diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/argaze/ArUcoMarkers/ArUcoDetector.py | 92 |
1 files changed, 50 insertions, 42 deletions
diff --git a/src/argaze/ArUcoMarkers/ArUcoDetector.py b/src/argaze/ArUcoMarkers/ArUcoDetector.py index a04bc8f..9f51490 100644 --- a/src/argaze/ArUcoMarkers/ArUcoDetector.py +++ b/src/argaze/ArUcoMarkers/ArUcoDetector.py @@ -133,7 +133,7 @@ class DetectorParameters(): class ArUcoDetector(DataFeatures.PipelineStepObject): """OpenCV ArUco library wrapper.""" - def __init__(self, dictionary: ArUcoMarkersDictionary.ArUcoMarkersDictionary = None, optic_parameters: ArUcoOpticCalibrator.OpticParameters = None, parameters: DetectorParameters = None): + def __init__(self, dictionary: ArUcoMarkersDictionary.ArUcoMarkersDictionary = None, optic_parameters: ArUcoOpticCalibrator.OpticParameters = None, parameters: DetectorParameters = None, **kwargs): """Initialize ArUcoDetector. Parameters: @@ -143,7 +143,7 @@ class ArUcoDetector(DataFeatures.PipelineStepObject): """ # Init parent class - super().__init__() + super().__init__(**kwargs) # Init private attributes self.__dictionary = dictionary @@ -159,10 +159,6 @@ class ArUcoDetector(DataFeatures.PipelineStepObject): self.__board_corners = [] self.__board_corners_ids = [] - # Init detect metrics data - self.__detection_count = 0 - self.__detected_ids = [] - @property def dictionary(self) -> ArUcoMarkersDictionary.ArUcoMarkersDictionary: """Get aruco detector's dictionary object.""" @@ -250,11 +246,19 @@ class ArUcoDetector(DataFeatures.PipelineStepObject): new_parameters = DetectorParameters() + # Load temporary pipeline step object from aruco_detector_data then export it as dict + temp_pipeline_step_object_data = DataFeatures.PipelineStepObject.from_dict(aruco_detector_data, working_directory).as_dict() + # Create aruco detector - return ArUcoDetector(new_dictionary, new_optic_parameters, new_parameters) + return ArUcoDetector( \ + new_dictionary, \ + new_optic_parameters, \ + new_parameters, \ + **temp_pipeline_step_object_data \ + ) @DataFeatures.PipelineStepMethod - def detect_markers(self, timestamp: int|float, image: numpy.array) -> float: + def detect_markers(self, timestamp: int|float, image: numpy.array): """Detect all ArUco markers into an image. !!! danger "DON'T MIRROR IMAGE" @@ -262,32 +266,20 @@ class ArUcoDetector(DataFeatures.PipelineStepObject): !!! danger "DON'T UNDISTORED IMAGE" Camera intrisic parameters and distorsion coefficients are used later during pose estimation. - - Returns: - detection time: marker detection time in ms. """ # Reset detected markers data self.__detected_markers, detected_markers_corners, detected_markers_ids = {}, [], [] - # Store marker detection start date - detection_start = time.perf_counter() - # Detect markers into gray picture 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(detected_markers_corners) > 0: # Transform markers ids array into list 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(detected_markers_ids): marker = ArUcoMarker.ArUcoMarker(self.__dictionary, marker_id) @@ -300,11 +292,6 @@ class ArUcoDetector(DataFeatures.PipelineStepObject): self.__detected_markers[marker_id] = marker - # Update metrics - self.__detected_ids.append(marker_id) - - return detection_time - def estimate_markers_pose(self, markers_ids: list = []): """Estimate pose of current detected markers or of given markers id list.""" @@ -398,23 +385,6 @@ class ArUcoDetector(DataFeatures.PipelineStepObject): cv.drawChessboardCorners(image, ((self.__board.size[0] - 1 ), (self.__board.size[1] - 1)), self.__board_corners, True) - def reset_detection_metrics(self): - """Enable marker detection metrics.""" - - self.__detection_count = 0 - self.__detected_ids = [] - - @property - def detection_metrics(self) -> Tuple[int, dict]: - """Get marker detection metrics. - - Returns: - number of detect function call - dict with number of detection for each marker identifier - """ - - return self.__detection_count, Counter(self.__detected_ids) - @property def board_corners_number(self) -> int: """Get detected board corners number.""" @@ -433,3 +403,41 @@ class ArUcoDetector(DataFeatures.PipelineStepObject): return self.__board_corners +class Observer(DataFeatures.PipelineStepObserver): + """Define ArUcoDetector observer to count how many times detection succeeded and how many times markers are detected.""" + + def __init__(self): + """Initialize marker detection metrics.""" + + self.__try_count = 0 + self.__success_count = 0 + self.__detected_ids = [] + + @property + def metrics(self) -> Tuple[int, dict]: + """Get marker detection metrics. + + Returns: + number of detect function call + dict with number of detection for each marker identifier + """ + + return self.__try_count, self.__success_count, Counter(self.__detected_ids) + + def reset(self): + """Reset marker detection metrics.""" + + self.__try_count = 0 + self.__success_count = 0 + self.__detected_ids = [] + + def on_detect_markers(self, timestamp, aruco_detector, exception): + """Update ArUco markers detection metrics.""" + + self.__try_count += 1 + detected_markers_list = list(aruco_detector.detected_markers.keys()) + + if len(detected_markers_list): + + self.__success_count += 1 + self.__detected_ids.extend(detected_markers_list) |