diff options
| -rw-r--r-- | docs/user_guide/aruco_markers_pipeline/advanced_topics/scripting.md | 4 | ||||
| -rw-r--r-- | docs/user_guide/aruco_markers_pipeline/aoi_3d_frame.md | 10 | ||||
| -rw-r--r-- | docs/user_guide/aruco_markers_pipeline/configuration_and_execution.md | 10 | ||||
| -rw-r--r-- | src/argaze/ArFeatures.py | 25 | ||||
| -rw-r--r-- | src/argaze/ArUcoMarkers/ArUcoCamera.py | 2 | ||||
| -rw-r--r-- | src/argaze/utils/aruco_markers_group_export.py | 2 | ||||
| -rw-r--r-- | src/argaze/utils/demo_aruco_markers_run.py | 2 |
7 files changed, 14 insertions, 41 deletions
diff --git a/docs/user_guide/aruco_markers_pipeline/advanced_topics/scripting.md b/docs/user_guide/aruco_markers_pipeline/advanced_topics/scripting.md index 892d6dd..c79c8b5 100644 --- a/docs/user_guide/aruco_markers_pipeline/advanced_topics/scripting.md +++ b/docs/user_guide/aruco_markers_pipeline/advanced_topics/scripting.md @@ -75,11 +75,11 @@ for name, aruco_scene in aruco_camera.scenes.items(): [ArUcoCamera.watch](../../../argaze.md/#argaze.ArFeatures.ArCamera.watch) method returns data about pipeline execution. ```python -# Assuming that images are available +# Assuming that timestamped images are available ...: # Watch image with ArUco camera - detection_time, projection_time, exception = aruco_camera.watch(image) + detection_time, projection_time, exception = aruco_camera.watch(timestamp, image) # Do something with pipeline times ... diff --git a/docs/user_guide/aruco_markers_pipeline/aoi_3d_frame.md b/docs/user_guide/aruco_markers_pipeline/aoi_3d_frame.md index 7f60f86..86839c1 100644 --- a/docs/user_guide/aruco_markers_pipeline/aoi_3d_frame.md +++ b/docs/user_guide/aruco_markers_pipeline/aoi_3d_frame.md @@ -101,17 +101,11 @@ The names of 3D AOI **and** their related [ArFrames](../../argaze.md/#argaze.ArF After camera image is passed to [ArUcoCamera.watch](../../argaze.md/#argaze.ArFeatures.ArCamera.watch) method, it is possible to apply a perpective transformation in order to project watched image into each [ArUcoScenes](../../argaze.md/#argaze.ArUcoMarkers.ArUcoScene) [frames background](../../argaze.md/#argaze.ArFeatures.ArFrame) image. ```python -# Assuming that Full HD (1920x1080) video stream or file is opened -... - -# Assuming that the video reading is handled in a looping code block +# Assuming that Full HD (1920x1080) timestamped images are available ...: - # Capture image from video stream of file - image = video_capture.read() - # Detect ArUco markers, estimate scene pose then, project 3D AOI into camera frame - aruco_camera.watch(image) + aruco_camera.watch(timestamp, image) # Map watched image into ArUcoScenes frames background aruco_camera.map() diff --git a/docs/user_guide/aruco_markers_pipeline/configuration_and_execution.md b/docs/user_guide/aruco_markers_pipeline/configuration_and_execution.md index 329a137..43bb64e 100644 --- a/docs/user_guide/aruco_markers_pipeline/configuration_and_execution.md +++ b/docs/user_guide/aruco_markers_pipeline/configuration_and_execution.md @@ -98,17 +98,11 @@ The usual [ArFrame visualisation parameters](../gaze_analysis_pipeline/visualisa Pass each camera image to [ArUcoCamera.watch](../../argaze.md/#argaze.ArFeatures.ArCamera.watch) method to execute the whole pipeline dedicated to ArUco markers detection, scene pose estimation and 3D AOI projection. ```python -# Assuming that Full HD (1920x1080) video stream or file is opened -... - -# Assuming that the video reading is handled in a looping code block +# Assuming that Full HD (1920x1080) timestamped images are available ...: - # Capture image from video stream of file - image = video_capture.read() - # Detect ArUco markers, estimate scene pose then, project 3D AOI into camera frame - aruco_camera.watch(image) + aruco_camera.watch(timestamp, image) # Display ArUcoCamera frame image to display detected ArUco markers, scene pose, 2D AOI projection and ArFrame visualisation. ... aruco_camera.image() diff --git a/src/argaze/ArFeatures.py b/src/argaze/ArFeatures.py index dca2e3a..599b81f 100644 --- a/src/argaze/ArFeatures.py +++ b/src/argaze/ArFeatures.py @@ -1448,9 +1448,13 @@ class ArCamera(ArFrame): yield scene_frame - def watch(self, image: numpy.array) -> Tuple[float, dict]: + def watch(self, timestamp: int|float, image: numpy.array) -> Tuple[float, dict]: """Detect AR features from image and project scenes into camera frame. + Parameters: + timestamp: image time stamp (unit does'nt matter) + image: image where to extract AR features + Returns: detection time: AR features detection time in ms. exception: dictionary with exception raised per scene. @@ -1469,25 +1473,6 @@ class ArCamera(ArFrame): watch method needs to be called first. """ - # Can't use camera frame while it is locked - wait_start = time.perf_counter() - waiting_time = 0 - - while super().locked(): - - time.sleep(1e-6) - waiting_time = (time.perf_counter() - wait_start) * 1e3 - - # TODO? return waiting time? - - # TODO? add timeout parameter? - #if waiting_time > timeout: - # return None, None - - # DEBUG - #if waiting_time > 0: - # print(f'ArCamera: waiting {waiting_time:.3f} ms before to process gaze position at {timestamp} time.') - # Project gaze position into camera frame yield self, super().look(timestamp, gaze_position) diff --git a/src/argaze/ArUcoMarkers/ArUcoCamera.py b/src/argaze/ArUcoMarkers/ArUcoCamera.py index 04226c0..1cf0896 100644 --- a/src/argaze/ArUcoMarkers/ArUcoCamera.py +++ b/src/argaze/ArUcoMarkers/ArUcoCamera.py @@ -142,7 +142,7 @@ class ArUcoCamera(ArFeatures.ArCamera): return ArUcoCamera.from_dict(aruco_camera_data, working_directory) - def watch(self, image: numpy.array) -> Tuple[float, float, dict]: + def watch(self, timestamp: int|float, image: numpy.array) -> Tuple[float, float, dict]: """Detect environment aruco markers from image and project scenes into camera frame. Returns: diff --git a/src/argaze/utils/aruco_markers_group_export.py b/src/argaze/utils/aruco_markers_group_export.py index 8740af2..92646ca 100644 --- a/src/argaze/utils/aruco_markers_group_export.py +++ b/src/argaze/utils/aruco_markers_group_export.py @@ -74,7 +74,7 @@ def main(): current_image_time = video_capture.get(cv2.CAP_PROP_POS_MSEC) # Detect markers - detection_time, projection_time, exceptions = aruco_camera.watch(video_image) + detection_time, projection_time, exceptions = aruco_camera.watch(current_image_time, video_image) # Estimate each markers pose aruco_camera.aruco_detector.estimate_markers_pose(aruco_camera.aruco_detector.detected_markers) diff --git a/src/argaze/utils/demo_aruco_markers_run.py b/src/argaze/utils/demo_aruco_markers_run.py index ce81da4..67e2845 100644 --- a/src/argaze/utils/demo_aruco_markers_run.py +++ b/src/argaze/utils/demo_aruco_markers_run.py @@ -118,7 +118,7 @@ def main(): video_chrono.restart() # Detect and project AR features - detection_time, projection_time, exceptions = aruco_camera.watch(video_image) + detection_time, projection_time, exceptions = aruco_camera.watch(capture_time, video_image) # Assess visualisation time visualisation_start = time.time() |