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#!/usr/bin/env python
import json
from collections import Counter
from argaze.ArUcoMarkers import ArUcoMarkersDictionary, ArUcoMarker, 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."""
def __init__(self, dictionary: ArUcoMarkersDictionary.ArUcoMarkersDictionary, marker_size: float, camera: ArUcoCamera.ArUcoCamera):
"""Define which markers library to track and their size"""
# load ArUco markers dictionary
self.__dictionary = dictionary
# define marker length in centimeter
self.__marker_size = marker_size
# define camera
self.__camera = camera
# setup ArUco detection parameters
self.__detector_parameters = aruco.DetectorParameters_create()
self.__detector_parameters.cornerRefinementMethod = aruco.CORNER_REFINE_CONTOUR # to get a better pose estimation
self.__detector_parameters_loaded = {}
# 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 = []
self.__rejected_markers = []
def load_configuration_file(self, configuration_filepath):
"""Load aruco detection parameters from .json file."""
with open(configuration_filepath) as configuration_file:
self.__detector_parameters_loaded = json.load(configuration_file)
for key, value in self.__detector_parameters_loaded.items():
try:
setattr(self.__detector_parameters, key, value)
except AttributeError as error:
print(error)
def print_configuration(self, print_all=False):
"""Print aruco detection parameters."""
for parameter in ArUcoTrackerParameters:
if parameter in self.__detector_parameters_loaded.keys():
print(f'\t*{parameter}: {getattr(self.__detector_parameters, parameter)}')
elif print_all:
print(f'\t{parameter}: {getattr(self.__detector_parameters, parameter)}')
def track(self, frame, estimate_pose = True, check_rotation = False):
"""Track ArUco markers in frame."""
self.__tracked_markers = {}
markers_corners, markers_ids, markers_rvecs, markers_tvecs, markers_points = [], [], [], [], []
# DON'T MIRROR FRAME : it makes the markers detection to fail
# Track markers into gray picture
markers_corners, markers_ids, _ = aruco.detectMarkers(cv.cvtColor(frame, cv.COLOR_BGR2GRAY), self.__dictionary.get_markers(), parameters = self.__detector_parameters)
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, self.__camera.get_K(), self.__camera.get_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]
marker.points = markers_points[i]
self.__tracked_markers[marker_id] = marker
self.__tracked_ids.append(marker_id)
def get_tracked_markers(self):
"""Access to tracked markers dictionary."""
return self.__tracked_markers
def get_tracked_markers_number(self):
"""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.get_K(), self.__camera.get_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."""
# DON'T MIRROR FRAME : it makes the markers detection to fail
# detect markers from gray picture
gray = cv.cvtColor(frame, cv.COLOR_BGR2GRAY)
self.__markers_corners, self.__markers_ids, rejectedPoints = aruco.detectMarkers(gray, self.__dictionary.get_markers(), parameters = self.__detector_parameters)
# if all board markers are detected
if self.get_markers_number() == expected_markers_number:
self.__board = board
self.__board_corners_number, self.__board_corners, self.__board_corners_ids = aruco.interpolateCornersCharuco(self.__markers_corners, self.__markers_ids, gray, self.__board.get_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.get_size()[0] - 1 ), (self.__board.get_size()[1] - 1)), self.__board_corners, True)
def reset_track_metrics(self):
"""Enable marker tracking metrics."""
self.__track_count = 0
self.__tracked_ids = []
def get_track_metrics(self):
"""Get marker tracking metrics."""
return self.__track_count, Counter(self.__tracked_ids), Counter(self.__rejected_markers)
def get_board_corners_number(self):
"""Get tracked board corners number."""
return self.__board_corners_number
def get_board_corners_ids(self):
"""Get tracked board corners identifiers."""
return self.__board_corners_ids
def get_board_corners(self):
"""Get tracked board corners."""
return self.__board_corners
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