diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/argaze/ArScene.py | 40 |
1 files changed, 22 insertions, 18 deletions
diff --git a/src/argaze/ArScene.py b/src/argaze/ArScene.py index 35fef1c..630ee62 100644 --- a/src/argaze/ArScene.py +++ b/src/argaze/ArScene.py @@ -124,6 +124,13 @@ class ArScene(): self.aruco_axis = aruco_axis_string + # Preprocess a default whole scene projection to speed up further aruco aoi processings + _, tvec, rvec, K = self.whole_pose() + self.__default_whole_scene_projection = self.aoi_scene.project(tvec, rvec, K) + + # DEBUG + print('self.__default_whole_scene_projection:\n', self.__default_whole_scene_projection ) + @classmethod def from_json(self, json_filepath: str) -> ArSceneType: """Load ArGaze project from .json file.""" @@ -147,16 +154,15 @@ class ArScene(): return output - def whole_pose(self, width: float = 1., height: float = None) -> Tuple[numpy.array, numpy.array, numpy.array, numpy.array]: + def whole_pose(self, width: float = 1., height: float = 0.) -> Tuple[numpy.array, numpy.array, numpy.array, numpy.array]: """Edit translation vector, rotation vector and camera intrinsic parameters to setup a whole scene projection frame. * **Arguments:** - frame width - frame height: optional, if None the height will be setup according given width and scene dimensions ratio. """ - scene_size = self.aoi_scene.size - frame_size = numpy.array([width, int(scene_size[1]/scene_size[0]*width) if height == None else height]) + frame_size = numpy.array([width, scene_size[1]/scene_size[0]*width if height == 0. else height]) tvec = self.aoi_scene.center*[-1, 1, 0] + [0, 0, scene_size[1]] rvec = numpy.array([[-numpy.pi, 0.0, 0.0]]) K = numpy.array([[frame_size[1], 0.0, frame_size[0]/2], [0.0, frame_size[1], frame_size[1]/2], [0.0, 0.0, 1.0]]) @@ -280,29 +286,27 @@ class ArScene(): raise SceneProjectionFailed('No marker belongs to the scene') - aoi_scene = {} - - for name, data in self.aruco_aoi.items(): - - if type(data) == list: + aruco_aoi_scene = {} - marker_corners = data + for aruco_aoi_name, aoi in self.aruco_aoi.items(): - aoi_points = [] - for marker_id, corner_id in marker_corners: + # Each aoi's corner is defined by a marker's corner + aoi_corners = [] + for corner in ["top_left_corner", "top_right_corner", "bottom_left_corner", "bottom_right_corner"]: - aoi_points.append(self.aruco_tracker.tracked_markers[marker_id].corners[0][corner_id]) + aoi_corners.append(self.aruco_tracker.tracked_markers[aoi[corner]["marker_identifier"]].corners[0][aoi[corner]["marker_corner_index"]]) - aoi_scene[name] = AOIFeatures.AreaOfInterest(aoi_points) + aruco_aoi_scene[aruco_aoi_name] = AOIFeatures.AreaOfInterest(aoi_corners) - elif type(data) == dict: + # Then each inner aoi is projected from the current aruco aoi + for inner_aoi_name, inner_aoi in self.aoi_scene.items(): - parent_aoi = aoi_scene[data['parent']] - aoi_points = [numpy.array(parent_aoi.outter_axis(inner)) for inner in data['inner_points']] + if aruco_aoi_name != inner_aoi_name: - aoi_scene[name] = AOIFeatures.AreaOfInterest(aoi_points) + aoi_corners = [numpy.array(aruco_aoi_scene[aruco_aoi_name].outter_axis(inner)) for inner in self.__default_whole_scene_projection[inner_aoi_name]] + aruco_aoi_scene[inner_aoi_name] = AOIFeatures.AreaOfInterest(aoi_corners) - return AOI2DScene.AOI2DScene(aoi_scene) + return AOI2DScene.AOI2DScene(aruco_aoi_scene) def draw_axis(self, frame): """Draw scene axis into frame.""" |