits(self.gray_marker_0,
candidates[9])
np.testing.assert_array_equal(true_bits, test_bits)
def test_extract_bits_for_false_candidate_all_black(self):
candidates, _ = aruco._detectCandidates(
self.gray_marker_0, aruco.DetectorParameters_create())
bits = MarkerDetectPar._extract_bits(self.gray_marker_0, candidates[0])
np.testing.assert_array_equal(bits, np.ones((6, 6), dtype=np.int8))
