diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/argaze/utils/aruco_markers_group_export.py | 110 |
1 files changed, 82 insertions, 28 deletions
diff --git a/src/argaze/utils/aruco_markers_group_export.py b/src/argaze/utils/aruco_markers_group_export.py index 92646ca..5012d01 100644 --- a/src/argaze/utils/aruco_markers_group_export.py +++ b/src/argaze/utils/aruco_markers_group_export.py @@ -11,7 +11,7 @@ import argparse import time import itertools -from argaze.ArUcoMarkers import ArUcoCamera, ArUcoMarkersGroup +from argaze.ArUcoMarkers import ArUcoDetector, ArUcoOpticCalibrator, ArUcoMarkersGroup from argaze.utils import UtilsFeatures import cv2 @@ -19,16 +19,22 @@ import numpy def main(): """ - Load a MOVIE and an ArUcoCamera CONFIGURATION to detect ArUco markers inside a selected movie frame then, export detected ArUco markers group as .obj file into an OUTPUT folder. + 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('configuration', metavar='CONFIGURATION', type=str, default=None, help='ArUco camera configuration') + 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('-s','--start', metavar='START', type=float, default=0., help='start time in second') + 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 @@ -38,14 +44,39 @@ def main(): image_width = int(video_capture.get(cv2.CAP_PROP_FRAME_WIDTH)) image_height = int(video_capture.get(cv2.CAP_PROP_FRAME_HEIGHT)) - # Load ArUco camera - aruco_camera = ArUcoCamera.ArUcoCamera.from_json(args.configuration) + # 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 = ArUcoDetector.ArUcoDetector.from_dict(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(aruco_camera.name, cv2.WINDOW_AUTOSIZE) + cv2.namedWindow("Export detected ArUco markers", cv2.WINDOW_AUTOSIZE) # Enable exit signal handler exit = UtilsFeatures.ExitSignalHandler() @@ -65,6 +96,14 @@ def main(): 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 @@ -73,34 +112,49 @@ def main(): current_image_index = video_capture.get(cv2.CAP_PROP_POS_FRAMES) - 1 current_image_time = video_capture.get(cv2.CAP_PROP_POS_MSEC) - # Detect markers - detection_time, projection_time, exceptions = aruco_camera.watch(current_image_time, video_image) + try: + + # Detect and project AR features + aruco_detector.detect_markers(current_image_time, video_image) + + # Estimate all detected markers pose + aruco_detector.estimate_markers_pose(args.size) - # Estimate each markers pose - aruco_camera.aruco_detector.estimate_markers_pose(aruco_camera.aruco_detector.detected_markers) + # Build aruco scene from detected markers + aruco_markers_group = ArUcoMarkersGroup.ArUcoMarkersGroup(aruco_detector.dictionary, aruco_detector.detected_markers) - # Build aruco scene from detected markers - aruco_markers_group = ArUcoMarkersGroup.ArUcoMarkersGroup(aruco_camera.aruco_detector.marker_size, aruco_camera.aruco_detector.dictionary, aruco_camera.aruco_detector.detected_markers) + # Detection suceeded + exception = None - # Get camera image - camera_image = aruco_camera.image() + # 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(camera_image, f'Detecting markers {list(aruco_camera.aruco_detector.detected_markers.keys())}', (20, aruco_camera.size[1]-40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA) + 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(camera_image, f'Frame at {int(current_image_time)}ms', (20, 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA) - cv2.putText(camera_image, f'Detection {int(detection_time)}ms', (20, 80), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA) - cv2.putText(camera_image, f'Projection {int(projection_time)}ms', (20, 120), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA) - - # Write documentation - cv2.putText(camera_image, f'<- previous image', (aruco_camera.size[0]-500, aruco_camera.size[1]-160), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA) - cv2.putText(camera_image, f'-> next image', (aruco_camera.size[0]-500, aruco_camera.size[1]-120), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA) - cv2.putText(camera_image, f'r: reload config', (aruco_camera.size[0]-500, aruco_camera.size[1]-80), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA) - cv2.putText(camera_image, f'Ctrl+s: export ArUco markers', (aruco_camera.size[0]-500, aruco_camera.size[1]-40), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA) + 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 = camera_image.copy() + current_image = video_image.copy() # Keep last image else: @@ -127,7 +181,7 @@ def main(): # r: reload configuration if key_pressed == 114: - aruco_camera = ArUcoCamera.ArUcoCamera.from_json(args.configuration) + aruco_detector = ArUcoDetector.ArUcoDetector.from_dict(configuration) refresh = True print('Configuration reloaded') @@ -148,7 +202,7 @@ def main(): break # Display video - cv2.imshow(aruco_camera.name, video_image) + cv2.imshow(aruco_detector.name, video_image) # Close movie capture video_capture.release() |