diff options
Diffstat (limited to 'src/argaze/utils/tobii_stream_aruco_aoi_display.py')
| -rw-r--r-- | src/argaze/utils/tobii_stream_aruco_aoi_display.py | 18 |
1 files changed, 9 insertions, 9 deletions
diff --git a/src/argaze/utils/tobii_stream_aruco_aoi_display.py b/src/argaze/utils/tobii_stream_aruco_aoi_display.py index 77f3c7b..dbe1c5f 100644 --- a/src/argaze/utils/tobii_stream_aruco_aoi_display.py +++ b/src/argaze/utils/tobii_stream_aruco_aoi_display.py @@ -24,7 +24,7 @@ def main(): parser.add_argument('-t', '--tobii_ip', metavar='TOBII_IP', type=str, default=None, help='tobii glasses ip') parser.add_argument('-c', '--camera_calibration', metavar='CAM_CALIB', type=str, default=None, help='json camera calibration filepath') parser.add_argument('-p', '--aruco_tracker_configuration', metavar='TRACK_CONFIG', type=str, default=None, help='json aruco tracker configuration filepath') - parser.add_argument('-md', '--marker_dictionary', metavar='MARKER_DICT', type=str, default='DICT_ARUCO_ORIGINAL', help='aruco marker dictionnary (DICT_4X4_50, DICT_4X4_100, DICT_4X4_250, DICT_4X4_1000, DICT_5X5_50, DICT_5X5_100, DICT_5X5_250, DICT_5X5_1000, DICT_6X6_50, DICT_6X6_100, DICT_6X6_250, DICT_6X6_1000, DICT_7X7_50, DICT_7X7_100, DICT_7X7_250, DICT_7X7_1000, DICT_ARUCO_ORIGINAL,DICT_APRILTAG_16h5, DICT_APRILTAG_25h9, DICT_APRILTAG_36h10, DICT_APRILTAG_36h11)') + parser.add_argument('-md', '--marker_dictionary', metavar='MARKER_DICT', type=ArUcoMarkersDictionary.ArUcoMarkersDictionary, default='DICT_ARUCO_ORIGINAL', help='aruco marker dictionnary (DICT_4X4_50, DICT_4X4_100, DICT_4X4_250, DICT_4X4_1000, DICT_5X5_50, DICT_5X5_100, DICT_5X5_250, DICT_5X5_1000, DICT_6X6_50, DICT_6X6_100, DICT_6X6_250, DICT_6X6_1000, DICT_7X7_50, DICT_7X7_100, DICT_7X7_250, DICT_7X7_1000, DICT_ARUCO_ORIGINAL,DICT_APRILTAG_16h5, DICT_APRILTAG_25h9, DICT_APRILTAG_36h10, DICT_APRILTAG_36h11)') parser.add_argument('-ms', '--marker_size', metavar='MARKER_SIZE', type=float, default=6, help='aruco marker size (cm)') parser.add_argument('-mi', '--marker_id_scene', metavar='MARKER_ID_SCENE', type=json.loads, help='{"marker": "aoi scene filepath"} dictionary') parser.add_argument('-w', '--window', metavar='DISPLAY', type=bool, default=True, help='enable window display', action=argparse.BooleanOptionalAction) @@ -32,9 +32,9 @@ def main(): # Manage markers id to track if args.marker_id_scene == None: - print(f'Track any Aruco markers from the {args.marker_dictionary} dictionary') + print(f'Track any Aruco markers from the {args.marker_dictionary.name} dictionary') else: - print(f'Track Aruco markers {list(args.marker_id_scene.keys())} from the {args.marker_dictionary} dictionary') + print(f'Track Aruco markers {list(args.marker_id_scene.keys())} from the {args.marker_dictionary.name} dictionary') # Create tobii controller (with auto discovery network process if no ip argument is provided) print("Looking for a Tobii Glasses Pro 2 device ...") @@ -83,7 +83,7 @@ def main(): aruco_tracker.load_configuration_file(args.aruco_tracker_configuration) - print(f'ArUcoTracker configuration for {aruco_tracker.get_markers_dictionay().get_markers_format()} markers detection:') + print(f'ArUcoTracker configuration for {args.marker_dictionary.name} markers detection:') aruco_tracker.print_configuration() # Load AOI 3D scene for each marker and create a AOI 2D scene and frame when a 'Visualisation_Plan' AOI exist @@ -192,10 +192,10 @@ def main(): # Track markers with pose estimation and draw them aruco_tracker.track(video_frame.matrix) - aruco_tracker.draw(visu_frame.matrix) + aruco_tracker.draw_tracked_markers(visu_frame.matrix) # When no marker is detected, no AOI scene projection can't be done - if aruco_tracker.get_markers_number() == 0: + if aruco_tracker.tracked_markers_number == 0: ts_aois_scenes[round(video_ts_ms)] = AOIFeatures.EmptyAOIScene() @@ -205,7 +205,7 @@ def main(): aoi2D_dict = {} # Project 3D scene on each video frame and the visualisation frame - for (i, marker_id) in enumerate(aruco_tracker.get_markers_ids()): + for marker_id, marker in aruco_tracker.tracked_markers.items(): # Copy 3D scene related to detected marker aoi3D_scene = aoi3D_scene_selector(marker_id) @@ -214,7 +214,7 @@ def main(): continue # Transform scene into camera referential - aoi3D_camera = aoi3D_scene.transform(aruco_tracker.get_marker_translation(i), aruco_tracker.get_marker_rotation(i)) + aoi3D_camera = aoi3D_scene.transform(marker.translation, marker.rotation) # Get aoi inside vision cone field cone_vision_height_cm = 200 # cm @@ -227,7 +227,7 @@ def main(): # DON'T APPLY CAMERA DISTORSION : it projects points which are far from the frame into it # This hack isn't realistic but as the gaze will mainly focus on centered AOI, where the distorsion is low, it is acceptable. - aoi2D_video_scene = aoi3D_scene.project(aruco_tracker.get_marker_translation(i), aruco_tracker.get_marker_rotation(i), aruco_camera.get_K()) + aoi2D_video_scene = aoi3D_scene.project(marker.translation, marker.rotation, aruco_camera.K) # Store each 2D aoi for further scene merging for name, aoi in aoi2D_video_scene.items(): |