diff options
Diffstat (limited to 'docs')
5 files changed, 28 insertions, 28 deletions
diff --git a/docs/user_guide/ar_environment/environment_exploitation.md b/docs/user_guide/ar_environment/environment_exploitation.md index 28d61b9..9e4b236 100644 --- a/docs/user_guide/ar_environment/environment_exploitation.md +++ b/docs/user_guide/ar_environment/environment_exploitation.md @@ -1,19 +1,19 @@ Environment exploitation ======================== -Once loaded, [ArEnvironment](../../argaze.md/#argaze.ArFeatures.ArEnvironment) assets can be exploited as illustrated below: +Once loaded, [ArCamera](../../argaze.md/#argaze.ArFeatures.ArCamera) assets can be exploited as illustrated below: ```python # Access to AR environment ArUco detector passing it a image where to detect ArUco markers -ar_environment.aruco_detector.detect_markers(image) +ar_camera.aruco_detector.detect_markers(image) # Access to an AR environment scene -my_first_scene = ar_environment.scenes['my first AR scene'] +my_first_scene = ar_camera.scenes['my first AR scene'] try: # Try to estimate AR scene pose from detected markers - tvec, rmat, consistent_markers = my_first_scene.estimate_pose(ar_environment.aruco_detector.detected_markers) + tvec, rmat, consistent_markers = my_first_scene.estimate_pose(ar_camera.aruco_detector.detected_markers) # Project AR scene into camera image according estimated pose # Optional visual_hfov argument is set to 160° to clip AOI scene according a cone vision diff --git a/docs/user_guide/ar_environment/environment_setup.md b/docs/user_guide/ar_environment/environment_setup.md index f18cc61..1f26d26 100644 --- a/docs/user_guide/ar_environment/environment_setup.md +++ b/docs/user_guide/ar_environment/environment_setup.md @@ -1,9 +1,9 @@ Environment Setup ================= -[ArEnvironment](../../argaze.md/#argaze.ArFeatures.ArEnvironment) setup is loaded from JSON file format. +[ArCamera](../../argaze.md/#argaze.ArFeatures.ArCamera) setup is loaded from JSON file format. -Each [ArEnvironment](../../argaze.md/#argaze.ArFeatures.ArEnvironment) defines a unique [ArUcoDetector](../../argaze.md/#argaze.ArUcoMarkers.ArUcoDetector.ArUcoDetector) dedicated to detection of markers from a specific [ArUcoMarkersDictionary](../../argaze.md/#argaze.ArUcoMarkers.ArUcoMarkersDictionary) and with a given size. However, it is possible to load multiple [ArScene](../../argaze.md/#argaze.ArFeatures.ArScene) into a same [ArEnvironment](../../argaze.md/#argaze.ArFeatures.ArEnvironment). +Each [ArCamera](../../argaze.md/#argaze.ArFeatures.ArCamera) defines a unique [ArUcoDetector](../../argaze.md/#argaze.ArUcoMarkers.ArUcoDetector.ArUcoDetector) dedicated to detection of markers from a specific [ArUcoMarkersDictionary](../../argaze.md/#argaze.ArUcoMarkers.ArUcoMarkersDictionary) and with a given size. However, it is possible to load multiple [ArScene](../../argaze.md/#argaze.ArFeatures.ArScene) into a same [ArCamera](../../argaze.md/#argaze.ArFeatures.ArCamera). Here is JSON environment file example where it is assumed that mentioned .obj files are located relatively to the environment file on disk. @@ -54,13 +54,13 @@ Here is JSON environment file example where it is assumed that mentioned .obj fi }, "scenes": { "my first AR scene" : { - "aruco_scene": "./first_scene/markers.obj", + "aruco_markers_group": "./first_scene/markers.obj", "aoi_scene": "./first_scene/aoi.obj", "angle_tolerance": 15.0, "distance_tolerance": 2.54 }, "my second AR scene" : { - "aruco_scene": "./second_scene/markers.obj", + "aruco_markers_group": "./second_scene/markers.obj", "aoi_scene": "./second_scene/aoi.obj", "angle_tolerance": 15.0, "distance_tolerance": 2.54 @@ -73,5 +73,5 @@ Here is JSON environment file example where it is assumed that mentioned .obj fi from argaze import ArFeatures # Load AR environment -ar_environment = ArFeatures.ArEnvironment.from_json('./environment.json') +ar_camera = ArFeatures.ArCamera.from_json('./environment.json') ``` diff --git a/docs/user_guide/aruco_markers/introduction.md b/docs/user_guide/aruco_markers/introduction.md index dc8d4cb..9d78de0 100644 --- a/docs/user_guide/aruco_markers/introduction.md +++ b/docs/user_guide/aruco_markers/introduction.md @@ -12,4 +12,4 @@ The ArGaze [ArUcoMarkers submodule](../../argaze.md/#argaze.ArUcoMarkers) eases * [ArUcoBoard](../../argaze.md/#argaze.ArUcoMarkers.ArUcoBoard) * [ArUcoOpticCalibrator](../../argaze.md/#argaze.ArUcoMarkers.ArUcoOpticCalibrator) * [ArUcoDetector](../../argaze.md/#argaze.ArUcoMarkers.ArUcoDetector) -* [ArUcoScene](../../argaze.md/#argaze.ArUcoMarkers.ArUcoScene)
\ No newline at end of file +* [ArUcoMarkersGroup](../../argaze.md/#argaze.ArUcoMarkers.ArUcoMarkersGroup)
\ No newline at end of file diff --git a/docs/user_guide/aruco_markers/markers_scene_description.md b/docs/user_guide/aruco_markers/markers_scene_description.md index e1cd651..c6dbf31 100644 --- a/docs/user_guide/aruco_markers/markers_scene_description.md +++ b/docs/user_guide/aruco_markers/markers_scene_description.md @@ -1,11 +1,11 @@ Markers scene description ========================= -The ArGaze toolkit provides [ArUcoScene](../../argaze.md/#argaze.ArUcoMarkers.ArUcoScene) class to describe where [ArUcoMarkers](../../argaze.md/#argaze.ArUcoMarkers.ArUcoMarker) are placed into a 3D model. +The ArGaze toolkit provides [ArUcoMarkersGroup](../../argaze.md/#argaze.ArUcoMarkers.ArUcoMarkersGroup) class to describe where [ArUcoMarkers](../../argaze.md/#argaze.ArUcoMarkers.ArUcoMarker) are placed into a 3D model. - + -[ArUcoScene](../../argaze.md/#argaze.ArUcoMarkers.ArUcoScene) is useful to: +[ArUcoMarkersGroup](../../argaze.md/#argaze.ArUcoMarkers.ArUcoMarkersGroup) is useful to: * filter markers that belongs to this predefined scene, * check the consistency of detected markers according the place where each marker is expected to be, @@ -37,16 +37,16 @@ f 5//2 6//2 8//2 7//2 ... ``` -Here is a sample of code to show the loading of an [ArUcoScene](../../argaze.md/#argaze.ArUcoMarkers.ArUcoScene) OBJ file description: +Here is a sample of code to show the loading of an [ArUcoMarkersGroup](../../argaze.md/#argaze.ArUcoMarkers.ArUcoMarkersGroup) OBJ file description: ``` python -from argaze.ArUcoMarkers import ArUcoScene +from argaze.ArUcoMarkers import ArUcoMarkersGroup # Create an ArUco scene from a OBJ file description -aruco_scene = ArUcoScene.ArUcoScene.from_obj('./markers.obj') +aruco_markers_group = ArUcoMarkersGroup.ArUcoMarkersGroup.from_obj('./markers.obj') # Print loaded marker places -for place_id, place in aruco_scene.places.items(): +for place_id, place in aruco_markers_group.places.items(): print(f'place {place_id} for marker: ', place.marker.identifier) print(f'place {place_id} translation: ', place.translation) @@ -55,7 +55,7 @@ for place_id, place in aruco_scene.places.items(): ### from JSON -[ArUcoScene](../../argaze.md/#argaze.ArUcoMarkers.ArUcoScene) description can also be written in a JSON file format. +[ArUcoMarkersGroup](../../argaze.md/#argaze.ArUcoMarkers.ArUcoMarkersGroup) description can also be written in a JSON file format. ``` json { @@ -83,13 +83,13 @@ for place_id, place in aruco_scene.places.items(): Here is a more advanced usage where ArUco scene is built from markers detected into an image: ``` python -from argaze.ArUcoMarkers import ArUcoScene +from argaze.ArUcoMarkers import ArUcoMarkersGroup # Assuming markers have been detected and their pose estimated thanks to ArUcoDetector ... # Build ArUco scene from detected markers -aruco_scene = ArUcoScene.ArUcoScene(aruco_detector.marker_size, aruco_detector.dictionary, aruco_detector.detected_markers) +aruco_markers_group = ArUcoMarkersGroup.ArUcoMarkersGroup(aruco_detector.marker_size, aruco_detector.dictionary, aruco_detector.detected_markers) ``` ## Markers filtering @@ -97,7 +97,7 @@ aruco_scene = ArUcoScene.ArUcoScene(aruco_detector.marker_size, aruco_detector.d Considering markers are detected, here is how to filter them to consider only those which belongs to the scene: ``` python -scene_markers, remaining_markers = aruco_scene.filter_markers(aruco_detector.detected_markers) +scene_markers, remaining_markers = aruco_markers_group.filter_markers(aruco_detector.detected_markers) ``` ## Marker poses consistency @@ -106,12 +106,12 @@ Then, scene markers poses can be validated by verifying their spatial consistenc ``` python # Check scene markers consistency with 10° angle tolerance and 1 cm distance tolerance -consistent_markers, unconsistent_markers, unconsistencies = aruco_scene.check_markers_consistency(scene_markers, 10, 1) +consistent_markers, unconsistent_markers, unconsistencies = aruco_markers_group.check_markers_consistency(scene_markers, 10, 1) ``` ## Scene pose estimation -Several approaches are available to perform [ArUcoScene](../../argaze.md/#argaze.ArUcoMarkers.ArUcoScene) pose estimation from markers belonging to the scene. +Several approaches are available to perform [ArUcoMarkersGroup](../../argaze.md/#argaze.ArUcoMarkers.ArUcoMarkersGroup) pose estimation from markers belonging to the scene. The first approach considers that scene pose can be estimated **from a single marker pose**: @@ -120,20 +120,20 @@ The first approach considers that scene pose can be estimated **from a single ma marker_id, marker = consistent_markers.popitem() # Estimate scene pose from a single marker -tvec, rmat = self.aruco_scene.estimate_pose_from_single_marker(marker) +tvec, rmat = self.aruco_markers_group.estimate_pose_from_single_marker(marker) ``` The second approach considers that scene pose can be estimated by **averaging several marker poses**: ``` python # Estimate scene pose from all consistent scene markers -tvec, rmat = self.aruco_scene.estimate_pose_from_markers(consistent_markers) +tvec, rmat = self.aruco_markers_group.estimate_pose_from_markers(consistent_markers) ``` The third approach is only available when ArUco markers are placed in such a configuration that is possible to **define orthogonal axis**: ``` python -tvec, rmat = self.aruco_scene.estimate_pose_from_axis_markers(origin_marker, horizontal_axis_marker, vertical_axis_marker) +tvec, rmat = self.aruco_markers_group.estimate_pose_from_axis_markers(origin_marker, horizontal_axis_marker, vertical_axis_marker) ``` ## Scene exportation @@ -142,5 +142,5 @@ As ArUco scene can be exported to OBJ file description to import it into most 3D ``` python # Export an ArUco scene as OBJ file description -aruco_scene.to_obj('markers.obj') +aruco_markers_group.to_obj('markers.obj') ``` diff --git a/docs/user_guide/utils/demonstrations_scripts.md b/docs/user_guide/utils/demonstrations_scripts.md index 5d2d760..4f73092 100644 --- a/docs/user_guide/utils/demonstrations_scripts.md +++ b/docs/user_guide/utils/demonstrations_scripts.md @@ -19,7 +19,7 @@ python ./src/argaze/utils/demo_gaze_analysis_run.py ./src/argaze/utils/demo_envi ## Augmented reality pipeline demonstration -Load ArEnvironment from **demo_augmented_reality_setup.json** file then, detect ArUco markers into a demo video source and estimate environment pose. +Load ArCamera from **demo_augmented_reality_setup.json** file then, detect ArUco markers into a demo video source and estimate environment pose. ```shell python ./src/argaze/utils/demo_augmented_reality_run.py ./src/argaze/utils/demo_environment/demo_augmented_reality_setup.json -s ./src/argaze/utils/demo_environment/demo.mov |