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
def test_saving_calibrations(extension, make_temp_file):
original_params = get_fake_calibration_parameters(200)
calibrations_file = Path(make_temp_file("." + extension))
save_calibrations(original_params, calibrations_file)
read_params = parse_calibration_file(calibrations_file)
assert read_params[0].tolist() == original_params[0].tolist()
assert read_params[1].tolist() == original_params[1].tolist()
def test_different_resolution_to_calibration(
mocker: MockerFixture, fixtures_dir: Path
) -> None:
VideoCapture = mocker.patch("zoloto.cameras.camera.VideoCapture")
VideoCapture.return_value.get.side_effect = [1920, 1080]
calibration_file = fixtures_dir / "example-calibreation-params.xml"
calibrations = parse_calibration_file(calibration_file)
assert calibrations.resolution == (1280, 720)
with pytest.raises(ValueError):
zoloto.cameras.Camera(
0, marker_type=MarkerType.ARUCO_6X6, calibration_file=calibration_file
)
def __init__(
self,
*,
marker_size: Optional[int] = None,
marker_type: MarkerType,
calibration_file: Optional[Path] = None
) -> None:
self.marker_type = marker_type
self.marker_dictionary = cv2.aruco.getPredefinedDictionary(self.marker_type)
self._marker_size = marker_size
self.detector_params = self.get_detector_params()
self.calibration_params = None
if calibration_file is not None:
self.calibration_params = parse_calibration_file(calibration_file)
def test_loading_example(fixtures_dir: Path) -> None:
calibrations = parse_calibration_file(fixtures_dir /
"example-calibreation-params.xml")
assert calibrations.camera_matrix.tolist() == [
[1.2519588293098975e03, 0, 6.6684948780852471e02],
[0, 1.2519588293098975e03, 3.6298123112613683e02],
[0, 0, 1],
]
assert calibrations.distance_coefficients.tolist() == [[
1.3569117181595716e-01,
-8.2513063822554633e-01,
0,
0,
1.6412101575010554e00,
]]
assert calibrations.resolution == (1280, 720)
def test_override_camera_resolution_from_calibration(
mocker: MockerFixture, fixtures_dir: Path
) -> None:
calibration_file = fixtures_dir / "example-calibreation-params.xml"
calibrations = parse_calibration_file(calibration_file)
assert calibrations.resolution == (1280, 720)
VideoCapture = mocker.patch("zoloto.cameras.camera.VideoCapture")
VideoCapture.return_value.get.side_effect = [1920, 1080, 1920, 1080, 1280, 720]
with warnings.catch_warnings(record=True) as w:
zoloto.cameras.Camera(
0,
marker_type=MarkerType.ARUCO_6X6,
calibration_file=calibration_file,
resolution=(1920, 1080),
)
assert len(w) == 1
assert "Overriding camera resolution with calibrated resolution" in str(
w[0].message
)
VideoCapture.return_value.set.assert_any_call(CAP_PROP_FRAME_WIDTH, 1920)
VideoCapture.return_value.set.assert_any_call(CAP_PROP_FRAME_HEIGHT, 1080)
def test_loading_missing_file(extension):
filename = Path("doesnt-exist." + extension)
with pytest.raises(FileNotFoundError):
parse_calibration_file(filename)
def test_cant_load_invalid_extension(make_temp_file):
with pytest.raises(ValueError) as e:
parse_calibration_file(Path(make_temp_file(".unknown")))
assert "Unknown calibration file format" in e.value.args[0]
def test_loading_missing_file() -> None:
filename = Path("doesnt-exist.xml")
assert not filename.exists()
with pytest.raises(FileNotFoundError):
parse_calibration_file(filename)
def get_calibrations(self):
if self.calibration_file is None:
return None
return parse_calibration_file(self.calibration_file)
def get_calibrations(self) -> Optional[CalibrationParameters]:
if self.calibration_file is None:
return None
return parse_calibration_file(self.calibration_file)
