Moving pose estimation outside of demo folder.

5 files changed, 187 insertions, 2 deletions

diff --git a/src/argaze/__main__.py b/src/argaze/__main__.py
index f9433c0..77875a8 100644
--- a/src/argaze/__main__.py
+++ b/src/argaze/__main__.py
@@ -62,7 +62,10 @@ def load_context(args):
 			cv2.rectangle(image, (int(width/4), int(height/3)), (int(width*3/4), int(height*2/3)), (127, 127, 127), -1)
 
 			info_stack = 1
-			cv2.putText(image, f'Help', (int(width/4)+20, int(height/3)+(info_stack*40)), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
+			cv2.putText(image, f'HELP', (int(width/4)+20, int(height/3)+(info_stack*40)), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
+
+			# Blanck line
+			info_stack += 1
 
 			if issubclass(type(context), LiveProcessingContext):
 		
@@ -75,7 +78,7 @@ def load_context(args):
 			if issubclass(type(context), PostProcessingContext):
 
 				info_stack += 1
-				cv2.putText(image, f'Press Space bar to pause/resume processing', (int(width/3)+20, int(height/3)+(info_stack*40)), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
+				cv2.putText(image, f'Press Space bar to pause/resume processing', (int(width/4)+20, int(height/3)+(info_stack*40)), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
 
 			info_stack += 1
 			cv2.putText(image, f'Press f to pause/resume visualisation', (int(width/4)+20, int(height/3)+(info_stack*40)), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
diff --git a/src/argaze/utils/demo/recorders.py b/src/argaze/utils/demo/recorders.py
index 63a2fa2..6295c8f 100644
--- a/src/argaze/utils/demo/recorders.py
+++ b/src/argaze/utils/demo/recorders.py
@@ -19,8 +19,10 @@ __license__ = "GPLv3"
 
 import logging
 import time
+import pathlib
 
 from argaze import DataFeatures, GazeFeatures
+from argaze.ArUcoMarker import ArUcoMarkerGroup
 from argaze.utils import UtilsFeatures
 
 class LookPerformanceRecorder(UtilsFeatures.FileWriter):
@@ -165,3 +167,61 @@ class AOIScanPathAnalysisRecorder(UtilsFeatures.FileWriter):
 			)
 
 			self.write(log)
+
+
+class ArUcoMarkersPoseRecorder(DataFeatures.PipelineStepObject):
+
+	@DataFeatures.PipelineStepInit
+	def __init__(self, **kwargs):
+
+		# Init private attributes
+		self.__output_folder = None
+		self.__size = None
+
+	@property
+	def output_folder(self) -> str:
+		"""folder path where to write ArUco markers pose."""
+		return self.__output_folder
+
+	@output_folder.setter
+	def output_folder(self, output_folder: str):
+
+		self.__output_folder = output_folder
+
+	@property
+	def size(self) -> float:
+		"""Expected size in centimeters of detected markers."""
+		return self.__output_folder
+
+	@size.setter
+	def size(self, size: float):
+
+		self.__size = size
+
+	@property
+	def ids(self) -> list:
+		"""Ids of markers to estimate pose (default all)."""
+		return self.__ids
+
+	@ids.setter
+	def ids(self, ids: list):
+
+		self.__ids = ids
+
+	def on_detect_markers(self, timestamp, aruco_detector, exception):
+
+		logging.info('%s writes estimated markers pose into %s', DataFeatures.get_class_path(self), self.__output_folder)
+
+		if self.__size is not None:
+
+			# Estimate all detected markers pose
+			aruco_detector.estimate_markers_pose(self.__size, ids = self.__ids)
+
+			# Build ArUco markers group from detected markers
+			aruco_markers_group = ArUcoMarkerGroup.ArUcoMarkerGroup(dictionary=aruco_detector.dictionary, places=aruco_detector.detected_markers())
+
+		if self.__output_folder is not None:
+
+			# Write ArUco markers group
+			aruco_markers_group.to_obj(f'{self.__output_folder}/{int(timestamp)}-aruco_markers_group.obj')
+			
\ No newline at end of file
diff --git a/src/argaze/utils/estimate_markers_pose/context.json b/src/argaze/utils/estimate_markers_pose/context.json
new file mode 100644
index 0000000..ecb3066
--- /dev/null
+++ b/src/argaze/utils/estimate_markers_pose/context.json
@@ -0,0 +1,7 @@
+{
+    "argaze.utils.contexts.OpenCV.Movie" : {
+        "name": "ArUco markers pose estimator",
+        "path": "./src/argaze/utils/demo/tobii_record/segments/1/fullstream.mp4",
+        "pipeline": "pipeline.json"
+    }
+}
\ No newline at end of file
diff --git a/src/argaze/utils/estimate_markers_pose/observers.py b/src/argaze/utils/estimate_markers_pose/observers.py
new file mode 100644
index 0000000..23316ca
--- /dev/null
+++ b/src/argaze/utils/estimate_markers_pose/observers.py
@@ -0,0 +1,82 @@
+""" """
+
+"""
+This program is free software: you can redistribute it and/or modify it under
+the terms of the GNU General Public License as published by the Free Software
+Foundation, either version 3 of the License, or (at your option) any later
+version.
+This program is distributed in the hope that it will be useful, but WITHOUT
+ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
+You should have received a copy of the GNU General Public License along with
+this program. If not, see <https://www.gnu.org/licenses/>.
+"""
+
+__author__ = "Théo de la Hogue"
+__credits__ = []
+__copyright__ = "Copyright 2023, Ecole Nationale de l'Aviation Civile (ENAC)"
+__license__ = "GPLv3"
+
+import logging
+
+from argaze import DataFeatures
+from argaze.ArUcoMarker import ArUcoMarkerGroup
+
+
+class ArUcoMarkersPoseRecorder(DataFeatures.PipelineStepObject):
+
+	@DataFeatures.PipelineStepInit
+	def __init__(self, **kwargs):
+
+		# Init private attributes
+		self.__output_folder = None
+		self.__size = None
+		self.__ids = None
+
+	@property
+	def output_folder(self) -> str:
+		"""folder path where to write ArUco markers pose."""
+		return self.__output_folder
+
+	@output_folder.setter
+	def output_folder(self, output_folder: str):
+
+		self.__output_folder = output_folder
+
+	@property
+	def size(self) -> float:
+		"""Expected size in centimeters of detected markers."""
+		return self.__output_folder
+
+	@size.setter
+	def size(self, size: float):
+
+		self.__size = size
+
+	@property
+	def ids(self) -> list:
+		"""Ids of markers to estimate pose (default all)."""
+		return self.__ids
+
+	@ids.setter
+	def ids(self, ids: list):
+
+		self.__ids = ids
+
+	def on_detect_markers(self, timestamp, aruco_detector, exception):
+
+		logging.info('%s writes estimated markers pose into %s', DataFeatures.get_class_path(self), self.__output_folder)
+
+		if self.__size is not None:
+
+			# Estimate all detected markers pose
+			aruco_detector.estimate_markers_pose(self.__size, ids = self.__ids)
+
+			# Build ArUco markers group from detected markers
+			aruco_markers_group = ArUcoMarkerGroup.ArUcoMarkerGroup(dictionary=aruco_detector.dictionary, places=aruco_detector.detected_markers())
+
+		if self.__output_folder is not None:
+
+			# Write ArUco markers group
+			aruco_markers_group.to_obj(f'{self.__output_folder}/{int(timestamp)}-aruco_markers_group.obj')
+			
\ No newline at end of file
diff --git a/src/argaze/utils/estimate_markers_pose/pipeline.json b/src/argaze/utils/estimate_markers_pose/pipeline.json
new file mode 100644
index 0000000..c3034e8
--- /dev/null
+++ b/src/argaze/utils/estimate_markers_pose/pipeline.json
@@ -0,0 +1,33 @@
+{
+    "argaze.ArUcoMarker.ArUcoCamera.ArUcoCamera": {
+        "name": "Full HD Camera",
+        "size": [1920, 1080],
+        "aruco_detector": {
+            "dictionary": "DICT_APRILTAG_16h5",
+            "parameters": {
+                "useAruco3Detection": 1
+            },
+            "observers":{
+                "observers.ArUcoMarkersPoseRecorder": {
+                    "output_folder": "_export/records/aruco_markers_group",
+                    "size": 4,
+                    "ids": []
+                }
+            }
+        },
+        "sides_mask": 420,
+        "image_parameters": {
+            "background_weight": 1,
+            "draw_gaze_positions": {
+                "color": [0, 255, 255],
+                "size": 4
+            },
+            "draw_detected_markers": {
+                "color": [255, 255, 255],
+                "draw_axes": {
+                    "thickness": 4
+                }
+            }
+        }
+    }
+}
\ No newline at end of file