Refactoring aruco_markers_group_export utils script.

2 files changed, 84 insertions, 30 deletions

diff --git a/docs/user_guide/utils/ready-made_scripts.md b/docs/user_guide/utils/ready-made_scripts.md
index 55258e9..9b8d455 100644
--- a/docs/user_guide/utils/ready-made_scripts.md
+++ b/docs/user_guide/utils/ready-made_scripts.md
@@ -11,8 +11,8 @@ Collection of command-line scripts to provide useful features.
 
 ## ArUco markers group exporter
 
-Load a MOVIE and an ArUcoCamera CONFIGURATION to detect ArUco markers inside a selected movie frame then, export detected ArUco markers group as .obj file into an OUTPUT folder.
+Detect DICTIONARY and SIZE ArUco markers inside a MOVIE frame then, export detected ArUco markers group as .obj file into an OUTPUT folder.
 
 ```shell
-python ./src/argaze/utils/aruco_markers_group_export.py MOVIE CONFIGURATION -o OUTPUT
+python ./src/argaze/utils/aruco_markers_group_export.py MOVIE DICTIONARY SIZE -o OUTPUT
 ```
\ No newline at end of file
diff --git a/src/argaze/utils/aruco_markers_group_export.py b/src/argaze/utils/aruco_markers_group_export.py
index 92646ca..5012d01 100644
--- a/src/argaze/utils/aruco_markers_group_export.py
+++ b/src/argaze/utils/aruco_markers_group_export.py
@@ -11,7 +11,7 @@ import argparse
 import time
 import itertools
 
-from argaze.ArUcoMarkers import ArUcoCamera, ArUcoMarkersGroup
+from argaze.ArUcoMarkers import ArUcoDetector, ArUcoOpticCalibrator, ArUcoMarkersGroup
 from argaze.utils import UtilsFeatures
 
 import cv2
@@ -19,16 +19,22 @@ import numpy
 
 def main():
     """
-    Load a MOVIE and an ArUcoCamera CONFIGURATION to detect ArUco markers inside a selected movie frame then, export detected ArUco markers group as .obj file into an OUTPUT folder.
+    Detect DICTIONARY and SIZE ArUco markers inside a MOVIE frame then, export detected ArUco markers group as .obj file into an OUTPUT folder.
     """
 
     # 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('configuration', metavar='CONFIGURATION', type=str, default=None, help='ArUco camera configuration')
+    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('-s','--start', metavar='START', type=float, default=0., help='start time in second')
+    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')
+    parser.add_argument('-v', '--verbose', action='store_true', default=False, help='enable verbose mode to print information in console')
+
     args = parser.parse_args()
 
     # Load movie
@@ -38,14 +44,39 @@ def main():
     image_width = int(video_capture.get(cv2.CAP_PROP_FRAME_WIDTH))
     image_height = int(video_capture.get(cv2.CAP_PROP_FRAME_HEIGHT))
 
-    # Load ArUco camera
-    aruco_camera = ArUcoCamera.ArUcoCamera.from_json(args.configuration)
+    # Edit ArUco detector configuration
+    configuration = {
+        "dictionary": args.dictionary
+    }
+
+    if args.parameters:
+
+        configuration["parameters"] = args.parameters
+
+    if args.optic_parameters:
+
+        configuration["optic_parameters"] = args.optic_parameters
+
+    # Load ArUco detector configuration
+    aruco_detector = ArUcoDetector.ArUcoDetector.from_dict(configuration, '.')
+
+    if args.verbose:
+
+        print(aruco_detector)
 
     # Create empty ArUco scene
     aruco_markers_group = None
 
+    # Edit draw parameters
+    draw_parameters = {
+        "color": [255, 255, 255],
+        "draw_axes": {
+            "thickness": 4
+        }
+    }
+
     # Create a window
-    cv2.namedWindow(aruco_camera.name, cv2.WINDOW_AUTOSIZE)
+    cv2.namedWindow("Export detected ArUco markers", cv2.WINDOW_AUTOSIZE)
 
     # Enable exit signal handler
     exit = UtilsFeatures.ExitSignalHandler()
@@ -65,6 +96,14 @@ def main():
 
             success, video_image = video_capture.read()
 
+            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
@@ -73,34 +112,49 @@ 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)
 
-                # Detect markers
-                detection_time, projection_time, exceptions = aruco_camera.watch(current_image_time, video_image)
+                try:
+
+                    # Detect and project AR features
+                    aruco_detector.detect_markers(current_image_time, video_image)
+
+                    # Estimate all detected markers pose
+                    aruco_detector.estimate_markers_pose(args.size)
 
-                # Estimate each markers pose
-                aruco_camera.aruco_detector.estimate_markers_pose(aruco_camera.aruco_detector.detected_markers)
+                    # Build aruco scene from detected markers
+                    aruco_markers_group = ArUcoMarkersGroup.ArUcoMarkersGroup(aruco_detector.dictionary, aruco_detector.detected_markers)
 
-                # Build aruco scene from detected markers
-                aruco_markers_group = ArUcoMarkersGroup.ArUcoMarkersGroup(aruco_camera.aruco_detector.marker_size, aruco_camera.aruco_detector.dictionary, aruco_camera.aruco_detector.detected_markers)
+                    # Detection suceeded
+                    exception = None
 
-                # Get camera image
-                camera_image = aruco_camera.image()
+                # Write errors
+                except Exception as e:
+
+                    aruco_markers_group = None
+
+                    exception = e
+                
+                # Draw detected markers
+                aruco_detector.draw_detected_markers(video_image, draw_parameters)
 
                 # Write detected markers
-                cv2.putText(camera_image, f'Detecting markers {list(aruco_camera.aruco_detector.detected_markers.keys())}', (20, aruco_camera.size[1]-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(camera_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(camera_image, f'Detection {int(detection_time)}ms', (20, 80), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
-                cv2.putText(camera_image, f'Projection {int(projection_time)}ms', (20, 120), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
-        
-                # Write documentation
-                cv2.putText(camera_image, f'<- previous image', (aruco_camera.size[0]-500, aruco_camera.size[1]-160), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
-                cv2.putText(camera_image, f'-> next image', (aruco_camera.size[0]-500, aruco_camera.size[1]-120), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
-                cv2.putText(camera_image, f'r: reload config', (aruco_camera.size[0]-500, aruco_camera.size[1]-80), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
-                cv2.putText(camera_image, f'Ctrl+s: export ArUco markers', (aruco_camera.size[0]-500, aruco_camera.size[1]-40), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 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)
 
+                # 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)
+                
                 # Copy image
-                current_image = camera_image.copy()
+                current_image = video_image.copy()
 
         # Keep last image
         else:
@@ -127,7 +181,7 @@ def main():
         # r: reload configuration
         if key_pressed == 114:
             
-            aruco_camera = ArUcoCamera.ArUcoCamera.from_json(args.configuration)
+            aruco_detector = ArUcoDetector.ArUcoDetector.from_dict(configuration)
             refresh = True
             print('Configuration reloaded')
 
@@ -148,7 +202,7 @@ def main():
             break
 
         # Display video
-        cv2.imshow(aruco_camera.name, video_image)
+        cv2.imshow(aruco_detector.name, video_image)
 
     # Close movie capture
     video_capture.release()