Merge pull request #18 from UCL/17-null-video

17 null video

README.rst

@@ -1,7 +1,7 @@
 scikit-surgeryarucotracker
 ===============================
 
-.. image:: https://github.com/UCL/scikit-surgeryarucotracker/raw/master/project-icon.png 
+.. image:: https://github.com/UCL/scikit-surgeryarucotracker/raw/master/project-icon.gif
    :height: 128px
    :width: 128px
    :target: https://github.com/UCL/scikit-surgeryarucotracker
@@ -19,13 +19,16 @@ scikit-surgeryarucotracker
     :target: http://scikit-surgeryarucotracker.readthedocs.io/en/latest/?badge=latest
     :alt: Documentation Status
 
+.. image:: https://img.shields.io/badge/Cite-SciKit--Surgery-informational
+   :target: https://doi.org/10.1007/s11548-020-02180-5
+   :alt: The SciKit-Surgery paper
 
 
 Author: Stephen Thompson
 
 scikit-surgeryarucotracker provides a simple Python interface between OpenCV's ARuCo marker tracking libraries and other Python packages designed around scikit-surgerytrackers. It allows you to treat an object tracked using ARuCo markers in the same way as an object tracked using other tracking hardware (e.g. aruco - scikit-surgerynditracker). 
 
-scikit-surgeryarucotracker is part of the `SNAPPY`_ software project, developed at the `Wellcome EPSRC Centre for Interventional and Surgical Sciences`_, part of `University College London (UCL)`_.
+scikit-surgeryarucotracker is part of the `SciKit-Surgery`_ software project, developed at the `Wellcome EPSRC Centre for Interventional and Surgical Sciences`_, part of `University College London (UCL)`_.
 
 scikit-surgeryarucotracker is tested with Python 3.6 and may support other Python versions.
 
@@ -106,7 +109,7 @@ Supported by `Wellcome`_ and `EPSRC`_.
 .. _`Wellcome EPSRC Centre for Interventional and Surgical Sciences`: http://www.ucl.ac.uk/weiss
 .. _`source code repository`: https://github.com/UCL/scikit-surgeryarucotracker
 .. _`Documentation`: https://scikit-surgeryarucotracker.readthedocs.io
-.. _`SNAPPY`: https://github.com/UCL/scikit-surgery/wikis/home
+.. _`SciKit-Surgery`: https://github.com/UCL/scikit-surgery/wikis/home
 .. _`University College London (UCL)`: http://www.ucl.ac.uk/
 .. _`Wellcome`: https://wellcome.ac.uk/
 .. _`EPSRC`: https://www.epsrc.ac.uk/

sksurgeryarucotracker/arucotracker.py

@@ -72,22 +72,22 @@ def __init__(self, configuration):
         """
 
         self._ar_dict = None
-        self._marker_size = 50
         self._camera_projection_matrix = None
         self._camera_distortion = array([0.0, 0.0, 0.0, 0.0, 0.0],
                                         dtype=float32)
         self._use_camera_projection = False
         self._state = None
-        self._capture = VideoCapture()
+
         self._frame_number = 0
-        self._debug = False
 
-        if "debug" in configuration:
-            self._debug = configuration.get("debug")
+        self._debug = configuration.get("debug", False)
+
+        video_source = configuration.get("video source", 0)
 
-        video_source = 0
-        if "video source" in configuration:
-            video_source = configuration.get("video source")
+        if video_source != 'none':
+            self._capture = VideoCapture()
+        else:
+            self._capture = None
 
         ar_dictionary_name = getattr(aruco, 'DICT_4X4_50')
         if "aruco dictionary" in configuration:
@@ -101,29 +101,30 @@ def __init__(self, configuration):
 
         self._ar_dict = aruco.getPredefinedDictionary(ar_dictionary_name)
 
-        if "marker size" in configuration:
-            self._marker_size = configuration.get("marker size")
+        self._marker_size = configuration.get("marker size", 50)
 
         if "calibration" in configuration:
             self._camera_projection_matrix, self._camera_distortion = \
                 _load_calibration(configuration.get("calibration"))
             self._check_pose_estimation_ok()
 
-        if self._capture.open(video_source):
-            #try setting some properties
-            if "capture properties" in configuration:
-                props = configuration.get("capture properties")
-                for prop in props:
-                    cvprop = getattr(cv2, prop)
-                    value = props[prop]
-                    self._capture.set(cvprop, value)
-
-           # self._capture.set(3,1280)
-           # self._capture.set(4,1024)
-            self._state = "ready"
+        if video_source != 'none':
+            if self._capture.open(video_source):
+                #try setting some properties
+                if "capture properties" in configuration:
+                    props = configuration.get("capture properties")
+                    for prop in props:
+                        cvprop = getattr(cv2, prop)
+                        value = props[prop]
+                        self._capture.set(cvprop, value)
+
+                self._state = "ready"
+            else:
+                raise OSError('Failed to open video source {}'
+                              .format(video_source))
         else:
-            raise OSError('Failed to open video source {}'
-                          .format(video_source))
+            self._state = "ready"
+
 
     def _check_pose_estimation_ok(self):
         """Checks that the camera projection matrix and camera distortion
@@ -143,13 +144,16 @@ def close(self):
 
         :raise Exception: ValueError
         """
-        self._capture.release()
-        del self._capture
+        if self._capture is not None:
+            self._capture.release()
+            del self._capture
         self._state = None
 
-    def get_frame(self):
+    def get_frame(self, frame=None):
         """Gets a frame of tracking data from the Tracker device.
 
+        :params frame: an image to process, if None, we use the OpenCV
+            video source.
         :return:
             port_numbers : list of port handles, one per tool
 
@@ -168,7 +172,11 @@ def get_frame(self):
         if self._state != "tracking":
             raise ValueError('Attempted to get frame, when not tracking')
 
-        _, frame = self._capture.read()
+        if self._capture is not None:
+            _, frame = self._capture.read()
+
+        if frame is None:
+            raise ValueError('Frame not set, and capture.read failed')
 
         marker_corners, marker_ids, _ = \
                 aruco.detectMarkers(frame, self._ar_dict)

tests/test_sksurgeryarucotracker.py

@@ -3,9 +3,9 @@
 """scikit-surgeryarucotracker tests"""
 
 import pytest
+from cv2 import VideoCapture
 from sksurgeryarucotracker.arucotracker import ArUcoTracker
 
-
 def test_on_video_with_single_tag():
     """
     connect track and close with single tag,
@@ -23,6 +23,27 @@ def test_on_video_with_single_tag():
     tracker.close()
 
 
+def test_no_video_single_tag():
+    """
+    connect track and close with single tag,
+    reqs: 03, 04 ,05
+    """
+    config = {'video source' : 'none'}
+
+    tracker = ArUcoTracker(config)
+    tracker.start_tracking()
+    with pytest.raises(ValueError):
+        tracker.get_frame()
+    capture = VideoCapture('data/output.avi')
+    for _ in range(10):
+        _, frame = capture.read()
+        (_port_handles, _timestamps, _framenumbers,
+         _tracking, _quality) = tracker.get_frame(frame)
+
+    tracker.stop_tracking()
+    tracker.close()
+
+
 def test_on_video_with_debug():
     """
     connect track and close with single tag,