Mirko HollerandClaude Sonnet 5
b48aaa6ade
Real captures (a photo of the gripper/sample gap against a CNC-machined metal background, and the existing flomni reference_images/ set) show dense machining scratches registering as Canny edges as strongly as the actual object boundary, at any threshold -- verified on one real capture: low=50/high=150 finds ~203k edge pixels, low=150/high=250 still ~76k, both dominated by texture rather than the gripper. Raising thresholds alone can't separate "faint real edge" from "strong but irrelevant texture" when both survive at the same gradient magnitude. vision_toolkit.detect_edges() gains a blur_ksize parameter (Gaussian blur before Canny, 0 = off) for exactly this: blurring suppresses fine texture while leaving the coarser real edge mostly intact. On the same capture, adding blur_ksize=9 on top of low=150/high=250 drops the edge count to ~5k; blur_ksize=15 to ~1.8k. VisionInterface exposes this as live device state (set_edge_params()/ get_edge_params(), used by "edges" mode), and VisionTuning gains edge low/high/ blur spin boxes (enabled only in "edges" mode) next to the existing mode/ROI controls, so tuning is visual and interactive rather than a blind parameter sweep. VISION_PIPELINE_TESTING_HOWTO.md's manual edge-inspection section is extended accordingly. Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01DQpiwJcJZJKGo6Pzozfsi1
Getting Started with Testing using pytest
BEC is using the pytest framework. It can be installed via
pip install pytest
in your python environment.
We note that pytest is part of the optional-dependencies [dev] of the plugin package.
Introduction
Tests in this package should be stored in the tests directory.
We suggest to sort tests of different submodules, i.e. scans or devices in the respective folder structure, and to folow a naming convention of <test_module_name.py>.
It is mandatory for test files to begin with test_ for pytest to discover them.
To run all tests, navigate to the directory of the plugin from the command line, and run the command
pytest -v --random-order ./tests
Note, the python environment needs to be active.
The additional arg -v allows pytest to run in verbose mode which provides more detailed information about the tests being run.
The argument --random-order instructs pytest to run the tests in random order, which is the default in the CI pipelines.
Test examples
Writing tests can be quite specific for the given function. We recommend writing tests as isolated as possible, i.e. try to test single functions instead of full classes. A very useful class to enable isolated testing is MagicMock. In addition, we also recommend to take a look at the How-to guides from pytest.