Considering only scene markers.

1 files changed, 26 insertions, 22 deletions

diff --git a/src/argaze/utils/environment_edit.py b/src/argaze/utils/environment_edit.py
index 7b6c2fd..fc17f37 100644
--- a/src/argaze/utils/environment_edit.py
+++ b/src/argaze/utils/environment_edit.py
@@ -32,7 +32,7 @@ def main():
     parser.add_argument('environment', metavar='ENVIRONMENT', type=str, help='ar environment filepath')
     parser.add_argument('movie', metavar='MOVIE', type=str, default=None, help='movie path')
     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='environment.json', help='edited ar environment file path')
+    parser.add_argument('-o', '--output', metavar='OUT', type=str, default='edited_environment.json', help='edited ar environment file path')
     args = parser.parse_args()
 
     # Load AR enviroment
@@ -113,6 +113,7 @@ def main():
     refresh = False
 
     # Init marker selection
+    scene_markers = {}
     selected_marker_id = -1
     hovered_marker_id = -1
 
@@ -151,11 +152,14 @@ def main():
                 # Detect markers
                 ar_environment.aruco_detector.detect_markers(video_frame)
 
-                # Estimate all marker's pose
-                ar_environment.aruco_detector.estimate_markers_pose()
+                # Filter scene markers
+                scene_markers, _ = ar_scene.aruco_scene.filter_markers(ar_environment.aruco_detector.detected_markers)
 
-                # Write detected markers
-                cv2.putText(video_frame, f'{list(ar_environment.aruco_detector.detected_markers.keys())}', (20, frame_height-80), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
+                # Estimate scene marker's pose
+                ar_environment.aruco_detector.estimate_markers_pose(scene_markers.keys())
+
+                # Write scene detected markers
+                cv2.putText(video_frame, f'{list(scene_markers.keys())}', (20, frame_height-80), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
                 
                 # Draw gray panel on top
                 cv2.rectangle(video_frame, (0, 0), (frame_width, 50), (63, 63, 63), -1)
@@ -177,13 +181,13 @@ def main():
 
             video_frame = current_frame.copy()
 
-        # Handle marker selection on left click
-        if len(ar_environment.aruco_detector.detected_markers) > 0:
+        # Handle scene marker selection on left click
+        if len(scene_markers) > 0:
 
             # Update selected and hovered markers id
             selected_marker_id = -1
             hovered_marker_id = -1
-            for (marker_id, marker) in ar_environment.aruco_detector.detected_markers.items():
+            for (marker_id, marker) in scene_markers.items():
 
                 marker_aoi = marker.corners.reshape(4, 2).view(AOIFeatures.AreaOfInterest)
 
@@ -200,7 +204,7 @@ def main():
             # Edit marker's color
             color_list = list(itertools.permutations([0, 255, 255]))
 
-            for i, m in ar_environment.aruco_detector.detected_markers.items():
+            for i, m in scene_markers.items():
 
                 m.color = color_list[i%len(color_list)]
 
@@ -223,7 +227,7 @@ def main():
                     try:
                         
                         # Retreive selected marker
-                        selected_marker = ar_environment.aruco_detector.detected_markers[selected_marker_id]
+                        selected_marker = scene_markers[selected_marker_id]
 
                         # Write selected marker id
                         cv2.rectangle(info_frame, (0, 0), (500, 50), selected_marker.color, -1)
@@ -285,7 +289,7 @@ def main():
                         if hovered_marker_id >= 0 and hovered_marker_id != selected_marker_id:
 
                             # Retreive hovered marker
-                            hovered_marker = ar_environment.aruco_detector.detected_markers[hovered_marker_id]
+                            hovered_marker = scene_markers[hovered_marker_id]
 
                             # Write hovered marker id
                             cv2.rectangle(info_frame, (500, 0), (1000, 50), hovered_marker.color, -1)
@@ -421,7 +425,7 @@ def main():
                         # Estimate scene pose from each marker
                         cv2.putText(video_frame, f'Single marker scene pose estimation', (20, frame_height - 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
 
-                        for i, m in ar_environment.aruco_detector.detected_markers.items():
+                        for i, m in scene_markers.items():
 
                             tvec, rmat = ar_scene.aruco_scene.estimate_pose_from_single_marker(m)
 
@@ -431,7 +435,7 @@ def main():
                             if i == selected_marker_id:
 
                                 # Draw AOI scene projection with gaze
-                                aoi_scene_projection.draw_circlecast(video_frame, gaze_position, base_color=m.color, looked_color=(255, 255, 255))
+                                aoi_scene_projection.draw_circlecast(video_frame, gaze_position, 1, base_color=m.color, matching_color=(255, 255, 255))
 
                             else:
 
@@ -450,17 +454,17 @@ def main():
                 else:
 
                     cv2.putText(info_frame, f'Left click on marker to select it', (20, 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
-                    
-                    if len(ar_environment.aruco_detector.detected_markers) > 1:
+           
+                    if len(scene_markers) > 1:
 
                         # Check markers consistency
-                        consistent_markers, unconsistent_markers, unconsistencies = ar_scene.aruco_scene.check_markers_consistency(ar_environment.aruco_detector.detected_markers, ar_scene.angle_tolerance, ar_scene.distance_tolerance)
+                        consistent_markers, unconsistent_markers, unconsistencies = ar_scene.aruco_scene.check_markers_consistency(scene_markers, ar_scene.angle_tolerance, ar_scene.distance_tolerance)
 
                         # No marker hovered
                         if hovered_marker_id < 0:
 
                             # Set unconsistent marker color to red 
-                            for i, m in ar_environment.aruco_detector.detected_markers.items():
+                            for i, m in scene_markers.items():
                                 if i in list(unconsistent_markers.keys()) and i != hovered_marker_id:
                                     m.color = (0, 0, 255)
 
@@ -498,7 +502,7 @@ def main():
 
                         cv2.putText(video_frame, f'Single marker scene pose estimation', (20, frame_height - 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
                 
-                        for i, m in ar_environment.aruco_detector.detected_markers.items():
+                        for i, m in scene_markers.items():
 
                             tvec, rmat = ar_scene.aruco_scene.estimate_pose_from_single_marker(m)
 
@@ -531,9 +535,9 @@ def main():
 
                             try:
 
-                                origin_marker = ar_environment.aruco_detector.detected_markers[axis_markers['origin_marker']]
-                                horizontal_axis_marker = ar_environment.aruco_detector.detected_markers[axis_markers['horizontal_axis_marker']]
-                                vertical_axis_marker = ar_environment.aruco_detector.detected_markers[axis_markers['vertical_axis_marker']]
+                                origin_marker = scene_markers[axis_markers['origin_marker']]
+                                horizontal_axis_marker = scene_markers[axis_markers['horizontal_axis_marker']]
+                                vertical_axis_marker = scene_markers[axis_markers['vertical_axis_marker']]
 
                                 tvec, rmat = ar_scene.aruco_scene.estimate_pose_from_axis_markers(origin_marker, horizontal_axis_marker, vertical_axis_marker)
 
@@ -557,7 +561,7 @@ def main():
                         try :
 
                             # Try to build AOI scene from detected ArUco marker corners
-                            aoi_scene_projection = ar_scene.build_aruco_aoi_scene(ar_environment.aruco_detector.detected_markers)
+                            aoi_scene_projection = ar_scene.build_aruco_aoi_scene(scene_markers)
 
                             # Draw AOI scene
                             aoi_scene_projection.draw(video_frame, color=(255, 255, 255))