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-rw-r--r--docs/user_guide/utils/ready-made_scripts.md12
-rw-r--r--src/argaze/ArUcoMarker/ArUcoDetector.py49
-rw-r--r--src/argaze/utils/aruco_marker_group_export.py226
-rw-r--r--src/argaze/utils/estimate_markers_pose/observers.py32
-rw-r--r--src/argaze/utils/estimate_markers_pose/pipeline.json6
5 files changed, 61 insertions, 264 deletions
diff --git a/docs/user_guide/utils/ready-made_scripts.md b/docs/user_guide/utils/ready-made_scripts.md
index bc35d59..892fef8 100644
--- a/docs/user_guide/utils/ready-made_scripts.md
+++ b/docs/user_guide/utils/ready-made_scripts.md
@@ -54,10 +54,16 @@ Modify the content of JSON CONFIGURATION file with another JSON CHANGES file the
python -m argaze edit CONFIGURATION CHANGES OUTPUT
```
-## ArUco markers group exporter
+## Estimate ArUco markers pose
-Detect DICTIONARY and SIZE ArUco markers inside a MOVIE frame then, export detected ArUco markers group as .obj file into an OUTPUT folder.
+This application detects ArUco markers inside a movie frame then, export pose estimation as .obj file into a folder.
+
+Firstly, edit **utils/estimate_markers_pose/context.json** file as to select a movie *path*.
+
+Sencondly, edit **utils/estimate_markers_pose/pipeline.json** file to setup ArUco detector *dictionary*, *pose_size* and *pose_ids* attributes.
+
+Then, launch the application.
```shell
-python ./src/argaze/utils/aruco_marker_group_export.py MOVIE DICTIONARY SIZE -o OUTPUT
+python -m argaze load ./src/argaze/utils/estimate_markers_pose/context.json
``` \ No newline at end of file
diff --git a/src/argaze/ArUcoMarker/ArUcoDetector.py b/src/argaze/ArUcoMarker/ArUcoDetector.py
index 32a7f3f..32091a4 100644
--- a/src/argaze/ArUcoMarker/ArUcoDetector.py
+++ b/src/argaze/ArUcoMarker/ArUcoDetector.py
@@ -26,7 +26,7 @@ import numpy
from cv2 import aruco
from argaze import DataFeatures
-from argaze.ArUcoMarker import ArUcoMarkerDictionary, ArUcoMarker, ArUcoOpticCalibrator
+from argaze.ArUcoMarker import ArUcoMarkerDictionary, ArUcoMarker, ArUcoOpticCalibrator, ArUcoMarkerGroup
class DetectorParameters():
@@ -139,6 +139,11 @@ class ArUcoDetector(DataFeatures.PipelineStepObject):
# Init detected markers data
self.__detected_markers = {}
+ # Init pose estimation data
+ self.__pose_size = None
+ self.__pose_ids = []
+ self.__pose = None
+
# Init detected board data
self.__board = None
self.__board_corners_number = 0
@@ -187,6 +192,9 @@ class ArUcoDetector(DataFeatures.PipelineStepObject):
!!! danger "DON'T UNDISTORTED IMAGE"
Camera intrinsic parameters and distortion coefficients are used later during pose estimation.
+
+ !!! note
+ The pose of markers will be also estimated if the pose_size attribute is not None.
"""
# Reset detected markers data
@@ -202,6 +210,7 @@ class ArUcoDetector(DataFeatures.PipelineStepObject):
detected_markers_ids = detected_markers_ids.T[0]
for i, marker_id in enumerate(detected_markers_ids):
+
marker = ArUcoMarker.ArUcoMarker(self.__dictionary, marker_id)
marker.corners = detected_markers_corners[i][0]
@@ -212,12 +221,48 @@ class ArUcoDetector(DataFeatures.PipelineStepObject):
self.__detected_markers[marker_id] = marker
+ # Estimate markers pose if required
+ if self.__pose_size is not None:
+
+ self.estimate_markers_pose(self.__pose_size, self.__pose_ids)
+
+ self.__pose = ArUcoMarkerGroup.ArUcoMarkerGroup(dictionary=self.__dictionary, places=self.__detected_markers)
+
+ @property
+ def pose_size(self) -> float:
+ """Expected markers size in centimeters to enable pose estimation."""
+ return self.__pose_size
+
+ @pose_size.setter
+ @DataFeatures.PipelineStepAttributeSetter
+ def pose_size(self, pose_size: float):
+
+ self.__pose_size = pose_size
+
+ @property
+ def pose_ids(self) -> list:
+ """Ids of markers to select for pose estimation (default all)."""
+ return self.__pose_ids
+
+ @pose_ids.setter
+ def pose_ids(self, pose_ids: list):
+
+ self.__pose_ids = pose_ids
+
+ @property
+ def pose(self) -> ArUcoMarkerGroup:
+ """The estimated pose of detected markers considering their expected size."""
+ return self.__pose
+
def estimate_markers_pose(self, size: float, ids: list = []):
- """Estimate pose detected markers pose considering a marker size.
+ """Estimate detected markers pose considering a marker size.
Parameters:
size: size of markers in centimeters.
ids: markers id list to select detected markers.
+
+ !!! warning
+ This method have to called after 'detect_markers'
"""
# Is there detected markers ?
diff --git a/src/argaze/utils/aruco_marker_group_export.py b/src/argaze/utils/aruco_marker_group_export.py
deleted file mode 100644
index 47aba86..0000000
--- a/src/argaze/utils/aruco_marker_group_export.py
+++ /dev/null
@@ -1,226 +0,0 @@
-#!/usr/bin/env python
-
-""" """
-
-"""
-This program is free software: you can redistribute it and/or modify it under
-the terms of the GNU General Public License as published by the Free Software
-Foundation, either version 3 of the License, or (at your option) any later
-version.
-This program is distributed in the hope that it will be useful, but WITHOUT
-ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
-You should have received a copy of the GNU General Public License along with
-this program. If not, see <https://www.gnu.org/licenses/>.
-"""
-
-__author__ = "Théo de la Hogue"
-__credits__ = []
-__copyright__ = "Copyright 2023, Ecole Nationale de l'Aviation Civile (ENAC)"
-__license__ = "GPLv3"
-
-import argparse
-import contextlib
-
-import cv2
-
-from argaze import DataFeatures
-from argaze.ArUcoMarker import ArUcoDetector, ArUcoOpticCalibrator, ArUcoMarkerGroup
-from argaze.utils import UtilsFeatures
-
-
-def main():
- """
- Detect DICTIONARY and SIZE ArUco markers inside a MOVIE frame then, export detected ArUco markers group as .obj file into an OUTPUT folder.
- """
-
- # Manage arguments
- parser = argparse.ArgumentParser(description=main.__doc__.split('-')[0])
- parser.add_argument('movie', metavar='MOVIE', type=str, default=None, help='movie path')
- parser.add_argument('dictionary', metavar='DICTIONARY', type=str, default=None, help='expected ArUco markers dictionary')
- parser.add_argument('size', metavar='SIZE', type=float, default=None, help='expected ArUco markers size (in cm)')
-
- parser.add_argument('-p', '--parameters', metavar='PARAMETERS', type=str, default=None, help='ArUco detector parameters file')
- parser.add_argument('-op', '--optic_parameters', metavar='OPTIC_PARAMETERS', type=str, default=None, help='ArUco detector optic parameters file')
-
- parser.add_argument('-s', '--start', metavar='START', type=float, default=0., help='start time in second')
- parser.add_argument('-o', '--output', metavar='OUTPUT', type=str, default='.', help='export folder path')
- parser.add_argument('-v', '--verbose', action='store_true', default=False,
- help='enable verbose mode to print information in console')
-
- args = parser.parse_args()
-
- # Load movie
- video_capture = cv2.VideoCapture(args.movie)
-
- video_fps = video_capture.get(cv2.CAP_PROP_FPS)
- image_width = int(video_capture.get(cv2.CAP_PROP_FRAME_WIDTH))
- image_height = int(video_capture.get(cv2.CAP_PROP_FRAME_HEIGHT))
-
- # Edit ArUco detector configuration
- configuration = {
- "dictionary": args.dictionary
- }
-
- if args.parameters:
- configuration["parameters"] = args.parameters
-
- if args.optic_parameters:
- configuration["optic_parameters"] = args.optic_parameters
-
- # Load ArUco detector configuration
- aruco_detector = DataFeatures.from_dict(ArUcoDetector.ArUcoDetector, configuration)
-
- # Create default optic parameters adapted to frame size
- if aruco_detector.optic_parameters is None:
-
- # Note: The choice of 1000 for default focal length should be discussed...
- aruco_detector.optic_parameters = ArUcoOpticCalibrator.OpticParameters(rms=-1, dimensions=(image_width, image_height), K=ArUcoOpticCalibrator.K0(focal_length=(1000., 1000.), width=image_width, height=image_height))
-
- if args.verbose:
- print(aruco_detector)
-
- # Create empty ArUco scene
- aruco_markers_group = None
-
- # Edit draw parameters
- draw_parameters = {
- "color": [255, 255, 255],
- "draw_axes": {
- "thickness": 4
- }
- }
-
- # Create a window
- cv2.namedWindow("Export detected ArUco markers", cv2.WINDOW_AUTOSIZE)
-
- # Init image selection
- current_image_index = -1
- _, current_image = video_capture.read()
- next_image_index = int(args.start * video_fps)
- refresh = False
-
- # Waiting for 'ctrl+C' interruption
- with contextlib.suppress(KeyboardInterrupt):
-
- while True:
-
- # Select a new image and detect markers once
- if next_image_index != current_image_index or refresh:
-
- video_capture.set(cv2.CAP_PROP_POS_FRAMES, next_image_index)
-
- success, video_image = video_capture.read()
-
- video_height, video_width, _ = video_image.shape
-
- if success:
-
- # Refresh once
- refresh = False
-
- current_image_index = video_capture.get(cv2.CAP_PROP_POS_FRAMES) - 1
- current_image_time = video_capture.get(cv2.CAP_PROP_POS_MSEC)
-
- # Timestamp image
- video_image = DataFeatures.TimestampedImage(video_image, timestamp=current_image_time)
-
- try:
-
- # Detect and project AR features
- aruco_detector.detect_markers(video_image)
-
- # Estimate all detected markers pose
- aruco_detector.estimate_markers_pose(args.size)
-
- # Build aruco scene from detected markers
- aruco_markers_group = ArUcoMarkerGroup.ArUcoMarkerGroup(dictionary=aruco_detector.dictionary, places=aruco_detector.detected_markers())
-
- # Detection succeeded
- exception = None
-
- # Write errors
- except Exception as e:
-
- aruco_markers_group = None
-
- exception = e
-
- # Draw detected markers
- aruco_detector.draw_detected_markers(video_image, draw_parameters)
-
- # Write detected markers
- cv2.putText(video_image, f'Detecting markers {list(aruco_detector.detected_markers().keys())}', (20, video_height - 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
-
- # Write timing
- cv2.putText(video_image, f'Frame at {int(current_image_time)}ms', (20, 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
-
- # Write exception
- if exception is not None:
- cv2.putText(video_image, f'error: {exception}', (20, 80), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
-
- # Write documentation
- cv2.putText(video_image, f'<- previous image', (video_width - 500, video_height - 160), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
- cv2.putText(video_image, f'-> next image', (video_width - 500, video_height - 120), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
- cv2.putText(video_image, f'r: reload config', (video_width - 500, video_height - 80), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
- cv2.putText(video_image, f'Ctrl+s: export ArUco markers', (video_width - 500, video_height - 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
-
- # Copy image
- current_image = video_image.copy()
-
- # Keep last image
- else:
-
- video_image = current_image.copy()
-
- key_pressed = cv2.waitKey(10)
-
- #if key_pressed != -1:
- # print(key_pressed)
-
- # Select previous image with left arrow
- if key_pressed == 2:
- next_image_index -= 1
-
- # Select next image with right arrow
- if key_pressed == 3:
- next_image_index += 1
-
- # Clip image index
- if next_image_index < 0:
- next_image_index = 0
-
- # r: reload configuration
- if key_pressed == 114:
- aruco_detector = DataFeatures.from_dict(ArUcoDetector.ArUcoDetector, configuration)
- refresh = True
- print('Configuration reloaded')
-
- # Save selected marker edition using 'Ctrl + s'
- if key_pressed == 19:
-
- if aruco_markers_group:
-
- aruco_markers_group.to_obj(f'{args.output}/{int(current_image_time)}-aruco_markers_group.obj')
- print(f'ArUco markers saved into {args.output}')
-
- else:
-
- print(f'No ArUco markers to export')
-
- # Close window using 'Esc' key
- if key_pressed == 27:
- break
-
- # Display video
- cv2.imshow(aruco_detector.name, video_image)
-
- # Close movie capture
- video_capture.release()
-
- # Stop image display
- cv2.destroyAllWindows()
-
-
-if __name__ == '__main__':
- main()
diff --git a/src/argaze/utils/estimate_markers_pose/observers.py b/src/argaze/utils/estimate_markers_pose/observers.py
index 23316ca..88da4f9 100644
--- a/src/argaze/utils/estimate_markers_pose/observers.py
+++ b/src/argaze/utils/estimate_markers_pose/observers.py
@@ -43,40 +43,12 @@ class ArUcoMarkersPoseRecorder(DataFeatures.PipelineStepObject):
self.__output_folder = output_folder
- @property
- def size(self) -> float:
- """Expected size in centimeters of detected markers."""
- return self.__output_folder
-
- @size.setter
- def size(self, size: float):
-
- self.__size = size
-
- @property
- def ids(self) -> list:
- """Ids of markers to estimate pose (default all)."""
- return self.__ids
-
- @ids.setter
- def ids(self, ids: list):
-
- self.__ids = ids
-
def on_detect_markers(self, timestamp, aruco_detector, exception):
logging.info('%s writes estimated markers pose into %s', DataFeatures.get_class_path(self), self.__output_folder)
- if self.__size is not None:
-
- # Estimate all detected markers pose
- aruco_detector.estimate_markers_pose(self.__size, ids = self.__ids)
-
- # Build ArUco markers group from detected markers
- aruco_markers_group = ArUcoMarkerGroup.ArUcoMarkerGroup(dictionary=aruco_detector.dictionary, places=aruco_detector.detected_markers())
-
- if self.__output_folder is not None:
+ if aruco_detector.pose is not None:
# Write ArUco markers group
- aruco_markers_group.to_obj(f'{self.__output_folder}/{int(timestamp)}-aruco_markers_group.obj')
+ aruco_detector.pose.to_obj(f'{self.__output_folder}/{int(timestamp)}-aruco_markers_group.obj')
\ No newline at end of file
diff --git a/src/argaze/utils/estimate_markers_pose/pipeline.json b/src/argaze/utils/estimate_markers_pose/pipeline.json
index c3034e8..2e0ab76 100644
--- a/src/argaze/utils/estimate_markers_pose/pipeline.json
+++ b/src/argaze/utils/estimate_markers_pose/pipeline.json
@@ -4,14 +4,14 @@
"size": [1920, 1080],
"aruco_detector": {
"dictionary": "DICT_APRILTAG_16h5",
+ "pose_size": 4,
+ "pose_ids": [],
"parameters": {
"useAruco3Detection": 1
},
"observers":{
"observers.ArUcoMarkersPoseRecorder": {
- "output_folder": "_export/records/aruco_markers_group",
- "size": 4,
- "ids": []
+ "output_folder": "_export/records/aruco_markers_group"
}
}
},
generated by cgit v1.1 at 2024-11-10 09:25:13 +0000