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Script the pipeline
===================
All ArUco marker pipeline objects are accessible from a Python script.
This could be particularly useful for real-time AR interaction applications.
## Load ArUcoCamera configuration from dictionary
An [ArUcoCamera](../../../argaze.md/#argaze.ArUcoMarker.ArUcoCamera) configuration can be loaded from a Python dictionary.
```python
from argaze import DataFeatures
from argaze.ArUcoMarker import ArUcoCamera
# Set working directory to enable relative file path loading
DataFeatures.set_working_directory('path/to/folder')
# Edit a dict with ArUcoCamera configuration
configuration = {
"name": "My FullHD camera",
"size": (1920, 1080),
...
"aruco_detector": {
...
},
"scenes": {
"MyScene" : {
"aruco_markers_group": {
...
},
"layers": {
"MyLayer": {
"aoi_scene": {
...
}
},
...
}
},
...
}
"layers": {
"MyLayer": {
...
},
...
},
"image_parameters": {
...
}
}
# Load ArUcoCamera
with ArUcoCamera.ArUcoCamera(**configuration) as aruco_camera:
# Do something with ArUcoCamera
...
```
## Access to ArUcoCamera and ArScenes attributes
Then, once the configuration is loaded, it is possible to access to its attributes: [read ArUcoCamera code reference](../../../argaze.md/#argaze.ArUcoMarker.ArUcoCamera) to get a complete list of what is available.
Thus, the [ArUcoCamera.scenes](../../../argaze.md/#argaze.ArFeatures.ArCamera) attribute allows to access each loaded ArUcoScene and so, access to their attributes: [read ArUcoScene code reference](../../../argaze.md/#argaze.ArUcoMarker.ArUcoScene) to get a complete list of what is available.
```python
from argaze import ArFeatures
# Assuming the ArUcoCamera is loaded
...
# Iterate over each ArUcoCamera scene
for name, aruco_scene in aruco_camera.scenes.items():
...
```
## Pipeline execution
### Detect ArUco markers, estimate scene pose and project 3D AOI
Pass each camera image with timestamp information to the [ArUcoCamera.watch](../../../argaze.md/#argaze.ArFeatures.ArCamera.watch) method to execute the whole pipeline dedicated to ArUco marker detection, scene pose estimation and 3D AOI projection.
!!! warning "Mandatory"
The [ArUcoCamera.watch](../../../argaze.md/#argaze.ArFeatures.ArCamera.watch) method must be called from a *try* block to catch pipeline exceptions.
```python
# Assuming that Full HD (1920x1080) images are available with timestamp values
...:
# Edit timestamped image
timestamped_image = DataFeatures.TimestampedImage(image, timestamp=timestamp)
try:
# Detect ArUco markers, estimate scene pose then, project 3D AOI into camera frame
aruco_camera.watch(timestamped_image)
# Do something with pipeline exception
except Exception as e:
...
# Display ArUcoCamera frame image to display detected ArUco markers, scene pose, 2D AOI projection and ArFrame visualization.
... aruco_camera.image()
```
### Detection outputs
The [ArUcoCamera.watch](../../../argaze.md/#argaze.ArFeatures.ArCamera.watch) method returns data about pipeline execution.
```python
# Assuming that watch method has been called
# Do something with detected_markers
... aruco_camera.aruco_detector.detected_markers()
```
Let's understand the meaning of each returned data.
#### *aruco_camera.aruco_detector.detected_markers()*
A dictionary containing all detected markers is provided by [ArUcoDetector](../../../argaze.md/#argaze.ArUcoMarker.ArUcoDetector) class.
### Analyse timestamped gaze positions into the camera frame
As mentioned above, [ArUcoCamera](../../../argaze.md/#argaze.ArUcoMarker.ArUcoCamera) inherits from [ArFrame](../../../argaze.md/#argaze.ArFeatures.ArFrame) and, so, benefits from all the services described in the [gaze analysis pipeline section](../../gaze_analysis_pipeline/introduction.md).
Particularly, timestamped gaze positions can be passed one by one to the [ArUcoCamera.look](../../../argaze.md/#argaze.ArFeatures.ArFrame.look) method to execute the whole pipeline dedicated to gaze analysis.
!!! warning "Mandatory"
The [ArUcoCamera.look](../../../argaze.md/#argaze.ArFeatures.ArFrame.look) method must be called from a *try* block to catch pipeline exceptions.
```python
# Assuming that timestamped gaze positions are available
...
try:
# Look ArUcoCamera frame at a timestamped gaze position
aruco_camera.look(timestamped_gaze_position)
# Do something with pipeline exception
except Exception as e:
...
```
## Setup ArUcoCamera image parameters
Specific [ArUcoCamera.image](../../../argaze.md/#argaze.ArFeatures.ArFrame.image) method parameters can be configured with a Python dictionary.
```python
# Assuming ArUcoCamera is loaded
...
# Edit a dict with ArUcoCamera image parameters
image_parameters = {
"draw_detected_markers": {
...
},
"draw_scenes": {
...
},
"draw_optic_parameters_grid": {
...
},
...
}
# Pass image parameters to ArUcoCamera
aruco_camera_image = aruco_camera.image(**image_parameters)
# Do something with ArUcoCamera image
...
```
!!! note
[ArUcoCamera](../../../argaze.md/#argaze.ArUcoMarker.ArUcoCamera) inherits from [ArFrame](../../../argaze.md/#argaze.ArFeatures.ArFrame) and, so, benefits from all image parameters described in [gaze analysis pipeline visualization section](../../gaze_analysis_pipeline/visualization.md).
## Display ArUcoScene frames
All [ArUcoScene](../../../argaze.md/#argaze.ArUcoMarker.ArUcoScene) frames image can be displayed as any [ArFrame](../../../argaze.md/#argaze.ArFeatures.ArFrame).
```python
...
# Display all ArUcoScene frames
for frame in aruco_camera.scene_frames():
... frame.image()
```
|
