feat(clip): detect aruco markers

tests/unit/upload_processing/test_clip.py

@@ -2,9 +2,13 @@
 
 import cv2
 import pytest
+from approvaltests import Options, verify_binary
 
-from sketch_map_tool.upload_processing.clip import clip
+from sketch_map_tool.upload_processing.clip import clip, detect_aruco_markers
 from tests import FIXTURE_DIR
+from tests.namer import PytestNamer
+from tests.reporter import NDArrayReporter
+from tests.unit.helper import serialize_ndarray
 
 MAP_CUTTING_FIXTURE_DIR = FIXTURE_DIR / "map-cutting"
 
@@ -115,6 +119,34 @@ def test_clip_failure(
     # cv2.destroyAllWindows()
 
 
+@pytest.fixture
+def sketch_map_photo():
+    raw = cv2.imread(str(FIXTURE_DIR / "clip" / "sketch-map-photo.png"))
+    return cv2.cvtColor(raw, cv2.COLOR_RGB2BGR)
+
+
+def test_detect_aruco_markers(sketch_map_photo):
+    marker_corners, marker_ids = detect_aruco_markers(sketch_map_photo)
+    cv2.aruco.drawDetectedMarkers(
+        sketch_map_photo,
+        marker_corners,
+        marker_ids,
+        borderColor=(0, 255, 0),  # red
+    )
+    # fmt: off
+    options = (
+            Options()
+            .with_reporter(NDArrayReporter())
+            .with_namer(PytestNamer())
+    )
+    # fmt: on
+    verify_binary(
+        serialize_ndarray(sketch_map_photo),
+        ".npy",
+        options=options,
+    )
+
+
 # TODO: Improve map cutting to also work in the case of few features
 # def test_cut_out_few_features(template_upload_few_features):
 #     template, upload = template_upload_few_features