diff options
Diffstat (limited to 'src/argaze/utils/aruco_marker_group_export.py')
| -rw-r--r-- | src/argaze/utils/aruco_marker_group_export.py | 226 |
1 files changed, 0 insertions, 226 deletions
diff --git a/src/argaze/utils/aruco_marker_group_export.py b/src/argaze/utils/aruco_marker_group_export.py deleted file mode 100644 index 47aba86..0000000 --- a/src/argaze/utils/aruco_marker_group_export.py +++ /dev/null @@ -1,226 +0,0 @@ -#!/usr/bin/env python - -""" """ - -""" -This program is free software: you can redistribute it and/or modify it under -the terms of the GNU General Public License as published by the Free Software -Foundation, either version 3 of the License, or (at your option) any later -version. -This program is distributed in the hope that it will be useful, but WITHOUT -ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. -You should have received a copy of the GNU General Public License along with -this program. If not, see <https://www.gnu.org/licenses/>. -""" - -__author__ = "Théo de la Hogue" -__credits__ = [] -__copyright__ = "Copyright 2023, Ecole Nationale de l'Aviation Civile (ENAC)" -__license__ = "GPLv3" - -import argparse -import contextlib - -import cv2 - -from argaze import DataFeatures -from argaze.ArUcoMarker import ArUcoDetector, ArUcoOpticCalibrator, ArUcoMarkerGroup -from argaze.utils import UtilsFeatures - - -def main(): - """ - Detect DICTIONARY and SIZE ArUco markers inside a MOVIE frame then, export detected ArUco markers group as .obj file into an OUTPUT folder. - """ - - # Manage arguments - parser = argparse.ArgumentParser(description=main.__doc__.split('-')[0]) - parser.add_argument('movie', metavar='MOVIE', type=str, default=None, help='movie path') - parser.add_argument('dictionary', metavar='DICTIONARY', type=str, default=None, help='expected ArUco markers dictionary') - parser.add_argument('size', metavar='SIZE', type=float, default=None, help='expected ArUco markers size (in cm)') - - parser.add_argument('-p', '--parameters', metavar='PARAMETERS', type=str, default=None, help='ArUco detector parameters file') - parser.add_argument('-op', '--optic_parameters', metavar='OPTIC_PARAMETERS', type=str, default=None, help='ArUco detector optic parameters file') - - parser.add_argument('-s', '--start', metavar='START', type=float, default=0., help='start time in second') - parser.add_argument('-o', '--output', metavar='OUTPUT', type=str, default='.', help='export folder path') - parser.add_argument('-v', '--verbose', action='store_true', default=False, - help='enable verbose mode to print information in console') - - args = parser.parse_args() - - # Load movie - video_capture = cv2.VideoCapture(args.movie) - - video_fps = video_capture.get(cv2.CAP_PROP_FPS) - image_width = int(video_capture.get(cv2.CAP_PROP_FRAME_WIDTH)) - image_height = int(video_capture.get(cv2.CAP_PROP_FRAME_HEIGHT)) - - # Edit ArUco detector configuration - configuration = { - "dictionary": args.dictionary - } - - if args.parameters: - configuration["parameters"] = args.parameters - - if args.optic_parameters: - configuration["optic_parameters"] = args.optic_parameters - - # Load ArUco detector configuration - aruco_detector = DataFeatures.from_dict(ArUcoDetector.ArUcoDetector, configuration) - - # Create default optic parameters adapted to frame size - if aruco_detector.optic_parameters is None: - - # Note: The choice of 1000 for default focal length should be discussed... - aruco_detector.optic_parameters = ArUcoOpticCalibrator.OpticParameters(rms=-1, dimensions=(image_width, image_height), K=ArUcoOpticCalibrator.K0(focal_length=(1000., 1000.), width=image_width, height=image_height)) - - if args.verbose: - print(aruco_detector) - - # Create empty ArUco scene - aruco_markers_group = None - - # Edit draw parameters - draw_parameters = { - "color": [255, 255, 255], - "draw_axes": { - "thickness": 4 - } - } - - # Create a window - cv2.namedWindow("Export detected ArUco markers", cv2.WINDOW_AUTOSIZE) - - # Init image selection - current_image_index = -1 - _, current_image = video_capture.read() - next_image_index = int(args.start * video_fps) - refresh = False - - # Waiting for 'ctrl+C' interruption - with contextlib.suppress(KeyboardInterrupt): - - while True: - - # Select a new image and detect markers once - if next_image_index != current_image_index or refresh: - - video_capture.set(cv2.CAP_PROP_POS_FRAMES, next_image_index) - - success, video_image = video_capture.read() - - video_height, video_width, _ = video_image.shape - - if success: - - # Refresh once - refresh = False - - current_image_index = video_capture.get(cv2.CAP_PROP_POS_FRAMES) - 1 - current_image_time = video_capture.get(cv2.CAP_PROP_POS_MSEC) - - # Timestamp image - video_image = DataFeatures.TimestampedImage(video_image, timestamp=current_image_time) - - try: - - # Detect and project AR features - aruco_detector.detect_markers(video_image) - - # Estimate all detected markers pose - aruco_detector.estimate_markers_pose(args.size) - - # Build aruco scene from detected markers - aruco_markers_group = ArUcoMarkerGroup.ArUcoMarkerGroup(dictionary=aruco_detector.dictionary, places=aruco_detector.detected_markers()) - - # Detection succeeded - exception = None - - # Write errors - except Exception as e: - - aruco_markers_group = None - - exception = e - - # Draw detected markers - aruco_detector.draw_detected_markers(video_image, draw_parameters) - - # Write detected markers - cv2.putText(video_image, f'Detecting markers {list(aruco_detector.detected_markers().keys())}', (20, video_height - 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA) - - # Write timing - cv2.putText(video_image, f'Frame at {int(current_image_time)}ms', (20, 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA) - - # Write exception - if exception is not None: - cv2.putText(video_image, f'error: {exception}', (20, 80), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA) - - # Write documentation - cv2.putText(video_image, f'<- previous image', (video_width - 500, video_height - 160), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA) - cv2.putText(video_image, f'-> next image', (video_width - 500, video_height - 120), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA) - cv2.putText(video_image, f'r: reload config', (video_width - 500, video_height - 80), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA) - cv2.putText(video_image, f'Ctrl+s: export ArUco markers', (video_width - 500, video_height - 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA) - - # Copy image - current_image = video_image.copy() - - # Keep last image - else: - - video_image = current_image.copy() - - key_pressed = cv2.waitKey(10) - - #if key_pressed != -1: - # print(key_pressed) - - # Select previous image with left arrow - if key_pressed == 2: - next_image_index -= 1 - - # Select next image with right arrow - if key_pressed == 3: - next_image_index += 1 - - # Clip image index - if next_image_index < 0: - next_image_index = 0 - - # r: reload configuration - if key_pressed == 114: - aruco_detector = DataFeatures.from_dict(ArUcoDetector.ArUcoDetector, configuration) - refresh = True - print('Configuration reloaded') - - # Save selected marker edition using 'Ctrl + s' - if key_pressed == 19: - - if aruco_markers_group: - - aruco_markers_group.to_obj(f'{args.output}/{int(current_image_time)}-aruco_markers_group.obj') - print(f'ArUco markers saved into {args.output}') - - else: - - print(f'No ArUco markers to export') - - # Close window using 'Esc' key - if key_pressed == 27: - break - - # Display video - cv2.imshow(aruco_detector.name, video_image) - - # Close movie capture - video_capture.release() - - # Stop image display - cv2.destroyAllWindows() - - -if __name__ == '__main__': - main() |