diff options
Diffstat (limited to 'src/argaze/ArUcoMarkers/ArUcoDetector.py')
| -rw-r--r-- | src/argaze/ArUcoMarkers/ArUcoDetector.py | 108 |
1 files changed, 60 insertions, 48 deletions
diff --git a/src/argaze/ArUcoMarkers/ArUcoDetector.py b/src/argaze/ArUcoMarkers/ArUcoDetector.py index 82c9394..e62a42e 100644 --- a/src/argaze/ArUcoMarkers/ArUcoDetector.py +++ b/src/argaze/ArUcoMarkers/ArUcoDetector.py @@ -38,7 +38,8 @@ ArUcoDetectorType = TypeVar('ArUcoDetector', bound="ArUcoDetector") class DetectorParameters(): """Wrapper class around ArUco marker detector parameters. - .. note:: More details on [opencv page](https://docs.opencv.org/4.x/d1/dcd/structcv_1_1aruco_1_1DetectorParameters.html) + !!! note + More details on [opencv page](https://docs.opencv.org/4.x/d1/dcd/structcv_1_1aruco_1_1DetectorParameters.html) """ __parameters = aruco.DetectorParameters() @@ -71,7 +72,8 @@ class DetectorParameters(): 'minOtsuStdDev', 'perspectiveRemoveIgnoredMarginPerCell', 'perspectiveRemovePixelPerCell', - 'polygonalApproxAccuracyRate' + 'polygonalApproxAccuracyRate', + 'useAruco3Detection' ] def __init__(self, **kwargs): @@ -98,8 +100,17 @@ class DetectorParameters(): return DetectorParameters(**json.load(configuration_file)) - def __str__(self, print_all=False) -> str: - """Detector paremeters string representation.""" + def __str__(self) -> str: + """Detector parameters string representation.""" + + return f'{self}' + + def __format__(self, spec: str) -> str: + """Formated detector parameters string representation. + + Parameters: + spec: 'modified' to get only modified parameters. + """ output = '' @@ -109,7 +120,7 @@ class DetectorParameters(): output += f'\t*{parameter}: {getattr(self.__parameters, parameter)}\n' - elif print_all: + elif spec == "": output += f'\t{parameter}: {getattr(self.__parameters, parameter)}\n' @@ -121,26 +132,24 @@ class DetectorParameters(): @dataclass class ArUcoDetector(): - """ArUco markers detector.""" + """ArUco markers detector. - dictionary: ArUcoMarkersDictionary.ArUcoMarkersDictionary = field(default_factory=ArUcoMarkersDictionary.ArUcoMarkersDictionary) - """ArUco markers dictionary to detect.""" + Parameters: + dictionary: ArUco markers dictionary to detect. + marker_size: Size of ArUco markers to detect in centimeter. + optic_parameters: Optic parameters to use for ArUco detection into image. + parameters: ArUco detector parameters. + """ + dictionary: ArUcoMarkersDictionary.ArUcoMarkersDictionary = field(default_factory=ArUcoMarkersDictionary.ArUcoMarkersDictionary) marker_size: float = field(default=0.) - """Size of ArUco markers to detect in centimeter.""" - optic_parameters: ArUcoOpticCalibrator.OpticParameters = field(default_factory=ArUcoOpticCalibrator.OpticParameters) - """Optic parameters to use for ArUco detection into image.""" - parameters: DetectorParameters = field(default_factory=DetectorParameters) - """ArUco detector parameters.""" def __post_init__(self): # Init detected markers data self.__detected_markers = {} - self.__detected_markers_corners = [] - self.__detected_markers_ids = [] # Init detected board data self.__board = None @@ -249,39 +258,41 @@ class ArUcoDetector(): def detect_markers(self, image: numpy.array) -> float: """Detect all ArUco markers into an image. - .. danger:: DON'T MIRROR IMAGE - It makes the markers detection to fail. + !!! danger "DON'T MIRROR IMAGE" + It makes the markers detection to fail. + + !!! danger "DON'T UNDISTORED IMAGE" + Camera intrisic parameters and distorsion coefficients are used later during pose estimation. Returns: - - detection time: marker detection time in ms + detection time: marker detection time in ms. """ # Reset detected markers data - self.__detected_markers, self.__detected_markers_corners, self.__detected_markers_ids = {}, [], [] + self.__detected_markers, detected_markers_corners, detected_markers_ids = {}, [], [] # Store marker detection start date detection_start = time.perf_counter() # Detect markers into gray picture - self.__detected_markers_corners, self.__detected_markers_ids, _ = aruco.detectMarkers(cv.cvtColor(image, cv.COLOR_BGR2GRAY), self.dictionary.markers, parameters = self.parameters.internal) + detected_markers_corners, detected_markers_ids, _ = aruco.detectMarkers(cv.cvtColor(image, cv.COLOR_BGR2GRAY), self.dictionary.markers, parameters = self.parameters.internal) # Assess marker detection time in ms detection_time = (time.perf_counter() - detection_start) * 1e3 # Is there detected markers ? - if len(self.__detected_markers_corners) > 0: + if len(detected_markers_corners) > 0: # Transform markers ids array into list - self.__detected_markers_ids = self.__detected_markers_ids.T[0] + detected_markers_ids = detected_markers_ids.T[0] # Gather detected markers data and update metrics self.__detection_count += 1 - for i, marker_id in enumerate(self.__detected_markers_ids): + for i, marker_id in enumerate(detected_markers_ids): marker = ArUcoMarker.ArUcoMarker(self.dictionary, marker_id, self.marker_size) - - marker.corners = self.__detected_markers_corners[i] + marker.corners = detected_markers_corners[i][0] # No pose estimation: call estimate_markers_pose to get one marker.translation = numpy.empty([0]) @@ -290,6 +301,7 @@ class ArUcoDetector(): self.__detected_markers[marker_id] = marker + # Update metrics self.__detected_ids.append(marker_id) return detection_time @@ -298,31 +310,28 @@ class ArUcoDetector(): """Estimate pose of current detected markers or of given markers id list.""" # Is there detected markers ? - if len(self.__detected_markers_corners) > 0: + if len(self.__detected_markers) > 0: - # Is there a marker selection ? - if len(markers_ids) > 0: + # Select all markers by default + if len(markers_ids) == 0: - selected_markers_corners = tuple() - selected_markers_ids = [] + markers_ids = self.__detected_markers.keys() - for i, marker_id in enumerate(self.__detected_markers_ids): + # Prepare data for aruco.estimatePoseSingleMarkers function + selected_markers_corners = tuple() + selected_markers_ids = [] - if marker_id in markers_ids: + for marker_id, marker in self.__detected_markers.items(): - selected_markers_corners += (self.__detected_markers_corners[i],) - selected_markers_ids.append(marker_id) + if marker_id in markers_ids: - # Otherwise, estimate pose of all markers - else: - - selected_markers_corners = self.__detected_markers_corners - selected_markers_ids = self.__detected_markers_ids + selected_markers_corners += (marker.corners,) + selected_markers_ids.append(marker_id) # Estimate pose of selected markers if len(selected_markers_corners) > 0: - markers_rvecs, markers_tvecs, markers_points = aruco.estimatePoseSingleMarkers(selected_markers_corners, self.marker_size, numpy.array(self.optic_parameters.K), numpy.array(self.optic_parameters.D)) + markers_rvecs, markers_tvecs, markers_points = aruco.estimatePoseSingleMarkers(selected_markers_corners, self.marker_size, numpy.array(self.optic_parameters.K), numpy.array(self.optic_parameters.D)) for i, marker_id in enumerate(selected_markers_ids): @@ -330,7 +339,8 @@ class ArUcoDetector(): marker.translation = markers_tvecs[i][0] marker.rotation, _ = cv.Rodrigues(markers_rvecs[i][0]) - marker.points = markers_points.reshape(4, 3) + + marker.points = markers_points.reshape(4, 3).dot(marker.rotation) + marker.translation @property def detected_markers(self) -> dict[ArUcoMarkerType]: @@ -361,19 +371,19 @@ class ArUcoDetector(): def detect_board(self, image: numpy.array, board, expected_markers_number): """Detect ArUco markers board in image setting up the number of detected markers needed to agree detection. - .. danger:: DON'T MIRROR IMAGE - It makes the markers detection to fail. + !!! danger "DON'T MIRROR IMAGE" + It makes the markers detection to fail. """ # detect markers from gray picture gray = cv.cvtColor(image, cv.COLOR_BGR2GRAY) - self.__detected_markers_corners, self.__detected_markers_ids, _ = aruco.detectMarkers(gray, self.dictionary.markers, parameters = self.parameters.internal) + detected_markers_corners, detected_markers_ids, _ = aruco.detectMarkers(gray, self.dictionary.markers, parameters = self.parameters.internal) # if all board markers are detected - if len(self.__detected_markers_corners) == expected_markers_number: + if len(detected_markers_corners) == expected_markers_number: self.__board = board - self.__board_corners_number, self.__board_corners, self.__board_corners_ids = aruco.interpolateCornersCharuco(self.__detected_markers_corners, self.__detected_markers_ids, gray, self.__board.model) + self.__board_corners_number, self.__board_corners, self.__board_corners_ids = aruco.interpolateCornersCharuco(detected_markers_corners, detected_markers_ids, gray, self.__board.model) else: @@ -398,9 +408,11 @@ class ArUcoDetector(): @property def detection_metrics(self) -> Tuple[int, dict]: """Get marker detection metrics. + Returns: - number of detect function call - dict with number of detection for each marker identifier""" + number of detect function call + dict with number of detection for each marker identifier + """ return self.__detection_count, Counter(self.__detected_ids) |