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diff --git a/docs/user_guide/aruco_markers_pipeline/aruco_camera_configuration_and_execution.md b/docs/user_guide/aruco_markers_pipeline/aruco_camera_configuration_and_execution.md index 7b30fd1..824e466 100644 --- a/docs/user_guide/aruco_markers_pipeline/aruco_camera_configuration_and_execution.md +++ b/docs/user_guide/aruco_markers_pipeline/aruco_camera_configuration_and_execution.md @@ -1,11 +1,11 @@ Configure and execute ArUcoCamera ================================= -Once [ArUco markers are placed into a scene](aruco_scene_creation.md) and [the camera optic have been calibrated](optic_parameters_calibration.md), everything is ready to setup an ArUco marker pipeline thanks to [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarkers.ArUcoCamera) class. +Once [ArUco markers are placed into a scene](aruco_markers_description.md) and [areas of interest are described](aoi_description.md), everything is ready to setup an ArUco marker pipeline thanks to [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarkers.ArUcoCamera) class. As it inherits from [ArFrame](../../argaze.md/#argaze.ArFeatures.ArFrame), the [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarkers.ArUcoCamera) class benefits from all the services described in [gaze analysis pipeline section](./user_guide/gaze_analysis_pipeline/introduction.md). - + ## Load JSON configuration file @@ -19,11 +19,11 @@ Here is a simple JSON [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarkers.ArUcoCa "size": [1920, 1080], "aruco_detector": { "dictionary": "DICT_APRILTAG_16h5", - "marker_size": 5, - "optic_parameters": "optic_parameters.json", + "marker_size": 5 }, "image_parameters": { "background_weight": 1, + ... "draw_detected_markers": { "color": [0, 255, 0], "draw_axes": { @@ -55,36 +55,39 @@ The size of the [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarkers.ArUcoCamera) ### ArUco Detector -The first [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarkers.ArUcoCamera) pipeline step is to detect ArUco markers inside input image. +The first [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarkers.ArUcoCamera) pipeline step is to detect ArUco markers inside input image and estimate their poses. -The [ArUcoDetector](../../argaze.md/#argaze.ArUcoMarkers.ArUcoDetector) is in charge to detect ... +The [ArUcoDetector](../../argaze.md/#argaze.ArUcoMarkers.ArUcoDetector) is in charge to detect all markers from a specific dictionary with a given size in centimeters. !!! warning JSON *aruco_detector* entry is mandatory. -### Image parameters (inherited from ArFrame) +### Image parameters - *inherited from [ArFrame](../../argaze.md/#argaze.ArFeatures.ArFrame)* -... +The usual [ArFrame visualisation parameters](./user_guide/gaze_analysis_pipeline/visualisation.md) plus one additional *draw_detected_markers* field. ## Pipeline execution -Timestamped gaze positions have to be passed one by one to [ArFrame.look](../../argaze.md/#argaze.ArFeatures.ArFrame.look) method to execute the whole intanciated pipeline. +Pass each camera image to [ArUcoCamera.watch](../../argaze.md/#argaze.ArFeatures.ArCamera.watch) method to execute the whole intanciated pipeline. ```python -# Assuming that live Full HD (1920x1080) video stream is enabled +# Assuming that Full HD (1920x1080) video stream or file is opened ... # Assuming there is a way to escape the while loop -... - - while video_stream.is_alive(): +while ...: - # Capture image from video stream - image = video_stream.read() + # Capture image from video stream of file + image = video_capture.read() - # Detect ArUco markers in image - aruco_camera.watch(image) + # Detect ArUco markers and more... + aruco_camera.watch(image) - # Do something with ArUcoCamera frame image - ... + # Display ArUcoCamera frame image to check that ArUco markers are well detected and scene is well projected + ... aruco_camera.image() ``` + +!!! warning + ArUco markers pose estimation algorithm can lead to errors due to geometric ambiguities as explain in [this article](https://ieeexplore.ieee.org/document/1717461). To discard such ambiguous cases, markers should **not be parallel to camera plan**. + +At this point, the [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarkers.ArUcoCamera) only detects ArUco markers as no scene description is provided.
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