async def marker_corners_cb(req: srpc.c.MarkersCorners.Request,
ui: WsClient) -> srpc.c.MarkersCorners.Response:
# TODO should be rather returned in an event (it is possibly a long-running process)
return srpc.c.MarkersCorners.Response(data=await hlp.run_in_executor(
calibration.markers_corners, req.args.camera_parameters,
image_from_str(req.args.image)))
async def calibration_cb(req: srpc.c.GetCameraPose.Request,
ui: WsClient) -> srpc.c.GetCameraPose.Response:
# TODO estimated pose should be rather returned in an event (it is possibly a long-running process)
return srpc.c.GetCameraPose.Response(data=await hlp.run_in_executor(
calibration.estimate_camera_pose,
req.args.camera_parameters,
image_from_str(req.args.image),
req.args.inverse,
))
def test_image_str() -> None:
imarray = np.random.rand(16, 16, 3) * 255
img = Image.fromarray(imarray.astype("uint8")).convert("RGB")
img_str = image_to_str(img, target_format="png")
assert isinstance(img_str, str)
img2 = image_from_str(img_str)
diff = ImageChops.difference(img, img2)
assert diff.getbbox() is None, "Difference image is not empty!"
async def get_camera_pose_cb(req: srpc.c.GetCameraPose.Request,
ui: WsClient) -> srpc.c.GetCameraPose.Response:
try:
return srpc.c.GetCameraPose.Response(data=await hlp.run_in_executor(
calibration.estimate_camera_pose,
req.args.camera_parameters,
image_from_str(req.args.image),
req.args.inverse,
))
except calibration.MarkerNotFound: # this is ok
raise
except calibration.CalibrationException as e: # this means a serious problem and should be logged
glob.logger.warn(f"Failed to get camera pose. {str(e)}")
raise
async def marker_corners_cb(req: srpc.c.MarkersCorners.Request,
ui: WsClient) -> srpc.c.MarkersCorners.Response:
return srpc.c.MarkersCorners.Response(data=await hlp.run_in_executor(
calibration.markers_corners, req.args.camera_parameters,
image_from_str(req.args.image)))