Attempt to fix typing

WillB97 · Dec 7, 2024 · 16496e5 · 16496e5
1 parent 4301fe2
commit 16496e5
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Showing 2 changed files with 8 additions and 8 deletions.
diff --git a/april_vision/utils.py b/april_vision/utils.py
@@ -5,7 +5,6 @@
 from typing import Deque, NamedTuple, Optional, Tuple, Union
 
 import cv2
-import numpy as np
 from numpy.typing import NDArray
 
 from .marker import Marker, PixelCoordinates
@@ -62,7 +61,7 @@ def annotate_text(
         cv2.putText(
             frame_type,
             text,
-            np.array(location, dtype=np.int32),
+            location,
             cv2.FONT_HERSHEY_DUPLEX,
             text_scale,
             color=text_colour,  # in BGR

diff --git a/april_vision/vision.py b/april_vision/vision.py
@@ -9,7 +9,7 @@
 from pyapriltags import Detector
 
 from .frame_sources import FrameSource
-from .marker import Marker
+from .marker import Marker, PixelCoordinates
 from .utils import Frame, normalise_marker_text
 
 LOGGER = logging.getLogger(__name__)
@@ -122,7 +122,7 @@ def _annotate(
             for frame_type in frame:
                 cv2.polylines(
                     frame_type,
-                    [integer_corners],
+                    integer_corners.tolist(),
                     isClosed=True,
                     color=(0, 255, 0),  # Green (BGR)
                     thickness=line_thickness,
@@ -148,7 +148,7 @@ def _annotate(
 
                 cv2.polylines(
                     frame_type,
-                    [origin_square],
+                    origin_square.tolist(),
                     isClosed=True,
                     color=(0, 0, 255),  # red
                     thickness=line_thickness,
@@ -157,9 +157,10 @@ def _annotate(
                 marker_text_scale = text_scale * normalise_marker_text(marker)
 
                 # Approximately center the text
-                text_origin = np.array(marker.pixel_centre, dtype=np.int32)
-                text_origin += np.array(
-                    [-40 * marker_text_scale, 10 * marker_text_scale], dtype=np.int32)
+                text_origin = PixelCoordinates(
+                    marker.pixel_centre.x - 40 * marker_text_scale,
+                    marker.pixel_centre.y + 10 * marker_text_scale,
+                )
 
                 cv2.putText(
                     frame_type,