Updated to a beta release

As this release is not stable, or properly formatted, it has been marked as a beta release
Renamed test files to be more specific

Signed-off-by: Alex Pereira <[email protected]>

pyproject.toml

@@ -17,7 +17,12 @@ name = "frc-apriltags"  # Required
 #
 # For a discussion on single-sourcing the version, see
 # https://packaging.python.org/guides/single-sourcing-package-version/
-version = "0.3.0" # Required
+version = "0.3.0.b0" # Required
+# Pre-releases denotations:
+# dev releases (denoted with a “.devN” suffix)
+# alpha releases (denoted with a “.aN” suffix)
+# beta releases (denoted with a “.bN” suffix)
+# release candidates (denoted with a “.rcN” suffix)
 
 # This is a one-line description or tagline of what your project does. This
 # corresponds to the "Summary" metadata field:

tests/test_detection.py

@@ -0,0 +1,32 @@
+# Import Classes
+from frc_apriltags.stream    import BasicStreaming
+from frc_apriltags.camera    import USBCamera
+from frc_apriltags.apriltags import Detector
+
+# Defines the camera resolutions (width x height)
+tagCamRes    = (1280, 720)
+
+# Creates a USBCamera and calibrates it
+camera    = USBCamera(camNum = 0, path = "/dev/v4l/by-path/platform-70090000.xusb-usb-0:2.4:1.0-video-index0", resolution = tagCamRes, calibrate = False)
+camMatrix = camera.getMatrix()
+
+# Prealocate space for the detection stream
+stream = camera.prealocateSpace(tagCamRes)
+
+# Instance creation
+detector  = Detector()
+
+# Main loop
+while (True):
+    # Gets the stream
+    stream = camera.getUndistortedStream()
+
+    # Runs April Tag detection on the undistorted image
+    results, stream = detector.detectTags(stream, camMatrix, 0)
+
+    # Displays the stream
+    camera.displayStream()
+
+    # Press q to end the program
+    if ( camera.getEnd() == True ):
+        break

tests/test_stream.py

@@ -0,0 +1,32 @@
+# Import Classes
+from frc_apriltags.stream    import BasicStreaming
+from frc_apriltags.camera    import USBCamera
+from frc_apriltags.apriltags import Detector
+
+# Defines the camera resolutions (width x height)
+tagCamRes    = (1280, 720)
+
+# Creates a USBCamera and calibrates it
+camera    = USBCamera(camNum = 0, path = "/dev/v4l/by-path/platform-70090000.xusb-usb-0:2.4:1.0-video-index0", resolution = tagCamRes, calibrate = False)
+camMatrix = camera.getMatrix()
+
+# Creates a camera for the drivers
+driverCam = BasicStreaming(camNum = 1, path = "/dev/v4l/by-path/platform-70090000.xusb-usb-0:2.2:1.0-video-index0")
+
+# Prealocate space for the detection stream
+stream = camera.prealocateSpace(tagCamRes)
+
+# Instance creation
+detector  = Detector()
+
+# Main loop
+while (True):
+    # Gets the stream
+    stream = camera.getUndistortedStream()
+
+    # Displays the stream
+    camera.displayStream()
+
+    # Press q to end the program
+    if ( camera.getEnd() == True ):
+        break