diff options
| -rw-r--r-- | src/argaze/ArFeatures.py | 17 | ||||
| -rw-r--r-- | src/argaze/ArUcoMarkers/ArUcoCamera.py | 15 | ||||
| -rw-r--r-- | src/argaze/ArUcoMarkers/ArUcoDetector.py | 22 | ||||
| -rw-r--r-- | src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py | 43 |
4 files changed, 50 insertions, 47 deletions
diff --git a/src/argaze/ArFeatures.py b/src/argaze/ArFeatures.py index edeac6b..84eae12 100644 --- a/src/argaze/ArFeatures.py +++ b/src/argaze/ArFeatures.py @@ -478,7 +478,7 @@ class ArLayer(): Parameters: draw_aoi_scene: AreaOfInterest.AOI2DScene.draw parameters (if None, no aoi scene is drawn) - draw_aoi_matching: AOIMatcher.draw parameters (which depends of the loaded aoi matcher module, if None, no aoi matching is drawn) + draw_aoi_matching: AOIMatcher.draw parameters (which depends of the loaded aoi matcher module, if None, no aoi matching is drawn) """ # Use draw_parameters attribute if no parameters @@ -1069,15 +1069,10 @@ class ArScene(): Define abstract Augmented Reality scene with ArLayers and ArFrames inside. Parameters: - name: name of the scene - layers: dictionary of ArLayers to project once the pose is estimated: see [project][argaze.ArFeatures.ArScene.project] function below. - frames: dictionary to ArFrames to project once the pose is estimated: see [project][argaze.ArFeatures.ArScene.project] function below. - angle_tolerance: Optional angle error tolerance to validate marker pose in degree used into [estimate_pose][argaze.ArFeatures.ArScene.estimate_pose] function. - distance_tolerance: Optional distance error tolerance to validate marker pose in centimeter used into [estimate_pose][argaze.ArFeatures.ArScene.estimate_pose] function. """ name: str @@ -1413,8 +1408,8 @@ class ArCamera(ArFrame): """Detect AR features from image and project scenes into camera frame. Returns: - - detection_time: AR features detection time in ms - - exceptions: dictionary with exception raised per scene + detection time: AR features detection time in ms. + exception: dictionary with exception raised per scene. """ raise NotImplementedError('watch() method not implemented') @@ -1422,7 +1417,8 @@ class ArCamera(ArFrame): def look(self, timestamp: int|float, gaze_position: GazeFeatures.GazePosition): """Project timestamped gaze position into each scene frames. - !!! warning watch method needs to be called first. + !!! warning + watch method needs to be called first. """ # Can't use camera frame when it is locked @@ -1471,7 +1467,8 @@ class ArCamera(ArFrame): def map(self): """Project camera frame background into scene frames background. - .. warning:: watch 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 4c3f042..4f00a3a 100644 --- a/src/argaze/ArUcoMarkers/ArUcoCamera.py +++ b/src/argaze/ArUcoMarkers/ArUcoCamera.py @@ -37,6 +37,7 @@ class ArUcoCamera(ArFeatures.ArCamera): """ Define an ArCamera based on ArUco marker detection. + Parameters: aruco_detector: ArUco marker detector """ @@ -144,9 +145,9 @@ class ArUcoCamera(ArFeatures.ArCamera): """Detect environment aruco markers from image and project scenes into camera frame. Returns: - - detection_time: aruco marker detection time in ms - - exceptions: dictionary with exception raised per scene - """ + detection time: aruco marker detection time in ms. + exception: dictionary with exception raised per scene. + """ # Detect aruco markers detection_time = self.aruco_detector.detect_markers(image) @@ -215,10 +216,10 @@ class ArUcoCamera(ArFeatures.ArCamera): """Get frame image with ArUco detection visualisation. Parameters: - draw_detected_markers: ArucoMarker.draw parameters (if None, no marker drawn) - draw_scenes: ArUcoScene.draw parameters (if None, no scene drawn) - draw_optic_parameters_grid: OpticParameter.draw parameters (if None, no grid drawn) - kwargs: ArCamera.image parameters + draw_detected_markers: ArucoMarker.draw parameters (if None, no marker drawn) + draw_scenes: ArUcoScene.draw parameters (if None, no scene drawn) + draw_optic_parameters_grid: OpticParameter.draw parameters (if None, no grid drawn) + kwargs: ArCamera.image parameters """ # Can't use camera frame when it is locked diff --git a/src/argaze/ArUcoMarkers/ArUcoDetector.py b/src/argaze/ArUcoMarkers/ArUcoDetector.py index 305bee2..490b75b 100644 --- a/src/argaze/ArUcoMarkers/ArUcoDetector.py +++ b/src/argaze/ArUcoMarkers/ArUcoDetector.py @@ -38,7 +38,8 @@ ArUcoDetectorType = TypeVar('ArUcoDetector', bound="ArUcoDetector") class DetectorParameters(): """Wrapper class around ArUco marker detector parameters. - .. note:: More details on [opencv page](https://docs.opencv.org/4.x/d1/dcd/structcv_1_1aruco_1_1DetectorParameters.html) + !!! note + More details on [opencv page](https://docs.opencv.org/4.x/d1/dcd/structcv_1_1aruco_1_1DetectorParameters.html) """ __parameters = aruco.DetectorParameters() @@ -107,7 +108,8 @@ class DetectorParameters(): """Formated detector parameters string representation. Parameters: - spec: 'modified' to get only modified parameters.""" + spec: 'modified' to get only modified parameters. + """ output = '' @@ -257,11 +259,11 @@ class ArUcoDetector(): def detect_markers(self, image: numpy.array) -> float: """Detect all ArUco markers into an image. - .. danger:: DON'T MIRROR IMAGE - It makes the markers detection to fail. + !!! danger "DON'T MIRROR IMAGE" + It makes the markers detection to fail. Returns: - - detection time: marker detection time in ms + detection time: marker detection time in ms. """ # Reset detected markers data @@ -369,8 +371,8 @@ class ArUcoDetector(): def detect_board(self, image: numpy.array, board, expected_markers_number): """Detect ArUco markers board in image setting up the number of detected markers needed to agree detection. - .. danger:: DON'T MIRROR IMAGE - It makes the markers detection to fail. + !!! danger "DON'T MIRROR IMAGE" + It makes the markers detection to fail. """ # detect markers from gray picture @@ -406,9 +408,11 @@ class ArUcoDetector(): @property def detection_metrics(self) -> Tuple[int, dict]: """Get marker detection metrics. + Returns: - number of detect function call - dict with number of detection for each marker identifier""" + number of detect function call + dict with number of detection for each marker identifier + """ return self.__detection_count, Counter(self.__detected_ids) diff --git a/src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py b/src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py index 5b6c69d..4a43965 100644 --- a/src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py +++ b/src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py @@ -79,29 +79,31 @@ def make_euler_rotation_vector(R): @dataclass(frozen=True) class Place(): - """Define a place as a pose and a marker.""" + """Define a place as a pose and a marker. - translation: numpy.array - """Position in group referential.""" + Parameters: + translation: position in group referential. + rotation: rotation in group referential. + marker: ArUco marker linked to the place. + """ + translation: numpy.array rotation: numpy.array - """Rotation in group referential.""" - marker: dict - """ArUco marker linked to the place.""" @dataclass class ArUcoMarkersGroup(): - """Handle group of ArUco markers as one unique spatial entity and estimate its pose.""" + """Handle group of ArUco markers as one unique spatial entity and estimate its pose. - marker_size: float = field(default=0.) - """Expected size of all markers in the group.""" + Parameters: + marker_size: expected size of all markers in the group. + dictionary: expected dictionary of all markers in the group. + places: expected markers place. + """ + marker_size: float = field(default=0.) dictionary: ArUcoMarkersDictionary.ArUcoMarkersDictionary = field(default_factory=ArUcoMarkersDictionary.ArUcoMarkersDictionary) - """Expected dictionary of all markers in the group.""" - places: dict = field(default_factory=dict) - """Expected markers place""" def __post_init__(self): """Init group pose and places pose.""" @@ -166,13 +168,13 @@ class ArUcoMarkersGroup(): """Load ArUco markers group from .obj file. !!! note - Expected object (o) name format: <DICTIONARY>#<IDENTIFIER>_Marker + Expected object (o) name format: <DICTIONARY>#<IDENTIFIER>_Marker !!! note - All markers have to belong to the same dictionary. + All markers have to belong to the same dictionary. !!! note - Marker normal vectors (vn) expected. + Marker normal vectors (vn) expected. """ @@ -360,8 +362,8 @@ class ArUcoMarkersGroup(): """Sort markers belonging to the group from given detected markers dict (cf ArUcoDetector.detect_markers()). Returns: - dict of markers belonging to this group - dict of remaining markers not belonging to this group + dict of markers belonging to this group + dict of remaining markers not belonging to this group """ group_markers = {} @@ -434,9 +436,9 @@ class ArUcoMarkersGroup(): """Evaluate if given markers configuration match related places configuration. Returns: - dict of consistent markers - dict of unconsistent markers - dict of identified distance or angle unconsistencies and out-of-bounds values + dict of consistent markers + dict of unconsistent markers + dict of identified distance or angle unconsistencies and out-of-bounds values """ consistent_markers = {} @@ -684,7 +686,6 @@ class ArUcoMarkersGroup(): """Draw group axes and places. Parameters: - draw_axes: draw_axes parameters (if None, no axes drawn) draw_places: draw_places parameters (if None, no places drawn) draw_places_axes: draw_places_axes parameters (if None, no places axes drawn) |