diff options
Diffstat (limited to 'src/argaze/ArUcoMarker/ArUcoCamera.py')
| -rw-r--r-- | src/argaze/ArUcoMarker/ArUcoCamera.py | 94 |
1 files changed, 49 insertions, 45 deletions
diff --git a/src/argaze/ArUcoMarker/ArUcoCamera.py b/src/argaze/ArUcoMarker/ArUcoCamera.py index 8ae8cb8..4fa8b83 100644 --- a/src/argaze/ArUcoMarker/ArUcoCamera.py +++ b/src/argaze/ArUcoMarker/ArUcoCamera.py @@ -119,61 +119,63 @@ class ArUcoCamera(ArFeatures.ArCamera): logging.debug('ArUcoCamera.watch') - # Use camera frame lock feature - with self._lock: + # Draw black rectangles to mask sides + if self.__sides_mask > 0: + + logging.debug('\t> drawing sides mask (%i px)', self.__sides_mask) - # Draw black rectangles to mask sides - if self.__sides_mask > 0: - logging.debug('\t> drawing sides mask (%i px)', self.__sides_mask) + height, width, _ = image.shape - height, width, _ = image.shape + cv2.rectangle(image, (0, 0), (self.__sides_mask, height), (0, 0, 0), -1) + cv2.rectangle(image, (width - self.__sides_mask, 0), (width, height), (0, 0, 0), -1) - cv2.rectangle(image, (0, 0), (self.__sides_mask, height), (0, 0, 0), -1) - cv2.rectangle(image, (width - self.__sides_mask, 0), (width, height), (0, 0, 0), -1) + # Fill camera frame background with timestamped image + with self._lock: - # Fill camera frame background with timestamped image self.background = image - # Read projection from the cache if required - if not self._read_projection_cache(image.timestamp): + # Read projection from the cache if required + if not self._read_projection_cache(image.timestamp): - # Detect aruco markers - logging.debug('\t> detect markers') + # Detect aruco markers + logging.debug('\t> detect markers') - self.__aruco_detector.detect_markers(image) + self.__aruco_detector.detect_markers(image) - # Clear former layers projection into camera frame - self._clear_projection() + # Clear former layers projection into camera frame + self._clear_projection() - # Project each aoi 3d scene into camera frame - for scene_name, scene in self.scenes.items(): + # Project each aoi 3d scene into camera frame + for scene_name, scene in self.scenes.items(): - ''' TODO: Enable aruco_aoi processing - if scene.aruco_aoi: + ''' TODO: Enable aruco_aoi processing + if scene.aruco_aoi: - try: + try: - # Build AOI scene directly from detected ArUco marker corners - self.layers[??].aoi_2d_scene |= scene.build_aruco_aoi_scene(self.__aruco_detector.detected_markers()) + # Build AOI scene directly from detected ArUco marker corners + self.layers[??].aoi_2d_scene |= scene.build_aruco_aoi_scene(self.__aruco_detector.detected_markers()) - except ArFeatures.PoseEstimationFailed: + except ArFeatures.PoseEstimationFailed: - pass - ''' + pass + ''' - # Estimate scene pose from detected scene markers - logging.debug('\t> estimate %s scene pose', scene_name) + # Estimate scene pose from detected scene markers + logging.debug('\t> estimate %s scene pose', scene_name) - try: + try: + + tvec, rmat, _ = scene.estimate_pose(self.__aruco_detector.detected_markers(), timestamp=image.timestamp) - tvec, rmat, _ = scene.estimate_pose(self.__aruco_detector.detected_markers(), timestamp=image.timestamp) + # Project scene into camera frame according estimated pose + for layer_name, layer_projection in scene.project(tvec, rmat, self.visual_hfov, self.visual_vfov, timestamp=image.timestamp): - # Project scene into camera frame according estimated pose - for layer_name, layer_projection in scene.project(tvec, rmat, self.visual_hfov, self.visual_vfov, timestamp=image.timestamp): + logging.debug('\t> project %s scene %s layer', scene_name, layer_name) - logging.debug('\t> project %s scene %s layer', scene_name, layer_name) + try: - try: + with self.layers[layer_name]._lock: # Update camera layer aoi self.layers[layer_name].aoi_scene |= layer_projection @@ -181,23 +183,25 @@ class ArUcoCamera(ArFeatures.ArCamera): # Timestamp camera layer self.layers[layer_name].timestamp = image.timestamp - except KeyError: + except KeyError: + + pass - pass + # Write projection into the cache if required + self._write_projection_cache(image.timestamp) - # Write projection into the cache if required - self._write_projection_cache(image.timestamp) + except DataFeatures.TimestampedException as e: - except DataFeatures.TimestampedException as e: + # Write exception into the cache if required + self._write_projection_cache(image.timestamp, e) - # Write exception into the cache if required - self._write_projection_cache(image.timestamp, e) + # Raise exception + raise e - # Raise exception - raise e + # Copy camera frame background into scene frames background if required + if self.copy_background_into_scenes_frames: - # Copy camera frame background into scene frames background if required - if self.copy_background_into_scenes_frames: + with self._lock: self._copy_background_into_scenes_frames() |