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authorThéo de la Hogue2023-09-06 09:56:36 +0200
committerThéo de la Hogue2023-09-06 09:56:36 +0200
commit067b3c6dc2588be4c4e416f4f07b7dd45cf1bc67 (patch)
tree843b60f086face2a547ea1f539d09c32699b793c /src
parent08bb1e067bc02190519023810b70c08897972804 (diff)
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Renaming detect_and_project method into watch.
Diffstat (limited to 'src')
-rw-r--r--src/argaze/ArFeatures.py10
-rw-r--r--src/argaze/ArUcoMarkers/ArUcoCamera.py36
-rw-r--r--src/argaze/utils/demo_aruco_markers_run.py2
3 files changed, 25 insertions, 23 deletions
diff --git a/src/argaze/ArFeatures.py b/src/argaze/ArFeatures.py
index 1a13092..d7c70b1 100644
--- a/src/argaze/ArFeatures.py
+++ b/src/argaze/ArFeatures.py
@@ -48,7 +48,7 @@ class PoseEstimationFailed(Exception):
class SceneProjectionFailed(Exception):
"""
- Exception raised by ArCamera detect_and_project method when the scene can't be projected.
+ Exception raised by ArCamera watch method when the scene can't be projected.
"""
def __init__(self, message):
@@ -1413,15 +1413,15 @@ class ArCamera(ArFrame):
yield scene_frame
- def detect_and_project(self, image: numpy.array) -> Tuple[float, dict]:
+ def watch(self, image: numpy.array) -> Tuple[float, dict]:
"""Detect AR features from image and project scenes into camera frame."""
- raise NotImplementedError('detect_and_project() method not implemented')
+ raise NotImplementedError('watch() method not implemented')
def look(self, timestamp: int|float, gaze_position: GazeFeatures.GazePosition):
"""Project timestamped gaze position into each scene frames.
- !!! warning detect_and_project method needs to be called first.
+ !!! warning watch method needs to be called first.
"""
# Can't use camera frame when it is locked
@@ -1470,7 +1470,7 @@ class ArCamera(ArFrame):
def map(self):
"""Project camera frame background into scene frames background.
- .. warning:: detect_and_project method needs to be called first.
+ .. warning:: watch method needs to be called first.
"""
# Can't use camera frame when it is locked
diff --git a/src/argaze/ArUcoMarkers/ArUcoCamera.py b/src/argaze/ArUcoMarkers/ArUcoCamera.py
index 5ff4b85..ad70391 100644
--- a/src/argaze/ArUcoMarkers/ArUcoCamera.py
+++ b/src/argaze/ArUcoMarkers/ArUcoCamera.py
@@ -71,25 +71,27 @@ class ArUcoCamera(ArFeatures.ArCamera):
"""
# Load ArUco detector
- try:
- new_detector_data = aruco_camera_data.pop('aruco_detector')
+ new_detector_data = aruco_camera_data.pop('aruco_detector')
- new_aruco_dictionary = ArUcoMarkersDictionary.ArUcoMarkersDictionary(**new_detector_data.pop('dictionary'))
- new_marker_size = new_detector_data.pop('marker_size')
+ new_aruco_dictionary = ArUcoMarkersDictionary.ArUcoMarkersDictionary(**new_detector_data.pop('dictionary'))
+ new_marker_size = new_detector_data.pop('marker_size')
- # Check optic_parameters value type
- optic_parameters_value = new_detector_data.pop('optic_parameters')
+ # Check optic_parameters value type
+ optic_parameters_value = new_detector_data.pop('optic_parameters')
- # str: relative path to .json file
- if type(optic_parameters_value) == str:
+ # str: relative path to .json file
+ if type(optic_parameters_value) == str:
- optic_parameters_value = os.path.join(working_directory, optic_parameters_value)
- new_optic_parameters = ArUcoOpticCalibrator.OpticParameters.from_json(optic_parameters_value)
+ optic_parameters_value = os.path.join(working_directory, optic_parameters_value)
+ new_optic_parameters = ArUcoOpticCalibrator.OpticParameters.from_json(optic_parameters_value)
- # dict:
- else:
+ # dict:
+ else:
- new_optic_parameters = ArUcoOpticCalibrator.OpticParameters(**optic_parameters_value)
+ new_optic_parameters = ArUcoOpticCalibrator.OpticParameters(**optic_parameters_value)
+
+ # Load ArUco detector parameters
+ try:
# Check detector parameters value type
detector_parameters_value = new_detector_data.pop('parameters')
@@ -104,12 +106,12 @@ class ArUcoCamera(ArFeatures.ArCamera):
else:
new_aruco_detector_parameters = ArUcoDetector.DetectorParameters(**detector_parameters_value)
-
- new_aruco_detector = ArUcoDetector.ArUcoDetector(new_aruco_dictionary, new_marker_size, new_optic_parameters, new_aruco_detector_parameters)
except KeyError:
- new_aruco_detector = None
+ new_aruco_detector_parameters = ArUcoDetector.DetectorParameters()
+
+ new_aruco_detector = ArUcoDetector.ArUcoDetector(new_aruco_dictionary, new_marker_size, new_optic_parameters, new_aruco_detector_parameters)
# Load ArUcoScenes
new_scenes = {}
@@ -159,7 +161,7 @@ class ArUcoCamera(ArFeatures.ArCamera):
return ArUcoCamera.from_dict(aruco_camera_data, working_directory)
- def detect_and_project(self, image: numpy.array) -> Tuple[float, dict]:
+ def watch(self, image: numpy.array) -> Tuple[float, dict]:
"""Detect environment aruco markers from image and project scenes into camera frame.
Returns:
diff --git a/src/argaze/utils/demo_aruco_markers_run.py b/src/argaze/utils/demo_aruco_markers_run.py
index dd79569..6dc081d 100644
--- a/src/argaze/utils/demo_aruco_markers_run.py
+++ b/src/argaze/utils/demo_aruco_markers_run.py
@@ -75,7 +75,7 @@ def main():
if success:
# Detect and project AR features
- detection_time, exceptions = aruco_camera.detect_and_project(video_image)
+ detection_time, exceptions = aruco_camera.watch(video_image)
# Get ArUcoCamera frame image
aruco_camera_image = aruco_camera.image()