def test_assert_find_marker_contours_does_not_modify_thresh(self):
params = MarkerDetectPar.params
thresh = cv2.adaptiveThreshold(
self.gray, 255, cv2.ADAPTIVE_THRESH_MEAN_C, cv2.THRESH_BINARY_INV,
3, params[MarkerDetectPar.adaptiveThreshConstant])
thresh_copy = np.copy(thresh)
MarkerDetectPar._find_marker_contours(thresh)
np.testing.assert_equal(thresh, thresh_copy)
def test_find_marker_contours_equals_aruco_method(self):
"""
Tests find_marker_contours with various thresholded images.
Note that candidate matrices are floats, and thus must be tested with allclose.
However, contour matrices with ints should be tested with array_equal.
:return:
"""
params = MarkerDetectPar.params
aruco_params = (params[MarkerDetectPar.minMarkerPerimeterRate],
params[MarkerDetectPar.maxMarkerPerimeterRate],
params[MarkerDetectPar.polygonalApproxAccuracyRate],
params[MarkerDetectPar.minCornerDistanceRate],
params[MarkerDetectPar.minDistanceToBorder])
# thresh with winSize = 3
thresh_3 = cv2.adaptiveThreshold(
self.gray, 255, cv2.ADAPTIVE_THRESH_MEAN_C, cv2.THRESH_BINARY_INV,
3, params[MarkerDetectPar.adaptiveThreshConstant])
test_contours_thresh_3 = MarkerDetectPar._find_marker_contours(
thresh_3)
true_contours_thresh_3 = aruco._findMarkerContours(
thresh_3, *aruco_params)
np.testing.assert_allclose(test_contours_thresh_3[0],
true_contours_thresh_3[0])
try:
np.testing.assert_array_equal(test_contours_thresh_3[1],
true_contours_thresh_3[1])
except AssertionError:
print(
"_find_marker_contours: arrays not equal -- try per-element / per-row comparison"
)
np.testing.assert_array_equal([
np.array_equal(a, b) for a, b in zip(test_contours_thresh_3[1],
true_contours_thresh_3[1])
], [True] * len(test_contours_thresh_3[1]))
# thresh with winSize = 13
thresh_13 = cv2.adaptiveThreshold(
self.gray, 255, cv2.ADAPTIVE_THRESH_MEAN_C, cv2.THRESH_BINARY_INV,
13, params[MarkerDetectPar.adaptiveThreshConstant])
test_contours_thresh_13 = MarkerDetectPar._find_marker_contours(
thresh_13)
true_contours_thresh_13 = aruco._findMarkerContours(
thresh_13, *aruco_params)
np.testing.assert_allclose(test_contours_thresh_13[0],
true_contours_thresh_13[0])
try:
np.testing.assert_array_equal(test_contours_thresh_13[1],
true_contours_thresh_13[1])
except AssertionError:
print(
"_find_marker_contours: arrays not equal -- try per-element / per-row comparison"
)
np.testing.assert_array_equal([
np.array_equal(a, b) for a, b in zip(
test_contours_thresh_13[1], true_contours_thresh_13[1])
], [True] * len(test_contours_thresh_13[1]))
