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-rw-r--r--src/argaze/ArGazeScene.py15
-rw-r--r--src/argaze/ArUcoMarkers/ArUcoScene.py179
-rw-r--r--src/argaze/utils/tobii_segment_argaze_scene_export.py4
3 files changed, 155 insertions, 43 deletions
diff --git a/src/argaze/ArGazeScene.py b/src/argaze/ArGazeScene.py
index 56ac18e..0eb4ebc 100644
--- a/src/argaze/ArGazeScene.py
+++ b/src/argaze/ArGazeScene.py
@@ -35,6 +35,9 @@ class ArGazeScene():
aruco_scene: ArUcoScene.ArUcoScene = field(init=False, default_factory=ArUcoScene.ArUcoScene)
"""ArUco scene ..."""
+ aoi_scene: AOI3DScene.AOI3DScene = field(init=False, default_factory=AOI3DScene.AOI3DScene)
+ """AOI 3D scene ..."""
+
def __init__(self, **kwargs):
self.aruco_dictionary = ArUcoMarkersDictionary.ArUcoMarkersDictionary(kwargs.pop('aruco_dictionary'))
@@ -45,18 +48,26 @@ class ArGazeScene():
self.aruco_tracker = ArUcoTracker.ArUcoTracker(self.aruco_dictionary, self.aruco_marker_size, self.aruco_camera, **kwargs.pop('aruco_tracker'))
+ # Check aruco_scene.places value type
+ aruco_scene_places_value = kwargs['aruco_scene']['places']
+
+ # str: relative path to .obj file
+ if type(aruco_scene_places_value) == str:
+
+ kwargs['aruco_scene']['places'] = os.path.join(self.__current_directory, aruco_scene_places_value)
+
self.aruco_scene = ArUcoScene.ArUcoScene(self.aruco_dictionary, self.aruco_marker_size, **kwargs.pop('aruco_scene'))
# Check aoi_scene value type
aoi_scene_value = kwargs.pop('aoi_scene')
- # Relative path to a .obj file
+ # str: relative path to .obj file
if type(aoi_scene_value) == str:
obj_filepath = os.path.join(self.__current_directory, aoi_scene_value)
self.aoi_scene = AOI3DScene.AOI3DScene.from_obj(obj_filepath)
- # Dict of all AOI
+ # dict: all AOI
else:
self.aoi_scene = AOI3DScene.AOI3DScene(aoi_scene_value)
diff --git a/src/argaze/ArUcoMarkers/ArUcoScene.py b/src/argaze/ArUcoMarkers/ArUcoScene.py
index 2134cf7..857ebf4 100644
--- a/src/argaze/ArUcoMarkers/ArUcoScene.py
+++ b/src/argaze/ArUcoMarkers/ArUcoScene.py
@@ -5,6 +5,7 @@ from dataclasses import dataclass, field
import json
import math
import itertools
+import re
from argaze.ArUcoMarkers import ArUcoMarkersDictionary, ArUcoMarker, ArUcoCamera
@@ -15,49 +16,62 @@ import cv2.aruco as aruco
ArUcoSceneType = TypeVar('ArUcoScene', bound="ArUcoScene")
# Type definition for type annotation convenience
-@dataclass
+@dataclass(frozen=True)
class Place():
"""Define a place as a pose and a marker."""
translation: numpy.array
- """Position in set referential."""
+ """Position in scene referential."""
rotation: numpy.array
- """Rotation in set referential."""
+ """Rotation in scene referential."""
marker: dict
"""ArUco marker linked to the place."""
-@dataclass
class ArUcoScene():
"""Define abstract class to handle group of ArUco markers as one unique spatial entity and estimate its pose."""
- places: dict = field(init=False, default_factory=dict)
- """All named places of the set and their ArUco markers."""
-
- angle_tolerance: float = field(init=False)
+ angle_tolerance: float
"""Angle error tolerance allowed to validate place pose in degree."""
- distance_tolerance: float = field(init=False)
+ distance_tolerance: float
"""Distance error tolerance allowed to validate place pose in centimeter."""
- def __init__(self, dictionary: ArUcoMarkersDictionary.ArUcoMarkersDictionary, marker_size: float, **kwargs):
- """Define set from a .json file."""
+ def __init__(self, dictionary: ArUcoMarkersDictionary.ArUcoMarkersDictionary, marker_size: float, angle_tolerance: float, distance_tolerance: float, places: dict | str = None):
+ """Define scene attributes."""
self.__dictionary = dictionary
self.__marker_size = marker_size
- # Load places
- self.places = {}
- for name, place in kwargs['places'].items():
- marker = ArUcoMarker.ArUcoMarker(self.__dictionary, place['marker'], self.__marker_size)
- self.places[name] = Place(numpy.array(place['translation']).astype(numpy.float32), numpy.array(place['rotation']).astype(numpy.float32), marker)
+ self.angle_tolerance = angle_tolerance
+ self.distance_tolerance = distance_tolerance
+
+ # NEVER USE {} as default function argument
+ self.places = places
+
+ @property
+ def places(self) -> dict:
+ """All named places of the scene and their ArUco markers."""
+
+ return self.__places
+
+ @places.setter
+ def places(self, places: dict | str):
+
+ # str: path to .obj file
+ if type(places) == str:
- # Load angle tolerance
- self.angle_tolerance = kwargs['angle_tolerance']
+ self.__load_places_from_obj(places)
- # Load distance tolerance
- self.distance_tolerance = kwargs['distance_tolerance']
+ # dict: all places
+ else:
+
+ self.__places = {}
+
+ for name, place in places.items():
+ marker = ArUcoMarker.ArUcoMarker(self.__dictionary, place['marker'], self.__marker_size)
+ self.__places[name] = Place(numpy.array(place['translation']).astype(numpy.float32), numpy.array(place['rotation']).astype(numpy.float32), marker)
# Init pose data
self._translation = numpy.zeros(3)
@@ -67,17 +81,17 @@ class ArUcoScene():
# Process markers ids to speed up further calculations
self.__identifier_cache = {}
- for name, place in self.places.items():
+ for name, place in self.__places.items():
self.__identifier_cache[place.marker.identifier] = name
# Process each place pose to speed up further calculations
self.__translation_cache = {}
- for name, place in self.places.items():
+ for name, place in self.__places.items():
self.__translation_cache[name] = place.translation
# Process each place rotation matrix to speed up further calculations
self.__rotation_cache = {}
- for name, place in self.places.items():
+ for name, place in self.__places.items():
# Create intrinsic rotation matrix
R = self.__make_rotation_matrix(*place.rotation)
@@ -89,7 +103,7 @@ class ArUcoScene():
# Process axis-angle between place combination to speed up further calculations
self.__angle_cache = {}
- for (A_name, A_place), (B_name, B_place) in itertools.combinations(self.places.items(), 2):
+ for (A_name, A_place), (B_name, B_place) in itertools.combinations(self.__places.items(), 2):
A = self.__rotation_cache[A_name]
B = self.__rotation_cache[B_name]
@@ -120,7 +134,7 @@ class ArUcoScene():
# Process distance between each place combination to speed up further calculations
self.__distance_cache = {}
- for (A_name, A_place), (B_name, B_place) in itertools.combinations(self.places.items(), 2):
+ for (A_name, A_place), (B_name, B_place) in itertools.combinations(self.__places.items(), 2):
A = self.__translation_cache[A_name]
B = self.__translation_cache[B_name]
@@ -145,7 +159,7 @@ class ArUcoScene():
with open(json_filepath) as configuration_file:
return ArUcoScene(**json.load(configuration_file))
-
+
def __str__(self) -> str:
"""String display"""
@@ -181,6 +195,93 @@ class ArUcoScene():
return list(self.__identifier_cache.keys())
+ def __load_places_from_obj(self, obj_filepath: str) -> dict:
+ """Load places from .obj file."""
+
+ self.__places = {}
+
+ # regex rules for .obj file parsing
+ OBJ_RX_DICT = {
+ 'comment': re.compile(r'#(.*)\n'),
+ 'name': re.compile(r'o (\w+)(.*)\n'),
+ 'vertice': re.compile(r'v ([+-]?[0-9]*[.]?[0-9]+) ([+-]?[0-9]*[.]?[0-9]+) ([+-]?[0-9]*[.]?[0-9]+)\n'),
+ 'normal': re.compile(r'vn ([+-]?[0-9]*[.]?[0-9]+) ([+-]?[0-9]*[.]?[0-9]+) ([+-]?[0-9]*[.]?[0-9]+)\n'),
+ 'face': re.compile(r'f ([0-9]+)//([0-9]+) ([0-9]+)//([0-9]+) ([0-9]+)//([0-9]+) ([0-9]+)//([0-9]+)\n')
+ }
+
+ # regex .obj line parser
+ def __parse_obj_line(line):
+
+ for key, rx in OBJ_RX_DICT.items():
+ match = rx.search(line)
+ if match:
+ return key, match
+
+ # if there are no matches
+ return None, None
+
+ # start parsing
+ try:
+
+ name = None
+ vertices = []
+ normals = {}
+ faces = {}
+
+ # open the file and read through it line by line
+ with open(obj_filepath, 'r') as file:
+
+ line = file.readline()
+
+ while line:
+
+ # at each line check for a match with a regex
+ key, match = __parse_obj_line(line)
+
+ # extract comment
+ if key == 'comment':
+ pass
+
+ # extract place name
+ elif key == 'name':
+
+ name = str(match.group(1))
+
+ # fill vertices array
+ elif key == 'vertice':
+
+ vertices.append(tuple([float(match.group(1)), float(match.group(2)), float(match.group(3))]))
+
+ # extract normal
+ elif key == 'normal':
+
+ normals[name] = numpy.array([float(match.group(1)), float(match.group(2)), float(match.group(3))])
+
+ # extract aoi3D vertice id
+ elif key == 'face':
+
+ faces[name] = [int(i) for i in match.group(1).split()]
+
+ # go to next line
+ line = file.readline()
+
+ file.close()
+
+ # retreive all place vertices
+ for name, face in faces.items():
+
+ center = numpy.array([ vertices[i-1] for i in face ]).mean(axis=0)
+ normal = normals[name]
+
+ # WARNING: here we set marker identifier depending on the place position in the file
+ # TODO: extract identifiers from name
+ marker = ArUcoMarker.ArUcoMarker(self.__dictionary, len(self.__places), self.__marker_size)
+
+ self.__places[name] = Place(center, normal, marker)
+
+ except IOError:
+ raise IOError(f'File not found: {obj_filepath}')
+
def __make_rotation_matrix(self, x, y, z):
# Create rotation matrix around x axis
@@ -209,13 +310,13 @@ class ArUcoScene():
def __normalise_place_pose(self, name, place, F):
- # Transform place rotation into set rotation vector
+ # Transform place rotation into scene rotation vector
R = self.__rotation_cache[name]
rvec, _ = cv.Rodrigues(F.dot(R))
#print(f'{name} rotation vector: {rvec[0][0]:3f} {rvec[1][0]:3f} {rvec[2][0]:3f}')
- # Transform place translation into set translation vector
+ # Transform place translation into scene translation vector
OF = place.translation
T = self.__translation_cache[name]
FC = R.dot(F.dot(-T))
@@ -227,7 +328,7 @@ class ArUcoScene():
return rvec, tvec
def estimate_pose(self, tracked_markers) -> Tuple[numpy.array, numpy.array, bool, int, dict]:
- """Estimate set pose from tracked markers (cf ArUcoTracker.track())
+ """Estimate scene pose from tracked markers (cf ArUcoTracker.track())
* **Returns:**
- translation vector
@@ -262,10 +363,10 @@ class ArUcoScene():
#print('-------------- ArUcoScene pose estimation --------------')
- # Pose validity checking is'nt possible when only one place of the set is tracked
+ # Pose validity checking is'nt possible when only one place of the scene is tracked
if len(tracked_places.keys()) == 1:
- # Get set pose from to the unique place pose
+ # Get scene pose from to the unique place pose
name, place = tracked_places.popitem()
F, _ = cv.Rodrigues(place.rotation)
@@ -394,10 +495,10 @@ class ArUcoScene():
@property
def translation(self) -> numpy.array:
- """Access to set translation vector.
+ """Access to scene translation vector.
.. warning::
- Setting set translation vector implies succeded status to be True and validity score to be 0."""
+ Setting scene translation vector implies succeded status to be True and validity score to be 0."""
return self._translation
@@ -410,10 +511,10 @@ class ArUcoScene():
@property
def rotation(self) -> numpy.array:
- """Access to set rotation vector.
+ """Access to scene rotation vector.
.. warning::
- Setting set rotation vector implies succeded status to be True and validity score to be 0."""
+ Setting scene rotation vector implies succeded status to be True and validity score to be 0."""
return self._translation
@@ -426,18 +527,18 @@ class ArUcoScene():
@property
def succeded(self) -> bool:
- """Access to set pose estimation succeded status."""
+ """Access to scene pose estimation succeded status."""
return self._succeded
@property
def validity(self) -> int:
- """Access to set pose estimation validity score."""
+ """Access to scene pose estimation validity score."""
return self._validity
def draw(self, frame, K, D, draw_places=True):
- """Draw set axis and places."""
+ """Draw scene axis and places."""
l = self.__marker_size / 2
ll = self.__marker_size
@@ -460,7 +561,7 @@ class ArUcoScene():
# Draw places (optional)
if draw_places:
- for name, place in self.places.items():
+ for name, place in self.__places.items():
if name != "top":
continue
diff --git a/src/argaze/utils/tobii_segment_argaze_scene_export.py b/src/argaze/utils/tobii_segment_argaze_scene_export.py
index ae42d7c..a038e34 100644
--- a/src/argaze/utils/tobii_segment_argaze_scene_export.py
+++ b/src/argaze/utils/tobii_segment_argaze_scene_export.py
@@ -86,12 +86,12 @@ def main():
# Load a tobii segment video
tobii_segment_video = tobii_segment.load_video()
- print(f'Video properties:\n\tduration: {tobii_segment_video.duration/1e6} s\n\twidth: {tobii_segment_video.width} px\n\theight: {tobii_segment_video.height} px')
+ print(f'\nVideo properties:\n\tduration: {tobii_segment_video.duration/1e6} s\n\twidth: {tobii_segment_video.width} px\n\theight: {tobii_segment_video.height} px')
# Load a tobii segment data
tobii_segment_data = tobii_segment.load_data()
- print(f'Loaded data count:')
+ print(f'\nLoaded data count:')
for name in tobii_segment_data.keys():
print(f'\t{name}: {len(tobii_segment_data[name])} data')
generated by cgit v1.1 at 2024-09-19 12:46:17 +0000