machinevision-toolbox-python 2.0.1__py3-none-any.whl → 2.2.0__py3-none-any.whl

{machinevision_toolbox_python-2.0.1.dist-info → machinevision_toolbox_python-2.2.0.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: machinevision-toolbox-python
-Version: 2.0.1
+Version: 2.2.0
 Summary: Object-oriented machine vision for Python.
 Project-URL: Homepage, https://github.com/petercorke/machinevision-toolbox-python
 Project-URL: Bug Tracker, https://github.com/pypa/sampleproject/issues
@@ -23,8 +23,8 @@ Requires-Dist: ansitable
 Requires-Dist: matplotlib
 Requires-Dist: mvtb-data
 Requires-Dist: numpy
-Requires-Dist: opencv-contrib-python
-Requires-Dist: opencv-python
+Requires-Dist: opencv-contrib-python<5.0.0
+Requires-Dist: opencv-python<5.0.0
 Requires-Dist: pgraph-python
 Requires-Dist: pillow
 Requires-Dist: requests
@@ -33,8 +33,10 @@ Requires-Dist: spatialmath-python
 Requires-Dist: tqdm
 Provides-Extra: all
 Requires-Dist: ipympl; extra == 'all'
+Requires-Dist: ipython; extra == 'all'
 Requires-Dist: ipywidgets; extra == 'all'
 Requires-Dist: open3d-python; extra == 'all'
+Requires-Dist: pygments; extra == 'all'
 Requires-Dist: pytesseract; extra == 'all'
 Requires-Dist: rosbags; extra == 'all'
 Requires-Dist: roslibpy; extra == 'all'
@@ -44,15 +46,17 @@ Provides-Extra: dev
 Requires-Dist: coverage; extra == 'dev'
 Requires-Dist: nbmake; extra == 'dev'
 Requires-Dist: pytest; extra == 'dev'
+Requires-Dist: pytest-timeout; extra == 'dev'
+Requires-Dist: pytest-xvfb; extra == 'dev'
 Requires-Dist: ruff; extra == 'dev'
 Provides-Extra: docs
 Requires-Dist: pydata-sphinx-theme; extra == 'docs'
 Requires-Dist: sphinx; extra == 'docs'
-Requires-Dist: sphinx-autorun; extra == 'docs'
-Requires-Dist: sphinx-codeautolink; extra == 'docs'
+Requires-Dist: sphinx-codeautolink>=0.19.0; extra == 'docs'
 Requires-Dist: sphinx-copybutton; extra == 'docs'
 Requires-Dist: sphinx-design; extra == 'docs'
 Requires-Dist: sphinx-favicon; extra == 'docs'
+Requires-Dist: sphinx-pyrunblock; extra == 'docs'
 Requires-Dist: sphinxcontrib-programoutput; extra == 'docs'
 Provides-Extra: jupyter
 Requires-Dist: ipympl; extra == 'jupyter'
@@ -65,6 +69,9 @@ Provides-Extra: ros
 Requires-Dist: rosbags; extra == 'ros'
 Requires-Dist: roslibpy; extra == 'ros'
 Requires-Dist: websockets; extra == 'ros'
+Provides-Extra: tool
+Requires-Dist: ipython; extra == 'tool'
+Requires-Dist: pygments; extra == 'tool'
 Provides-Extra: torch
 Requires-Dist: torch; extra == 'torch'
 Description-Content-Type: text/markdown
@@ -74,6 +81,7 @@ Description-Content-Type: text/markdown
 <div align="center">
   <img src="https://github.com/petercorke/machinevision-toolbox-python/raw/main/docs/figs/VisionToolboxLogo_NoBackgnd@2x.png" width="350">
   <br>
+    <em>OpenCV for humans</em><br>
   <strong>A high-productivity framework for computer vision research and education.</strong>
   <br><br>
   

{machinevision_toolbox_python-2.0.1.dist-info → machinevision_toolbox_python-2.2.0.dist-info}/RECORD

@@ -1,56 +1,47 @@
 machinevisiontoolbox/BagOfWords.py,sha256=CYNvYkVhE_aDijV7v3gIxXHkN60QD3MNu9-Xh97q5Y4,19036
-machinevisiontoolbox/BundleAdjust.py,sha256=RsrVRlTxlS4ycgs810pnXnP7ZbOf89O8H4MKGB_Ua3o,37064
-machinevisiontoolbox/Camera.py,sha256=PPsm0f1jEsnJsblaXQHgEBrIzsN8i63vdPXoh-Sdm_w,139131
-machinevisiontoolbox/ImageBlobs.py,sha256=vzz-dMJmJTpFSpBBe3kXVLZTmB5jn6pe3fepwJG-FIs,89071
+machinevisiontoolbox/BundleAdjust.py,sha256=Fjp1eWe78DwZfvu9tuiuMYlCGmv8fqwF2kMFT1_GW4w,37076
+machinevisiontoolbox/Camera.py,sha256=YRG5s6rvlI9vJX2C3X2mawcTBofknjU8MiRc7atJv3o,139142
+machinevisiontoolbox/ImageBlobs.py,sha256=TsXaJpqUN1WrPg0zHRmLQvP3wUBxcHHUBt9qDggjVnE,89447
 machinevisiontoolbox/ImageColor.py,sha256=fueFYDNlvqSJPgcKsG5v2wBxaW7mYNa6OA-_rK-UJK0,17577
 machinevisiontoolbox/ImageConstants.py,sha256=R0sc9z8sbraruI6qkixLso6fTgxUAC5cQMSw4ms9m2k,38774
-machinevisiontoolbox/ImageCore.docstring,sha256=o--QfvUsp1_tRlD31jvX01rsPZ7qp8fvLogtF9IcmHc,88029
-machinevisiontoolbox/ImageCore.py,sha256=Als1G5Cd2Z6e1xIThff1yqyDaX6KcLQY1MUYZpP7UJk,140497
-machinevisiontoolbox/ImageFiducials.py,sha256=0CXDgRVY8cA8sIsqd9liPLDRBFRXkolxZwu8rj8TxsM,24124
-machinevisiontoolbox/ImageIO.py,sha256=cHdezZyoXzWRRM_1w-1K19cS6TLB9dJ_sd61x57E_PQ,26889
-machinevisiontoolbox/ImageLineFeatures.py,sha256=5D4MfbNTaRSErdD-HIVlxG9RrtfPAO7WpG4FhESJb4w,10338
+machinevisiontoolbox/ImageCore.py,sha256=ufDI7ynOGRwM8TSSDEdM4LMQxBhclc0ve976tsprBW8,140594
+machinevisiontoolbox/ImageFiducials.py,sha256=wrCevhrkgdHzBMMRoDqADZE9OOD7L6nQCd3UDA_e3rU,26903
+machinevisiontoolbox/ImageIO.py,sha256=MFUwjxdQ8oGttGMgzon9xOom-IGsVUFkiEWDrVEEgMs,27019
+machinevisiontoolbox/ImageLineFeatures.py,sha256=Kq0rCzPER2eB9MhEBNn6hAHpGY-G_WPZd657RmuRryA,10855
 machinevisiontoolbox/ImageMorph.py,sha256=WioUD2Jr9Ejnk7Let4Vf3iTFz5DhMkZ7l_ZBCbvgl4U,30237
 machinevisiontoolbox/ImageMultiview.py,sha256=swzNsxX39dijPdPa-a4LFOl7T7liTcQeP7NJf5ODGQU,15605
-machinevisiontoolbox/ImagePointFeatures.py,sha256=hc3DrIzvy7cRDW6zmOpdMUb8Ut-mWJoPH4oBOvFsxSg,77109
-machinevisiontoolbox/ImageProcessing.py,sha256=70yql1K_wYOSymIINaYgAhd9QBt5y_NIomq2mb6S3Bg,51659
-machinevisiontoolbox/ImageRegionFeatures.py,sha256=-UOYYv0p2EkNcsF8BK4ZYnh41gUlTSdR-I2v-sH4wT4,14908
+machinevisiontoolbox/ImagePointFeatures.py,sha256=HYgBUs931OOYsM9kx4p_zFU5vAc9dOJsNPuUyTKxoY4,78209
+machinevisiontoolbox/ImageProcessing.py,sha256=HBR6cbTlgfAdOiqXU8DPSFKZQXWTBIVufCyRaifky7g,51669
+machinevisiontoolbox/ImageRegionFeatures.py,sha256=nZAdKFSpxmMZKwlbF13MOxBIUwXvPvDtIxNJUyp7pvg,16092
 machinevisiontoolbox/ImageReshape.py,sha256=F8eNrJ1to6d5jrIJeT1D2RqX-7EnARrQ03UGUCvljXg,50204
 machinevisiontoolbox/ImageSpatial.py,sha256=nzgScDprv7UQXhKcOps80gKjx4Ve6y498lCRm21sEtw,55622
 machinevisiontoolbox/ImageTensor.py,sha256=ohNbThdsQid2AQbDIHaCoxj00tpRggFWv0TTpIHAJQk,9006
-machinevisiontoolbox/ImageWholeFeatures.py,sha256=Fsv92YImQM4mmxtHC-0zdS4w8FjQ0L4ERuhXH96z6D4,61161
+machinevisiontoolbox/ImageWholeFeatures.py,sha256=wpD03wsGu314Ff-nkDqrbCVGgPGobuQItnCZ04Xkwfo,62901
 machinevisiontoolbox/Kernel.py,sha256=VWobkVDlgMvQDo1eoC0fSLxAn2SGu2pQG13QaUIrRNE,21501
 machinevisiontoolbox/PointCloud.py,sha256=FJP-gFmd16ePFfBQ2Y-Tdu6SSw_HyEhtDjNeLyknJFY,25239
-machinevisiontoolbox/Sources.py,sha256=x3fB2bw3BgeUqadhSkFN4JUgeU9PNXzHuehsTZmciTk,152703
+machinevisiontoolbox/Sources.py,sha256=ZWH4o4ffT-qaJuRJOYT7YFLQV4WmzwzuH5J7ZWwzHvQ,152710
 machinevisiontoolbox/VisualServo.py,sha256=2q_szKZo51McduLUMnN8-O6foLyLAR-o0h10-UDWKPY,60947
-machinevisiontoolbox/__init__.py,sha256=V-oUeFjcanyZxbLF5F-HbEOjnd2kJyyrtgDIR9lPgiw,3831
+machinevisiontoolbox/__init__.py,sha256=ocn82vw6o7pvUKSfebBwPKyKTiK-jMR8FK3SEtpDFVM,3871
 machinevisiontoolbox/_image_typing.py,sha256=FjdzZpuxEH9nBrj8gb-tkwUZDjpCNH92sQS3meemCVE,7286
-machinevisiontoolbox/aruco0.pdf,sha256=a_JZT-TfVv7tQNOvlHSZPf9QCNiOScm_q30jMF8T2ME,75233
-machinevisiontoolbox/aruco50.pdf,sha256=wUwqNaDmZ5EFNl1GNF_O3YRztWOZBhTq7DdMdMTskQw,77285
 machinevisiontoolbox/camera_derivatives.py,sha256=ysaP8PvgeBpFf8e37AmYQTW28SiFBK4fCl9LGONgVQg,39513
-machinevisiontoolbox/cvfuncs.py,sha256=Pf4sxB0VvxHT2UqfpY2G9cs75aaqHp0UQZEzSJs94FI,1307
 machinevisiontoolbox/decorators.py,sha256=6wEoLFozK2RFcGb9QrLy2bAw4sjkbm_2q3PpnIS9Rtk,2623
-machinevisiontoolbox/docbugs.py,sha256=HEJvRPOlXgyY5_UyxQXHCVVmJ7UO7SgMV0tpoUSFQbE,1344
 machinevisiontoolbox/fiducial.py,sha256=syC7iIz95nYBTr_njo4ZzLXOyAdAIqoAZq_wRVhyUHQ,1374
 machinevisiontoolbox/mvtb_types.py,sha256=YD2P9mDXhz75GgC7Cyeer8luBpSHckkrLZ0GDVvGOnE,728
-machinevisiontoolbox/newcameras.py,sha256=WQ3w8NawL7vcRexJwjRkBouHQpvdisXf1LgCL3zD3cM,1243
-machinevisiontoolbox/test_skimage.py,sha256=2nIdV5MK3gnz-BA33d2H0vAt-aK3wwb-C35jAYaz5Z8,320
-machinevisiontoolbox/testblobplots.py,sha256=DwX2hc5PEeG7l9oUhC8or8mUdeDENX6mYlDUN3e1HRw,465
-machinevisiontoolbox/x.json,sha256=bEpuzzQtJYf96nvjZkjxthWVzm0PKI5ZU6uiNuxWnMs,4643
 machinevisiontoolbox/base/__init__.py,sha256=DxtRJJF6vnY2S1n33xJmXTBf504RCkctmoyKwBW4pc4,1645
 machinevisiontoolbox/base/color.py,sha256=F1eBcjyQPFV1uiTkeOe6UtBf_2V4s5wkQH-0egh7Ru0,58432
 machinevisiontoolbox/base/data.py,sha256=PF1HyrYQ-EDR-0heHMG1oDxs63AtQshNWbUvN8GOKsY,6130
 machinevisiontoolbox/base/findpeaks.py,sha256=Ag0UIw2CPVioB356Pvj-_k_wjxMODGpsW7qdkt6UvEs,11251
 machinevisiontoolbox/base/graphics.py,sha256=R8hbf_jK3mvq_dEoATxkjcbxUJvoSMovNbrk3W4BQe8,36974
-machinevisiontoolbox/base/imageio.py,sha256=d6ytMGVPfC1D4Dpj-K4pVEdd_afs4vmjQ0j2_y0_kbg,51986
+machinevisiontoolbox/base/imageio.py,sha256=QwiYa0XS2E1ZyOIPqGU72RFaPZQZAzKO47w_FBouKV8,54053
 machinevisiontoolbox/base/meshgrid.py,sha256=Bo2GIlk0tRT2CV5sP5I9i-mZy-6c3BPozLOuOiEVHT0,3162
 machinevisiontoolbox/base/shapes.py,sha256=d-DmB_9iEsHyC6AT6lv2LMHvb-PMqHTXtehqMKk3aRQ,11430
 machinevisiontoolbox/base/types.py,sha256=AEiyEsmX5ljifC_PldaOcJnZRDyUSF3kwRbAihNDslQ,5055
 machinevisiontoolbox/base/version.py,sha256=uSKKfk9fOu5XF_21Kzfh3N111U-39mobNwiRyelOqcU,976
 machinevisiontoolbox/bin/_bintools.py,sha256=WwzyOqXEv4T-TB2GMBym4pGU2NACM5ACDCg7exGRl0I,1918
-machinevisiontoolbox/bin/bagtool.py,sha256=jY7_kQpy904JiYcVGxuvV2ves-jCeqHTDOVOB51rp6w,9039
-machinevisiontoolbox/bin/imtool.py,sha256=BAteBohTcM7C_kpHQ73Bpx41vPhrKphMonFvY_iXi4k,6870
-machinevisiontoolbox/bin/labeltool.py,sha256=npt-SzyJfUpQObmj6u7hHRymV9CZwDkHdQubQyFkMTk,4267
-machinevisiontoolbox/bin/mvtbtool.py,sha256=tPfEPLOZ451fOifGvFyRE2RAkjm-4-0wYvWIgWoBs9o,11089
+machinevisiontoolbox/bin/_iminteractive.py,sha256=9fh2QcuO9RFfO9uGA05MePbe6cUtlh-F19z2zbG4pLA,17063
+machinevisiontoolbox/bin/bagtool.py,sha256=b-Ap2AynpXe0FtcydyfkXIgHDaumAkGBJgDZ6lgdZBU,12359
+machinevisiontoolbox/bin/imtool.py,sha256=la9m9LuMnthJzXxjMRWqGY_l7rJUZS5wiVgZsw84SO4,7897
+machinevisiontoolbox/bin/mvtbtool.py,sha256=NuVm2lLCJSUT4_RvlSplqeuUb0duDxAoupL1UIrjjuQ,13785
 machinevisiontoolbox/bin/ocrtool.py,sha256=HtkbLnjij40oy83nBtZlbJSFJ2pn7lcQAmOifvCLw0I,4719
 machinevisiontoolbox/bin/tagtool.py,sha256=io-NCIMdMc5zIFYMa6U2ITTv2T-Q8Y0bwh_pB1qZ4IQ,8523
 machinevisiontoolbox/blocks/__init__.py,sha256=EsdfK2WxYLSo0SA5HSmlgsivLT1kDnoH9v-RTBDnWwc,142
@@ -58,11 +49,10 @@ machinevisiontoolbox/blocks/camera.py,sha256=v0kLMa97bTcLkNtq8c-oGFH7DWqRbp8HTtA
 machinevisiontoolbox/blocks/test_blocks.py,sha256=dsJiK3BwvNRvzK95bUbPhgbZdoWZhVWQD-yHD-YZRMw,1767
 machinevisiontoolbox/blocks/Icons/camera.png,sha256=CGcTB_llMoucN-rfnP6ZP_7AfE_92z6JnCdam-hDLgs,1642
 machinevisiontoolbox/blocks/Icons/estpose_p.png,sha256=1XrwL4OkotGWMwKmhnar3tt8cQWUdZiO7PxXD354T-E,4320
-machinevisiontoolbox/blocks/Icons/icons.sh,sha256=teezrmF3es8c3-MvwG1lDCt9SKWEqA0eVHOKFeBugig,115
 machinevisiontoolbox/blocks/Icons/imageplane.png,sha256=34FYQMzkq6foxvRU8pn0KkcHxpHRvsJRJSYKfNu13Eg,3902
 machinevisiontoolbox/blocks/Icons/visjac_p.png,sha256=8X023l-C9Y5DfAN8wCdWYjSjq6wp1vRzuZ85sUbwxv8,3819
-machinevision_toolbox_python-2.0.1.dist-info/METADATA,sha256=ZIkYeTli9nrYhokYJUq_fdD8BpWZF8SwTEej-H8gZgg,21125
-machinevision_toolbox_python-2.0.1.dist-info/WHEEL,sha256=QccIxa26bgl1E6uMy58deGWi-0aeIkkangHcxk2kWfw,87
-machinevision_toolbox_python-2.0.1.dist-info/entry_points.txt,sha256=R0sRa7JufKCG1VPkgo5KcL7j7pW4-E0Ch2Og4AqmXg4,310
-machinevision_toolbox_python-2.0.1.dist-info/licenses/LICENSE,sha256=niCzY_CzbIMKuUZlUkGimjrKp0vkLAtcwFmoSuSKrdw,1068
-machinevision_toolbox_python-2.0.1.dist-info/RECORD,,
+machinevision_toolbox_python-2.2.0.dist-info/METADATA,sha256=djNu7vAO1sHkOR2lI9mGurJqY7889oMByoOCDl8M-no,21453
+machinevision_toolbox_python-2.2.0.dist-info/WHEEL,sha256=lCkmxWfQsSc9CfIClYeavTdQeEX2toPqufh9gI35EQA,87
+machinevision_toolbox_python-2.2.0.dist-info/entry_points.txt,sha256=R0sRa7JufKCG1VPkgo5KcL7j7pW4-E0Ch2Og4AqmXg4,310
+machinevision_toolbox_python-2.2.0.dist-info/licenses/LICENSE,sha256=niCzY_CzbIMKuUZlUkGimjrKp0vkLAtcwFmoSuSKrdw,1068
+machinevision_toolbox_python-2.2.0.dist-info/RECORD,,

{machinevision_toolbox_python-2.0.1.dist-info → machinevision_toolbox_python-2.2.0.dist-info}/WHEEL

@@ -1,4 +1,4 @@
 Wheel-Version: 1.0
-Generator: hatchling 1.29.0
+Generator: hatchling 1.31.0
 Root-Is-Purelib: true
 Tag: py3-none-any

machinevisiontoolbox/BundleAdjust.py

@@ -12,7 +12,7 @@ try:
     import pgraph
 
     pgraph_installed = True
-except:
+except ImportError:
     print("pgraph not installed")
     pgraph_installed = False
 import matplotlib.pyplot as plt

machinevisiontoolbox/Camera.py

@@ -827,7 +827,7 @@ class CameraBase(ABC):
             for artist in self._ax.get_children():
                 try:
                     artist.remove()
-                except:
+                except Exception:
                     pass
 
     def plot_point(
@@ -1216,86 +1216,10 @@ class CameraBase(ABC):
         try:
             # draw camera-like object:
             if shape == "frustum":
-                # TODO make this kwargs or optional inputs
-                # side colors:
-                #  +x red
-                #  -y red
-                #  +y green
-                #  -y yellow
-                length = scale
-                widthb = scale / 10
-                widtht = scale
-                widthb /= 2
-                widtht /= 2
-                b0 = np.array([-widthb, -widthb, 0, 1])
-                b1 = np.array([-widthb, widthb, 0, 1])
-                b2 = np.array([widthb, widthb, 0, 1])
-                b3 = np.array([widthb, -widthb, 0, 1])
-                t0 = np.array([-widtht, -widtht, length, 1])
-                t1 = np.array([-widtht, widtht, length, 1])
-                t2 = np.array([widtht, widtht, length, 1])
-                t3 = np.array([widtht, -widtht, length, 1])
-
-                # bottom/narrow end
-                T = pose.A
-                b0 = (T @ b0)[:-1]
-                b1 = (T @ b1)[:-1]
-                b2 = (T @ b2)[:-1]
-                b3 = (T @ b3)[:-1]
-
-                # wide/top end
-                t0 = (T @ t0)[:-1]
-                t1 = (T @ t1)[:-1]
-                t2 = (T @ t2)[:-1]
-                t3 = (T @ t3)[:-1]
-
-                points = [
-                    np.array([b0, b1, t1, t0]),  # -x face
-                    np.array([b1, b2, t2, t1]),  # +y face
-                    np.array([b2, b3, t3, t2]),  # +x face
-                    np.array([b3, b0, t0, t3]),  # -y face
-                ]
-                poly = Poly3DCollection(
-                    points, facecolors=["r", "g", "r", "y"], alpha=alpha
-                )
-                ax.add_collection3d(poly)
+                self._plot_frustum(ax, pose, scale, alpha)
 
             elif shape == "camera":
-                # the box is centred at the origin and its centerline parallel to the
-                # z-axis.  Its z-extent is -bh/2 to bh/2.
-                W = 0.5  # width & height of the box
-                L = 1.2  # length of the box
-                cr = 0.2  # cylinder radius
-                ch = 0.4  # cylinder height
-                cn = 12  # number of facets of cylinder
-                a = 3  # length of axis line segments
-
-                # draw the box part of the camera
-                smb.plot_cuboid(
-                    sides=np.r_[W, W, L] * scale,
-                    pose=pose,
-                    filled=solid,
-                    color=color,
-                    alpha=0.5 * alpha if solid else alpha,
-                    ax=ax,
-                )
-
-                # draw the lens
-                smb.plot_cylinder(
-                    radius=cr * scale,
-                    height=np.r_[L / 2, L / 2 + ch] * scale,
-                    resolution=cn,
-                    pose=pose,
-                    filled=solid,
-                    color=color,
-                    alpha=0.5 * alpha,
-                    ax=ax,
-                )
-
-                if label:
-                    ax.set_xlabel("X")
-                    ax.set_ylabel("Y")
-                    ax.set_zlabel("Z")
+                self._plot_camera_icon(ax, pose, scale, solid, color, alpha, label)
 
             if frame is True:
                 self.pose.plot(
@@ -1311,6 +1235,97 @@ class CameraBase(ABC):
 
         return ax
 
+    def _plot_frustum(self, ax: Axes, pose: SE3, scale: float, alpha: float) -> None:
+        """Draw the ``shape="frustum"`` camera icon into ``ax``."""
+        # TODO make this kwargs or optional inputs
+        # side colors:
+        #  +x red
+        #  -y red
+        #  +y green
+        #  -y yellow
+        length = scale
+        widthb = scale / 10
+        widtht = scale
+        widthb /= 2
+        widtht /= 2
+        b0 = np.array([-widthb, -widthb, 0, 1])
+        b1 = np.array([-widthb, widthb, 0, 1])
+        b2 = np.array([widthb, widthb, 0, 1])
+        b3 = np.array([widthb, -widthb, 0, 1])
+        t0 = np.array([-widtht, -widtht, length, 1])
+        t1 = np.array([-widtht, widtht, length, 1])
+        t2 = np.array([widtht, widtht, length, 1])
+        t3 = np.array([widtht, -widtht, length, 1])
+
+        # bottom/narrow end
+        T = pose.A
+        b0 = (T @ b0)[:-1]
+        b1 = (T @ b1)[:-1]
+        b2 = (T @ b2)[:-1]
+        b3 = (T @ b3)[:-1]
+
+        # wide/top end
+        t0 = (T @ t0)[:-1]
+        t1 = (T @ t1)[:-1]
+        t2 = (T @ t2)[:-1]
+        t3 = (T @ t3)[:-1]
+
+        points = [
+            np.array([b0, b1, t1, t0]),  # -x face
+            np.array([b1, b2, t2, t1]),  # +y face
+            np.array([b2, b3, t3, t2]),  # +x face
+            np.array([b3, b0, t0, t3]),  # -y face
+        ]
+        poly = Poly3DCollection(points, facecolors=["r", "g", "r", "y"], alpha=alpha)
+        ax.add_collection3d(poly)
+
+    def _plot_camera_icon(
+        self,
+        ax: Axes,
+        pose: SE3,
+        scale: float,
+        solid: bool,
+        color: str,
+        alpha: float,
+        label: bool,
+    ) -> None:
+        """Draw the ``shape="camera"`` box+cylinder icon into ``ax``."""
+        # the box is centred at the origin and its centerline parallel to the
+        # z-axis.  Its z-extent is -bh/2 to bh/2.
+        W = 0.5  # width & height of the box
+        L = 1.2  # length of the box
+        cr = 0.2  # cylinder radius
+        ch = 0.4  # cylinder height
+        cn = 12  # number of facets of cylinder
+        a = 3  # length of axis line segments
+
+        # draw the box part of the camera
+        smb.plot_cuboid(
+            sides=np.r_[W, W, L] * scale,
+            pose=pose,
+            filled=solid,
+            color=color,
+            alpha=0.5 * alpha if solid else alpha,
+            ax=ax,
+        )
+
+        # draw the lens
+        smb.plot_cylinder(
+            radius=cr * scale,
+            height=np.r_[L / 2, L / 2 + ch] * scale,
+            resolution=cn,
+            pose=pose,
+            filled=solid,
+            color=color,
+            alpha=0.5 * alpha,
+            ax=ax,
+        )
+
+        if label:
+            ax.set_xlabel("X")
+            ax.set_ylabel("Y")
+            ax.set_zlabel("Z")
+
     def _add_noise_distortion(self, uv: np.ndarray) -> np.ndarray:
         """
         Add noise to pixel coordinates
@@ -1862,7 +1877,7 @@ class CentralCamera(CameraBase):
         """
         try:
             return 2 * np.arctan(np.r_[self.imagesize] / 2 * np.r_[self.rho] / self.f)
-        except:
+        except (TypeError, AttributeError):
             raise ValueError("imagesize or rho properties not set")
 
     def distort(self, points: np.ndarray) -> np.ndarray:

machinevisiontoolbox/ImageBlobs.py

@@ -11,7 +11,7 @@ import tempfile
 import webbrowser
 from collections import UserList, namedtuple
 from dataclasses import dataclass
-from typing import Any, cast
+from typing import TYPE_CHECKING, Any, cast
 
 import cv2
 import matplotlib.pyplot as plt
@@ -24,6 +24,9 @@ import spatialmath.base as smb
 from machinevisiontoolbox.base import plot_labelbox, mpl_styling
 from machinevisiontoolbox.decorators import array_result, scalar_result
 
+if TYPE_CHECKING:
+    from machinevisiontoolbox._image_typing import _ImageBase
+
 """
 NOTES
 
@@ -458,7 +461,10 @@ class Blobs(UserList):  # lgtm[py/missing-equals]
 
                 ## Equivalent ellipse
                 J = np.array([[M["mu20"], M["mu11"]], [M["mu11"], M["mu02"]]])
-                e, X = np.linalg.eig(J)
+                # J is real-symmetric, so use eigh (not eig): eig can return
+                # complex128 for a symmetric matrix due to floating-point
+                # noise even though the eigenvalues are mathematically real.
+                e, X = np.linalg.eigh(J)
                 blob_params["a"] = 2.0 * np.sqrt(e.max() / M["m00"])
                 blob_params["b"] = 2.0 * np.sqrt(e.min() / M["m00"])
 
@@ -631,7 +637,7 @@ class Blobs(UserList):  # lgtm[py/missing-equals]
             return self[:]
         m: np.ndarray = np.array(mask).all(axis=0)  # type: ignore[assignment]
 
-        return self[m]
+        return self[m.flatten()]
 
     def sort(self, by: str = "area", reverse: bool = False) -> "Blobs":  # type: ignore[override]
         """
@@ -2620,7 +2626,7 @@ class Blobs(UserList):  # lgtm[py/missing-equals]
                 dot_stream.close()
 
 
-class ImageBlobsMixin:
+class ImageBlobsMixin(_ImageBase if TYPE_CHECKING else object):
     def blobs(self, **kwargs) -> Blobs:
         """
         Find and describe blobs in image