diff options
Diffstat (limited to 'docs/user_guide/areas_of_interest')
6 files changed, 195 insertions, 0 deletions
diff --git a/docs/user_guide/areas_of_interest/aoi_frame.md b/docs/user_guide/areas_of_interest/aoi_frame.md new file mode 100644 index 0000000..855e302 --- /dev/null +++ b/docs/user_guide/areas_of_interest/aoi_frame.md @@ -0,0 +1,43 @@ +--- +title: AOI frame +--- + +AOI Frame +========= + +[AOIFeatures](/argaze/#argaze/AreaOfInterest.AOIFeatures) provides [AOIFrame](/argaze/#argaze/AreaOfInterest.AOIFeatures.AOIFrame) class to draw into an 2D AOI. + +## Point spread + +The **point_spread** method draw a gaussian point spread into the frame at a given pointer position. + + + +## Heatmap + +Heatmap visualisation allows to show where a pointer is most of the time. + + + +```python +from argaze.AreaOfInterest import AOIFeatures + +# Create an AOI +aoi = AOIFeatures.AreaOfInterest([[0, 0], [1, 0], [1, 1], [0, 1]]) + +# Create AOIFrame related to this AOI with 800px * 600px resolution +aoi_frame = AOIFeatures.AOIFrame(aoi, (800, 600)) + +# Initialize heatmap +aoi_frame.heatmap_init() + +# Assuming a pointer position (x, y) is moving inside frame +...: + + # Update heatmap at pointer position + aoi_frame.heatmap_update((x, y), sigma=0.05) + + # Do something with heatmap picture + ... aoi_frame.heatmap + +```
\ No newline at end of file diff --git a/docs/user_guide/areas_of_interest/aoi_matching.md b/docs/user_guide/areas_of_interest/aoi_matching.md new file mode 100644 index 0000000..3bffeb9 --- /dev/null +++ b/docs/user_guide/areas_of_interest/aoi_matching.md @@ -0,0 +1,47 @@ +--- +title: AOI matching +--- + +AOI matching +============ + +Once AOI3D scene is projected into a frame as AOI2D scene, it could be needed to know which AOI2D is looked. +The AOI class in [AOIFeatures](/argaze/#argaze.AreaOfInterest.AOIFeatures) provides two ways to accomplish such task. + +## Pointer-based matching + +Test if 2D pointer is inside or not AOI using contains_point() method as illustrated below. + + + +``` python +pointer = (x, y) + +for name, aoi in aoi2D_scene.items(): + + if aoi.contains_point(pointer): + + # Do something with looked aoi + ... + +``` + +It is also possible to get where a pointer is looking inside an AOI provided that AOI is a rectangular plane: + +``` python + +inner_x, inner_y = aoi.inner_axis(pointer) + +``` + +## Circle-based matching + +As positions have limited accuracy, it is possible to define a radius around a pointer to test circle intersection with AOI. + + + +``` python + +intersection_shape, intersection_aoi_ratio, intersection_circle_ratio = aoi.circle_intersection(pointer, radius) + +``` diff --git a/docs/user_guide/areas_of_interest/aoi_projection.md b/docs/user_guide/areas_of_interest/aoi_projection.md new file mode 100644 index 0000000..7ffc42d --- /dev/null +++ b/docs/user_guide/areas_of_interest/aoi_projection.md @@ -0,0 +1,22 @@ +--- +title: AOI projection +--- + +AOI projection +============== + +An AOI3D scene can be rotated and translated according to a pose estimation before to project it onto camera frame as an AOI2D scene. + + + +``` python +... + +# Assuming pose estimation is done (tvec and rmat) + +# Project AOI 3D scene according pose estimation and camera intrinsic parameters +aoi2D_scene = aoi3D_scene.project(tvec, rmat, aruco_camera.K) + +# Draw AOI 2D scene +aoi2D_scene.draw(frame) +``` diff --git a/docs/user_guide/areas_of_interest/aoi_scene_description.md b/docs/user_guide/areas_of_interest/aoi_scene_description.md new file mode 100644 index 0000000..dcda74b --- /dev/null +++ b/docs/user_guide/areas_of_interest/aoi_scene_description.md @@ -0,0 +1,57 @@ +--- +title: AOI scene description +--- + +AOI scene description +===================== + +An AOI3D scene is built from a 3D model with all AOI as 3D planes and loaded through OBJ file format. +Notice that plane normals are not needed and planes are not necessary 4 vertices shapes. + +``` obj +o PIC_ND +v 6.513238 -27.113548 -25.163900 +v 22.994461 -27.310783 -24.552130 +v 6.718690 -6.467261 -26.482569 +v 23.252594 -6.592890 -25.873484 +f 1 2 4 3 +o PIC_ND_Aircraft +v 6.994747 -21.286463 -24.727146 +v 22.740919 -21.406120 -24.147078 +v 7.086208 -12.096219 -25.314123 +v 22.832380 -12.215876 -24.734055 +f 5 6 8 7 +o PIC_ND_Wind +v 7.086199 -11.769333 -25.335127 +v 12.081032 -11.807289 -25.151123 +v 7.115211 -8.854101 -25.521320 +v 12.110044 -8.892057 -25.337317 +f 9 10 12 11 +o PIC_ND_Waypoint +v 17.774197 -11.819057 -24.943428 +v 22.769030 -11.857013 -24.759424 +v 17.803209 -8.903825 -25.129622 +v 22.798042 -8.941781 -24.945618 +f 13 14 16 15 +... +o Thrust_Lever +v 19.046124 15.523837 4.774072 +v 18.997263 -0.967944 5.701000 +v 18.988382 15.923470 -13.243046 +v 18.921808 -0.417994 -17.869610 +v 19.032232 19.241346 -3.040264 +v 19.020988 6.392717 5.872663 +v 18.945322 6.876906 -17.699480 +s off +f 185 190 186 188 191 187 189 +... +``` + +Here is a sample of code to show the loading of an AOI3D scene from an OBJ file description: + +``` python +from argaze.AreaOfInterest import AOI3DScene + +# Load an AOI3D scene from OBJ file +aoi3D_scene = AOI3DScene.AOI3DScene.from_obj('./aoi_scene.obj') +``` diff --git a/docs/user_guide/areas_of_interest/introduction.md b/docs/user_guide/areas_of_interest/introduction.md new file mode 100644 index 0000000..7d44785 --- /dev/null +++ b/docs/user_guide/areas_of_interest/introduction.md @@ -0,0 +1,8 @@ +About Areas Of Interest (AOI) +============================= + +The [AreaOfInterest submodule](/argaze/#argaze.AreaOfInterest) allows to deal with AOI in a AR environment through high level classes: + +* [AOIFeatures](/argaze/#argaze.AreaOfInterest.AOIFeatures) +* [AOI3DScene](/argaze/#argaze.AreaOfInterest.AOI3DScene) +* [AOI2DScene](/argaze/#argaze.AreaOfInterest.AOI2DScene)
\ No newline at end of file diff --git a/docs/user_guide/areas_of_interest/vision_cone_filtering.md b/docs/user_guide/areas_of_interest/vision_cone_filtering.md new file mode 100644 index 0000000..e2b31ea --- /dev/null +++ b/docs/user_guide/areas_of_interest/vision_cone_filtering.md @@ -0,0 +1,18 @@ +Vision cone filtering +===================== + +The AOI3D scene provides cone clipping support in order to select only AOI which are inside vision cone field. + + + +``` python +# Transform scene into camera referential +aoi3D_camera = aoi3D_scene.transform(tvec, rmat) + +# Get aoi inside vision cone field +# The vision cone tip is positionned behind the head +aoi3D_inside, aoi3D_outside = aoi3D_camera.vision_cone(cone_radius=300, cone_height=150, cone_tip=[0., 0., -20.]) + +# Keep only aoi inside vision cone field +aoi3D_scene = aoi3D_scene.copy(exclude=aoi3D_outside.keys()) +``` |