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authorThéo de la Hogue2023-10-23 22:43:24 +0200
committerThéo de la Hogue2023-10-23 22:43:24 +0200
commitf8b1a36c9e486ef19f62159475b9bf19a5b90a03 (patch)
treed550b2642868e96e0f1a1de500b1c9d48d701e74 /src
parent0ad125b331799aab99c138bbe71e5576a2e7271c (diff)
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Fixing aruco markers group exportation. Renaming ready made script. Updating documentation.
Diffstat (limited to 'src')
-rw-r--r--src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py2
-rw-r--r--src/argaze/utils/aruco_markers_group_export.py160
-rw-r--r--src/argaze/utils/aruco_markers_scene_export.py176
3 files changed, 161 insertions, 177 deletions
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