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#!/usr/bin/env python
from typing import TypeVar, Tuple
import json
from collections import Counter
from argaze.ArUcoMarkers import ArUcoMarkersDictionary, ArUcoMarker, ArUcoCamera
import numpy
import cv2 as cv
import cv2.aruco as aruco
ArUcoMarkerType = TypeVar('ArUcoMarker', bound="ArUcoMarker")
# Type definition for type annotation convenience
TrackingDataType = TypeVar('TrackingData', bound="TrackingData")
# Type definition for type annotation convenience
DetectorParametersType = TypeVar('')
class TrackingData():
"""Define ArUco marker tracking data.
.. note:: More details on [opencv page](https://docs.opencv.org/4.x/d1/dcd/structcv_1_1aruco_1_1DetectorParameters.html)
"""
__detector_parameters = aruco.DetectorParameters_create()
__detector_parameters_names = [
'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'
]
def __init__(self, **kwargs):
for parameter, value in kwargs.items():
setattr(self.__detector_parameters, parameter, value)
self.__dict__.update(kwargs)
def __setattr__(self, parameter, value):
setattr(self.__detector_parameters, parameter, value)
def __getattr__(self, parameter):
return getattr(self.__detector_parameters, parameter)
@classmethod
def from_json(self, json_filepath) -> TrackingDataType:
"""Load tracking data from .json file."""
with open(json_filepath) as configuration_file:
return TrackingData(**json.load(configuration_file))
def __str__(self, print_all=False) -> str:
"""Tracking data string representation."""
output = ''
for parameter in self.__detector_parameters_names:
if parameter in self.__dict__.keys():
output += f'\n\t*{parameter}: {getattr(self.__detector_parameters, parameter)}'
elif print_all:
output += f'\n\t{parameter}: {getattr(self.__detector_parameters, parameter)}'
return output
@property
def internal(self):
return self.__detector_parameters
class ArUcoTracker():
"""Track ArUco markers into a frame."""
def __init__(self, dictionary: ArUcoMarkersDictionary.ArUcoMarkersDictionary, marker_size: float, camera: ArUcoCamera.ArUcoCamera, **kwargs):
"""Define which markers dictionary and size to track and camera."""
self.__dictionary = dictionary
self.__marker_size = marker_size
self.__camera = camera
# Init tracking data
self.__tracking_data = TrackingData(**kwargs)
# init tracked markers data
self.__tracked_markers = {}
# define tracked board data
self.__board = None
self.__board_corners_number = 0
self.__board_corners = []
self.__board_corners_ids = []
# define track metrics data
self.__track_count = 0
self.__tracked_ids = []
@property
def marker_size(self) -> float:
"""ArUco marker length to track in centimeter."""
return self.__marker_size
@property
def tracking_data(self):
"""ArUco marker tracking data."""
return self.__tracking_data
def track(self, frame, estimate_pose = True, check_rotation = False):
"""Track ArUco markers in frame.
.. danger:: DON'T MIRROR FRAME
It makes the markers detection to fail.
"""
self.__tracked_markers = {}
markers_corners, markers_ids, markers_rvecs, markers_tvecs, markers_points = [], [], [], [], []
# Track markers into gray picture
markers_corners, markers_ids, _ = aruco.detectMarkers(cv.cvtColor(frame, cv.COLOR_BGR2GRAY), self.__dictionary.markers, parameters = self.__tracking_data.internal)
if len(markers_corners) > 0:
# Pose estimation is optional
if estimate_pose:
markers_rvecs, markers_tvecs, markers_points = aruco.estimatePoseSingleMarkers(markers_corners, self.__marker_size, numpy.array(self.__camera.K), numpy.array(self.__camera.D))
# Gather tracked markers data and update metrics
self.__track_count += 1
for i, marker_id in enumerate(markers_ids.T[0]):
marker = ArUcoMarker.ArUcoMarker(self.__dictionary, marker_id, self.__marker_size)
marker.corners = markers_corners[i]
if estimate_pose:
marker.translation = markers_tvecs[i][0]
marker.rotation = markers_rvecs[i][0]
marker.points = markers_points.reshape(4, 3)
self.__tracked_markers[marker_id] = marker
self.__tracked_ids.append(marker_id)
@property
def tracked_markers(self) -> dict[ArUcoMarkerType]:
"""Access to tracked markers dictionary."""
return self.__tracked_markers
@property
def tracked_markers_number(self) -> int:
"""Return tracked markers number."""
return len(list(self.__tracked_markers.keys()))
def draw_tracked_markers(self, frame):
"""Draw traked markers."""
for marker_id, marker in self.__tracked_markers.items():
marker.draw(frame, self.__camera.K, self.__camera.D)
def track_board(self, frame, board, expected_markers_number):
"""Track ArUco markers board in frame setting up the number of detected markers needed to agree detection.
.. danger:: DON'T MIRROR FRAME
It makes the markers detection to fail.
"""
# detect markers from gray picture
gray = cv.cvtColor(frame, cv.COLOR_BGR2GRAY)
markers_corners, markers_ids, _ = aruco.detectMarkers(gray, self.__dictionary.markers, parameters = self.__tracking_data.internal)
# if all board markers are detected
if len(markers_corners) == expected_markers_number:
self.__board = board
self.__board_corners_number, self.__board_corners, self.__board_corners_ids = aruco.interpolateCornersCharuco(markers_corners, markers_ids, gray, self.__board.model)
else:
self.__board = None
self.__board_corners_number = 0
self.__board_corners = []
self.__board_corners_ids = []
def draw_board(self, frame):
"""Draw tracked board corners in frame."""
if self.__board != None:
cv.drawChessboardCorners(frame, ((self.__board.size[0] - 1 ), (self.__board.size[1] - 1)), self.__board_corners, True)
def reset_track_metrics(self):
"""Enable marker tracking metrics."""
self.__track_count = 0
self.__tracked_ids = []
@property
def track_metrics(self) -> Tuple[int, dict]:
"""Get marker tracking metrics.
* **Returns:**
- number of track function call
- dict with number of tracking detection for each marker identifier"""
return self.__track_count, Counter(self.__tracked_ids)
@property
def board_corners_number(self) -> int:
"""Get tracked board corners number."""
return self.__board_corners_number
@property
def board_corners_identifier(self) -> list[int]:
"""Get tracked board corners identifier."""
return self.__board_corners_ids
@property
def board_corners(self) -> list:
"""Get tracked board corners."""
return self.__board_corners
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