diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/argaze/ArUcoMarkers/ArUcoDetector.py | 46 |
1 files changed, 21 insertions, 25 deletions
diff --git a/src/argaze/ArUcoMarkers/ArUcoDetector.py b/src/argaze/ArUcoMarkers/ArUcoDetector.py index 490b75b..3ef7fa6 100644 --- a/src/argaze/ArUcoMarkers/ArUcoDetector.py +++ b/src/argaze/ArUcoMarkers/ArUcoDetector.py @@ -149,8 +149,6 @@ class ArUcoDetector(): # Init detected markers data self.__detected_markers = {} - self.__detected_markers_corners = [] - self.__detected_markers_ids = [] # Init detected board data self.__board = None @@ -267,31 +265,31 @@ class ArUcoDetector(): """ # Reset detected markers data - self.__detected_markers, self.__detected_markers_corners, self.__detected_markers_ids = {}, [], [] + self.__detected_markers, detected_markers_corners, detected_markers_ids = {}, [], [] # Store marker detection start date detection_start = time.perf_counter() # Detect markers into gray picture - self.__detected_markers_corners, self.__detected_markers_ids, _ = aruco.detectMarkers(cv.cvtColor(image, cv.COLOR_BGR2GRAY), self.dictionary.markers, parameters = self.parameters.internal) + detected_markers_corners, detected_markers_ids, _ = aruco.detectMarkers(cv.cvtColor(image, cv.COLOR_BGR2GRAY), self.dictionary.markers, parameters = self.parameters.internal) # Assess marker detection time in ms detection_time = (time.perf_counter() - detection_start) * 1e3 # Is there detected markers ? - if len(self.__detected_markers_corners) > 0: + if len(detected_markers_corners) > 0: # Transform markers ids array into list - self.__detected_markers_ids = self.__detected_markers_ids.T[0] + detected_markers_ids = detected_markers_ids.T[0] # Gather detected markers data and update metrics self.__detection_count += 1 - for i, marker_id in enumerate(self.__detected_markers_ids): + for i, marker_id in enumerate(detected_markers_ids): marker = ArUcoMarker.ArUcoMarker(self.dictionary, marker_id, self.marker_size) - marker.corners = self.__detected_markers_corners[i] + marker.corners = detected_markers_corners[i] # No pose estimation: call estimate_markers_pose to get one marker.translation = numpy.empty([0]) @@ -300,6 +298,7 @@ class ArUcoDetector(): self.__detected_markers[marker_id] = marker + # Update metrics self.__detected_ids.append(marker_id) return detection_time @@ -308,26 +307,23 @@ class ArUcoDetector(): """Estimate pose of current detected markers or of given markers id list.""" # Is there detected markers ? - if len(self.__detected_markers_corners) > 0: + if len(self.__detected_markers) > 0: - # Is there a marker selection ? - if len(markers_ids) > 0: + # Select all markers by default + if len(markers_ids) == 0: - selected_markers_corners = tuple() - selected_markers_ids = [] + markers_ids = self.__detected_markers.keys() - for i, marker_id in enumerate(self.__detected_markers_ids): + # Prepare data for aruco.estimatePoseSingleMarkers function + selected_markers_corners = tuple() + selected_markers_ids = [] - if marker_id in markers_ids: - - selected_markers_corners += (self.__detected_markers_corners[i],) - selected_markers_ids.append(marker_id) + for marker_id, marker in self.__detected_markers.items(): - # Otherwise, estimate pose of all markers - else: + if marker_id in markers_ids: - selected_markers_corners = self.__detected_markers_corners - selected_markers_ids = self.__detected_markers_ids + selected_markers_corners += (marker.corners,) + selected_markers_ids.append(marker_id) # Estimate pose of selected markers if len(selected_markers_corners) > 0: @@ -377,13 +373,13 @@ class ArUcoDetector(): # detect markers from gray picture gray = cv.cvtColor(image, cv.COLOR_BGR2GRAY) - self.__detected_markers_corners, self.__detected_markers_ids, _ = aruco.detectMarkers(gray, self.dictionary.markers, parameters = self.parameters.internal) + detected_markers_corners, detected_markers_ids, _ = aruco.detectMarkers(gray, self.dictionary.markers, parameters = self.parameters.internal) # if all board markers are detected - if len(self.__detected_markers_corners) == expected_markers_number: + if len(detected_markers_corners) == expected_markers_number: self.__board = board - self.__board_corners_number, self.__board_corners, self.__board_corners_ids = aruco.interpolateCornersCharuco(self.__detected_markers_corners, self.__detected_markers_ids, gray, self.__board.model) + self.__board_corners_number, self.__board_corners, self.__board_corners_ids = aruco.interpolateCornersCharuco(detected_markers_corners, detected_markers_ids, gray, self.__board.model) else: |