diff options
| -rw-r--r-- | src/argaze/ArUcoMarkers/ArUcoTracker.py | 71 |
1 files changed, 64 insertions, 7 deletions
diff --git a/src/argaze/ArUcoMarkers/ArUcoTracker.py b/src/argaze/ArUcoMarkers/ArUcoTracker.py index 1d67221..19f4643 100644 --- a/src/argaze/ArUcoMarkers/ArUcoTracker.py +++ b/src/argaze/ArUcoMarkers/ArUcoTracker.py @@ -1,11 +1,46 @@ #!/usr/bin/env python +import json + from argaze.ArUcoMarkers import ArUcoMarkersDictionary, ArUcoCamera import numpy import cv2 as cv import cv2.aruco as aruco +ArUcoTrackerParameters = [ + 'adaptiveThreshConstant', + 'adaptiveThreshWinSizeMax', + 'adaptiveThreshWinSizeMin', + 'adaptiveThreshWinSizeStep', + 'aprilTagCriticalRad', + 'aprilTagDeglitch', + 'aprilTagMaxLineFitMse', + 'aprilTagMaxNmaxima', + 'aprilTagMinClusterPixels', + 'aprilTagMinWhiteBlackDiff', + 'aprilTagQuadDecimate', + 'aprilTagQuadSigma', + 'cornerRefinementMaxIterations', + 'cornerRefinementMethod', + 'cornerRefinementMinAccuracy', + 'cornerRefinementWinSize', + 'markerBorderBits', + 'minMarkerPerimeterRate', + 'maxMarkerPerimeterRate', + 'minMarkerDistanceRate', + 'detectInvertedMarker', + 'errorCorrectionRate', + 'maxErroneousBitsInBorderRate', + 'minCornerDistanceRate', + 'minDistanceToBorder', + 'minOtsuStdDev', + 'perspectiveRemoveIgnoredMarginPerCell', + 'perspectiveRemovePixelPerCell', + 'polygonalApproxAccuracyRate' +] +"""All parameters are detailled on [opencv page](https://docs.opencv.org/4.x/d1/dcd/structcv_1_1aruco_1_1DetectorParameters.html)""" + class ArUcoTracker(): """Track ArUco markers into a frame.""" @@ -22,8 +57,8 @@ class ArUcoTracker(): self.__camera = camera # setup ArUco detection parameters - self.__aruco_param = aruco.DetectorParameters_create() - self.__aruco_param.cornerRefinementMethod = aruco.CORNER_REFINE_CONTOUR + self.__detector_parameters = aruco.DetectorParameters_create() + self.__detector_parameters.cornerRefinementMethod = aruco.CORNER_REFINE_CONTOUR # define tracked markers data self.__markers_corners = [] @@ -38,8 +73,30 @@ class ArUcoTracker(): self.__board_corners = [] self.__board_corners_ids = [] - def __del__(self): - pass + def load_configuration_file(self, configuration_filepath): + """Load aruco detection parameters from .json file. + """ + print(f'ArUcoTracker configuration for {self.__aruco_dict.get_markers_format()} markers detection:') + with open(configuration_filepath) as configuration_file: + + configuration = json.load(configuration_file) + + for key, value in configuration.items(): + + try: + setattr(self.__detector_parameters, key, value) + print(f'\t{key}: {getattr(self.__detector_parameters, key)}') + + except AttributeError as error: + + print(error) + + def print_configuration(self): + """Print aruco detection parameters.""" + + print(f'ArUcoTracker configuration for {self.__aruco_dict.get_markers_format()} markers detection:') + for parameters in ArUcoTrackerParameters: + print(f'\t{parameters}: {getattr(self.__detector_parameters, parameters)}') def track(self, frame, estimate_pose = True): """Track ArUco markers in frame.""" @@ -48,7 +105,7 @@ class ArUcoTracker(): # detect markers from gray picture gray = cv.cvtColor(frame, cv.COLOR_BGR2GRAY) - self.__markers_corners, self.__markers_ids, rejectedPoints = aruco.detectMarkers(gray, self.__aruco_dict.get_markers(), parameters = self.__aruco_param) + self.__markers_corners, self.__markers_ids, rejectedPoints = aruco.detectMarkers(gray, self.__aruco_dict.get_markers(), parameters = self.__detector_parameters) if len(self.__markers_corners) > 0 and estimate_pose: @@ -68,7 +125,7 @@ class ArUcoTracker(): # detect markers from gray picture gray = cv.cvtColor(frame, cv.COLOR_BGR2GRAY) - self.__markers_corners, self.__markers_ids, rejectedPoints = aruco.detectMarkers(gray, self.__aruco_dict.get_markers(), parameters = self.__aruco_param) + self.__markers_corners, self.__markers_ids, rejectedPoints = aruco.detectMarkers(gray, self.__aruco_dict.get_markers(), parameters = self.__detector_parameters) # if all board markers are detected if self.get_markers_number() == expected_markers_number: @@ -111,7 +168,7 @@ class ArUcoTracker(): def get_markers_ids(self): """Get tracked markers identifers.""" - return self.__markers_ids + return [i[0] for i in self.__markers_ids] def get_marker_corners(self, i): """Get marker i corners.""" |