Fixing aruco marker export script.

2 files changed, 21 insertions, 30 deletions

diff --git a/src/argaze/ArUcoMarker/ArUcoDetector.py b/src/argaze/ArUcoMarker/ArUcoDetector.py
index 4a011d6..32a7f3f 100644
--- a/src/argaze/ArUcoMarker/ArUcoDetector.py
+++ b/src/argaze/ArUcoMarker/ArUcoDetector.py
@@ -193,7 +193,7 @@ class ArUcoDetector(DataFeatures.PipelineStepObject):
 		self.__detected_markers, detected_markers_corners, detected_markers_ids = {}, [], []
 
 		# Detect markers into gray picture
-		detected_markers_corners, detected_markers_ids, _ = aruco.detectMarkers(cv.cvtColor(image, cv.COLOR_BGR2GRAY), self.__dictionary.markers, parameters=self.__parameters.internal)
+		detected_markers_corners, detected_markers_ids, _ = aruco.detectMarkers(cv.cvtColor(image, cv.COLOR_BGR2GRAY), self.__dictionary.markers, parameters=self.__parameters.internal if self.__parameters else None)
 
 		# Is there detected markers ?
 		if len(detected_markers_corners) > 0:
diff --git a/src/argaze/utils/aruco_marker_group_export.py b/src/argaze/utils/aruco_marker_group_export.py
index 5503747..47aba86 100644
--- a/src/argaze/utils/aruco_marker_group_export.py
+++ b/src/argaze/utils/aruco_marker_group_export.py
@@ -37,14 +37,11 @@ def main():
 	# Manage arguments
 	parser = argparse.ArgumentParser(description=main.__doc__.split('-')[0])
 	parser.add_argument('movie', metavar='MOVIE', type=str, default=None, help='movie path')
-	parser.add_argument('dictionary', metavar='DICTIONARY', type=str, default=None,
-						help='expected ArUco markers dictionary')
+	parser.add_argument('dictionary', metavar='DICTIONARY', type=str, default=None, help='expected ArUco markers dictionary')
 	parser.add_argument('size', metavar='SIZE', type=float, default=None, help='expected ArUco markers size (in cm)')
 
-	parser.add_argument('-p', '--parameters', metavar='PARAMETERS', type=str, default=None,
-						help='ArUco detector parameters file')
-	parser.add_argument('-op', '--optic_parameters', metavar='OPTIC_PARAMETERS', type=str, default=None,
-						help='ArUco detector optic parameters file')
+	parser.add_argument('-p', '--parameters', metavar='PARAMETERS', type=str, default=None, help='ArUco detector parameters file')
+	parser.add_argument('-op', '--optic_parameters', metavar='OPTIC_PARAMETERS', type=str, default=None, help='ArUco detector optic parameters file')
 
 	parser.add_argument('-s', '--start', metavar='START', type=float, default=0., help='start time in second')
 	parser.add_argument('-o', '--output', metavar='OUTPUT', type=str, default='.', help='export folder path')
@@ -74,6 +71,12 @@ def main():
 	# Load ArUco detector configuration
 	aruco_detector = DataFeatures.from_dict(ArUcoDetector.ArUcoDetector, configuration)
 
+	# Create default optic parameters adapted to frame size
+	if aruco_detector.optic_parameters is None:
+
+		# Note: The choice of 1000 for default focal length should be discussed...
+		aruco_detector.optic_parameters = ArUcoOpticCalibrator.OpticParameters(rms=-1, dimensions=(image_width, image_height), K=ArUcoOpticCalibrator.K0(focal_length=(1000., 1000.), width=image_width, height=image_height))
+
 	if args.verbose:
 		print(aruco_detector)
 
@@ -111,13 +114,6 @@ def main():
 
 				video_height, video_width, _ = video_image.shape
 
-				# Create default optic parameters adapted to frame size
-				if aruco_detector.optic_parameters is None:
-					# Note: The choice of 1000 for default focal length should be discussed...
-					aruco_detector.optic_parameters = ArUcoOpticCalibrator.OpticParameters(rms=-1, dimensions=(
-						video_width, video_height), K=ArUcoOpticCalibrator.K0(focal_length=(1000., 1000.),
-																			  width=video_width, height=video_height))
-
 				if success:
 
 					# Refresh once
@@ -126,6 +122,9 @@ def main():
 					current_image_index = video_capture.get(cv2.CAP_PROP_POS_FRAMES) - 1
 					current_image_time = video_capture.get(cv2.CAP_PROP_POS_MSEC)
 
+					# Timestamp image
+					video_image = DataFeatures.TimestampedImage(video_image, timestamp=current_image_time)
+
 					try:
 
 						# Detect and project AR features
@@ -135,8 +134,7 @@ def main():
 						aruco_detector.estimate_markers_pose(args.size)
 
 						# Build aruco scene from detected markers
-						aruco_markers_group = ArUcoMarkerGroup.ArUcoMarkerGroup(aruco_detector.dictionary,
-																				  aruco_detector.detected_markers())
+						aruco_markers_group = ArUcoMarkerGroup.ArUcoMarkerGroup(dictionary=aruco_detector.dictionary, places=aruco_detector.detected_markers())
 
 						# Detection succeeded
 						exception = None
@@ -152,27 +150,20 @@ def main():
 					aruco_detector.draw_detected_markers(video_image, draw_parameters)
 
 					# Write detected markers
-					cv2.putText(video_image, f'Detecting markers {list(aruco_detector.detected_markers().keys())}',
-								(20, video_height - 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
+					cv2.putText(video_image, f'Detecting markers {list(aruco_detector.detected_markers().keys())}', (20, video_height - 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
 
 					# Write timing
-					cv2.putText(video_image, f'Frame at {int(current_image_time)}ms', (20, 40),
-								cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
+					cv2.putText(video_image, f'Frame at {int(current_image_time)}ms', (20, 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
 
 					# Write exception
 					if exception is not None:
-						cv2.putText(video_image, f'error: {exception}', (20, 80), cv2.FONT_HERSHEY_SIMPLEX, 1,
-									(0, 255, 255), 1, cv2.LINE_AA)
+						cv2.putText(video_image, f'error: {exception}', (20, 80), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
 
 					# Write documentation
-					cv2.putText(video_image, f'<- previous image', (video_width - 500, video_height - 160),
-								cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
-					cv2.putText(video_image, f'-> next image', (video_width - 500, video_height - 120),
-								cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
-					cv2.putText(video_image, f'r: reload config', (video_width - 500, video_height - 80),
-								cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
-					cv2.putText(video_image, f'Ctrl+s: export ArUco markers', (video_width - 500, video_height - 40),
-								cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
+					cv2.putText(video_image, f'<- previous image', (video_width - 500, video_height - 160), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
+					cv2.putText(video_image, f'-> next image', (video_width - 500, video_height - 120), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
+					cv2.putText(video_image, f'r: reload config', (video_width - 500, video_height - 80), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
+					cv2.putText(video_image, f'Ctrl+s: export ArUco markers', (video_width - 500, video_height - 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
 
 					# Copy image
 					current_image = video_image.copy()