def test_requires_in_range_marker_id(marker_type: MarkerType) -> None:
MarkerCamera(marker_type.max_id, marker_size=200, marker_type=marker_type)
with pytest.raises(ValueError) as e:
MarkerCamera(marker_type.max_id + 1, marker_size=200, marker_type=marker_type)
assert "must be less than the maximum allowed" in e.value.args[0]
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_detects_markers(marker_id):
markers = list(
MarkerCamera(marker_id,
marker_dict=MarkerDict.DICT_6X6_50,
marker_size=200).process_frame())
assert len(markers) == 1
assert markers[0].id == marker_id
def test_sees_nothing_in_blank_image():
marker_camera = MarkerCamera(25,
marker_dict=MarkerDict.DICT_6X6_50,
marker_size=200)
empty_frame = numpy.zeros((200, 200, 3), numpy.uint8)
markers = list(marker_camera.process_frame(frame=empty_frame))
assert markers == []
def test_minimum_marker_size(marker_type: MarkerType) -> None:
camera = MarkerCamera(
marker_type.max_id,
marker_size=marker_type.min_marker_image_size,
marker_type=marker_type,
)
assert camera.get_visible_markers() == [marker_type.max_id]
with pytest.raises(ValueError) as e:
MarkerCamera(
marker_type.max_id,
marker_size=marker_type.min_marker_image_size - 1,
marker_type=marker_type,
)
assert "marker must be at least" in e.value.args[0]
def test_process_eager_frame_without_calibrations(marker_type: MarkerType) -> None:
marker_camera = MarkerCamera(
MAX_ALL_ALLOWED_ID, marker_size=200, marker_type=marker_type
)
marker_camera.calibration_params = None
with pytest.raises(MissingCalibrationsError):
list(marker_camera.process_frame_eager())
def test_marker_type_max_id_disallowed(marker_type: MarkerType) -> None:
camera = MarkerCamera(marker_type.max_id,
marker_size=100,
marker_type=marker_type)
camera.marker_id = marker_type.max_id + 1 # There's an assertion in the constructor
with pytest.raises(cv2.error):
camera.get_visible_markers()
def test_detects_markers(marker_type: MarkerType, marker_id: int) -> None:
markers = list(
MarkerCamera(
marker_id, marker_size=100, marker_type=marker_type
).process_frame()
)
assert len(markers) == 1
assert markers[0].id == marker_id
def test_eager_capture(marker_id):
markers = list(
MarkerCamera(marker_id,
marker_dict=MarkerDict.DICT_6X6_50,
marker_size=200).process_frame_eager())
assert len(markers) == 1
assert markers[0].id == marker_id
assert markers[0]._is_eager()
def test_saved_image(temp_image_file, marker_id):
marker_camera = MarkerCamera(marker_id,
marker_dict=MarkerDict.DICT_6X6_50,
marker_size=200)
marker_camera.save_frame(temp_image_file)
image_file_camera = ImageFileCamera(temp_image_file,
marker_dict=MarkerDict.DICT_6X6_50)
assert image_file_camera.get_visible_markers() == [marker_id]
def setUp(self) -> None:
self.marker_camera = MarkerCamera(
self.MARKER_ID,
marker_size=self.MARKER_SIZE,
marker_type=MarkerType.ARUCO_6X6,
)
self.markers = list(self.marker_camera.process_frame_eager())
self.marker = self.markers[0]
def setUp(self):
self.marker_camera = MarkerCamera(
self.MARKER_ID,
marker_dict=MarkerDict.DICT_6X6_50,
marker_size=self.MARKER_SIZE,
)
self.markers = list(self.marker_camera.process_frame())
self.marker = self.markers[0]
def test_eager_capture(marker_type: MarkerType, marker_id: int) -> None:
markers = list(
MarkerCamera(
marker_id, marker_size=200, marker_type=marker_type
).process_frame_eager()
)
assert len(markers) == 1
assert markers[0].id == marker_id
assert isinstance(markers[0], EagerMarker)
def setUp(self) -> None:
self.marker_camera = MarkerCamera(
self.MARKER_ID,
marker_size=self.MARKER_SIZE,
marker_type=MarkerType.ARUCO_6X6,
)
self.marker_camera.calibration_params = None
self.markers = list(self.marker_camera.process_frame())
self.marker = self.markers[0]
def test_saved_image(
marker_type: MarkerType, temp_image_file: Path, marker_id: int
) -> None:
marker_camera = MarkerCamera(marker_id, marker_size=200, marker_type=marker_type)
marker_camera.save_frame(temp_image_file)
image_file_camera = ImageFileCamera(
temp_image_file, marker_type=marker_type, marker_size=200
)
assert image_file_camera.get_visible_markers() == [marker_id]
def test_detect_at_minimum_size(marker_type: MarkerType) -> None:
marker_camera = MarkerCamera(
0,
marker_size=marker_type.min_marker_image_size,
marker_type=marker_type,
border_size=MarkerCamera.MIN_BORDER_SIZE,
)
frame = marker_camera.capture_frame()
assert frame.shape == marker_camera.get_resolution()
marker = next(marker_camera.process_frame(frame=frame))
assert marker.id == 0
def test_marker_size(
marker_type: MarkerType, temp_image_file: Path, marker_id: int
) -> None:
class TestCamera(ImageFileCamera):
def get_marker_size(self, inner_marker_id: int) -> int:
return inner_marker_id * 10
marker_camera = MarkerCamera(marker_id, marker_size=200, marker_type=marker_type)
marker_camera.save_frame(temp_image_file)
image_file_camera = TestCamera(temp_image_file, marker_type=marker_type)
marker = next(image_file_camera.process_frame())
assert marker.size == marker_id * 10
assert marker.id == marker_id
def test_no_markers(temp_image_file: Path) -> None:
marker_camera = MarkerCamera(
MAX_ALL_ALLOWED_ID,
marker_size=100,
marker_type=MarkerType.ARUCO_4X4,
)
marker_camera.save_frame(temp_image_file)
image_file_camera = ImageFileCamera(
temp_image_file, marker_type=MarkerType.ARUCO_5X5, marker_size=100
)
assert marker_camera.marker_type != image_file_camera.marker_type
assert image_file_camera.get_visible_markers() == []
def main(args: argparse.Namespace) -> None:
from PIL import Image, ImageDraw
marker_type = MarkerType[args.type]
output_dir: Path = args.path.resolve()
output_dir.mkdir(exist_ok=True, parents=True)
marker_ids = (parse_ranges(args.range)
if args.range != "ALL" else marker_type.marker_ids)
for marker_id in sorted(marker_ids):
with MarkerCamera(
marker_id,
marker_type=marker_type,
marker_size=marker_type.min_marker_image_size,
) as camera:
camera.border_size = 1 # HACK: There's validation in the constructor
print("Saving", marker_id) # noqa:T001
if args.raw:
camera.save_frame(output_dir / "{}.png".format(marker_id))
else:
image = Image.fromarray(camera.capture_frame())
# Resize the image to the required size
resized_image = image.resize((500, 500), resample=0)
img_size = resized_image.size[0]
ImageDraw.Draw(resized_image).text(
(25, img_size - 25),
args.description_format.format(
marker_type=marker_type.name, marker_id=marker_id),
anchor="lt",
)
resized_image.save(output_dir / "{}.png".format(marker_id))
def test_marker_with_falsy_id(marker_type: MarkerType) -> None:
with MarkerCamera(0, marker_size=200, marker_type=marker_type) as marker_camera:
markers = list(marker_camera.get_visible_markers())
assert markers == [0]
def test_saved_image_with_annotation(temp_image_file, marker_id):
marker_camera = MarkerCamera(marker_id,
marker_dict=MarkerDict.DICT_6X6_50,
marker_size=200)
output_file = temp_image_file
marker_camera.save_frame(output_file, annotate=True)
def test_saved_image_with_annotation(
temp_image_file: Path, marker_id: int, marker_type: MarkerType
) -> None:
marker_camera = MarkerCamera(marker_id, marker_size=200, marker_type=marker_type)
output_file = temp_image_file
marker_camera.save_frame(output_file, annotate=True)
def test_marker_with_falsy_id():
with MarkerCamera(0, marker_dict=MarkerDict.DICT_6X6_50,
marker_size=200) as marker_camera:
markers = list(marker_camera.get_visible_markers())
assert markers == [0]
def test_camera_as_context_manager():
with MarkerCamera(25, marker_dict=MarkerDict.DICT_6X6_50,
marker_size=200) as marker_camera:
markers = list(marker_camera.get_visible_markers())
assert markers == [25]
def test_captures_frame_at_correct_resolution(
marker_size: int, marker_type: MarkerType
) -> None:
marker_camera = MarkerCamera(25, marker_size=marker_size, marker_type=marker_type)
frame = marker_camera.capture_frame()
assert frame.shape == marker_camera.get_resolution()
def test_detects_marker_ids(marker_id):
markers = MarkerCamera(marker_id,
marker_dict=MarkerDict.DICT_6X6_50,
marker_size=200).get_visible_markers()
assert markers == [marker_id]
def test_captures_frame_at_correct_resolution(resolution):
marker_camera = MarkerCamera(25,
marker_dict=MarkerDict.DICT_6X6_50,
marker_size=resolution)
frame = marker_camera.capture_frame()
assert frame.shape == marker_camera.get_resolution()
def marker_camera():
return MarkerCamera(25,
marker_dict=MarkerDict.DICT_6X6_50,
marker_size=200)
def test_detects_marker_ids(marker_type: MarkerType, marker_id: int) -> None:
markers = MarkerCamera(
marker_id, marker_size=200, marker_type=marker_type
).get_visible_markers()
assert markers == [marker_id]
def test_camera_as_context_manager(marker_type: MarkerType) -> None:
with MarkerCamera(
MAX_ALL_ALLOWED_ID, marker_size=200, marker_type=marker_type
) as marker_camera:
markers = list(marker_camera.get_visible_markers())
assert markers == [MAX_ALL_ALLOWED_ID]
