diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/argaze/ArScene.py | 48 |
1 files changed, 39 insertions, 9 deletions
diff --git a/src/argaze/ArScene.py b/src/argaze/ArScene.py index 3702c6b..c8500fc 100644 --- a/src/argaze/ArScene.py +++ b/src/argaze/ArScene.py @@ -66,6 +66,9 @@ class ArScene(): aruco_axis: dict """Dictionary of orthogonal axis where each axis is defined by list of 3 markers identifier (first is origin).""" + aruco_aoi: dict + """Dictionary of AOI defined by list of markers identifier and markers corners index tuples.""" + def __init__(self, **kwargs): self.aruco_dictionary = ArUcoMarkersDictionary.ArUcoMarkersDictionary(kwargs.pop('aruco_dictionary')) @@ -99,20 +102,16 @@ class ArScene(): else: self.aoi_scene = AOI3DScene.AOI3DScene(aoi_scene_value) - # TODO : allow to define AOI using marker corner position - ''' - "aruco_aoi": { - "Screen": [[4, 3], [5, 2], [6, 1], [7, 0]] # [[MARKER_ID, MARKER_CORNER_ID], ...] - } - ''' - - # Init axis markers + # Init aruco axis self.aruco_axis = {} + # Init aruco aoi + self.aruco_aoi = {} + # Update all attributes from arguments self.__dict__.update(kwargs) - # Convert axis markers identifier into ARUCO_DICT_NAME#ID string + # Convert aruco axis markers identifier into ARUCO_DICT_NAME#ID string aruco_axis_string = {} for axis_name, markers_id in self.aruco_axis.items(): @@ -244,6 +243,36 @@ class ArScene(): return aoi_scene_projection + def project_aruco_aoi(self, frame) -> AOI2DSceneType: + """Edit AOI scene from ArUco markers into frame as defined in aruco_aoi dictionary.""" + + self.aruco_tracker.track(frame, estimate_pose=False) + + # AOI projection fails when no marker is detected + if len(self.aruco_tracker.tracked_markers) == 0: + + raise SceneProjectionFailed('No marker detected') + + scene_markers, _ = self.aruco_scene.filter_markers(self.aruco_tracker.tracked_markers) + + # AOI projection fails when no marker belongs to the scene + if len(scene_markers) == 0: + + raise SceneProjectionFailed('No marker belongs to the scene') + + aoi_scene = {} + + for name, marker_corners in self.aruco_aoi.items(): + + aoi_points = [] + for marker_id, corner_id in marker_corners: + + aoi_points.append(self.aruco_tracker.tracked_markers[marker_id].corners[0][corner_id]) + + aoi_scene[name] = AOIFeatures.AreaOfInterest(aoi_points) + + return AOI2DScene.AOI2DScene(aoi_scene) + def draw_axis(self, frame): """Draw scene axis into frame.""" @@ -253,4 +282,5 @@ class ArScene(): """Draw scene places into frame.""" self.aruco_scene.draw_places(frame, self.aruco_camera.K, self.aruco_camera.D) + |