def test_gets_markers_with_calibration(
filename: str, camera_name: str, snapshot: Any
) -> None:
class TestCamera(BaseImageFileCamera):
marker_type = MarkerType.DICT_APRILTAG_36H11
def get_marker_size(self, marker_id: int) -> int:
return 100
camera = TestCamera(
TEST_IMAGE_DIR.joinpath(filename),
calibration_file=get_calibration(camera_name),
)
snapshot.assert_match(
sorted(
(
{
"id": marker.id,
"size": marker.size,
"pixel_corners": [list(coords) for coords in marker.pixel_corners],
"pixel_centre": list(marker.pixel_centre),
"distance": marker.distance,
"orientation": tuple(marker.orientation),
"spherical": tuple(marker.spherical),
"cartesian": list(marker.cartesian),
}
for marker in camera.process_frame()
),
key=operator.itemgetter("pixel_centre"),
)
)
def test_gets_markers_with_calibration(filename, camera_name, snapshot):
class TestCamera(ImageFileCamera):
def get_marker_size(self, id):
return 100
camera = TestCamera(
TEST_IMAGE_DIR.joinpath(filename),
marker_dict=MarkerDict.DICT_APRILTAG_36H11,
calibration_file=get_calibration(camera_name),
)
snapshot.assert_match(
sorted(
({
"id":
marker.id,
"size":
marker.size,
"pixel_corners":
[coords.to_list() for coords in marker.pixel_corners],
"pixel_centre":
marker.pixel_centre.to_list(),
"distance":
marker.distance,
"orientation":
tuple(marker.orientation),
"spherical":
tuple(marker.spherical),
"cartesian":
marker.cartesian.to_list(),
} for marker in camera.process_frame()),
key=operator.itemgetter("pixel_centre"),
))
def test_process_frame_eager(filename, camera_name, benchmark,
temp_image_file):
class TestCamera(ImageFileCamera):
def get_marker_size(self, id):
return 100
camera = TestCamera(
TEST_IMAGE_DIR.joinpath(filename),
marker_dict=MarkerDict.DICT_APRILTAG_36H11,
calibration_file=get_calibration(camera_name),
)
benchmark(camera.save_frame, temp_image_file)
def test_process_frame_eager(
filename: str,
camera_name: str,
benchmark: Callable,
temp_image_file: Callable[[str], Path],
) -> None:
class TestCamera(BaseImageFileCamera):
marker_type = MarkerType.DICT_APRILTAG_36H11
def get_marker_size(self, marker_id: int) -> int:
return 100
camera = TestCamera(
TEST_IMAGE_DIR.joinpath(filename),
calibration_file=get_calibration(camera_name),
)
benchmark(camera.save_frame, temp_image_file)