Drawing camera parameters.

1 files changed, 26 insertions, 11 deletions

diff --git a/src/argaze/utils/environment_edit.py b/src/argaze/utils/environment_edit.py
index ce6691c..2b3d597 100644
--- a/src/argaze/utils/environment_edit.py
+++ b/src/argaze/utils/environment_edit.py
@@ -47,8 +47,9 @@ def main():
     right_button = False
     edit_trans = False # translate
     edit_z = False
-    cover = False
     draw_help = False
+    draw_grid = False
+    draw_cover = False
     pose_mode = 0
 
     # Update pointer position
@@ -100,7 +101,7 @@ def main():
     current_frame_index = -1
     _, current_frame = video_capture.read()
     next_frame_index = int(args.start * video_fps)
-    refresh_detection = False
+    refresh = False
 
     # Init marker selection
     selected_marker_id = -1
@@ -117,7 +118,7 @@ def main():
         info_frame = numpy.full((500, 1000, 3), 0, dtype=numpy.uint8)
 
         # Select a new frame and detect markers once
-        if next_frame_index != current_frame_index or refresh_detection or cover:
+        if next_frame_index != current_frame_index or refresh or draw_cover:
 
             video_capture.set(cv2.CAP_PROP_POS_FRAMES, next_frame_index)
 
@@ -125,11 +126,19 @@ def main():
 
             if success:
 
+                # Refresh once
+                refresh = False
+
                 current_frame_index = video_capture.get(cv2.CAP_PROP_POS_FRAMES) - 1
                 current_frame_time = video_capture.get(cv2.CAP_PROP_POS_MSEC)
 
+                # Draw camera calibration
+                if draw_grid:
+
+                    ar_environment.aruco_detector.camera.draw(video_frame, frame_width/10, frame_height/10, 100., color=(127, 127, 127))
+
                 # Hide zone
-                if cover:
+                if draw_cover:
 
                     # Draw black circle under pointer
                     cv2.circle(video_frame, pointer, 50, (0, 0, 0), -1)
@@ -334,7 +343,7 @@ def main():
                                 # Project AOI scene into frame according estimated pose
                                 aoi_scene_projection = ar_scene.project(tvec, rmat, visual_hfov=TobiiSpecifications.VISUAL_HFOV)
 
-                                aoi_scene_projection.draw(video_frame, color=(255, 0, 0))
+                                aoi_scene_projection.draw(video_frame, color=(255, 255, 255))
 
                                 break
 
@@ -436,9 +445,14 @@ def main():
         if key_pressed == 104:
             draw_help = not draw_help
 
-        # Switch cover mode with c key
+        # Switch grid mode with g key
+        if key_pressed == 103:
+            draw_grid = not draw_grid
+            refresh = True
+
+        # Switch draw_cover mode with c key
         if key_pressed == 99:
-            cover = not cover
+            draw_cover = not draw_cover
 
         # Switch pose estimation mode with m key
         if key_pressed == 109:
@@ -455,10 +469,11 @@ def main():
         if key_pressed == 27:
             break
 
-        # Reload detector configuration on 'c' key
-        if key_pressed == 99:
-            print(f'TODO: Reload ArUcoDetector parameters')
-            refresh_detection = True
+        # Reload environment on 'Backspace' key
+        if key_pressed == 127:
+            ar_environment = ArFeatures.ArEnvironment.from_json(args.environment)
+            print(f'Environment reloaded from {args.environment}')
+            refresh = True
 
         # Display video
         cv2.imshow(ar_environment.name, video_frame)