Adding a new utils script to export aruco scene from detected markers.

2 files changed, 186 insertions, 0 deletions

diff --git a/docs/user_guide/utils/ready-made_scripts.md b/docs/user_guide/utils/ready-made_scripts.md
index 4ab8b52..035d697 100644
--- a/docs/user_guide/utils/ready-made_scripts.md
+++ b/docs/user_guide/utils/ready-made_scripts.md
@@ -33,3 +33,11 @@ python ./src/argaze/utils/camera_calibrate.py 7 5 5 3 DICT_APRILTAG_16h5 -d DEVI
 
 !!! note
       Use **A3_DICT_APRILTAG_16h5_3cm_35cmx25cm.pdf** file located in *./src/argaze/ArUcoMarkers/utils/* folder ready to be printed on A3 paper sheet.
+
+## ArUco scene exporter
+
+Load a MOVIE with ArUco markers inside and select a frame into it, detect ArUco markers belonging to DICT_APRILTAG_16h5 dictionary with 5cm size into the selected frame thanks to given OPTIC_PARAMETERS and DETECTOR_PARAMETERS then, export detected ArUco markers scene as .obj file into an *./src/argaze/utils/_export/scenes* folder.
+
+```shell
+python ./src/argaze/utils/aruco_markers_scene_export.py MOVIE DICT_APRILTAG_16h5 5 OPTIC_PARAMETERS DETECTOR_PARAMETERS -o ./src/argaze/utils/_export/scenes
+```
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diff --git a/src/argaze/utils/aruco_markers_scene_export.py b/src/argaze/utils/aruco_markers_scene_export.py
new file mode 100644
index 0000000..8045d24
--- /dev/null
+++ b/src/argaze/utils/aruco_markers_scene_export.py
@@ -0,0 +1,178 @@
+#!/usr/bin/env python
+
+""" """
+
+__author__ = "Théo de la Hogue"
+__credits__ = []
+__copyright__ = "Copyright 2023, Ecole Nationale de l'Aviation Civile (ENAC)"
+__license__ = "BSD"
+
+import argparse
+import time
+import itertools
+
+from argaze.ArUcoMarkers import ArUcoMarkersDictionary, ArUcoOpticCalibrator, ArUcoDetector, ArUcoScene
+from argaze.utils import MiscFeatures
+
+import cv2
+import numpy
+
+def main():
+    """
+    Load a movie with ArUco markers inside and select a frame into it, detect ArUco markers belonging to a given dictionary and size into the selected frame thanks to given optic parameters and detector parameters then, export detected ArUco scene as .obj file.
+    """
+
+    # 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='ArUco dictionary to detect')
+    parser.add_argument('marker_size', metavar='MARKER_SIZE', type=int, default=3, help='marker size in cm')
+    parser.add_argument('optic_parameters', metavar='OPTIC_PARAMETERS', type=str, default=None, help='Optic parameters from camera calibration process')
+    parser.add_argument('detector_parameters', metavar='DETECTOR_PARAMETERS', type=str, default=None, help='ArUco detector parameters')
+    
+    parser.add_argument('-s','--start', metavar='START', type=float, default=0., help='start time in second')
+    parser.add_argument('-o', '--output', metavar='OUT', type=str, default='.', help='export scene folder path')
+    args = parser.parse_args()
+
+    # Load movie
+    video_capture = cv2.VideoCapture(args.movie)
+
+    video_fps = video_capture.get(cv2.CAP_PROP_FPS)
+    frame_width = int(video_capture.get(cv2.CAP_PROP_FRAME_WIDTH))
+    frame_height = int(video_capture.get(cv2.CAP_PROP_FRAME_HEIGHT))
+
+    # Load ArUco dictionary
+    aruco_dictionary = ArUcoMarkersDictionary.ArUcoMarkersDictionary(args.dictionary)
+
+    # Load optic parameters
+    optic_parameters = ArUcoOpticCalibrator.OpticParameters.from_json(args.optic_parameters)
+
+    # Load detector parameters
+    detector_parameters = ArUcoDetector.DetectorParameters.from_json(args.detector_parameters)
+
+    # Create ArUco detector
+    aruco_detector = ArUcoDetector.ArUcoDetector(dictionary=aruco_dictionary, marker_size=args.marker_size, optic_parameters=optic_parameters, parameters=detector_parameters)
+
+    # Create empty ArUco scene
+    aruco_scene = None
+
+    # Create a window to display AR environment
+    window_name = "Export ArUco scene"
+    cv2.namedWindow(window_name, cv2.WINDOW_AUTOSIZE)
+
+    # Enable exit signal handler
+    exit = MiscFeatures.ExitSignalHandler()
+
+    # Init frame selection
+    current_frame_index = -1
+    _, current_frame = video_capture.read()
+    next_frame_index = int(args.start * video_fps)
+    refresh = False
+
+    # Hide help
+    draw_help = False
+
+    while not exit.status():
+
+        # Select a new frame and detect markers once
+        if next_frame_index != current_frame_index or refresh:
+
+            video_capture.set(cv2.CAP_PROP_POS_FRAMES, next_frame_index)
+
+            success, video_frame = video_capture.read()
+
+            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)
+
+                # Detect markers
+                aruco_detector.detect_markers(video_frame)
+
+                # Estimate markers pose
+                aruco_detector.estimate_markers_pose()
+
+                # Build aruco scene from detected markers
+                aruco_scene = ArUcoScene.ArUcoScene(args.marker_size, aruco_dictionary, aruco_detector.detected_markers)
+
+                print(aruco_scene)
+
+                # Write scene detected markers
+                cv2.putText(video_frame, f'{list(aruco_detector.detected_markers.keys())}', (20, frame_height-80), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
+                
+                # Write timing
+                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)
+                
+                # Copy frame
+                current_frame = video_frame.copy()
+
+        # Keep last frame
+        else:
+
+            video_frame = current_frame.copy()
+
+        # Draw detected markers
+        aruco_detector.draw_detected_markers(video_frame)
+
+        # Write documentation
+        cv2.putText(video_frame, f'Press \'h\' for help', (950, 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
+
+        if draw_help:
+
+            cv2.rectangle(video_frame, (0, 50), (500, 300), (127, 127, 127), -1)
+            cv2.putText(video_frame, f'> Left arrow: previous frame', (20, 80), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
+            cv2.putText(video_frame, f'> Right arrow: next frame', (20, 120), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
+            cv2.putText(video_frame, f'> Ctrl+s: export ArUco scene', (20, 160), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
+
+        key_pressed = cv2.waitKey(10)
+
+        #if key_pressed != -1:
+        #    print(key_pressed)
+
+        # Select previous frame with left arrow
+        if key_pressed == 2:
+            next_frame_index -= 1
+
+        # Select next frame with right arrow
+        if key_pressed == 3:
+            next_frame_index += 1
+
+        # Clip frame index
+        if next_frame_index < 0:
+            next_frame_index = 0
+
+        # Switch help mode with h key
+        if key_pressed == 104:
+            draw_help = not draw_help
+
+        # Save selected marker edition using 'Ctrl + s'
+        if key_pressed == 19:
+
+            if aruco_scene:
+
+                aruco_scene.to_obj(f'{args.output}/{int(current_frame_time)}-aruco_scene.obj')
+                print(f'ArUco scene saved into {args.output}')
+
+            else:
+
+                print(f'No ArUco scene to export')
+
+        # Close window using 'Esc' key
+        if key_pressed == 27:
+            break
+
+        # Display video
+        cv2.imshow(window_name, video_frame)
+
+    # Close movie capture
+    video_capture.release()
+
+    # Stop frame display
+    cv2.destroyAllWindows()
+
+if __name__ == '__main__':
+
+    main()
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