Allowing to select translation or rotation trnaformation. Editing relatively to the marker center.

1 files changed, 44 insertions, 14 deletions

diff --git a/src/argaze/utils/edit_tobii_segment_aruco_pose.py b/src/argaze/utils/edit_tobii_segment_aruco_pose.py
index fd8f45b..238a0b7 100644
--- a/src/argaze/utils/edit_tobii_segment_aruco_pose.py
+++ b/src/argaze/utils/edit_tobii_segment_aruco_pose.py
@@ -57,7 +57,10 @@ def main():
                 destination_path = args.segment_path
 
                 # Export into a dedicated time range folder
-                timerange_path = f'[{int(args.time_range[0])}s - {int(args.time_range[1])}s]'
+                if args.time_range[1] != None:
+                    timerange_path = f'[{int(args.time_range[0])}s - {int(args.time_range[1])}s]'
+                else:
+                    timerange_path = f'[all]'
 
                 destination_path = f'{destination_path}/{timerange_path}'
 
@@ -137,6 +140,7 @@ def main():
         left_click = (0, 0)
         right_click = (0, 0)
         right_button = False
+        edit_trans = False # translate
         edit_coord = 0 # x
 
         # On mouse left left_click : update pointer position
@@ -215,14 +219,18 @@ def main():
                 # Write selected marker id
                 if selected_marker_id >= 0:
 
-                    cv.putText(video_frame.matrix, f'Marker {selected_marker_id} : Axis {edit_coord + 1} selected', (20, 80), cv.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), 1, cv.LINE_AA)
+                    if edit_trans:
+                        cv.putText(video_frame.matrix, f'Marker {selected_marker_id} R Axis {edit_coord + 1} selected', (20, 80), cv.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), 1, cv.LINE_AA)
+                    else:
+                        cv.putText(video_frame.matrix, f'Marker {selected_marker_id} T Axis {edit_coord + 1} selected', (20, 80), cv.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), 1, cv.LINE_AA)
 
                 # Write documentation
                 else: 
                     cv.putText(video_frame.matrix, f'Left click on marker to select scene', (20, 80), cv.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv.LINE_AA)
-                    cv.putText(video_frame.matrix, f'Shift+num to select axis', (20, 120), cv.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv.LINE_AA)
-                    cv.putText(video_frame.matrix, f'Right click and drag to edit axis', (20, 160), cv.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv.LINE_AA)
-                    cv.putText(video_frame.matrix, f'Ctrl+s to save scene', (20, 200), cv.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv.LINE_AA)
+                    cv.putText(video_frame.matrix, f'T to translate, R to rotate', (20, 120), cv.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv.LINE_AA)
+                    cv.putText(video_frame.matrix, f'Shift+num to select axis', (20, 160), cv.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv.LINE_AA)
+                    cv.putText(video_frame.matrix, f'Right click and drag to edit axis', (20, 200), cv.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv.LINE_AA)
+                    cv.putText(video_frame.matrix, f'Ctrl+s to save scene', (20, 240), cv.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv.LINE_AA)
 
                 # Project 3D scene on each video frame and the visualisation frame
                 if aruco_tracker.get_markers_number():
@@ -268,17 +276,31 @@ def main():
 
                                 if right_button:
 
-                                    pointer_delta_x, pointer_delta_y = (right_click[0] - video_frame.width/2) / (video_frame.width/3), (video_frame.height/2 - right_click[1]) / (video_frame.width/3)
+                                    pointer_delta_x, pointer_delta_y = (right_click[0] - marker_x) / (video_frame.width/3), (marker_y - right_click[1]) / (video_frame.width/3)
+
+                                    if edit_trans:
                                     
-                                    # Edit scene rotation
-                                    if edit_coord == 0:
-                                        aoi3D_scene_edit['rotation'] = numpy.array([pointer_delta_y, aoi3D_scene_edit['rotation'][1], aoi3D_scene_edit['rotation'][2]])
+                                        # Edit scene rotation
+                                        if edit_coord == 0:
+                                            aoi3D_scene_edit['rotation'] = numpy.array([pointer_delta_y, aoi3D_scene_edit['rotation'][1], aoi3D_scene_edit['rotation'][2]])
+
+                                        elif edit_coord == 1:
+                                            aoi3D_scene_edit['rotation'] = numpy.array([aoi3D_scene_edit['rotation'][0], pointer_delta_x, aoi3D_scene_edit['rotation'][2]])
+
+                                        elif edit_coord == 2:
+                                            aoi3D_scene_edit['rotation'] = numpy.array([aoi3D_scene_edit['rotation'][0], aoi3D_scene_edit['rotation'][1], -1*pointer_delta_y])
+
+                                    else:
 
-                                    elif edit_coord == 1:
-                                        aoi3D_scene_edit['rotation'] = numpy.array([aoi3D_scene_edit['rotation'][0], pointer_delta_x, aoi3D_scene_edit['rotation'][2]])
+                                        # Edit scene translation
+                                        if edit_coord == 0:
+                                            aoi3D_scene_edit['translation'] = numpy.array([pointer_delta_x, aoi3D_scene_edit['translation'][1], aoi3D_scene_edit['translation'][2]])
 
-                                    elif edit_coord == 2:
-                                        aoi3D_scene_edit['rotation'] = numpy.array([aoi3D_scene_edit['rotation'][0], aoi3D_scene_edit['rotation'][1], pointer_delta_x])
+                                        elif edit_coord == 1:
+                                            aoi3D_scene_edit['translation'] = numpy.array([aoi3D_scene_edit['translation'][0], pointer_delta_y, aoi3D_scene_edit['translation'][2]])
+
+                                        elif edit_coord == 2:
+                                            aoi3D_scene_edit['translation'] = numpy.array([aoi3D_scene_edit['translation'][0], aoi3D_scene_edit['translation'][1], 2*pointer_delta_y])
 
                                 # Apply transformation
                                 aoi3D_scene_edited = aoi3D_scene.transform(aoi3D_scene_edit['translation'], aoi3D_scene_edit['rotation'])
@@ -337,7 +359,15 @@ def main():
                     if frame_index < 0:
                         frame_index = 0
 
-                    # Select coordinate to edit
+                    # Edit rotation with r key
+                    if key_pressed == 114:
+                        edit_trans = True
+
+                    # Edit translation with t key
+                    if key_pressed == 116:
+                        edit_trans = False
+
+                    # Select coordinate to edit with Shift + 0, 1 or 2
                     if key_pressed == 49 or key_pressed == 50 or key_pressed == 51:
                         edit_coord = key_pressed - 49