machinevision-toolbox-python 2.3.0__tar.gz → 2.4.1__tar.gz

machinevision_toolbox_python-2.4.1/.release-please-manifest.json

@@ -0,0 +1,3 @@
+{
+    ".": "2.4.1"
+}

machinevision_toolbox_python-2.4.1/AGENTS.md

@@ -0,0 +1,30 @@
+# machinevision-toolbox-python — Agent Instructions
+
+Part of the RVC ecosystem. **Read [rvc-ecosystem/AGENTS.md](https://github.com/petercorke/rvc-ecosystem/blob/main/AGENTS.md) first** — it defines shared conventions: repo ownership, math invariants, dependency boundaries, git/PR workflow, code standards, tech-debt tracking. This file only adds what's specific to this repo.
+
+| | |
+|---|---|
+| PyPI package | `machinevision-toolbox-python` |
+| Nickname | MVTB |
+| Owner | Peter Corke (`petercorke`) |
+| Default branch | `main` |
+| Contribution model | Branch → PR; direct push to `main` at Peter's discretion |
+
+## Notes specific to this repo
+
+- Pure Python — no compiled extensions, builds with Hatch (`hatchling`) directly.
+- Depends on `spatialmath`, `pgraph-python`, `ansitable`, plus the third-party `opencv-python`/
+  `opencv-contrib-python` and `open3d`.
+- `open3d` is consistently a Python version or two behind — never assume it supports the
+  latest Python release; check compatibility before bumping this repo's Python floor/ceiling.
+- OpenCV 5.x support was just added alongside the existing 4.x support (a major version jump,
+  not a minor bump). This is fresh work — aim to keep both working, but treat 4.x/5.x
+  compatibility friction as expected teething problems to fix, not a regression.
+- Tech-debt tracked as GitHub Issues labelled `tech-debt` (migrated 2026-08-02) — this repo
+  was first to migrate off `tech-debt.md`.
+- This repo's `.github/pull_request_template.md` and `.github/ISSUE_TEMPLATE/*.yml` are the
+  canonical source other repos' templates were copied from — check here first if updating
+  template content ecosystem-wide.
+- Codacy is wired in (badge + automated PR comments); grade A is the aspiration. Real backlog
+  exists, tracked via `tech-debt`-labelled issues (including a "mypy not in CI" entry) — see
+  ecosystem `AGENTS.md` §5 for how that target is framed.

{machinevision_toolbox_python-2.3.0 → machinevision_toolbox_python-2.4.1}/CHANGELOG.md

@@ -1,5 +1,67 @@
 # Changelog
 
+## [2.4.1](https://github.com/petercorke/machinevision-toolbox-python/compare/v2.4.0...v2.4.1) (2026-10-13)
+
+
+### Bug Fixes
+
+* BundleAdjust fixed landmarks and pgraph 1.0 Vertex ([1467091](https://github.com/petercorke/machinevision-toolbox-python/commit/14670915f109ea1b57ea3f3adc2d2f3805e53296))
+* BundleAdjust fixed landmarks and pgraph 1.0 Vertex ([195e895](https://github.com/petercorke/machinevision-toolbox-python/commit/195e895aa8240c722472fbd31a3be4b91ca9524d))
+* **docs:** install spatialmath and pgraph with deps=False in JupyterLite ([201f234](https://github.com/petercorke/machinevision-toolbox-python/commit/201f23487f9f7628d0df2b0cef386175740972a2))
+* **docs:** install spatialmath and pgraph with deps=False in JupyterLite ([5615b3b](https://github.com/petercorke/machinevision-toolbox-python/commit/5615b3b7d147e44ae1f2d032deec13bfc69f548a))
+* don't pass a positional argument to pgraph.UGraph ([f5590e0](https://github.com/petercorke/machinevision-toolbox-python/commit/f5590e03b6d35d2bcbf62519c1de82d231790169))
+* don't pass a positional argument to pgraph.UGraph ([6fb62e5](https://github.com/petercorke/machinevision-toolbox-python/commit/6fb62e50a8d79dd748fab62cbd3054e98af57375))
+* estimatePose misaligned ids and corners when other markers are in view ([43c5980](https://github.com/petercorke/machinevision-toolbox-python/commit/43c5980c94b42c861b1f6b441df3b39733412414))
+* FiducialCollection.estimatePose() misaligned ids and corners ([#52](https://github.com/petercorke/machinevision-toolbox-python/issues/52)) ([c054867](https://github.com/petercorke/machinevision-toolbox-python/commit/c0548678c81b2ba46b279946e00a5276a2f9e2ae))
+* remove labeltool console script that points at a module that was never committed ([#117](https://github.com/petercorke/machinevision-toolbox-python/issues/117)) ([ef39fa9](https://github.com/petercorke/machinevision-toolbox-python/commit/ef39fa96b89ac7f9723442230baf27e1a5b6140e))
+* remove labeltool console script whose module was never committed ([30b5c6a](https://github.com/petercorke/machinevision-toolbox-python/commit/30b5c6a9ad19b1b73ad969897abee61c0ad556a5))
+
+
+### Documentation
+
+* add a script and README for the block icons ([1185da9](https://github.com/petercorke/machinevision-toolbox-python/commit/1185da946260c675561405c4c6059eeace2d1d6d))
+* add a script and README for the block icons ([2206b53](https://github.com/petercorke/machinevision-toolbox-python/commit/2206b532e03af6ea8a6cf85c0a0855fcb95b2a52))
+* add Codacy grade badge to README ([f91ed2c](https://github.com/petercorke/machinevision-toolbox-python/commit/f91ed2c8a74daf8baf01632548d3d3c23fc06293))
+* add CONTRIBUTING.md ([1885fc1](https://github.com/petercorke/machinevision-toolbox-python/commit/1885fc153bf885fa317473cb5b1f7d887cbe0f97))
+* note how to use a phone as a camera in WebCam and VideoCamera ([76cea5e](https://github.com/petercorke/machinevision-toolbox-python/commit/76cea5e6f035b558330c0aab1bf7a036100dbf92))
+* note how to use a phone as a camera in WebCam and VideoCamera ([72ca04b](https://github.com/petercorke/machinevision-toolbox-python/commit/72ca04b30f0f87af1118659d74e59b32978902d0))
+
+## [2.4.0](https://github.com/petercorke/machinevision-toolbox-python/compare/v2.3.0...v2.4.0) (2026-08-25)
+
+
+### Features
+
+* add __array__ protocol to Image and Kernel, ndim to Kernel ([e762f57](https://github.com/petercorke/machinevision-toolbox-python/commit/e762f578faa269655cbd06b02d48c4c30d48c516))
+* relax opencv pin to support both 4.x and 5.x, add CI matrix axis ([2ec69fe](https://github.com/petercorke/machinevision-toolbox-python/commit/2ec69fe4d116bb51f717e0a4a3c8baed95a7101f)), closes [#44](https://github.com/petercorke/machinevision-toolbox-python/issues/44)
+
+
+### Bug Fixes
+
+* assert hygiene -- unreachable assert, two caller-facing checks ([7afe33e](https://github.com/petercorke/machinevision-toolbox-python/commit/7afe33eb02af65d4e64d52481f668a610f63b807))
+* CameraBase.plot() unbound call (self=None) crashed instead of working ([e2d4600](https://github.com/petercorke/machinevision-toolbox-python/commit/e2d460029d6ef1d5bb807168f37b37b3eb10ff1c))
+* catch cv2.error in points2F(), not just F/mask=None ([c4197cb](https://github.com/petercorke/machinevision-toolbox-python/commit/c4197cbd22784b8c002df8a02bb95764dc589b50))
+* correct stale open3d-python PyPI name, add py3.13 exclusion marker ([87c1e8f](https://github.com/petercorke/machinevision-toolbox-python/commit/87c1e8f5a2eb3a2b17f2a1f1c182b22fbb025483))
+* esttheta() -- broken pickregion() helper and missing theta-sweep body ([50b00cc](https://github.com/petercorke/machinevision-toolbox-python/commit/50b00cc95c15b56b3598505f4cd532a0612f6ff9))
+* exclude tests/ from Bandit's assert_used (B101) check ([e62b116](https://github.com/petercorke/machinevision-toolbox-python/commit/e62b116e0b57aef73882ee4689153eda326c399f))
+* Histogram.plot(type='ncdf') never actually worked, docstring lied ([6d4152d](https://github.com/petercorke/machinevision-toolbox-python/commit/6d4152d58bb63970863ff0ca49593c21ec815b5b))
+* idisp() crashes when reuse=True with no title given ([a05b13b](https://github.com/petercorke/machinevision-toolbox-python/commit/a05b13b93ab4ed03397548348e8de48230b284f3))
+* Image.metadata() missing camera-specific Exif sub-IFD tags ([d554ef2](https://github.com/petercorke/machinevision-toolbox-python/commit/d554ef257d2d494c66daaf928114c8097fb8fb91))
+* Image() drops maxintval when dtype= is also given, silently truncating ([15f1d32](https://github.com/petercorke/machinevision-toolbox-python/commit/15f1d32576183c862592dca009828ea7e2765d79))
+* Image(dtype='float') resolved to float64, not float32 ([18c5d85](https://github.com/petercorke/machinevision-toolbox-python/commit/18c5d85d82ebd2c09a43adb278e4435658f0c2b7))
+* ImageConstantsMixin factories silently downcast explicit dtype requests ([977dbf6](https://github.com/petercorke/machinevision-toolbox-python/commit/977dbf6402307f38f695c697d68009ddd914d237))
+* mvtbtool's %precision line spuriously echoes with --showassign ([ed43ca6](https://github.com/petercorke/machinevision-toolbox-python/commit/ed43ca64652a7d64a4536ae5665e672ffcc7db4a))
+* name2color() colororder reordering returns list, not ndarray ([c90e6fb](https://github.com/petercorke/machinevision-toolbox-python/commit/c90e6fb4db7814707fd1548a7d87b1057b665499))
+* PointCloud.Read() double-joins a caller-supplied "data/" prefix ([fff671c](https://github.com/petercorke/machinevision-toolbox-python/commit/fff671cdd28c85a555ee9fc0b7dd6f4bad4eccc9))
+* printstats() crashes if .stats hasn't been accessed yet ([3484224](https://github.com/petercorke/machinevision-toolbox-python/commit/34842247c529159364591528ec109deac182899f))
+* suppress divide-by-zero RuntimeWarning in BagOfWords idf computation ([05c85e0](https://github.com/petercorke/machinevision-toolbox-python/commit/05c85e0189061019dc55888b33ddb30cc3e9d9ae))
+* visual-odometry robustness -- match() metric, points2F(), BundleAdjust ([8691847](https://github.com/petercorke/machinevision-toolbox-python/commit/8691847df58cc3cf003838436f7d94c59d5ae609))
+
+
+### Documentation
+
+* add AGENTS.md stub linking to rvc-ecosystem conventions ([0827291](https://github.com/petercorke/machinevision-toolbox-python/commit/082729184414b821a9e610f8a409f5cbeabc308c))
+* points2F() kwargs -- correct which params apply to which method ([6b10d64](https://github.com/petercorke/machinevision-toolbox-python/commit/6b10d6401925564163568a09e1e504c99eec99fa))
+
 ## [2.3.0](https://github.com/petercorke/machinevision-toolbox-python/compare/v2.2.0...v2.3.0) (2026-08-13)
 
 **Highlight: Notebooks working in all environments** Fixed a number of problems with getting notebooks to execute in desktop Jupyter, Colab, and

{machinevision_toolbox_python-2.3.0 → machinevision_toolbox_python-2.4.1}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.5
 Name: machinevision-toolbox-python
-Version: 2.3.0
+Version: 2.4.1
 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
@@ -18,14 +18,15 @@ Classifier: Programming Language :: Python :: 3.10
 Classifier: Programming Language :: Python :: 3.11
 Classifier: Programming Language :: Python :: 3.12
 Classifier: Programming Language :: Python :: 3.13
+Classifier: Programming Language :: Python :: 3.14
 Requires-Python: >=3.10
 Requires-Dist: ansitable
 Requires-Dist: matplotlib
 Requires-Dist: mvtb-data
 Requires-Dist: numpy
-Requires-Dist: opencv-contrib-python<5.0.0
-Requires-Dist: opencv-python<5.0.0
-Requires-Dist: pgraph-python
+Requires-Dist: opencv-contrib-python<6.0.0,>=4.5
+Requires-Dist: opencv-python<6.0.0,>=4.5
+Requires-Dist: pgraph-python>=0.6.4
 Requires-Dist: pillow
 Requires-Dist: requests
 Requires-Dist: scipy
@@ -35,7 +36,7 @@ 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: open3d; extra == 'all'
 Requires-Dist: pygments; extra == 'all'
 Requires-Dist: pytesseract; extra == 'all'
 Requires-Dist: rosbags; extra == 'all'
@@ -64,7 +65,7 @@ Requires-Dist: ipywidgets; extra == 'jupyter'
 Provides-Extra: ocr
 Requires-Dist: pytesseract; extra == 'ocr'
 Provides-Extra: open3d
-Requires-Dist: open3d-python; extra == 'open3d'
+Requires-Dist: open3d; extra == 'open3d'
 Provides-Extra: ros
 Requires-Dist: rosbags; extra == 'ros'
 Requires-Dist: roslibpy; extra == 'ros'
@@ -105,6 +106,7 @@ Description-Content-Type: text/markdown
 [![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)
+[![Codacy Badge](https://app.codacy.com/project/badge/Grade/2368752f2103490b81210d716bb0fb46)](https://app.codacy.com/gh/petercorke/machinevision-toolbox-python/dashboard)
 [![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](https://opensource.org/licenses/MIT)
 
 ### Ecosystem & Dependencies

{machinevision_toolbox_python-2.3.0 → machinevision_toolbox_python-2.4.1}/README.md

@@ -27,6 +27,7 @@
 [![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)
+[![Codacy Badge](https://app.codacy.com/project/badge/Grade/2368752f2103490b81210d716bb0fb46)](https://app.codacy.com/gh/petercorke/machinevision-toolbox-python/dashboard)
 [![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](https://opensource.org/licenses/MIT)
 
 ### Ecosystem & Dependencies

{machinevision_toolbox_python-2.3.0 → machinevision_toolbox_python-2.4.1}/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "machinevision-toolbox-python"
-version = "2.3.0"
+version = "2.4.1"
 authors = [{ name = "Peter Corke", email = "rvc@petercorke.com" }]
 description = "Object-oriented machine vision for Python."
 readme = "README.md"
@@ -14,6 +14,7 @@ classifiers = [
     "Programming Language :: Python :: 3.11",
     "Programming Language :: Python :: 3.12",
     "Programming Language :: Python :: 3.13",
+    "Programming Language :: Python :: 3.14",
 
     "License :: OSI Approved :: MIT License",
     "Operating System :: OS Independent",
@@ -39,10 +40,10 @@ dependencies = [
     "scipy",
     "matplotlib",
     "pillow",
-    "opencv-python<5.0.0",
-    "opencv-contrib-python<5.0.0",
+    "opencv-python>=4.5,<6.0.0",
+    "opencv-contrib-python>=4.5,<6.0.0",
     "spatialmath-python",
-    "pgraph-python",
+    "pgraph-python>=0.6.4",
     "ansitable",
     "mvtb-data",
     "requests",
@@ -62,7 +63,7 @@ dependencies = [
 #  dev - development tools
 #  docs - documentation building tools
 #  jupyter - jupyter notebook support
-#  open3d - open3d support (open3d generally won't work with latest Python)
+#  open3d - open3d support
 #  all - all runtime optional features below
 #  ocr - OCR support via pytesseract
 #  tool - dependencies for the mvtbtool interactive shell
@@ -86,7 +87,7 @@ docs = [
 
 jupyter = ["ipywidgets", "ipympl"]
 
-open3d = ["open3d-python"]
+open3d = ["open3d"]
 
 torch = ["torch"]
 
@@ -95,7 +96,7 @@ ocr = ["pytesseract"]
 all = [
     "ipywidgets",
     "ipympl",
-    "open3d-python",
+    "open3d",
     "torch",
     "pytesseract",
     "rosbags",
@@ -119,6 +120,14 @@ select = ["E", "F", "I"]
 [tool.ruff.lint.isort]
 known-first-party = ["machinevisiontoolbox"]
 
+[tool.bandit]
+# bare `assert` is idiomatic pytest style, not a security concern -- Bandit's
+# B101 ("assert used") is meant for src/, where assert can silently vanish
+# under `python -O`. Excluding tests/ keeps that check meaningful without
+# flagging every test assertion (Codacy runs Bandit via Prospector and
+# honours this file).
+exclude_dirs = ["tests"]
+
 [tool.pyright]
 include = ["src"]
 ignore = ["docs", "tests", "examples"]
@@ -129,7 +138,6 @@ imtool = "machinevisiontoolbox.bin.imtool:main"
 tagtool = "machinevisiontoolbox.bin.tagtool:main"
 ocrtool = "machinevisiontoolbox.bin.ocrtool:main"
 bagtool = "machinevisiontoolbox.bin.bagtool:main"
-labeltool = "machinevisiontoolbox.bin.labeltool:main"
 
 [build-system]
 requires = ["hatchling"]

{machinevision_toolbox_python-2.3.0 → machinevision_toolbox_python-2.4.1}/src/machinevisiontoolbox/BagOfWords.py

@@ -58,6 +58,13 @@ class BagOfWords:
         of image features is assigned labels from the ``.centroids`` any with a
         label greater that ``.nstopwords`` is a stop word and can be discarded.
 
+        .. note:: Removing stop words can leave a remaining word that never
+            occurs in any image, giving it an inverse document frequency (idf)
+            of ``inf`` (``log(N / 0)``). This is harmless -- every place idf is
+            used to compute a word-frequency vector, the corresponding word
+            count is also always zero there, so the ``0 * inf`` result is
+            ``nan`` and gets replaced with 0 before the vector is returned.
+
         :reference:
             - Video Google: a text retrieval approach to object matching in videos
               J.Sivic and A.Zisserman,
@@ -139,7 +146,12 @@ class BagOfWords:
         # total number of occurrences of word i
         # multiple occurrences in the one image count only as one
         ni = (W > 0).sum(axis=1)
-        idf = np.log(N / ni)
+        # a word that never occurs in any image (ni=0, possible after
+        # stopword removal) gives idf=inf here; harmless since nid is
+        # always 0 at that same position below, so 0*inf->nan, already
+        # suppressed by the invalid="ignore" there.
+        with np.errstate(divide="ignore"):
+            idf = np.log(N / ni)
 
         M = []