Enabling camera frame layers projection.

1 files changed, 71 insertions, 52 deletions

diff --git a/src/argaze/ArFeatures.py b/src/argaze/ArFeatures.py
index 07341de..5fa5cde 100644
--- a/src/argaze/ArFeatures.py
+++ b/src/argaze/ArFeatures.py
@@ -173,7 +173,8 @@ class ArLayer():
 
 		except KeyError:
 
-			new_aoi_scene = AOIFeatures.AOIScene()
+			# Add AOI 2D Scene by default
+			new_aoi_scene = AOI2DScene.AOI2DScene()
 
 		# Looked aoi validity threshold
 		try:
@@ -186,7 +187,7 @@ class ArLayer():
 
 		# Edit expected AOI list by removing AOI with name equals to layer name
 		expected_aois = list(new_aoi_scene.keys())
-		
+
 		if new_layer_name in expected_aois:
 			expected_aois.remove(new_layer_name)
 
@@ -1053,9 +1054,9 @@ class ArScene():
 		# Preprocess orthogonal projection to speed up further processings
 		self.__orthogonal_projection_cache = {}
 
-		for name, layer in self.layers.items():
+		for layer_name, layer in self.layers.items():
 
-			self.__orthogonal_projection_cache[name] = self.aoi_scene.orthogonal_projection
+			self.__orthogonal_projection_cache[layer_name] = layer.aoi_scene.orthogonal_projection
 
 	def __str__(self) -> str:
 		"""
@@ -1158,18 +1159,20 @@ class ArScene():
 
 				# Look for AOI with same frame name
 				aoi_frame = None
+				aoi_frame_found = False
 				for layer_name, layer in new_layers.items():
 
 					try:
 
 						aoi_frame = layer.aoi_scene[frame_name]
+						aoi_frame_found = True
 
 					except KeyError:
 
 						# AOI name should be unique
 						break
 
-				if aoi_frame:
+				if aoi_frame_found:
 
 					# Project and reframe each layers into corresponding frame layers
 					for frame_layer_name, frame_layer in new_frame.layers.items():
@@ -1178,7 +1181,10 @@ class ArScene():
 
 							layer = new_layers[frame_layer_name]
 							
-							frame_layer.aoi_scene = layer.aoi_scene.orthogonal_projection.reframe(aoi_frame, new_frame.size)
+							layer_aoi_scene_projection = layer.aoi_scene.orthogonal_projection
+							aoi_frame_projection = layer_aoi_scene_projection[frame_name]
+
+							frame_layer.aoi_scene = layer_aoi_scene_projection.reframe(aoi_frame_projection, new_frame.size)
 
 							if frame_layer.aoi_scan_path != None:
 
@@ -1195,7 +1201,7 @@ class ArScene():
 							continue
 
 				# Append new frame
-				new_frames[name] = new_frame
+				new_frames[frame_name] = new_frame
 
 		except KeyError:
 
@@ -1266,7 +1272,7 @@ class ArScene():
 
 		return tvec, rmat, 'estimate_pose_from_markers', consistent_markers
 
-	def project(self, tvec: numpy.array, rvec: numpy.array, visual_hfov: float = 0.) -> dict:
+	def project(self, tvec: numpy.array, rvec: numpy.array, visual_hfov: float = 0.) -> Tuple[str, AOI2DScene.AOI2DScene]:
 		"""Project layers according estimated pose and optional horizontal field of view clipping angle.	
 
 		Parameters:
@@ -1275,11 +1281,10 @@ class ArScene():
 			visual_hfov: horizontal field of view clipping angle
 
 		Returns:
-			layer_projections: dictionary of AOI2DScene projection
+			layer_name: name of projected layer
+			layer_projection: AOI2DScene projection
 		"""
 
-		layer_projections = {}
-
 		for name, layer in self.layers.items():
 
 			# Clip AOI out of the visual horizontal field of view (optional)
@@ -1302,9 +1307,7 @@ class ArScene():
 				aoi_scene_copy = layer.aoi_scene.copy()
 
 			# Project layer aoi scene
-			layer_projections[name] = aoi_scene_copy.project(tvec, rvec, self.parent.aruco_detector.optic_parameters.K)
-
-		return projected_layers
+			yield name, aoi_scene_copy.project(tvec, rvec, self.parent.aruco_detector.optic_parameters.K)
 
 	def build_aruco_aoi_scene(self, detected_markers) -> AOI2DScene.AOI2DScene:
 		"""
@@ -1485,23 +1488,25 @@ class ArEnvironment():
 		# Setup expected aoi of each camera frame layer aoi scan path with the aoi of corresponding scene layer
 		if new_camera_frame != None:
 
-			for camera_frame_layer_name, camera_frame_layer in new_camera_frame.layers.items():
+				for camera_frame_layer_name, camera_frame_layer in new_camera_frame.layers.items():
 
-				all_aoi_list = []
+					if camera_frame_layer.aoi_scan_path != None:
 
-				for scene_name, scene in new_scenes.items():
+						all_aoi_list = []
 
-					try:
+						for scene_name, scene in new_scenes.items():
 
-						scene_layer = scene.layers[camera_frame_layer_name]
+							try:
 
-						all_aoi_list.extend(list(scene_layer.aoi_scene.keys()))
+								scene_layer = scene.layers[camera_frame_layer_name]
 
-					except KeyError:
+								all_aoi_list.extend(list(scene_layer.aoi_scene.keys()))
+
+							except KeyError:
 
-						continue
+								continue
 
-				camera_frame_layer.aoi_scan_path.expected_aois = all_aoi_list
+						camera_frame_layer.aoi_scan_path.expected_aois = all_aoi_list
 
 		# Create new environment
 		return ArEnvironment(new_environment_name, new_aruco_detector, new_camera_frame, new_scenes)
@@ -1584,8 +1589,10 @@ class ArEnvironment():
 		# Fill camera frame background with image
 		self.camera_frame.background = image
 
-		# Clear former scenes projection into camera frame 
-		self.camera_frame.aoi_2d_scene = AOI2DScene.AOI2DScene()
+		# Clear former layers projection into camera frame
+		for came_layer_name, camera_layer in self.camera_frame.layers.items():
+		
+			camera_layer.aoi_scene = AOI2DScene.AOI2DScene()
 
 		# Store exceptions for each scene
 		exceptions = {}
@@ -1615,7 +1622,15 @@ class ArEnvironment():
 				tvec, rmat, _, _ = scene.estimate_pose(self.aruco_detector.detected_markers)
 
 				# Project scene into camera frame according estimated pose
-				self.camera_frame.aoi_2d_scene |= scene.project(tvec, rmat)
+				for layer_name, layer_projection in scene.project(tvec, rmat):
+
+					try:
+
+						self.camera_frame.layers[layer_name].aoi_scene |= layer_projection
+
+					except KeyError:
+
+						pass
 
 			# Store exceptions and continue
 			except Exception as e:
@@ -1649,28 +1664,30 @@ class ArEnvironment():
 		# Project gaze position into camera frame
 		yield self.camera_frame, self.camera_frame.look(timestamp, gaze_position)
 
-		# Project gaze position into each frames if possible
+		# Project gaze position into each frame if possible
 		for frame in self.frames:
 
-			# Is there an AOI with the same frame name projected into camera frame ?
-			try:
+			# Is there an AOI inside camera frame layers projection which its name equals to a frame name?
+			for camera_layer_name, camera_layer in self.camera_frame.layers.items():
 
-				aoi_2d = self.camera_frame.aoi_2d_scene[frame.name]
+				try:
 
-				# TODO: Add option to use gaze precision circle
-				if aoi_2d.contains_point(gaze_position.value):
+					aoi_2d = camera_layer.aoi_scene[frame.name]
 
-					inner_x, inner_y = aoi_2d.clockwise().inner_axis(gaze_position.value)
+					# TODO: Add option to use gaze precision circle
+					if aoi_2d.contains_point(gaze_position.value):
 
-					# QUESTION: How to project gaze precision?
-					inner_gaze_position = GazeFeatures.GazePosition((inner_x, inner_y))
-					
-					yield frame, frame.look(timestamp, inner_gaze_position * frame.size)
+						inner_x, inner_y = aoi_2d.clockwise().inner_axis(gaze_position.value)
+
+						# QUESTION: How to project gaze precision?
+						inner_gaze_position = GazeFeatures.GazePosition((inner_x, inner_y))
+						
+						yield frame, frame.look(timestamp, inner_gaze_position * frame.size)
 
-			# Ignore missing aoi frame projection
-			except KeyError:
+				# Ignore missing aoi in camera frame layer projection
+				except KeyError:
 
-				pass
+					pass
 
 		# Unlock camera frame exploitation
 		self.__camera_frame_lock.release()
@@ -1688,24 +1705,26 @@ class ArEnvironment():
 		# Lock camera frame exploitation
 		self.__camera_frame_lock.acquire()
 
-		# Project image if possible
+		# Project image into each frame if possible
 		for frame in self.frames:
 
-			# Is there an AOI with the same frame name projected into camera frame ?
-			try:
+			# Is there an AOI inside camera frame layers projection which its name equals to a frame name?
+			for camera_layer_name, camera_layer in self.camera_frame.layers.items():
 
-				aoi_2d = self.camera_frame.aoi_2d_scene[frame.name]
+				try:
 
-				# Apply perspective transform algorithm to fill aoi frame background
-				width, height = frame.size
-				destination = numpy.float32([[0, height],[width, height],[width, 0],[0, 0]])
-				mapping = cv2.getPerspectiveTransform(aoi_2d.astype(numpy.float32), destination)
-				frame.background = cv2.warpPerspective(self.camera_frame.background, mapping, (width, height))
+					aoi_2d = camera_layer.aoi_scene[frame.name]
 
-			# Ignore missing frame projection
-			except KeyError:
+					# Apply perspective transform algorithm to fill aoi frame background
+					width, height = frame.size
+					destination = numpy.float32([[0, height],[width, height],[width, 0],[0, 0]])
+					mapping = cv2.getPerspectiveTransform(aoi_2d.astype(numpy.float32), destination)
+					frame.background = cv2.warpPerspective(self.camera_frame.background, mapping, (width, height))
 
-				pass
+				# Ignore missing frame projection
+				except KeyError:
+
+					pass
 
 		# Unlock camera frame exploitation
 		self.__camera_frame_lock.release()