From 79ae447e005e486f660570567ed94adbcf892635 Mon Sep 17 00:00:00 2001
From: WillB97 <will@rudi.org.uk>
Date: Sat, 7 Dec 2024 10:38:12 +0000
Subject: [PATCH] Attempt to fix typing

---
 april_vision/utils.py  |  5 +++--
 april_vision/vision.py | 13 +++++++------
 2 files changed, 10 insertions(+), 8 deletions(-)

diff --git a/april_vision/utils.py b/april_vision/utils.py
index bec9fa1..6999e9e 100644
--- a/april_vision/utils.py
+++ b/april_vision/utils.py
@@ -30,7 +30,8 @@ def from_colour_frame(
         if colourspace is not None:
             grey_frame = cv2.cvtColor(colour_frame, colourspace)
         else:
-            grey_frame = colour_frame.copy()
+            # Mypy doesn't understand that Mat is a numpy array
+            grey_frame = colour_frame.copy()  # type: ignore[assignment]
 
         return cls(
             grey_frame=grey_frame,
@@ -62,7 +63,7 @@ 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
index 93d4b96..337b5bb 100644
--- 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,