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76cd35ec1a
Aruco improvements * add writeDictionary(), dict distance, fix readDictionary(), readDetectorParameters() * add aruco_dict_utils.cpp * add py test_write_read_dict * update tutorial
64 lines
1.8 KiB
Python
64 lines
1.8 KiB
Python
#!/usr/bin/env python
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# Python 2/3 compatibility
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from __future__ import print_function
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import os, numpy as np
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import cv2 as cv
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from tests_common import NewOpenCVTests
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class aruco_test(NewOpenCVTests):
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def test_idsAccessibility(self):
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ids = np.arange(17)
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rev_ids = ids[::-1]
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aruco_dict = cv.aruco.Dictionary_get(cv.aruco.DICT_5X5_250)
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board = cv.aruco.CharucoBoard_create(7, 5, 1, 0.5, aruco_dict)
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np.testing.assert_array_equal(board.ids.squeeze(), ids)
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board.ids = rev_ids
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np.testing.assert_array_equal(board.ids.squeeze(), rev_ids)
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board.setIds(ids)
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np.testing.assert_array_equal(board.ids.squeeze(), ids)
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with self.assertRaises(cv.error):
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board.setIds(np.array([0]))
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def test_write_read_dict(self):
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try:
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aruco_dict = cv.aruco.getPredefinedDictionary(cv.aruco.DICT_5X5_50)
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markers_gold = aruco_dict.bytesList
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# write aruco_dict
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filename = "test_dict.yml"
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fs_write = cv.FileStorage(filename, cv.FileStorage_WRITE)
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aruco_dict.writeDictionary(fs_write)
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fs_write.release()
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# reset aruco_dict
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aruco_dict = cv.aruco.getPredefinedDictionary(cv.aruco.DICT_6X6_250)
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# read aruco_dict
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fs_read = cv.FileStorage(filename, cv.FileStorage_READ)
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aruco_dict.readDictionary(fs_read.root())
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fs_read.release()
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# check equal
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self.assertEqual(aruco_dict.markerSize, 5)
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self.assertEqual(aruco_dict.maxCorrectionBits, 3)
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np.testing.assert_array_equal(aruco_dict.bytesList, markers_gold)
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finally:
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if os.path.exists(filename):
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os.remove(filename)
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if __name__ == '__main__':
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NewOpenCVTests.bootstrap()
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