From dbd81b67f1f255711bac23747ca2804a8d4635f1 Mon Sep 17 00:00:00 2001
From: WillB97 <will@rudi.org.uk>
Date: Sat, 7 Dec 2024 11:38:40 +0000
Subject: [PATCH] Fix typing of updated numpy and opencv

---
 april_vision/cli/calibrate.py |  3 ++-
 april_vision/utils.py         |  6 +++---
 april_vision/vision.py        | 13 ++++++++-----
 3 files changed, 13 insertions(+), 9 deletions(-)

diff --git a/april_vision/cli/calibrate.py b/april_vision/cli/calibrate.py
index e794440..299bd1f 100644
--- a/april_vision/cli/calibrate.py
+++ b/april_vision/cli/calibrate.py
@@ -154,7 +154,8 @@ def main(args: argparse.Namespace) -> None:
     width, height = frames[0].grey_frame.shape[::-1]
 
     # Calculate the camera calibration
-    reproj_error, camera_matrix, dist_coeff, _rvec, _tvec = cv2.calibrateCamera(
+    # typehints are incorrect for this function, so we ignore them
+    reproj_error, camera_matrix, dist_coeff, _rvec, _tvec = cv2.calibrateCamera(  # type: ignore[call-overload,unused-ignore]
         objectPoints,
         imagePoints,
         (width, height),
diff --git a/april_vision/utils.py b/april_vision/utils.py
index bec9fa1..eea8464 100644
--- 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
@@ -30,7 +29,8 @@ 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 until numpy 2.1
+            grey_frame = colour_frame.copy()  # type: ignore[assignment,unused-ignore]
 
         return cls(
             grey_frame=grey_frame,
@@ -62,7 +62,7 @@ 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..1066173 100644
--- a/april_vision/vision.py
+++ b/april_vision/vision.py
@@ -122,7 +122,8 @@ def _annotate(
             for frame_type in frame:
                 cv2.polylines(
                     frame_type,
-                    [integer_corners],
+                    # mypy doesn't understand that Mat is a numpy array until numpy 2.1
+                    [integer_corners],  # type: ignore[assignment,unused-ignore]
                     isClosed=True,
                     color=(0, 255, 0),  # Green (BGR)
                     thickness=line_thickness,
@@ -148,7 +149,8 @@ def _annotate(
 
                 cv2.polylines(
                     frame_type,
-                    [origin_square],
+                    # mypy doesn't understand that Mat is a numpy array until numpy 2.1
+                    [origin_square],  # type: ignore[assignment,unused-ignore]
                     isClosed=True,
                     color=(0, 0, 255),  # red
                     thickness=line_thickness,
@@ -157,9 +159,10 @@ 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 = (
+                    int(marker.pixel_centre.x - 40 * marker_text_scale),
+                    int(marker.pixel_centre.y + 10 * marker_text_scale),
+                )
 
                 cv2.putText(
                     frame_type,