1 files changed, 97 insertions, 0 deletions
diff --git a/src/argaze/utils/demo_ar_features_run.py b/src/argaze/utils/demo_ar_features_run.py
new file mode 100644
index 0000000..cee16e1
--- /dev/null
+++ b/src/argaze/utils/demo_ar_features_run.py
@@ -0,0 +1,97 @@
+#!/usr/bin/env python
+
+import argparse
+
+from argaze import ArFeatures, GazeFeatures
+
+import cv2
+
+def main():
+    """
+    Load AR environment from .json file, detect ArUco markers into camera device frames and estimate environment pose.
+    """
+
+    # Manage arguments
+    parser = argparse.ArgumentParser(description=main.__doc__.split('-')[0])
+    parser.add_argument('environment', metavar='ENVIRONMENT', type=str, help='ar environment filepath')
+
+    parser.add_argument('-d', '--device', metavar='DEVICE', type=int, default=0, help='video capture device id')
+    args = parser.parse_args()
+
+    # Load AR enviroment
+    demo_environment = ArFeatures.ArEnvironment.from_json(args.environment)
+
+    print('ArEnvironment:\n', demo_environment)
+
+    # Access to main AR scene
+    demo_scene = demo_environment.scenes["AR Scene Demo"]
+
+    # Create a window to display AR environment
+    cv2.namedWindow(demo_environment.name, cv2.WINDOW_AUTOSIZE)
+
+    # Enable camera video capture
+    video_capture = cv2.VideoCapture(args.device)
+
+    # Waiting for 'ctrl+C' interruption
+    try:
+
+        # Capture frames
+        while video_capture.isOpened():
+
+            success, video_frame = video_capture.read()
+
+            if success:
+
+                # Detect markers
+                demo_environment.aruco_detector.detect_markers(video_frame)
+
+                # Draw detected markers
+                demo_environment.aruco_detector.draw_detected_markers(video_frame)
+
+                 # Try to project scene
+                try:
+
+                    try:
+                        # Try to build AOI scene from detected ArUco marker corners
+                        aoi_scene_projection = demo_scene.build_aruco_aoi_scene(demo_environment.aruco_detector.detected_markers)
+
+                    except:
+
+                        # Estimate scene markers poses
+                        demo_environment.aruco_detector.estimate_markers_pose(demo_scene.aruco_scene.identifiers)
+
+                        # Estimate scene pose from detected scene markers
+                        tvec, rmat, _, _ = demo_scene.estimate_pose(demo_environment.aruco_detector.detected_markers)
+
+                        # Project AOI scene into frame according estimated pose
+                        aoi_scene_projection = demo_scene.project(tvec, rmat)
+
+                    # Draw AOI scene projection
+                    aoi_scene_projection.draw(video_frame, color=(255, 255, 255))
+
+                # Catch exceptions raised by estimate_pose and project methods
+                except (ArFeatures.PoseEstimationFailed, ArFeatures.SceneProjectionFailed) as e:
+
+                    cv2.rectangle(video_frame, (0, 50), (700, 100), (127, 127, 127), -1)
+                    cv2.putText(video_frame, f'Error: {e}', (20, 80), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
+            
+                # Draw frame
+                cv2.imshow(demo_environment.name, video_frame)
+
+            # Stop calibration by pressing 'Esc' key
+            if cv2.waitKey(10) == 27:
+                break
+
+    # Stop calibration on 'ctrl+C' interruption
+    except KeyboardInterrupt:
+        pass
+
+    # Close camera video capture
+    video_capture.release()
+
+    # Stop frame display
+    cv2.destroyAllWindows()
+
+if __name__ == '__main__':
+
+    main()