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authorThéo de la Hogue2024-04-17 14:16:40 +0200
committerThéo de la Hogue2024-04-17 14:16:40 +0200
commit9958a965725764aee7150a67d9f63e241b4c345e (patch)
tree11f88577ad4cd2300a8d7ae47f71561a969fbcdd /src
parent4d0de7c804914a55977635ec6bc46beb0cf7808a (diff)
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Improving aruco marker pipeline documentation.
Diffstat (limited to 'src')
-rw-r--r--src/argaze/utils/aruco_marker_group_export.py234
1 files changed, 234 insertions, 0 deletions
diff --git a/src/argaze/utils/aruco_marker_group_export.py b/src/argaze/utils/aruco_marker_group_export.py
new file mode 100644
index 0000000..961d12b
--- /dev/null
+++ b/src/argaze/utils/aruco_marker_group_export.py
@@ -0,0 +1,234 @@
+#!/usr/bin/env python
+
+"""
+
+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 argparse
+import contextlib
+
+import cv2
+
+from argaze import DataFeatures
+from argaze.ArUcoMarker import ArUcoDetector, ArUcoOpticCalibrator, ArUcoMarkerGroup
+from argaze.utils import UtilsFeatures
+
+
+def main():
+ """
+ Detect DICTIONARY and SIZE ArUco markers inside a 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('dictionary', metavar='DICTIONARY', type=str, default=None,
+ help='expected ArUco markers dictionary')
+ parser.add_argument('size', metavar='SIZE', type=float, default=None, help='expected ArUco markers size (in cm)')
+
+ parser.add_argument('-p', '--parameters', metavar='PARAMETERS', type=str, default=None,
+ help='ArUco detector parameters file')
+ parser.add_argument('-op', '--optic_parameters', metavar='OPTIC_PARAMETERS', type=str, default=None,
+ help='ArUco detector optic parameters file')
+
+ 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')
+ parser.add_argument('-v', '--verbose', action='store_true', default=False,
+ help='enable verbose mode to print information in console')
+
+ 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))
+
+ # Edit ArUco detector configuration
+ configuration = {
+ "dictionary": args.dictionary
+ }
+
+ if args.parameters:
+ configuration["parameters"] = args.parameters
+
+ if args.optic_parameters:
+ configuration["optic_parameters"] = args.optic_parameters
+
+ # Load ArUco detector configuration
+ aruco_detector = DataFeatures.from_dict(ArUcoDetector.ArUcoDetector, configuration)
+
+ if args.verbose:
+ print(aruco_detector)
+
+ # Create empty ArUco scene
+ aruco_markers_group = None
+
+ # Edit draw parameters
+ draw_parameters = {
+ "color": [255, 255, 255],
+ "draw_axes": {
+ "thickness": 4
+ }
+ }
+
+ # Create a window
+ cv2.namedWindow("Export detected ArUco markers", cv2.WINDOW_AUTOSIZE)
+
+ # Init image selection
+ current_image_index = -1
+ _, current_image = video_capture.read()
+ next_image_index = int(args.start * video_fps)
+ refresh = False
+
+ # Waiting for 'ctrl+C' interruption
+ with contextlib.suppress(KeyboardInterrupt):
+
+ while True:
+
+ # 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()
+
+ video_height, video_width, _ = video_image.shape
+
+ # Create default optic parameters adapted to frame size
+ if aruco_detector.optic_parameters is None:
+ # Note: The choice of 1000 for default focal length should be discussed...
+ aruco_detector.optic_parameters = ArUcoOpticCalibrator.OpticParameters(rms=-1, dimensions=(
+ video_width, video_height), K=ArUcoOpticCalibrator.K0(focal_length=(1000., 1000.),
+ width=video_width, height=video_height))
+
+ 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)
+
+ try:
+
+ # Detect and project AR features
+ aruco_detector.detect_markers(video_image)
+
+ # Estimate all detected markers pose
+ aruco_detector.estimate_markers_pose(args.size)
+
+ # Build aruco scene from detected markers
+ aruco_markers_group = ArUcoMarkerGroup.ArUcoMarkerGroup(aruco_detector.dictionary,
+ aruco_detector.detected_markers())
+
+ # Detection succeeded
+ exception = None
+
+ # Write errors
+ except Exception as e:
+
+ aruco_markers_group = None
+
+ exception = e
+
+ # Draw detected markers
+ aruco_detector.draw_detected_markers(video_image, draw_parameters)
+
+ # Write detected markers
+ cv2.putText(video_image, f'Detecting markers {list(aruco_detector.detected_markers().keys())}',
+ (20, video_height - 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
+
+ # Write timing
+ cv2.putText(video_image, f'Frame at {int(current_image_time)}ms', (20, 40),
+ cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
+
+ # Write exception
+ if exception is not None:
+ cv2.putText(video_image, f'error: {exception}', (20, 80), cv2.FONT_HERSHEY_SIMPLEX, 1,
+ (0, 255, 255), 1, cv2.LINE_AA)
+
+ # Write documentation
+ cv2.putText(video_image, f'<- previous image', (video_width - 500, video_height - 160),
+ cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
+ cv2.putText(video_image, f'-> next image', (video_width - 500, video_height - 120),
+ cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
+ cv2.putText(video_image, f'r: reload config', (video_width - 500, video_height - 80),
+ cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
+ cv2.putText(video_image, f'Ctrl+s: export ArUco markers', (video_width - 500, video_height - 40),
+ cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
+
+ # Copy image
+ current_image = video_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_detector = DataFeatures.from_dict(ArUcoDetector.ArUcoDetector, 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_detector.name, video_image)
+
+ # Close movie capture
+ video_capture.release()
+
+ # Stop image display
+ cv2.destroyAllWindows()
+
+
+if __name__ == '__main__':
+ main()