def test_filter_too_close_candidates_equals_aruco_method(self):
candidates, contours = aruco._detectInitialCandidates(self.gray)
# Use own method to simulate reordering of corners, since Aruco function is not working
MarkerDetectPar._reorder_candidate_corners(candidates)
# Get test and true values
true_cand, true_cont = aruco._filterTooCloseCandidates(
candidates, contours,
MarkerDetectPar.params[MarkerDetectPar.minMarkerDistanceRate])
test_cand, test_cont = MarkerDetectPar._filter_too_close_candidates(
candidates, contours)
# Assert equality
np.testing.assert_allclose(test_cand, true_cand)
np.testing.assert_array_equal(true_cand, true_cont)
def test_reorder_candidate_corners_preserves_shape_and_alters_param(self):
candidates, _ = aruco._detectInitialCandidates(self.gray)
cand_copy = np.copy(candidates)
tmp = MarkerDetectPar._reorder_candidate_corners(candidates)
np.testing.assert_allclose(tmp, candidates)
self.assertEqual(
np.array([np.array_equal(c[1], c[3]) for c in candidates]).sum(),
0)
self.assertFalse(np.allclose(cand_copy, candidates))
self.assertFalse(np.allclose(cand_copy, tmp))
self.assertEqual(np.array(candidates).shape, cand_copy.shape)
def test_reorder_candidate_corners_equals_aruco_method(self):
candidates, _ = aruco._detectInitialCandidates(self.gray)
aruco._reorderCandidatesCorners(candidates)
np.testing.assert_array_equal(
MarkerDetectPar._reorder_candidate_corners(candidates),
aruco._reorderCandidatesCorners(candidates))
