Normalize OpenCV marker ID shapes in detect_markers and add matrix-safe pytest diagnostics artifacts

.github/workflows/main.yml

@@ -64,13 +64,29 @@ jobs:
 
       - name: Run tests
         if: matrix.os != 'windows-latest'
-        run: pytest tests -p no:cacheprovider -p no:faulthandler -p no:unraisableexception
+        run: |
+          mkdir -p "${{ github.workspace }}/test-reports"
+          pytest -vv --tb=long \
+            --junitxml="${{ github.workspace }}/test-reports/junit-${{ matrix.os }}-py${{ matrix.python-version }}.xml" \
+            tests -p no:cacheprovider -p no:faulthandler -p no:unraisableexception
 
       - name: Run tests (Windows, disable MSMF)
         if: matrix.os == 'windows-latest'
         env:
           OPENCV_VIDEOIO_PRIORITY_MSMF: "0"
-        run: pytest tests -p no:cacheprovider -p no:faulthandler -p no:unraisableexception
+        shell: pwsh
+        run: |
+          New-Item -ItemType Directory -Force -Path "${{ github.workspace }}/test-reports" | Out-Null
+          pytest -vv --tb=long `
+            --junitxml="${{ github.workspace }}/test-reports/junit-${{ matrix.os }}-py${{ matrix.python-version }}.xml" `
+            tests -p no:cacheprovider -p no:faulthandler -p no:unraisableexception
+
+      - name: Upload test report
+        if: always()
+        uses: actions/upload-artifact@v4
+        with:
+          name: pytest-junit-${{ matrix.os }}-py${{ matrix.python-version }}
+          path: ${{ github.workspace }}/test-reports/junit-${{ matrix.os }}-py${{ matrix.python-version }}.xml
 
   build-docs:
     runs-on: ubuntu-latest

pyneon/video/marker.py

@@ -78,6 +78,11 @@ def generate_marker(
     return img
 
 
+def _normalize_marker_id(marker_id: int | np.ndarray) -> int:
+    """Normalize marker IDs returned by OpenCV across shape variants."""
+    return int(np.asarray(marker_id).reshape(-1)[0])
+
+
 @fill_doc
 def detect_markers(
     video: "Video",
@@ -133,6 +138,7 @@ def _process_frame(frame_idx: int, gray_frame: np.ndarray) -> list[dict]:
 
             for corners, marker_id in zip(all_corners, all_ids):
                 corners = corners.reshape((4, 2))
+                marker_id_int = _normalize_marker_id(marker_id)
                 if fam_type == "april":
                     # For AprilTags, corners start with bottom right
                     # For ArUco, corners start with top left
@@ -147,8 +153,8 @@ def _process_frame(frame_idx: int, gray_frame: np.ndarray) -> list[dict]:
                         "timestamp [ns]": video.ts[frame_idx],
                         "frame index": frame_idx,
                         "marker family": fam_name,
-                        "marker id": int(marker_id[0]),
-                        "marker name": f"{fam_name}_{marker_id[0]}",
+                        "marker id": marker_id_int,
+                        "marker name": f"{fam_name}_{marker_id_int}",
                         "top left x [px]": corners[0, 0],
                         "top left y [px]": corners[0, 1],
                         "top right x [px]": corners[1, 0],

tests/test_video_marker.py

@@ -0,0 +1,43 @@
+import numpy as np
+import pytest
+
+from pyneon.video import marker
+
+
+class _DummyVideo:
+    def __init__(self):
+        self.ts = np.array([123], dtype=np.int64)
+
+    def reset(self):
+        return None
+
+    def read_frame_at(self, frame_index: int):
+        return np.zeros((2, 2, 3), dtype=np.uint8)
+
+
+@pytest.mark.parametrize("raw_marker_id", [7, np.array(7), np.array([7])])
+def test_normalize_marker_id_shapes(raw_marker_id):
+    normalized_marker_id = marker._normalize_marker_id(raw_marker_id)
+    assert isinstance(normalized_marker_id, int)
+    assert normalized_marker_id == 7
+
+
+@pytest.mark.parametrize("raw_marker_id", [7, np.array(7), np.array([7])])
+def test_detect_markers_normalizes_marker_id_shapes(monkeypatch, raw_marker_id):
+    class _DummyDetector:
+        def detectMarkers(self, gray_frame):
+            corners = [
+                np.array(
+                    [[[0.0, 0.0], [1.0, 0.0], [1.0, 1.0], [0.0, 1.0]]],
+                    dtype=np.float32,
+                )
+            ]
+            return corners, [raw_marker_id], None
+
+    monkeypatch.setattr(marker, "marker_family_to_dict", lambda _: ("aruco", object()))
+    monkeypatch.setattr(marker.cv2.aruco, "ArucoDetector", lambda *_: _DummyDetector())
+
+    detections = marker.detect_markers(_DummyVideo(), marker_family="5x5_50")
+
+    assert detections.data.iloc[0]["marker id"] == "7"
+    assert detections.data.iloc[0]["marker name"] == "5x5_50_7"