diff options
| -rw-r--r-- | src/argaze/utils/environment_edit.py | 48 |
1 files changed, 26 insertions, 22 deletions
diff --git a/src/argaze/utils/environment_edit.py b/src/argaze/utils/environment_edit.py index 7b6c2fd..fc17f37 100644 --- a/src/argaze/utils/environment_edit.py +++ b/src/argaze/utils/environment_edit.py @@ -32,7 +32,7 @@ def main(): parser.add_argument('environment', metavar='ENVIRONMENT', type=str, help='ar environment filepath') parser.add_argument('movie', metavar='MOVIE', type=str, default=None, help='movie path') 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='environment.json', help='edited ar environment file path') + parser.add_argument('-o', '--output', metavar='OUT', type=str, default='edited_environment.json', help='edited ar environment file path') args = parser.parse_args() # Load AR enviroment @@ -113,6 +113,7 @@ def main(): refresh = False # Init marker selection + scene_markers = {} selected_marker_id = -1 hovered_marker_id = -1 @@ -151,11 +152,14 @@ def main(): # Detect markers ar_environment.aruco_detector.detect_markers(video_frame) - # Estimate all marker's pose - ar_environment.aruco_detector.estimate_markers_pose() + # Filter scene markers + scene_markers, _ = ar_scene.aruco_scene.filter_markers(ar_environment.aruco_detector.detected_markers) - # Write detected markers - cv2.putText(video_frame, f'{list(ar_environment.aruco_detector.detected_markers.keys())}', (20, frame_height-80), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA) + # Estimate scene marker's pose + ar_environment.aruco_detector.estimate_markers_pose(scene_markers.keys()) + + # Write scene detected markers + cv2.putText(video_frame, f'{list(scene_markers.keys())}', (20, frame_height-80), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA) # Draw gray panel on top cv2.rectangle(video_frame, (0, 0), (frame_width, 50), (63, 63, 63), -1) @@ -177,13 +181,13 @@ def main(): video_frame = current_frame.copy() - # Handle marker selection on left click - if len(ar_environment.aruco_detector.detected_markers) > 0: + # Handle scene marker selection on left click + if len(scene_markers) > 0: # Update selected and hovered markers id selected_marker_id = -1 hovered_marker_id = -1 - for (marker_id, marker) in ar_environment.aruco_detector.detected_markers.items(): + for (marker_id, marker) in scene_markers.items(): marker_aoi = marker.corners.reshape(4, 2).view(AOIFeatures.AreaOfInterest) @@ -200,7 +204,7 @@ def main(): # Edit marker's color color_list = list(itertools.permutations([0, 255, 255])) - for i, m in ar_environment.aruco_detector.detected_markers.items(): + for i, m in scene_markers.items(): m.color = color_list[i%len(color_list)] @@ -223,7 +227,7 @@ def main(): try: # Retreive selected marker - selected_marker = ar_environment.aruco_detector.detected_markers[selected_marker_id] + selected_marker = scene_markers[selected_marker_id] # Write selected marker id cv2.rectangle(info_frame, (0, 0), (500, 50), selected_marker.color, -1) @@ -285,7 +289,7 @@ def main(): if hovered_marker_id >= 0 and hovered_marker_id != selected_marker_id: # Retreive hovered marker - hovered_marker = ar_environment.aruco_detector.detected_markers[hovered_marker_id] + hovered_marker = scene_markers[hovered_marker_id] # Write hovered marker id cv2.rectangle(info_frame, (500, 0), (1000, 50), hovered_marker.color, -1) @@ -421,7 +425,7 @@ def main(): # Estimate scene pose from each marker cv2.putText(video_frame, f'Single marker scene pose estimation', (20, frame_height - 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA) - for i, m in ar_environment.aruco_detector.detected_markers.items(): + for i, m in scene_markers.items(): tvec, rmat = ar_scene.aruco_scene.estimate_pose_from_single_marker(m) @@ -431,7 +435,7 @@ def main(): if i == selected_marker_id: # Draw AOI scene projection with gaze - aoi_scene_projection.draw_circlecast(video_frame, gaze_position, base_color=m.color, looked_color=(255, 255, 255)) + aoi_scene_projection.draw_circlecast(video_frame, gaze_position, 1, base_color=m.color, matching_color=(255, 255, 255)) else: @@ -450,17 +454,17 @@ 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) - - if len(ar_environment.aruco_detector.detected_markers) > 1: + + if len(scene_markers) > 1: # Check markers consistency - consistent_markers, unconsistent_markers, unconsistencies = ar_scene.aruco_scene.check_markers_consistency(ar_environment.aruco_detector.detected_markers, ar_scene.angle_tolerance, ar_scene.distance_tolerance) + consistent_markers, unconsistent_markers, unconsistencies = ar_scene.aruco_scene.check_markers_consistency(scene_markers, ar_scene.angle_tolerance, ar_scene.distance_tolerance) # No marker hovered if hovered_marker_id < 0: # Set unconsistent marker color to red - for i, m in ar_environment.aruco_detector.detected_markers.items(): + for i, m in scene_markers.items(): if i in list(unconsistent_markers.keys()) and i != hovered_marker_id: m.color = (0, 0, 255) @@ -498,7 +502,7 @@ def main(): cv2.putText(video_frame, f'Single marker scene pose estimation', (20, frame_height - 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA) - for i, m in ar_environment.aruco_detector.detected_markers.items(): + for i, m in scene_markers.items(): tvec, rmat = ar_scene.aruco_scene.estimate_pose_from_single_marker(m) @@ -531,9 +535,9 @@ def main(): try: - origin_marker = ar_environment.aruco_detector.detected_markers[axis_markers['origin_marker']] - horizontal_axis_marker = ar_environment.aruco_detector.detected_markers[axis_markers['horizontal_axis_marker']] - vertical_axis_marker = ar_environment.aruco_detector.detected_markers[axis_markers['vertical_axis_marker']] + origin_marker = scene_markers[axis_markers['origin_marker']] + horizontal_axis_marker = scene_markers[axis_markers['horizontal_axis_marker']] + vertical_axis_marker = scene_markers[axis_markers['vertical_axis_marker']] tvec, rmat = ar_scene.aruco_scene.estimate_pose_from_axis_markers(origin_marker, horizontal_axis_marker, vertical_axis_marker) @@ -557,7 +561,7 @@ def main(): try : # Try to build AOI scene from detected ArUco marker corners - aoi_scene_projection = ar_scene.build_aruco_aoi_scene(ar_environment.aruco_detector.detected_markers) + aoi_scene_projection = ar_scene.build_aruco_aoi_scene(scene_markers) # Draw AOI scene aoi_scene_projection.draw(video_frame, color=(255, 255, 255)) |