diff options
| -rw-r--r-- | src/argaze/ArFeatures.py | 123 |
1 files changed, 71 insertions, 52 deletions
diff --git a/src/argaze/ArFeatures.py b/src/argaze/ArFeatures.py index 07341de..5fa5cde 100644 --- a/src/argaze/ArFeatures.py +++ b/src/argaze/ArFeatures.py @@ -173,7 +173,8 @@ class ArLayer(): except KeyError: - new_aoi_scene = AOIFeatures.AOIScene() + # Add AOI 2D Scene by default + new_aoi_scene = AOI2DScene.AOI2DScene() # Looked aoi validity threshold try: @@ -186,7 +187,7 @@ class ArLayer(): # Edit expected AOI list by removing AOI with name equals to layer name expected_aois = list(new_aoi_scene.keys()) - + if new_layer_name in expected_aois: expected_aois.remove(new_layer_name) @@ -1053,9 +1054,9 @@ class ArScene(): # Preprocess orthogonal projection to speed up further processings self.__orthogonal_projection_cache = {} - for name, layer in self.layers.items(): + for layer_name, layer in self.layers.items(): - self.__orthogonal_projection_cache[name] = self.aoi_scene.orthogonal_projection + self.__orthogonal_projection_cache[layer_name] = layer.aoi_scene.orthogonal_projection def __str__(self) -> str: """ @@ -1158,18 +1159,20 @@ class ArScene(): # Look for AOI with same frame name aoi_frame = None + aoi_frame_found = False for layer_name, layer in new_layers.items(): try: aoi_frame = layer.aoi_scene[frame_name] + aoi_frame_found = True except KeyError: # AOI name should be unique break - if aoi_frame: + if aoi_frame_found: # Project and reframe each layers into corresponding frame layers for frame_layer_name, frame_layer in new_frame.layers.items(): @@ -1178,7 +1181,10 @@ class ArScene(): layer = new_layers[frame_layer_name] - frame_layer.aoi_scene = layer.aoi_scene.orthogonal_projection.reframe(aoi_frame, new_frame.size) + layer_aoi_scene_projection = layer.aoi_scene.orthogonal_projection + aoi_frame_projection = layer_aoi_scene_projection[frame_name] + + frame_layer.aoi_scene = layer_aoi_scene_projection.reframe(aoi_frame_projection, new_frame.size) if frame_layer.aoi_scan_path != None: @@ -1195,7 +1201,7 @@ class ArScene(): continue # Append new frame - new_frames[name] = new_frame + new_frames[frame_name] = new_frame except KeyError: @@ -1266,7 +1272,7 @@ class ArScene(): return tvec, rmat, 'estimate_pose_from_markers', consistent_markers - def project(self, tvec: numpy.array, rvec: numpy.array, visual_hfov: float = 0.) -> dict: + def project(self, tvec: numpy.array, rvec: numpy.array, visual_hfov: float = 0.) -> Tuple[str, AOI2DScene.AOI2DScene]: """Project layers according estimated pose and optional horizontal field of view clipping angle. Parameters: @@ -1275,11 +1281,10 @@ class ArScene(): visual_hfov: horizontal field of view clipping angle Returns: - layer_projections: dictionary of AOI2DScene projection + layer_name: name of projected layer + layer_projection: AOI2DScene projection """ - layer_projections = {} - for name, layer in self.layers.items(): # Clip AOI out of the visual horizontal field of view (optional) @@ -1302,9 +1307,7 @@ class ArScene(): aoi_scene_copy = layer.aoi_scene.copy() # Project layer aoi scene - layer_projections[name] = aoi_scene_copy.project(tvec, rvec, self.parent.aruco_detector.optic_parameters.K) - - return projected_layers + yield name, aoi_scene_copy.project(tvec, rvec, self.parent.aruco_detector.optic_parameters.K) def build_aruco_aoi_scene(self, detected_markers) -> AOI2DScene.AOI2DScene: """ @@ -1485,23 +1488,25 @@ class ArEnvironment(): # Setup expected aoi of each camera frame layer aoi scan path with the aoi of corresponding scene layer if new_camera_frame != None: - for camera_frame_layer_name, camera_frame_layer in new_camera_frame.layers.items(): + for camera_frame_layer_name, camera_frame_layer in new_camera_frame.layers.items(): - all_aoi_list = [] + if camera_frame_layer.aoi_scan_path != None: - for scene_name, scene in new_scenes.items(): + all_aoi_list = [] - try: + for scene_name, scene in new_scenes.items(): - scene_layer = scene.layers[camera_frame_layer_name] + try: - all_aoi_list.extend(list(scene_layer.aoi_scene.keys())) + scene_layer = scene.layers[camera_frame_layer_name] - except KeyError: + all_aoi_list.extend(list(scene_layer.aoi_scene.keys())) + + except KeyError: - continue + continue - camera_frame_layer.aoi_scan_path.expected_aois = all_aoi_list + camera_frame_layer.aoi_scan_path.expected_aois = all_aoi_list # Create new environment return ArEnvironment(new_environment_name, new_aruco_detector, new_camera_frame, new_scenes) @@ -1584,8 +1589,10 @@ class ArEnvironment(): # Fill camera frame background with image self.camera_frame.background = image - # Clear former scenes projection into camera frame - self.camera_frame.aoi_2d_scene = AOI2DScene.AOI2DScene() + # Clear former layers projection into camera frame + for came_layer_name, camera_layer in self.camera_frame.layers.items(): + + camera_layer.aoi_scene = AOI2DScene.AOI2DScene() # Store exceptions for each scene exceptions = {} @@ -1615,7 +1622,15 @@ class ArEnvironment(): tvec, rmat, _, _ = scene.estimate_pose(self.aruco_detector.detected_markers) # Project scene into camera frame according estimated pose - self.camera_frame.aoi_2d_scene |= scene.project(tvec, rmat) + for layer_name, layer_projection in scene.project(tvec, rmat): + + try: + + self.camera_frame.layers[layer_name].aoi_scene |= layer_projection + + except KeyError: + + pass # Store exceptions and continue except Exception as e: @@ -1649,28 +1664,30 @@ class ArEnvironment(): # Project gaze position into camera frame yield self.camera_frame, self.camera_frame.look(timestamp, gaze_position) - # Project gaze position into each frames if possible + # Project gaze position into each frame if possible for frame in self.frames: - # Is there an AOI with the same frame name projected into camera frame ? - try: + # Is there an AOI inside camera frame layers projection which its name equals to a frame name? + for camera_layer_name, camera_layer in self.camera_frame.layers.items(): - aoi_2d = self.camera_frame.aoi_2d_scene[frame.name] + try: - # TODO: Add option to use gaze precision circle - if aoi_2d.contains_point(gaze_position.value): + aoi_2d = camera_layer.aoi_scene[frame.name] - inner_x, inner_y = aoi_2d.clockwise().inner_axis(gaze_position.value) + # TODO: Add option to use gaze precision circle + if aoi_2d.contains_point(gaze_position.value): - # QUESTION: How to project gaze precision? - inner_gaze_position = GazeFeatures.GazePosition((inner_x, inner_y)) - - yield frame, frame.look(timestamp, inner_gaze_position * frame.size) + inner_x, inner_y = aoi_2d.clockwise().inner_axis(gaze_position.value) + + # QUESTION: How to project gaze precision? + inner_gaze_position = GazeFeatures.GazePosition((inner_x, inner_y)) + + yield frame, frame.look(timestamp, inner_gaze_position * frame.size) - # Ignore missing aoi frame projection - except KeyError: + # Ignore missing aoi in camera frame layer projection + except KeyError: - pass + pass # Unlock camera frame exploitation self.__camera_frame_lock.release() @@ -1688,24 +1705,26 @@ class ArEnvironment(): # Lock camera frame exploitation self.__camera_frame_lock.acquire() - # Project image if possible + # Project image into each frame if possible for frame in self.frames: - # Is there an AOI with the same frame name projected into camera frame ? - try: + # Is there an AOI inside camera frame layers projection which its name equals to a frame name? + for camera_layer_name, camera_layer in self.camera_frame.layers.items(): - aoi_2d = self.camera_frame.aoi_2d_scene[frame.name] + try: - # Apply perspective transform algorithm to fill aoi frame background - width, height = frame.size - destination = numpy.float32([[0, height],[width, height],[width, 0],[0, 0]]) - mapping = cv2.getPerspectiveTransform(aoi_2d.astype(numpy.float32), destination) - frame.background = cv2.warpPerspective(self.camera_frame.background, mapping, (width, height)) + aoi_2d = camera_layer.aoi_scene[frame.name] - # Ignore missing frame projection - except KeyError: + # Apply perspective transform algorithm to fill aoi frame background + width, height = frame.size + destination = numpy.float32([[0, height],[width, height],[width, 0],[0, 0]]) + mapping = cv2.getPerspectiveTransform(aoi_2d.astype(numpy.float32), destination) + frame.background = cv2.warpPerspective(self.camera_frame.background, mapping, (width, height)) - pass + # Ignore missing frame projection + except KeyError: + + pass # Unlock camera frame exploitation self.__camera_frame_lock.release() |