class TestTag:
def setup_class(self):
self.tag = Tag()
def test_del_tmp_groups(self):
# 清理之前自动化创建的标签组
for group in self.tag.list_tag().json()['tag_group']:
if 'tmp_group' in group['group_name']:
self.tag.del_tag(group_ids=[group['group_id']])
def test_add_tag(self):
time_now = time.strftime('%Y%m%d%H%M%S', time.localtime())
group_name = f'tmp_group{time_now}'
tag = [{
'name': f'tmp_tag{time_now}',
}]
r = self.tag.add_tag(group_name, tag)
assert r.status_code == 200 and r.json()['errcode'] == 0
def test_update_tag(self):
r = self.tag.update_tag(self.tag.tag_id, name='new_tag_name')
assert r.status_code == 200 and r.json()['errcode'] == 0
def test_list_tag(self):
r = self.tag.list_tag()
assert r.status_code == 200 and r.json()['errcode'] == 0
def test_del_tag(self):
group_ids = [self.tag.group_id]
tag_ids = [self.tag.tag_id]
r = self.tag.del_tag(group_ids=group_ids, tag_ids=tag_ids)
assert r.status_code == 200 and r.json()['errcode'] == 0
# Fisheye flag
camera_info["fisheye"] = True
camera_info["map_1"], camera_info[
"map_2"] = cv2.fisheye.initUndistortRectifyMap(camera_info["K"],
camera_info["D"], np.eye(3),
camera_info["K"],
camera_info["res"],
cv2.CV_16SC2)
# Tag information
TAG_SIZE = .123
FAMILIES = "tagStandard41h12"
tags = Tag(TAG_SIZE, FAMILIES)
# Add information about tag locations
# Function Arguments are id,x,y,z,theta_x,theta_y,theta_z
tags.add_tag(0, 76.25, 30.5, 0., 0., 0., 0.)
tags.add_tag(1, 115., 31.5, 0., 0., 0., 0.)
tags.add_tag(2, 95.75, 50., 0., 0., 0., 0.)
tags.add_tag(3, 0., 41., 38.75, 0., -np.pi / 2, 0.)
tags.add_tag(4, 0., 54., 19.25, 0., -np.pi / 2, 0.)
starting_position = np.array([[.635], [1.0668], [2.7432]])
# Create Apriltags Detector
detector = Detector(families=tags.family, nthreads=4)
# Create the camera object
with PiCamera() as camera:
camera.resolution = RES
camera.framerate = FPS
# Reduce the shutter speed to reduce blur, given in microseconds
cv2.circle(color_img,
tuple(tag.corners[0].astype(int)),
2,
color=(255, 0, 255),
thickness=3)
return color_img
# Create a Tag object
TAG_SIZE = .123
FAMILIES = "tagStandard41h12"
tags = Tag(TAG_SIZE, FAMILIES)
# Add information about tag locations
# Function Arguments are id,x,y,z,theta_x,theta_y,theta_z
tags.add_tag(1, 115., 31.5, 0., 0., 0., 0.)
tags.add_tag(2, 95.75, 50., 0., 0., 0., 0.)
# Create Detector
detector = Detector(families=tags.family, nthreads=4)
camera_info = {}
# Camera Resolution
camera_info["res"] = RES
# Camera Intrinsic Matrix (3x3)
camera_info["K"] = np.array([[313.11130800756115, 0.0, 336.11351317641487],
[0.0, 310.34427179740504, 239.24222723346466],
[0.0, 0.0, 1.0]])
# The non-default elements of the K array, in the AprilTag specification
camera_info["params"] = [313.111, 310.344, 336.114, 239.242]
# Fisheye Camera Distortion Matrix
