Improving marker color display.

1 files changed, 18 insertions, 16 deletions

diff --git a/src/argaze/utils/environment_edit.py b/src/argaze/utils/environment_edit.py
index 29fe384..ce6691c 100644
--- a/src/argaze/utils/environment_edit.py
+++ b/src/argaze/utils/environment_edit.py
@@ -137,9 +137,14 @@ def main():
                 # Detect markers
                 ar_environment.aruco_detector.detect_markers(video_frame)
 
-                # Draw focus area
-                cv2.rectangle(video_frame, (int(frame_width/6), 0), (int(frame_width*(1-1/6)), int(frame_height)), (255, 150, 150), 1)
-                       
+                # Edit marker's color
+                for i, m in ar_environment.aruco_detector.detected_markers.items():
+
+                    m.color = list(itertools.permutations([0, 255, 255]))[i]
+
+                    # Draw center
+                    cv2.circle(video_frame, m.center.astype(int), 5, m.color, -1)
+
                 # Write timing
                 cv2.rectangle(video_frame, (0, 0), (frame_width, 50), (63, 63, 63), -1)
                 cv2.putText(video_frame, f'Time: {int(current_frame_time)} ms', (20, 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
@@ -180,7 +185,8 @@ def main():
                         selected_marker = ar_environment.aruco_detector.detected_markers[selected_marker_id]
 
                         # Write selected marker id
-                        cv2.putText(info_frame, f'Selected marker #{selected_marker.identifier}', (20, 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
+                        cv2.rectangle(info_frame, (0, 0), (1000, 50), selected_marker.color, -1)
+                        cv2.putText(info_frame, f'Selected marker #{selected_marker.identifier}', (20, 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 0), 1, cv2.LINE_AA)
 
                         # Estimate selected marker pose
                         ar_environment.aruco_detector.estimate_markers_pose([selected_marker_id])
@@ -202,7 +208,7 @@ def main():
                         # Retreive selected marker place
                         selected_place = ar_scene.aruco_scene.places[selected_marker_id]
 
-                        cv2.putText(info_frame, f'Edited place #{selected_place.marker.identifier}', (520, 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
+                        cv2.putText(info_frame, f'Edited place #{selected_place.marker.identifier}', (520, 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 0), 1, cv2.LINE_AA)
 
                         # On right click
                         if right_button:
@@ -244,7 +250,6 @@ def main():
                         cv2.putText(info_frame, f'{R[1][0]:.3f}   {R[1][1]:.3f}   {R[1][2]:.3f}', (540, 200), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), 1, cv2.LINE_AA)
                         cv2.putText(info_frame, f'{R[2][0]:.3f}   {R[2][1]:.3f}   {R[2][2]:.3f}', (540, 240), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 0, 0), 1, cv2.LINE_AA)
                         
-                        
                         # Write edited place translation vector
                         T = edited_place.translation
                         cv2.putText(info_frame, f'Translation vector:', (520, 320), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
@@ -269,7 +274,7 @@ def main():
                         aoi_scene_projection = ar_scene.project(tvec, rmat, visual_hfov=TobiiSpecifications.VISUAL_HFOV)
 
                         # Draw AOI scene projection with gaze
-                        aoi_scene_projection.draw_circlecast(video_frame, gaze_position)
+                        aoi_scene_projection.draw_circlecast(video_frame, gaze_position, base_color=selected_marker.color, looked_color=selected_marker.color)
 
                     # Catch missing selected marker
                     except KeyError:
@@ -279,7 +284,7 @@ def main():
                 # No marker selected
                 else:
 
-                    cv2.putText(info_frame, f'Left click on marker to select it', (20, 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
+                    cv2.putText(info_frame, f'Left click on marker to select it', (20, 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
 
                     # Estimate all marker's pose
                     ar_environment.aruco_detector.estimate_markers_pose()
@@ -287,17 +292,14 @@ def main():
                     # Check markers consistency
                     consistent_markers, unconsistent_markers, unconsistencies = ar_scene.aruco_scene.check_markers_consistency(ar_environment.aruco_detector.detected_markers, ar_scene.angle_tolerance, ar_scene.distance_tolerance)
 
-                    # Edit marker's color
+                    # Set unconsistent marker color to red 
                     for i, m in ar_environment.aruco_detector.detected_markers.items():
-
-                        m.color = list(itertools.permutations([0, 255, 255]))[i]
-
-                        # Draw center
-                        cv2.circle(video_frame, m.center.astype(int), 5, m.color, -1)
-
-                        # Set unconsistent marker color to red 
                         if i in list(unconsistent_markers.keys()):
                             m.color = (0, 0, 255)
+
+                    # Write unconsistencies
+                    for i, (label, value) in enumerate(unconsistencies.items()):
+                        cv2.putText(info_frame, f'Unconsistent {label}: {value:.3f}', (20, 120+ i*40), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 1, cv2.LINE_AA)
  
                     # Single marker scene pose estimation
                     if pose_mode == 0: