machinevision-toolbox-python 2.0.1__tar.gz → 2.2.0__tar.gz

machinevision_toolbox_python-2.2.0/.release-please-manifest.json

@@ -0,0 +1,3 @@
+{
+    ".": "2.2.0"
+}

{machinevision_toolbox_python-2.0.1 → machinevision_toolbox_python-2.2.0}/CHANGELOG.md

@@ -1,3 +1,71 @@
+# Changelog
+
+## [2.2.0](https://github.com/petercorke/machinevision-toolbox-python/compare/v2.1.0...v2.2.0) (2026-08-10)
+
+**Highlight: OpenCV 5 compatibility.** MVTB now works correctly under both OpenCV 4 and the
+newly-released OpenCV 5 — aruco/fiducial pose estimation, HoughLinesP line features,
+BRISK/AKAZE point features, and MSER region features have all been fixed for OpenCV 5's API
+and shape changes, verified against real OpenCV 4.13.0 and 5.0.0 installs. See #44 for the
+full compatibility audit.
+
+### Features
+
+* add mvtbtool --test smoke test, fix silent Open3D banner skip ([6a0bf2c](https://github.com/petercorke/machinevision-toolbox-python/commit/6a0bf2c090b8be4aa2d378495545ca71a55e89b1))
+
+### Bug Fixes
+
+* handle HoughLinesP's (N,4) return shape on OpenCV 5 ([b54f755](https://github.com/petercorke/machinevision-toolbox-python/commit/b54f7552a8c08530173e159d70a84fa5e8f6d486))
+* handle MSER's empty-tuple bboxes on OpenCV 5, resolve MSER discrepancy ([aabaf88](https://github.com/petercorke/machinevision-toolbox-python/commit/aabaf885e660c59c4949a5f5706b276ad7c50202))
+* normalize aruco ids/matchImagePoints shapes for OpenCV 5 ([6ac5ec0](https://github.com/petercorke/machinevision-toolbox-python/commit/6ac5ec0cc795ad7016f491dbb464e91c4ad34aae))
+* replace removed cv2.aruco.estimatePoseSingleMarkers with solvePnP ([635225d](https://github.com/petercorke/machinevision-toolbox-python/commit/635225de657a1484ad526480605d9d234f202ffa))
+* resolve BRISK/AKAZE via cv2.xfeatures2d on OpenCV 5 ([fad7247](https://github.com/petercorke/machinevision-toolbox-python/commit/fad7247cf6cfc07f7e8511ffa37ce4ccc928f451))
+
+## [2.1.0](https://github.com/petercorke/machinevision-toolbox-python/compare/v2.0.1...v2.1.0) (2026-08-03)
+
+
+### Features
+
+* add interactive tools to imtool and bagtool ([b16ab7d](https://github.com/petercorke/machinevision-toolbox-python/commit/b16ab7dbd1f2fe26869a7fcacc710e549735e431))
+* **mvtbtool:** add 'tool' extra for IPython/pygments, fail with clear message when missing ([a31655b](https://github.com/petercorke/machinevision-toolbox-python/commit/a31655be13d07acb14548e79c618d62d5bf5589c))
+
+
+### Bug Fixes
+
+* add missing type annotations, warn on ncdf deprecation ([7e8cabe](https://github.com/petercorke/machinevision-toolbox-python/commit/7e8cabe4ceee1f517b1a9161ab28e9d87137475e))
+* add socket timeout to iread() URL fetches ([6ff62b1](https://github.com/petercorke/machinevision-toolbox-python/commit/6ff62b17aa1b556a1823e69ae4950f2786e0ebc1))
+* bring 3 mixins in line with the TYPE_CHECKING _ImageBase pattern ([0d31fc5](https://github.com/petercorke/machinevision-toolbox-python/commit/0d31fc52f881df6cfda35c5ab11e4f9753e65aa0))
+* colorplane handling in image i/o ([6882967](https://github.com/petercorke/machinevision-toolbox-python/commit/68829677c0f42d4b6e83b61b981f5027efe61ee3))
+* gridify() IndexError from numpy float // int staying float64 ([e57597a](https://github.com/petercorke/machinevision-toolbox-python/commit/e57597aa527ab1741ff19066070ecd6968056da5))
+* keep single-blob filter() matches ([7b0ab8d](https://github.com/petercorke/machinevision-toolbox-python/commit/7b0ab8d67c67251e12753df198447fdc9255f48a)), closes [#17](https://github.com/petercorke/machinevision-toolbox-python/issues/17)
+* replace 6 bare except: clauses with specific exception types ([5a11306](https://github.com/petercorke/machinevision-toolbox-python/commit/5a11306eb838b2c47535389f482ab872b7a22d24))
+* un-hide bot-comment notes from HTML comment block ([4a4e943](https://github.com/petercorke/machinevision-toolbox-python/commit/4a4e943fab8e00af404713efb1f3501d1c94f1a3))
+* use eigh instead of eig for blob orientation/ellipse moments ([3a74fdf](https://github.com/petercorke/machinevision-toolbox-python/commit/3a74fdf6b558967ae797d19bbb4369275eaf690c))
+
+
+### Documentation
+
+* add build date to footer copyright notice ([e7de5bf](https://github.com/petercorke/machinevision-toolbox-python/commit/e7de5bf8e68d6251cbc23465befdd4070d7fbc6c))
+* add example placeholder to Alternatives considered ([879f086](https://github.com/petercorke/machinevision-toolbox-python/commit/879f086dc0bcde61496c6f227d275dd19c47e53a))
+* add PR and issue templates ([d081f7e](https://github.com/petercorke/machinevision-toolbox-python/commit/d081f7e49ae1e1673b00c92e4bd174e3c2629efb))
+* ask for a concrete function signature in feature requests ([b25cd12](https://github.com/petercorke/machinevision-toolbox-python/commit/b25cd12efa6eae61a9ef2a6b05a78dbffca82cda))
+* fix docstring convention note, add Codacy heads-up ([d68f605](https://github.com/petercorke/machinevision-toolbox-python/commit/d68f605301aaa71795c5cab75acadb910ce6d398))
+* fix Image class sidebar, cut over to sphinx-pyrunblock ([20c219d](https://github.com/petercorke/machinevision-toolbox-python/commit/20c219d65fdb68ca14d58777a08f0c29333303dd))
+* fix stale rank() reference in card-algorithms.rst ([1e3f6bd](https://github.com/petercorke/machinevision-toolbox-python/commit/1e3f6bdf3cbaa3307985f616af2c178c3d6a5029))
+* fix stale/broken references and add footer build date ([c51955b](https://github.com/petercorke/machinevision-toolbox-python/commit/c51955bf14b55ed8dd9a19bf6b9c9d6b97952e6d))
+* flesh out PR template with a proper checklist ([f4db44b](https://github.com/petercorke/machinevision-toolbox-python/commit/f4db44b4b21a16514ea0f1de2bceb54d22b6d39c))
+* forewarn contributors about Dependabot vulnerability comments ([acfedab](https://github.com/petercorke/machinevision-toolbox-python/commit/acfedabfc285e11e4a505eb06b81c3bec74c0762))
+* log ci.yml's conda/micromamba setup as tech debt ([af09d07](https://github.com/petercorke/machinevision-toolbox-python/commit/af09d07cae1df3129df4853d3a672db333f42465))
+* log Codacy backlog real numbers to tech-debt ([65b3c5e](https://github.com/petercorke/machinevision-toolbox-python/commit/65b3c5ed3b2a2cbd20ee41a29b9c2b8234db126e))
+* log gridify() IndexError bug found while testing bare-except fix ([889d45c](https://github.com/petercorke/machinevision-toolbox-python/commit/889d45c4957f93ec9910ccb960f91a432d1d06a3))
+* log Histogram.plot type= docstring/behavior mismatch ([e693eef](https://github.com/petercorke/machinevision-toolbox-python/commit/e693eefa033c5d7a7e95c2787ac3f4dbbce0d2c3))
+* log mypy-not-in-CI as high-priority tech debt, with fresh audit ([1b74ae8](https://github.com/petercorke/machinevision-toolbox-python/commit/1b74ae8efc240e43c338dec8415f7198de2a0d3a))
+* log pgraph-python CI gap and conda-migration decision to tech-debt ([c5b6aeb](https://github.com/petercorke/machinevision-toolbox-python/commit/c5b6aebdaa42003bc48d0428d3381599f325d1df))
+* log PR [#32](https://github.com/petercorke/machinevision-toolbox-python/issues/32)/[#33](https://github.com/petercorke/machinevision-toolbox-python/issues/33) Codacy findings (type shadowing, F405, max param) ([e0ed8db](https://github.com/petercorke/machinevision-toolbox-python/commit/e0ed8db736f1032c2a4fdb78c308c16f1b7e300b))
+* migrate tech-debt.md to GitHub Issues (tech-debt label) ([36aae6a](https://github.com/petercorke/machinevision-toolbox-python/commit/36aae6aa9855ac79a4de19fb49fbaf30827b423a))
+* remove reference to nonexistent CentralCamera.decomposeF ([c7f1400](https://github.com/petercorke/machinevision-toolbox-python/commit/c7f1400700f2ff5364d2fafe19367cfa49628e8e))
+* switch sphinx-codeautolink to released 0.19.0, drop branch pin ([594a9a1](https://github.com/petercorke/machinevision-toolbox-python/commit/594a9a13580cf58868d836adee3a5bbaebc42d12))
+* use %pip magic in notebooks, add tagline to README ([843db36](https://github.com/petercorke/machinevision-toolbox-python/commit/843db36441d43ec74e573d9b201f93635213c7ad))
+
 2.0.0 May 2026
 
 * Added
@@ -238,4 +306,4 @@ and is `None` if the blob has no parent (its parent is the background).
 
 * Additional unit tests
 
-* Myriad minor bug fixes, see commit history.
+* Myriad minor bug fixes, see commit history.

{machinevision_toolbox_python-2.0.1 → machinevision_toolbox_python-2.2.0}/Makefile

@@ -14,7 +14,6 @@ help:
 	@echo " make docs-strict - nitpicky Sphinx build with warnings treated as errors"
 	@echo " make view - open Sphinx doco build (uses open for MacOS)"
 	@echo " make dist - preview dist build"
-	@echo " make pypi - build the dist, upload to PyPI, tag the release and push the tag to origin"
 	@echo " make clean - remove dist and docs build files"
 	@echo " make help - this message$(BLACK)"
 
@@ -59,17 +58,6 @@ dist: .FORCE
 	python -m build
 	ls -lh dist/*
 
-pypi: .FORCE
-	@if ! git diff --quiet || ! git diff --cached --quiet; then \
-		echo "Error: uncommitted changes present, aborting upload"; exit 1; \
-	fi
-	python -m build
-	$(eval VERSION := $(shell grep '^version' pyproject.toml | sed 's/version = "\(.*\)"/\1/'))
-	@echo "Uploading version $(VERSION) to PyPI"
-	twine upload dist/*
-	git tag v$(VERSION)
-	git push origin v$(VERSION)
-
 clean: .FORCE
 	(cd docs; make clean)
 	-rm -r *.egg-info

{machinevision_toolbox_python-2.0.1 → machinevision_toolbox_python-2.2.0}/PKG-INFO

@@ -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 → machinevision_toolbox_python-2.2.0}/README.md

@@ -3,6 +3,7 @@
 <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 → machinevision_toolbox_python-2.2.0}/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "machinevision-toolbox-python"
-version = "2.0.1"
+version = "2.2.0"
 authors = [{ name = "Peter Corke", email = "rvc@petercorke.com" }]
 description = "Object-oriented machine vision for Python."
 readme = "README.md"
@@ -39,8 +39,8 @@ dependencies = [
     "scipy",
     "matplotlib",
     "pillow",
-    "opencv-python",
-    "opencv-contrib-python",
+    "opencv-python<5.0.0",
+    "opencv-contrib-python<5.0.0",
     "spatialmath-python",
     "pgraph-python",
     "ansitable",
@@ -65,19 +65,22 @@ dependencies = [
 #  open3d - open3d support (open3d generally won't work with latest Python)
 #  all - all runtime optional features below
 #  ocr - OCR support via pytesseract
+#  tool - dependencies for the mvtbtool interactive shell
 
-dev = ["pytest", "coverage", "ruff", "nbmake"]
+dev = ["pytest", "pytest-timeout", "pytest-xvfb", "coverage", "ruff", "nbmake"]
 
 ros = ["rosbags", "roslibpy", "websockets"]
 
+tool = ["ipython", "pygments"]
+
 docs = [
     "sphinx",
     "pydata-sphinx-theme",
-    "sphinx-codeautolink",
+    "sphinx-codeautolink>=0.19.0",
     "sphinx-favicon",
     "sphinx-copybutton",
     "sphinxcontrib-programoutput",
-    "sphinx-autorun",
+    "sphinx-pyrunblock",
     "sphinx-design",
 ]
 
@@ -98,6 +101,8 @@ all = [
     "rosbags",
     "roslibpy",
     "websockets",
+    "ipython",
+    "pygments",
 ]
 
 [tool.pytest.ini_options]

machinevision_toolbox_python-2.2.0/release-please-config.json

@@ -0,0 +1,64 @@
+{
+    "$schema": "https://raw.githubusercontent.com/googleapis/release-please/main/schemas/config.json",
+    "release-type": "python",
+    "packages": {
+        ".": {
+            "release-type": "python",
+            "package-name": "machinevision-toolbox-python",
+            "version-file": "pyproject.toml",
+            "changelog-path": "CHANGELOG.md",
+            "include-component-in-tag": false
+        }
+    },
+    "pull-request-title-pattern": "chore: release ${version}",
+    "changelog-sections": [
+        {
+            "type": "feat",
+            "section": "Features"
+        },
+        {
+            "type": "fix",
+            "section": "Bug Fixes"
+        },
+        {
+            "type": "perf",
+            "section": "Performance Improvements"
+        },
+        {
+            "type": "deps",
+            "section": "Dependencies"
+        },
+        {
+            "type": "revert",
+            "section": "Reverts"
+        },
+        {
+            "type": "docs",
+            "section": "Documentation"
+        },
+        {
+            "type": "build",
+            "section": "Build System"
+        },
+        {
+            "type": "test",
+            "section": "Tests",
+            "hidden": true
+        },
+        {
+            "type": "refactor",
+            "section": "Code Refactoring",
+            "hidden": true
+        },
+        {
+            "type": "chore",
+            "section": "Miscellaneous",
+            "hidden": true
+        },
+        {
+            "type": "ci",
+            "section": "CI",
+            "hidden": true
+        }
+    ]
+}

{machinevision_toolbox_python-2.0.1 → machinevision_toolbox_python-2.2.0}/src/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

{machinevision_toolbox_python-2.0.1 → machinevision_toolbox_python-2.2.0}/src/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:

{machinevision_toolbox_python-2.0.1 → machinevision_toolbox_python-2.2.0}/src/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