1 files changed, 234 insertions, 0 deletions
diff --git a/src/argaze/utils/aruco_marker_group_export.py b/src/argaze/utils/aruco_marker_group_export.py
new file mode 100644
index 0000000..961d12b
--- /dev/null
+++ b/src/argaze/utils/aruco_marker_group_export.py
@@ -0,0 +1,234 @@
+#!/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)
+
+	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
+
+				# 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=(
+						video_width, video_height), K=ArUcoOpticCalibrator.K0(focal_length=(1000., 1000.),
+																			  width=video_width, height=video_height))
+
+				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)
+
+					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(aruco_detector.dictionary,
+																				  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()