From e716c1e60d175a8f40617247d437d47c9348ba42 Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Tue, 10 May 2022 18:03:38 +0200
Subject: Allowing to load a configuration file to setup aruco marker detection
 parameters.

---
 src/argaze/ArUcoMarkers/ArUcoTracker.py | 71 +++++++++++++++++++++++++++++----
 1 file changed, 64 insertions(+), 7 deletions(-)

diff --git a/src/argaze/ArUcoMarkers/ArUcoTracker.py b/src/argaze/ArUcoMarkers/ArUcoTracker.py
index 1d67221..19f4643 100644
--- a/src/argaze/ArUcoMarkers/ArUcoTracker.py
+++ b/src/argaze/ArUcoMarkers/ArUcoTracker.py
@@ -1,11 +1,46 @@
 #!/usr/bin/env python
 
+import json
+
 from argaze.ArUcoMarkers import ArUcoMarkersDictionary, ArUcoCamera
 
 import numpy
 import cv2 as cv
 import cv2.aruco as aruco
 
+ArUcoTrackerParameters = [
+    'adaptiveThreshConstant',
+    'adaptiveThreshWinSizeMax',
+    'adaptiveThreshWinSizeMin',
+    'adaptiveThreshWinSizeStep',
+    'aprilTagCriticalRad',
+    'aprilTagDeglitch',
+    'aprilTagMaxLineFitMse',
+    'aprilTagMaxNmaxima',
+    'aprilTagMinClusterPixels',
+    'aprilTagMinWhiteBlackDiff',
+    'aprilTagQuadDecimate',
+    'aprilTagQuadSigma',
+    'cornerRefinementMaxIterations',
+    'cornerRefinementMethod',
+    'cornerRefinementMinAccuracy',
+    'cornerRefinementWinSize',
+    'markerBorderBits',
+    'minMarkerPerimeterRate',
+    'maxMarkerPerimeterRate',
+    'minMarkerDistanceRate',
+    'detectInvertedMarker',
+    'errorCorrectionRate',
+    'maxErroneousBitsInBorderRate',
+    'minCornerDistanceRate',
+    'minDistanceToBorder',
+    'minOtsuStdDev',
+    'perspectiveRemoveIgnoredMarginPerCell',
+    'perspectiveRemovePixelPerCell',
+    'polygonalApproxAccuracyRate'
+]
+"""All parameters are detailled on [opencv page](https://docs.opencv.org/4.x/d1/dcd/structcv_1_1aruco_1_1DetectorParameters.html)"""
+
 class ArUcoTracker():
     """Track ArUco markers into a frame."""
 
@@ -22,8 +57,8 @@ class ArUcoTracker():
         self.__camera = camera
 
         # setup ArUco detection parameters
-        self.__aruco_param = aruco.DetectorParameters_create()
-        self.__aruco_param.cornerRefinementMethod = aruco.CORNER_REFINE_CONTOUR
+        self.__detector_parameters = aruco.DetectorParameters_create()
+        self.__detector_parameters.cornerRefinementMethod = aruco.CORNER_REFINE_CONTOUR
 
         # define tracked markers data
         self.__markers_corners = []
@@ -38,8 +73,30 @@ class ArUcoTracker():
         self.__board_corners = []
         self.__board_corners_ids = []
 
-    def __del__(self):
-        pass
+    def load_configuration_file(self, configuration_filepath):
+        """Load aruco detection parameters from .json file.  
+        """
+        print(f'ArUcoTracker configuration for {self.__aruco_dict.get_markers_format()} markers detection:')
+        with open(configuration_filepath) as configuration_file:
+
+            configuration = json.load(configuration_file)
+
+            for key, value in configuration.items():
+
+                try:
+                    setattr(self.__detector_parameters, key, value)
+                    print(f'\t{key}: {getattr(self.__detector_parameters, key)}')
+
+                except AttributeError as error:
+
+                    print(error)
+
+    def print_configuration(self):
+        """Print aruco detection parameters."""
+
+        print(f'ArUcoTracker configuration for {self.__aruco_dict.get_markers_format()} markers detection:')
+        for parameters in ArUcoTrackerParameters:
+            print(f'\t{parameters}: {getattr(self.__detector_parameters, parameters)}')
 
     def track(self, frame, estimate_pose = True):
         """Track ArUco markers in frame."""
@@ -48,7 +105,7 @@ class ArUcoTracker():
         
         # detect markers from gray picture
         gray = cv.cvtColor(frame, cv.COLOR_BGR2GRAY)
-        self.__markers_corners, self.__markers_ids, rejectedPoints = aruco.detectMarkers(gray, self.__aruco_dict.get_markers(), parameters = self.__aruco_param)
+        self.__markers_corners, self.__markers_ids, rejectedPoints = aruco.detectMarkers(gray, self.__aruco_dict.get_markers(), parameters = self.__detector_parameters)
 
         if len(self.__markers_corners) > 0 and estimate_pose:
 
@@ -68,7 +125,7 @@ class ArUcoTracker():
         
         # detect markers from gray picture
         gray = cv.cvtColor(frame, cv.COLOR_BGR2GRAY)
-        self.__markers_corners, self.__markers_ids, rejectedPoints = aruco.detectMarkers(gray, self.__aruco_dict.get_markers(), parameters = self.__aruco_param)
+        self.__markers_corners, self.__markers_ids, rejectedPoints = aruco.detectMarkers(gray, self.__aruco_dict.get_markers(), parameters = self.__detector_parameters)
 
          # if all board markers are detected
         if self.get_markers_number() == expected_markers_number:
@@ -111,7 +168,7 @@ class ArUcoTracker():
 
     def get_markers_ids(self):
         """Get tracked markers identifers."""
-        return self.__markers_ids
+        return [i[0] for i in self.__markers_ids]
 
     def get_marker_corners(self, i):
         """Get marker i corners."""
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