machinevision-toolbox-python 2.1.0__py3-none-any.whl → 2.3.0__py3-none-any.whl

{machinevision_toolbox_python-2.1.0.dist-info → machinevision_toolbox_python-2.3.0.dist-info}/METADATA

@@ -1,6 +1,6 @@
-Metadata-Version: 2.4
+Metadata-Version: 2.5
 Name: machinevision-toolbox-python
-Version: 2.1.0
+Version: 2.3.0
 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
@@ -99,20 +99,24 @@ Description-Content-Type: text/markdown
 
 ---
 
-### Status & Ecosystem
-[![A Python Robotics Package](https://raw.githubusercontent.com/petercorke/robotics-toolbox-python/master/.github/svg/py_collection.min.svg)](https://github.com/petercorke/robotics-toolbox-python)
-[![QUT Centre for Robotics Open Source](https://github.com/qcr/qcr.github.io/raw/master/misc/badge.svg)](https://qcr.github.io)
+### Status & Project Health
+
 [![Build Status](https://github.com/petercorke/machinevision-toolbox-python/actions/workflows/ci.yml/badge.svg)](https://github.com/petercorke/machinevision-toolbox-python/actions/workflows/ci.yml)
-[![Coverage](https://codecov.io/gh/petercorke/machinevision-toolbox-python/branch/main/graph/badge.svg)](https://codecov.io/gh/petercorke/machinevision-toolbox-python)
+[![Downloads](https://static.pepy.tech/badge/machinevision-toolbox-python/month)](https://pepy.tech/projects/machinevision-toolbox-python)
 ![Python Version](https://img.shields.io/pypi/pyversions/machinevision-toolbox-python.svg)
+[![Coverage](https://codecov.io/gh/petercorke/machinevision-toolbox-python/branch/main/graph/badge.svg)](https://codecov.io/gh/petercorke/machinevision-toolbox-python)
 [![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](https://opensource.org/licenses/MIT)
-[![PyPI - Downloads](https://img.shields.io/pypi/dw/machinevision-toolbox-python)](https://pypistats.org/packages/machinevision-toolbox-python)
 
-### Powered by
-[![Powered by Spatial Maths](https://raw.githubusercontent.com/petercorke/spatialmath-python/master/.github/svg/sm_powered.min.svg)](https://github.com/petercorke/spatialmath-python)
-[![Powered by NumPy](https://img.shields.io/badge/powered_by-NumPy-013243?logo=numpy&logoColor=white)](https://numpy.org)
+### Ecosystem & Dependencies
+[![A Python Robotics Package](https://raw.githubusercontent.com/petercorke/robotics-toolbox-python/master/.github/svg/py_collection.min.svg)](https://github.com/petercorke/robotics-toolbox-python)
+[![QUT Centre for Robotics Open Source](https://github.com/qcr/qcr.github.io/raw/master/misc/badge.svg)](https://qcr.github.io)
+
+[![powered by NumPy](https://img.shields.io/badge/powered_by-NumPy-013243?logo=numpy&logoColor=white)](https://numpy.org)
+[![powered by SciPy](https://img.shields.io/badge/powered_by-SciPy-0054a6?logo=scipy&logoColor=white)](https://scipy.org)
+[![powered by Matplotlib](https://img.shields.io/badge/powered_by-Matplotlib-11557c?logo=matplotlib&logoColor=white)](https://matplotlib.org)
 [![Powered by OpenCV](https://raw.githubusercontent.com/petercorke/machinevision-toolbox-python/main/.github/svg/opencv_powered.svg)](https://opencv.org)
 [![Powered by Open3D](https://raw.githubusercontent.com/petercorke/machinevision-toolbox-python/main/.github/svg/open3d_powered.svg)](https://open3d.org)
+[![Powered by Spatial Maths](https://raw.githubusercontent.com/petercorke/spatialmath-python/master/.github/svg/sm_powered.min.svg)](https://github.com/petercorke/spatialmath-python)
 
 ## Synopsis
 

{machinevision_toolbox_python-2.1.0.dist-info → machinevision_toolbox_python-2.3.0.dist-info}/RECORD

@@ -5,14 +5,14 @@ machinevisiontoolbox/ImageBlobs.py,sha256=TsXaJpqUN1WrPg0zHRmLQvP3wUBxcHHUBt9qDg
 machinevisiontoolbox/ImageColor.py,sha256=fueFYDNlvqSJPgcKsG5v2wBxaW7mYNa6OA-_rK-UJK0,17577
 machinevisiontoolbox/ImageConstants.py,sha256=R0sc9z8sbraruI6qkixLso6fTgxUAC5cQMSw4ms9m2k,38774
 machinevisiontoolbox/ImageCore.py,sha256=ufDI7ynOGRwM8TSSDEdM4LMQxBhclc0ve976tsprBW8,140594
-machinevisiontoolbox/ImageFiducials.py,sha256=0CXDgRVY8cA8sIsqd9liPLDRBFRXkolxZwu8rj8TxsM,24124
+machinevisiontoolbox/ImageFiducials.py,sha256=wrCevhrkgdHzBMMRoDqADZE9OOD7L6nQCd3UDA_e3rU,26903
 machinevisiontoolbox/ImageIO.py,sha256=MFUwjxdQ8oGttGMgzon9xOom-IGsVUFkiEWDrVEEgMs,27019
-machinevisiontoolbox/ImageLineFeatures.py,sha256=5D4MfbNTaRSErdD-HIVlxG9RrtfPAO7WpG4FhESJb4w,10338
+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=ZvgXAnyOM-0Lx6yGCYlkfBkRTN-RycNbpu9JzLLritI,77224
+machinevisiontoolbox/ImagePointFeatures.py,sha256=HYgBUs931OOYsM9kx4p_zFU5vAc9dOJsNPuUyTKxoY4,78209
 machinevisiontoolbox/ImageProcessing.py,sha256=HBR6cbTlgfAdOiqXU8DPSFKZQXWTBIVufCyRaifky7g,51669
-machinevisiontoolbox/ImageRegionFeatures.py,sha256=qh0NcTLmSVsLe_sKfnY2Jt3d2w1k1Cno-P8K5H9cLV4,15073
+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
@@ -41,7 +41,7 @@ machinevisiontoolbox/bin/_bintools.py,sha256=WwzyOqXEv4T-TB2GMBym4pGU2NACM5ACDCg
 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=P2-wnZXQMf7cWE3SVvmvc4wDn5ApJbMOfl0DyNLHNkU,11348
+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
@@ -51,8 +51,8 @@ machinevisiontoolbox/blocks/Icons/camera.png,sha256=CGcTB_llMoucN-rfnP6ZP_7AfE_9
 machinevisiontoolbox/blocks/Icons/estpose_p.png,sha256=1XrwL4OkotGWMwKmhnar3tt8cQWUdZiO7PxXD354T-E,4320
 machinevisiontoolbox/blocks/Icons/imageplane.png,sha256=34FYQMzkq6foxvRU8pn0KkcHxpHRvsJRJSYKfNu13Eg,3902
 machinevisiontoolbox/blocks/Icons/visjac_p.png,sha256=8X023l-C9Y5DfAN8wCdWYjSjq6wp1vRzuZ85sUbwxv8,3819
-machinevision_toolbox_python-2.1.0.dist-info/METADATA,sha256=Prpajt2dDvAN5u3yxRUm0-RYQGGyD-06t8avYEiOpj8,21453
-machinevision_toolbox_python-2.1.0.dist-info/WHEEL,sha256=lCkmxWfQsSc9CfIClYeavTdQeEX2toPqufh9gI35EQA,87
-machinevision_toolbox_python-2.1.0.dist-info/entry_points.txt,sha256=R0sRa7JufKCG1VPkgo5KcL7j7pW4-E0Ch2Og4AqmXg4,310
-machinevision_toolbox_python-2.1.0.dist-info/licenses/LICENSE,sha256=niCzY_CzbIMKuUZlUkGimjrKp0vkLAtcwFmoSuSKrdw,1068
-machinevision_toolbox_python-2.1.0.dist-info/RECORD,,
+machinevision_toolbox_python-2.3.0.dist-info/METADATA,sha256=GIbwk-9OjmGJcOWpGeEDlp1tuH0qTk-9YUtHFLdc9Nw,21733
+machinevision_toolbox_python-2.3.0.dist-info/WHEEL,sha256=zOwg4jB6zX2kU910N-cMawjivD6tO8NEWvE12je1bVk,87
+machinevision_toolbox_python-2.3.0.dist-info/entry_points.txt,sha256=R0sRa7JufKCG1VPkgo5KcL7j7pW4-E0Ch2Og4AqmXg4,310
+machinevision_toolbox_python-2.3.0.dist-info/licenses/LICENSE,sha256=niCzY_CzbIMKuUZlUkGimjrKp0vkLAtcwFmoSuSKrdw,1068
+machinevision_toolbox_python-2.3.0.dist-info/RECORD,,

{machinevision_toolbox_python-2.1.0.dist-info → machinevision_toolbox_python-2.3.0.dist-info}/WHEEL

@@ -1,4 +1,4 @@
 Wheel-Version: 1.0
-Generator: hatchling 1.31.0
+Generator: hatchling 1.32.0
 Root-Is-Purelib: true
 Tag: py3-none-any

machinevisiontoolbox/ImageFiducials.py

@@ -133,20 +133,53 @@ class ImageFiducialsMixin(_ImageBase if TYPE_CHECKING else object):
         # corners is a list of marker corners, one element per tag
         #  each element is 1x4x2 matrix holding corner coordinates
         #
-        # ids is ndarray of shape (N,1) holding the tag ids
+        # --- OpenCV 4/5 compat -------------------------------------------
+        # ids is (N,1) on OpenCV 4 but a flat (N,) on OpenCV 5 (verified
+        # empirically 2026-08-03). Flatten so each `id` below is always a
+        # plain scalar -- on OpenCV 5, id[0] on an already-0-d element
+        # raises IndexError: invalid index to scalar variable.
+        # -------------------------------------------------------------------
 
         fiducials = []
         if ids is None or len(ids) == 0:
             return fiducials  # no markers found
+        ids = ids.reshape(-1)
         if K is not None and side is not None:
-            rvecs, tvecs, p3d = cv2.aruco.estimatePoseSingleMarkers(
-                corners=cornerss, markerLength=side, cameraMatrix=K, distCoeffs=None
+            # --- OpenCV 4/5 compat ---------------------------------------
+            # cv2.aruco.estimatePoseSingleMarkers was removed entirely in
+            # OpenCV 5 -- not moved/renamed, hasattr(cv2.aruco,
+            # "estimatePoseSingleMarkers") is False in a real 5.0.0
+            # install. Replaced with the per-marker cv2.solvePnP +
+            # SOLVEPNP_IPPE_SQUARE call that OpenCV's own migration notes
+            # recommend for planar square markers. The object points use
+            # the same convention (clockwise from top-left, Z out of the
+            # marker) the old function used internally, so this works
+            # unchanged on OpenCV 4 too -- no version branching needed.
+            # Verified empirically 2026-08-03.
+            # -----------------------------------------------------------------
+            half = side / 2
+            obj_pts = np.array(
+                [
+                    [-half, half, 0],
+                    [half, half, 0],
+                    [half, -half, 0],
+                    [-half, -half, 0],
+                ],
+                dtype=np.float32,
             )
-            for id, rvec, tvec, corners in zip(ids, rvecs, tvecs, cornerss):
-                fiducials.append(Fiducial(id[0], corners[0].T, K, rvec, tvec, p3d))
+            p3d = obj_pts.reshape(4, 1, 3)
+            for id, corners in zip(ids, cornerss):
+                _, rvec, tvec = cv2.solvePnP(
+                    obj_pts, corners[0], K, None, flags=cv2.SOLVEPNP_IPPE_SQUARE
+                )
+                fiducials.append(
+                    Fiducial(
+                        id, corners[0].T, K, rvec.reshape(1, 3), tvec.reshape(1, 3), p3d
+                    )
+                )
         else:
             for id, corners in zip(ids, cornerss):
-                fiducials.append(Fiducial(id[0], corners[0].T))
+                fiducials.append(Fiducial(id, corners[0].T))
 
         return fiducials
 
@@ -386,16 +419,23 @@ class FiducialCollection:
         cornerss, ids, rejected = detector.detectMarkers(image=image.mono()._A)
 
         # corners is a list of ndarray(1,4,2) of marker corners
-        # ids is ndarray of shape (N,1) holding the tag ids
         # rejected is a list of rejected corners from tags whose inner code is incorrectly coded
+        #
+        # --- OpenCV 4/5 compat -------------------------------------------
+        # ids is (N,1) on OpenCV 4 but a flat (N,) on OpenCV 5 (verified
+        # empirically 2026-08-03). Flatten so each `id` below is always a
+        # plain scalar -- on OpenCV 5, id[0] on an already-0-d element
+        # raises IndexError: invalid index to scalar variable.
+        # -------------------------------------------------------------------
+        ids = ids.reshape(-1) if ids is not None else ids
 
         # filter tags by ID
         cornerss = [
             corners.T.squeeze()
             for corners, id in zip(cornerss, ids)
-            if id[0] in self._ids
+            if id in self._ids
         ]
-        ids = [id[0] for corners, id in zip(cornerss, ids) if id[0] in self._ids]
+        ids = [id for corners, id in zip(cornerss, ids) if id in self._ids]
         # ids = np.reshape(ids, (-1, 1))
 
         # match the markers to the board
@@ -587,9 +627,21 @@ class ArUcoBoard(FiducialCollection):
         :return: 3D object points and 2D image points
         :rtype: ndarray(M,1,3), ndarray(M,1,2), where M is the number of corners found (multiple of 4)
         """
-        return self._board.matchImagePoints(
+        objPoints, imgPoints = self._board.matchImagePoints(
             [corners.T.reshape(1, 4, 2) for corners in cornerss], np.c_[ids]
         )
+        # --- OpenCV 4/5 compat -------------------------------------------
+        # cv2.aruco.Board.matchImagePoints returns (M,1,3)/(M,1,2) on
+        # OpenCV 4 but a true (M,3)/(M,2) on OpenCV 5 (verified
+        # empirically 2026-08-03). Normalize back to the documented
+        # (M,1,3)/(M,1,2) shape so this method's return contract is
+        # stable regardless of the installed OpenCV version.
+        # -------------------------------------------------------------------
+        if objPoints.ndim == 2:
+            objPoints = objPoints[:, np.newaxis, :]
+        if imgPoints.ndim == 2:
+            imgPoints = imgPoints[:, np.newaxis, :]
+        return objPoints, imgPoints
 
     def chart(self, filename: str | None = None, dpi: int = 100) -> Image | None:
         """Write ArUco chart to a file

machinevisiontoolbox/ImageLineFeatures.py

@@ -156,8 +156,16 @@ class HoughFeature:
         )
         if lines is None:
             return np.zeros((0, 4))
-        else:
+        # --- OpenCV 4/5 compat -----------------------------------------
+        # OpenCV 5's HoughLinesP returns a true (N,4) array; OpenCV 4
+        # returns (N,1,4) (the old std::vector<T>-wrapping convention).
+        # Verified empirically 2026-08-03 (opencv-contrib-python 5.0.0.93
+        # vs 4.13.0.92). Drop the singleton middle dim only if present.
+        # -----------------------------------------------------------------
+        elif lines.ndim == 3 and lines.shape[1] == 1:
             return lines[:, 0, :]
+        else:
+            return lines
 
     def plot_lines(self, lines: np.ndarray, *args: Any, **kwargs: Any) -> None:
         r"""

machinevisiontoolbox/ImagePointFeatures.py

@@ -2014,6 +2014,25 @@ class LUCIDFeature(BaseFeature2D):
     pass
 
 
+# --- OpenCV 4/5 compat -------------------------------------------------
+# OpenCV 5 dropped BRISK/AKAZE/KAZE from the main cv2 namespace; they now
+# live under cv2.xfeatures2d (verified empirically 2026-08-02, opencv-
+# contrib-python 5.0.0.93 vs 4.13.0.92 -- no OPENCV_ENABLE_NONFREE build
+# flag needed for these, unlike SURF). SIFT/ORB are unaffected, stay in
+# main cv2 in both versions. Resolve by attribute existence, not a
+# version-string check, so this keeps working if a future OpenCV release
+# moves things back or a build has both.
+def _resolve_feature_create(name: str) -> Any:
+    if hasattr(cv2, f"{name}_create"):
+        return getattr(cv2, f"{name}_create")
+    if hasattr(cv2, "xfeatures2d") and hasattr(cv2.xfeatures2d, f"{name}_create"):
+        return getattr(cv2.xfeatures2d, f"{name}_create")
+    raise AttributeError(f"{name}_create not found in cv2 or cv2.xfeatures2d")
+
+
+# -------------------------------------------------------------------------
+
+
 class ImagePointFeaturesMixin(_ImageBase if TYPE_CHECKING else object):
     def _image2feature(
         self,
@@ -2030,8 +2049,8 @@ class ImagePointFeaturesMixin(_ImageBase if TYPE_CHECKING else object):
             "SIFT": getattr(cv2, "SIFT_create"),
             "ORB": getattr(cv2, "ORB_create"),
             "Harris": _Harris_create,
-            "BRISK": getattr(cv2, "BRISK_create"),
-            "AKAZE": getattr(cv2, "AKAZE_create"),
+            "BRISK": _resolve_feature_create("BRISK"),
+            "AKAZE": _resolve_feature_create("AKAZE"),
             # 'FREAK': (cv2.FREAK_create, FREAKFeature),
             # 'DAISY': (cv2.DAISY_create, DAISYFeature),
         }

machinevisiontoolbox/ImageRegionFeatures.py

@@ -173,6 +173,22 @@ class MSERFeature:
             self._points = [
                 mser.T for mser in msers
             ]  # transpose point arrays to be Nx2
+            # --- OpenCV 4/5 compat ---------------------------------------
+            # When no regions are found, OpenCV 5's detectRegions() returns
+            # an empty tuple () for bboxes instead of an empty ndarray(0,4)
+            # -- bboxes[:, 2:] then raises TypeError: tuple indices must be
+            # integers or slices, not tuple. Normalize first.
+            #
+            # Separately (not a shape issue, not fixable here): verified
+            # empirically 2026-08-03 that with identical default parameters
+            # and identical grayscale input, OpenCV 5's MSER finds fewer or
+            # zero regions compared to OpenCV 4 on real photos -- an
+            # upstream algorithm behavior change, not an API surface
+            # change. Logged as its own issue (#54), not something this
+            # compat fix can address.
+            # -----------------------------------------------------------------
+            if len(bboxes) == 0:
+                bboxes = np.zeros((0, 4), dtype=int)
             bboxes[:, 2:] = bboxes[:, 0:2] + bboxes[:, 2:]  # convert to lrtb
             self._bboxes = bboxes
 

machinevisiontoolbox/bin/mvtbtool.py

@@ -148,6 +148,15 @@ def parse_arguments():
         help="images to load on startup. These appear in the variable img; or img[0], img[1], ... if multiple are specified",
     )
 
+    parser.add_argument(
+        "--test",
+        default=False,
+        action="store_true",
+        help="non-interactive environment smoke test: print package versions, "
+        "exercise one real numeric code path per package, exit 0/1 "
+        "instead of starting an interactive shell",
+    )
+
     argv = env_arguments(parser) + sys.argv[1:]
     return parser.parse_known_args(argv)
 
@@ -183,23 +192,29 @@ def optional_torch_imports(enable):
     return modules, warnings
 
 
+def get_versions() -> list[str]:
+    """Package version strings shown in the banner and by --test."""
+    versions = [
+        f"Python=={sys.version.split('|')[0].strip()}",
+        f"MVTB=={version('machinevision-toolbox-python')}",
+        f"SMTB=={version('spatialmath-python')}",
+        f"NumPy=={version('numpy')}",
+        f"SciPy=={version('scipy')}",
+        f"Matplotlib=={version('matplotlib')}",
+        f"OpenCV=={cv2.__version__}",
+    ]
+    try:
+        versions.append(f"Open3D=={version('open3d')}")
+    except PackageNotFoundError:
+        versions.append("Open3D==not installed")
+    return versions
+
+
 def make_banner(args, optional_modules=None):
     if optional_modules is None:
         optional_modules = {}
 
-    versions = []
-
-    versions.append(f"Python=={sys.version.split('|')[0].strip()}")
-    versions.append(f"MVTB=={version('machinevision-toolbox-python')}")
-    versions.append(f"SMTB=={version('spatialmath-python')}")
-    versions.append(f"NumPy=={version('numpy')}")
-    versions.append(f"SciPy=={version('scipy')}")
-    versions.append(f"Matplotlib=={version('matplotlib')}")
-    versions.append(f"OpenCV=={cv2.__version__}")
-    try:
-        versions.append(f"Open3D=={version('open3d')}")
-    except PackageNotFoundError:
-        pass
+    versions = get_versions()
 
     if "torch" in optional_modules:
         versions.append(
@@ -260,7 +275,61 @@ func/object??      - show source code"""
         print(banner)
 
 
+def run_smoke_test() -> bool:
+    """Non-interactive environment sanity check, used by --test.
+
+    Not a substitute for the pytest suite -- a fast, human- or script-run
+    "did this environment actually come together correctly" check: real
+    versions, and one real numeric result per OpenCV- and Open3D-backed
+    code path, checked against a sanity condition rather than just "it
+    didn't raise". Missing optional dependencies (e.g. Open3D) are
+    reported as a FAIL with the reason, not silently skipped.
+    """
+    print(", ".join(get_versions()))
+
+    checks: list[tuple[str, bool]] = []
+
+    try:
+        img = Image.Read("monalisa.png", mono=True)
+        smoothed = img.smooth(sigma=2)
+        ok = smoothed.shape == img.shape and not np.array_equal(
+            smoothed.array, img.array
+        )
+        checks.append(("Image.Read + smooth() (OpenCV-backed)", ok))
+    except Exception as e:
+        checks.append((f"Image.Read + smooth() (OpenCV-backed): {e}", False))
+
+    try:
+        import open3d  # noqa: F401  -- presence check; PointCloud does the real work
+    except ImportError as e:
+        checks.append(
+            (f"PointCloud.Read('bunny.ply') + voxel_grid(): Open3D not installed ({e})", False)
+        )
+    else:
+        try:
+            bunny = PointCloud.Read("bunny.ply")
+            voxels = bunny.voxel_grid(voxel_size=0.01)
+            ok = len(bunny) > 0 and len(voxels._voxels.get_voxels()) > 0
+            checks.append(("PointCloud.Read('bunny.ply') + voxel_grid() (Open3D-backed)", ok))
+        except Exception as e:
+            checks.append(
+                (f"PointCloud.Read('bunny.ply') + voxel_grid() (Open3D-backed): {e}", False)
+            )
+
+    for name, passed in checks:
+        print(f"[{'PASS' if passed else 'FAIL'}] {name}")
+
+    n_passed = sum(1 for _, passed in checks if passed)
+    print(f"mvtbtool --test: {n_passed}/{len(checks)} checks passed")
+    return n_passed == len(checks)
+
+
 def main():
+    args, ipython_args = parse_arguments()
+
+    if args.test:
+        sys.exit(0 if run_smoke_test() else 1)
+
     try:
         import IPython
         from IPython.terminal.prompts import Prompts
@@ -273,7 +342,6 @@ def main():
             "    pip install machinevision-toolbox-python[tool]\n"
         )
 
-    args, ipython_args = parse_arguments()
     torch_modules, torch_warnings = optional_torch_imports(args.torch)
 
     if args.backend is not None: