diff options
| -rw-r--r-- | src/argaze/utils/environment_edit.py | 32 |
1 files changed, 26 insertions, 6 deletions
diff --git a/src/argaze/utils/environment_edit.py b/src/argaze/utils/environment_edit.py index 1edd623..6b2c354 100644 --- a/src/argaze/utils/environment_edit.py +++ b/src/argaze/utils/environment_edit.py @@ -116,7 +116,7 @@ def main(): gaze_position = GazeFeatures.GazePosition(pointer, precision=2) # Reset info frame - info_frame = numpy.full((500, 1000, 3), 0, dtype=numpy.uint8) + info_frame = numpy.full((800, 1000, 3), 0, dtype=numpy.uint8) # Select a new frame and detect markers once if next_frame_index != current_frame_index or refresh or draw_cover: @@ -313,7 +313,7 @@ def main(): else: cv2.putText(info_frame, f'Left click on marker to select it', (20, 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA) - + # Estimate all marker's pose ar_environment.aruco_detector.estimate_markers_pose() @@ -328,14 +328,34 @@ def main(): m.color = (0, 0, 255) # Write unconsistencies - for i, (label, value) in enumerate(unconsistencies.items()): - cv2.putText(info_frame, f'Unconsistent {label}: {value:.3f}', (20, 120+ i*40), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 1, cv2.LINE_AA) - + line = 0 + for i, (label, value) in enumerate(unconsistencies['angle'].items()): + + current_angle = value['current'] + expected_angle = value['expected'] + + cv2.putText(info_frame, f'Unconsistent angle {label}: [{current_angle[0]:.3f} {current_angle[1]:.3f} {current_angle[2]:.3f}]', (20, 120+line*40), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 1, cv2.LINE_AA) + line += 1 + + cv2.putText(info_frame, f'Expected angle {label}: [{expected_angle[0]:.3f} {expected_angle[1]:.3f} {expected_angle[2]:.3f}]', (20, 120+line*40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA) + line += 1 + + for i, (label, value) in enumerate(unconsistencies['distance'].items()): + + current_distance = value['current'] + expected_distance = value['expected'] + + cv2.putText(info_frame, f'Unconsistent distance {label}: {current_distance:.3f}', (20, 120+ line*40), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 1, cv2.LINE_AA) + line += 1 + + cv2.putText(info_frame, f'Expected distance {label}: {expected_distance:.3f}', (20, 120+ line*40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA) + line += 1 + # Force pose mode to single marker scene pose estimation else: pose_mode = 0 - + # Single marker scene pose estimation if pose_mode == 0: |