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Diffstat (limited to 'src/argaze/utils/aruco_markers_group_export.py')
| -rw-r--r-- | src/argaze/utils/aruco_markers_group_export.py | 160 |
1 files changed, 160 insertions, 0 deletions
diff --git a/src/argaze/utils/aruco_markers_group_export.py b/src/argaze/utils/aruco_markers_group_export.py new file mode 100644 index 0000000..d948105 --- /dev/null +++ b/src/argaze/utils/aruco_markers_group_export.py @@ -0,0 +1,160 @@ +#!/usr/bin/env python + +""" """ + +__author__ = "Théo de la Hogue" +__credits__ = [] +__copyright__ = "Copyright 2023, Ecole Nationale de l'Aviation Civile (ENAC)" +__license__ = "BSD" + +import argparse +import time +import itertools + +from argaze.ArUcoMarkers import ArUcoCamera, ArUcoMarkersGroup +from argaze.utils import UtilsFeatures + +import cv2 +import numpy + +def main(): + """ + Load a MOVIE and an ArUcoCamera CONFIGURATION to detect ArUco markers inside a selected 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('configuration', metavar='CONFIGURATION', type=str, default=None, help='ArUco camera configuration') + + 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') + 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)) + + # Load ArUco camera + aruco_camera = ArUcoCamera.ArUcoCamera.from_json(args.configuration) + + # Create empty ArUco scene + aruco_markers_group = None + + # Create a window + cv2.namedWindow(aruco_camera.name, cv2.WINDOW_AUTOSIZE) + + # Enable exit signal handler + exit = UtilsFeatures.ExitSignalHandler() + + # Init image selection + current_image_index = -1 + _, current_image = video_capture.read() + next_image_index = int(args.start * video_fps) + refresh = False + + while not exit.status(): + + # 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() + + 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) + + # Detect markers + detection_time, projection_time, exceptions = aruco_camera.watch(video_image) + + # Estimate each markers pose + aruco_camera.aruco_detector.estimate_markers_pose(aruco_camera.aruco_detector.detected_markers) + + # Build aruco scene from detected markers + aruco_markers_group = ArUcoMarkersGroup.ArUcoMarkersGroup(aruco_camera.aruco_detector.marker_size, aruco_camera.aruco_detector.dictionary, aruco_camera.aruco_detector.detected_markers) + + # Get camera image + camera_image = aruco_camera.image() + + # Write detected markers + cv2.putText(camera_image, f'Detecting markers {list(aruco_camera.aruco_detector.detected_markers.keys())}', (20, aruco_camera.size[1]-40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA) + + # Write timing + cv2.putText(camera_image, f'Frame at {int(current_image_time)}ms', (20, 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA) + cv2.putText(camera_image, f'Detection {int(detection_time)}ms', (20, 80), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA) + cv2.putText(camera_image, f'Projection {int(projection_time)}ms', (20, 120), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA) + + # Write documentation + cv2.putText(camera_image, f'<- previous image', (aruco_camera.size[0]-500, aruco_camera.size[1]-120), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA) + cv2.putText(camera_image, f'-> next image', (aruco_camera.size[0]-500, aruco_camera.size[1]-80), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA) + cv2.putText(camera_image, f'Ctrl+s: export ArUco markers', (aruco_camera.size[0]-500, aruco_camera.size[1]-40), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA) + + # Copy image + current_image = camera_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_camera = ArUcoCamera.ArUcoCamera.from_json(args.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_camera.name, video_image) + + # Close movie capture + video_capture.release() + + # Stop image display + cv2.destroyAllWindows() + +if __name__ == '__main__': + + main()
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