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-rw-r--r--.gitignore1
-rw-r--r--src/argaze/ArScene.py32
-rw-r--r--src/argaze/ArUcoMarkers/utils/aruco_cube.json24
-rw-r--r--src/argaze/ArUcoMarkers/utils/aruco_plan.json30
-rw-r--r--src/argaze/ArUcoMarkers/utils/tobiiglassespro2_hd.json33
-rw-r--r--src/argaze/ArUcoMarkers/utils/tracker_configuration.json5
-rw-r--r--src/argaze/AreaOfInterest/AOI3DScene.py9
7 files changed, 34 insertions, 100 deletions
diff --git a/.gitignore b/.gitignore
index 43bdbec..d7b5485 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,6 +1,7 @@
.DS_Store
__pycache__
_export
+_projects
_workaround
dist
doc
diff --git a/src/argaze/ArScene.py b/src/argaze/ArScene.py
index 5e38c1e..35fef1c 100644
--- a/src/argaze/ArScene.py
+++ b/src/argaze/ArScene.py
@@ -147,6 +147,22 @@ class ArScene():
return output
+ def whole_pose(self, width: float = 1., height: float = None) -> Tuple[numpy.array, numpy.array, numpy.array, numpy.array]:
+ """Edit translation vector, rotation vector and camera intrinsic parameters to setup a whole scene projection frame.
+
+ * **Arguments:**
+ - frame width
+ - frame height: optional, if None the height will be setup according given width and scene dimensions ratio.
+ """
+
+ scene_size = self.aoi_scene.size
+ frame_size = numpy.array([width, int(scene_size[1]/scene_size[0]*width) if height == None else height])
+ tvec = self.aoi_scene.center*[-1, 1, 0] + [0, 0, scene_size[1]]
+ rvec = numpy.array([[-numpy.pi, 0.0, 0.0]])
+ K = numpy.array([[frame_size[1], 0.0, frame_size[0]/2], [0.0, frame_size[1], frame_size[1]/2], [0.0, 0.0, 1.0]])
+
+ return frame_size, tvec, rvec, K
+
def estimate_pose(self, frame) -> Tuple[numpy.array, numpy.array, dict]:
"""Estimate scene pose from ArUco markers into frame.
@@ -210,14 +226,20 @@ class ArScene():
return tvec, rmat, consistent_markers
- def project(self, tvec, rmat, visual_hfov=0) -> AOI2DSceneType:
- """Project AOI scene into frame according estimated pose."""
+ def project(self, tvec: numpy.array, rvec: numpy.array, visual_hfov=0) -> AOI2DSceneType:
+ """Project AOI scene into frame according estimated pose and optionals horizontal fieald of view clipping angle.
+
+ * **Arguments:**
+ - translation vector
+ - rotation vector
+ - horizontal field of view clipping angle
+ """
# Clip AOI out of the visual horizontal field of view (optional)
if visual_hfov > 0:
# Transform scene into camera referential
- aoi_scene_camera_ref = self.aoi_scene.transform(tvec, rmat)
+ aoi_scene_camera_ref = self.aoi_scene.transform(tvec, rvec)
# Get aoi inside vision cone field
cone_vision_height_cm = 200 # cm
@@ -232,9 +254,7 @@ class ArScene():
aoi_scene_copy = self.aoi_scene.copy()
- # DON'T APPLY CAMERA DISTORSION : it projects points which are far from the frame into it
- # This hack isn't realistic but as the gaze will mainly focus on centered AOI, where the distorsion is low, it is acceptable.
- aoi_scene_projection = aoi_scene_copy.project(tvec, rmat, self.aruco_camera.K)
+ aoi_scene_projection = aoi_scene_copy.project(tvec, rvec, self.aruco_camera.K)
# Warn user when the projected scene is empty
if len(aoi_scene_projection) == 0:
diff --git a/src/argaze/ArUcoMarkers/utils/aruco_cube.json b/src/argaze/ArUcoMarkers/utils/aruco_cube.json
deleted file mode 100644
index a8df443..0000000
--- a/src/argaze/ArUcoMarkers/utils/aruco_cube.json
+++ /dev/null
@@ -1,24 +0,0 @@
-{
- "dictionary": "DICT_APRILTAG_16h5",
- "marker_size": 5.2,
- "edge_size": 6,
- "places": {
- "front": {
- "translation": [0, 0, 3],
- "rotation": [0, 0, 0],
- "marker": 2
- },
- "top": {
- "translation": [0, 3, 0],
- "rotation": [90, 0, 0],
- "marker": 1
- },
- "left": {
- "translation": [-3, 0, 0],
- "rotation": [0, 0, 0],
- "marker": 3
- }
- },
- "angle_tolerance": 1,
- "distance_tolerance": 0.5
-} \ No newline at end of file
diff --git a/src/argaze/ArUcoMarkers/utils/aruco_plan.json b/src/argaze/ArUcoMarkers/utils/aruco_plan.json
deleted file mode 100644
index 1ab05b2..0000000
--- a/src/argaze/ArUcoMarkers/utils/aruco_plan.json
+++ /dev/null
@@ -1,30 +0,0 @@
-{
- "dictionary": "DICT_APRILTAG_16h5",
- "marker_size": 5,
- "width": 29.7,
- "height": 21,
- "places": {
- "lower_left": {
- "translation": [0, 0, 0],
- "rotation": [0, 0, 0],
- "marker": 2
- },
- "upper_left": {
- "translation": [0, 21, 0],
- "rotation": [0, 0, 0],
- "marker": 3
- },
- "upper_right": {
- "translation": [29.7, 21, 0],
- "rotation": [0, 0, 0],
- "marker": 4
- },
- "lower_right": {
- "translation": [29.7, 0, 0],
- "rotation": [0, 0, 0],
- "marker": 5
- }
- },
- "angle_tolerance": 5.0,
- "distance_tolerance": 1.0
-} \ No newline at end of file
diff --git a/src/argaze/ArUcoMarkers/utils/tobiiglassespro2_hd.json b/src/argaze/ArUcoMarkers/utils/tobiiglassespro2_hd.json
deleted file mode 100644
index d21295a..0000000
--- a/src/argaze/ArUcoMarkers/utils/tobiiglassespro2_hd.json
+++ /dev/null
@@ -1,33 +0,0 @@
-{
- "rms": 0.6688921504088245,
- "dimensions": [
- 1920,
- 1080
- ],
- "camera matrix": [
- [
- 1135.6524381415752,
- 0.0,
- 956.0685325355497
- ],
- [
- 0.0,
- 1135.9272506869524,
- 560.059099810324
- ],
- [
- 0.0,
- 0.0,
- 1.0
- ]
- ],
- "distortion coefficients": [
- [
- 0.01655492265003404,
- 0.1985524264972037,
- 0.002129965902489484,
- -0.0019528582922179365,
- -0.5792910353639452
- ]
- ]
-} \ No newline at end of file
diff --git a/src/argaze/ArUcoMarkers/utils/tracker_configuration.json b/src/argaze/ArUcoMarkers/utils/tracker_configuration.json
deleted file mode 100644
index b5738a7..0000000
--- a/src/argaze/ArUcoMarkers/utils/tracker_configuration.json
+++ /dev/null
@@ -1,5 +0,0 @@
-{
- "polygonalApproxAccuracyRate": 0.1,
- "adaptiveThreshWinSizeMax": 30,
- "adaptiveThreshWinSizeStep": 5
-} \ No newline at end of file
diff --git a/src/argaze/AreaOfInterest/AOI3DScene.py b/src/argaze/AreaOfInterest/AOI3DScene.py
index 070789e..142738f 100644
--- a/src/argaze/AreaOfInterest/AOI3DScene.py
+++ b/src/argaze/AreaOfInterest/AOI3DScene.py
@@ -10,7 +10,6 @@ from argaze.AreaOfInterest import AOIFeatures, AOI2DScene
import numpy
import cv2 as cv
-
T0 = numpy.array([0., 0., 0.])
"""Define no translation vector."""
@@ -188,9 +187,15 @@ class AOI3DScene(AOIFeatures.AOIScene):
* **Arguments:**
- translation vector
- - rotation matrix
+ - rotation vector
- camera intrinsic parameters matrix
- camera distorsion coefficients vector
+
+ .. danger::
+ Camera distorsion coefficients could projects points which are far from the frame into it.
+
+ .. note::
+ As gaze is mainly focusing on the frame center, where the distorsion is low, it could be acceptable to not use camera distorsion.
"""
aoi2D_scene = AOI2DScene.AOI2DScene()
generated by cgit v1.1 at 2024-11-10 04:29:16 +0000