Fixing aruco markers group exportation. Renaming ready made script. Updating documentation.

4 files changed, 164 insertions, 180 deletions

diff --git a/docs/user_guide/utils/ready-made_scripts.md b/docs/user_guide/utils/ready-made_scripts.md
index c82a332..55258e9 100644
--- a/docs/user_guide/utils/ready-made_scripts.md
+++ b/docs/user_guide/utils/ready-made_scripts.md
@@ -9,10 +9,10 @@ Collection of command-line scripts to provide useful features.
 !!! note
       *Use -h option to get command arguments documentation.*
 
-## ArUco scene exporter
+## ArUco markers group exporter
 
-Load a MOVIE with ArUco markers inside and select image into it, detect ArUco markers belonging to DICT_APRILTAG_16h5 dictionary with 5cm size into the selected image thanks to given OPTIC_PARAMETERS and DETECTOR_PARAMETERS files then, export detected ArUco markers scene as .obj file into an *./src/argaze/utils/_export/scenes* folder.
+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.
 
 ```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
+python ./src/argaze/utils/aruco_markers_group_export.py MOVIE CONFIGURATION -o OUTPUT
 ```
\ No newline at end of file
diff --git a/src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py b/src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py
index 6ffdae2..37bceec 100644
--- a/src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py
+++ b/src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py
@@ -474,7 +474,7 @@ class ArUcoMarkersGroup():
                     file.write(f'v {" ".join(map(str, place.corners[v]))}\n')
                     v_count += 1
 
-                    vertices += f' {v_count}//{p+1}'
+                    vertices += f' {v_count}'
 
                 #file.write('s off\n')
                 file.write(f'f{vertices}\n')
diff --git a/src/argaze/utils/aruco_markers_group_export.py b/src/argaze/utils/aruco_markers_group_export.py
new file mode 100644
index 0000000..d948105
--- /dev/null
+++ b/src/argaze/utils/aruco_markers_group_export.py
@@ -0,0 +1,160 @@
+#!/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 ArUcoCamera, ArUcoMarkersGroup
+from argaze.utils import UtilsFeatures
+
+import cv2
+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.
+    """
+
+    # 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('-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')
+    args = parser.parse_args()
+
+    # Load movie
+    video_capture = cv2.VideoCapture(args.movie)
+
+    video_fps = video_capture.get(cv2.CAP_PROP_FPS)
+    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)
+
+    # Create empty ArUco scene
+    aruco_markers_group = None
+
+    # Create a window
+    cv2.namedWindow(aruco_camera.name, cv2.WINDOW_AUTOSIZE)
+
+    # Enable exit signal handler
+    exit = UtilsFeatures.ExitSignalHandler()
+
+    # Init image selection
+    current_image_index = -1
+    _, current_image = video_capture.read()
+    next_image_index = int(args.start * video_fps)
+    refresh = False
+
+    while not exit.status():
+
+        # Select a new image and detect markers once
+        if next_image_index != current_image_index or refresh:
+
+            video_capture.set(cv2.CAP_PROP_POS_FRAMES, next_image_index)
+
+            success, video_image = video_capture.read()
+
+            if success:
+
+                # Refresh once
+                refresh = False
+
+                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(video_image)
+
+                # 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_camera.aruco_detector.marker_size, aruco_camera.aruco_detector.dictionary, aruco_camera.aruco_detector.detected_markers)
+
+                # Get camera image
+                camera_image = aruco_camera.image()
+
+                # 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)
+                
+                # 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]-120), 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]-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)
+
+                # Copy image
+                current_image = camera_image.copy()
+
+        # Keep last image
+        else:
+
+            video_image = current_image.copy()
+
+        key_pressed = cv2.waitKey(10)
+
+        #if key_pressed != -1:
+        #    print(key_pressed)
+
+        # Select previous image with left arrow
+        if key_pressed == 2:
+            next_image_index -= 1
+
+        # Select next image with right arrow
+        if key_pressed == 3:
+            next_image_index += 1
+
+        # Clip image index
+        if next_image_index < 0:
+            next_image_index = 0
+
+        # r: reload configuration
+        if key_pressed == 114:
+            
+            aruco_camera = ArUcoCamera.ArUcoCamera.from_json(args.configuration)
+            refresh = True
+            print('Configuration reloaded')
+
+        # Save selected marker edition using 'Ctrl + s'
+        if key_pressed == 19:
+
+            if aruco_markers_group:
+
+                aruco_markers_group.to_obj(f'{args.output}/{int(current_image_time)}-aruco_markers_group.obj')
+                print(f'ArUco markers saved into {args.output}')
+
+            else:
+
+                print(f'No ArUco markers to export')
+
+        # Close window using 'Esc' key
+        if key_pressed == 27:
+            break
+
+        # Display video
+        cv2.imshow(aruco_camera.name, video_image)
+
+    # Close movie capture
+    video_capture.release()
+
+    # Stop image display
+    cv2.destroyAllWindows()
+
+if __name__ == '__main__':
+
+    main()
\ No newline at end of file
diff --git a/src/argaze/utils/aruco_markers_scene_export.py b/src/argaze/utils/aruco_markers_scene_export.py
deleted file mode 100644
index f618342..0000000
--- a/src/argaze/utils/aruco_markers_scene_export.py
+++ /dev/null
@@ -1,176 +0,0 @@
-#!/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, ArUcoMarkersGroup
-from argaze.utils import UtilsFeatures
-
-import cv2
-import numpy
-
-def main():
-    """
-    Load a movie with ArUco markers inside and select image into it, detect ArUco markers belonging to a given dictionary and size into the selected image 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)
-    image_width = int(video_capture.get(cv2.CAP_PROP_FRAME_WIDTH))
-    image_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_markers_group = 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 = UtilsFeatures.ExitSignalHandler()
-
-    # Init image selection
-    current_image_index = -1
-    _, current_image = video_capture.read()
-    next_image_index = int(args.start * video_fps)
-    refresh = False
-
-    # Hide help
-    draw_help = False
-
-    while not exit.status():
-
-        # Select a new image and detect markers once
-        if next_image_index != current_image_index or refresh:
-
-            video_capture.set(cv2.CAP_PROP_POS_FRAMES, next_image_index)
-
-            success, video_image = video_capture.read()
-
-            if success:
-
-                # Refresh once
-                refresh = False
-
-                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
-                aruco_detector.detect_markers(video_image)
-
-                # Estimate markers pose
-                aruco_detector.estimate_markers_pose()
-
-                # Build aruco scene from detected markers
-                aruco_markers_group = ArUcoMarkersGroup.ArUcoMarkersGroup(args.marker_size, aruco_dictionary, aruco_detector.detected_markers)
-
-                # Write scene detected markers
-                cv2.putText(video_image, f'{list(aruco_detector.detected_markers.keys())}', (20, image_height-80), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
-                
-                # Write timing
-                cv2.putText(video_image, f'Time: {int(current_image_time)} ms', (20, 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
-                
-                # Copy image
-                current_image = video_image.copy()
-
-        # Keep last image
-        else:
-
-            video_image = current_image.copy()
-
-        # Draw detected markers
-        aruco_detector.draw_detected_markers(video_image, {"color": [0, 255, 0], "draw_axes": {"thickness": 4}})
-
-        # Write documentation
-        cv2.putText(video_image, 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_image, (0, 50), (500, 300), (127, 127, 127), -1)
-            cv2.putText(video_image, f'> Left arrow: previous image', (20, 80), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
-            cv2.putText(video_image, f'> Right arrow: next image', (20, 120), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
-            cv2.putText(video_image, 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 image with left arrow
-        if key_pressed == 2:
-            next_image_index -= 1
-
-        # Select next image with right arrow
-        if key_pressed == 3:
-            next_image_index += 1
-
-        # Clip image index
-        if next_image_index < 0:
-            next_image_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_markers_group:
-
-                aruco_markers_group.to_obj(f'{args.output}/{int(current_image_time)}-aruco_markers_group.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_image)
-
-    # Close movie capture
-    video_capture.release()
-
-    # Stop image display
-    cv2.destroyAllWindows()
-
-if __name__ == '__main__':
-
-    main()
\ No newline at end of file