1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
|
#!/usr/bin/env python
""" """
__author__ = "Théo de la Hogue"
__credits__ = []
__copyright__ = "Copyright 2023, Ecole Nationale de l'Aviation Civile (ENAC)"
__license__ = "BSD"
import argparse
import time
import itertools
from argaze.ArUcoMarkers import ArUcoDetector, ArUcoOpticCalibrator, ArUcoMarkersGroup
from argaze.utils import UtilsFeatures
import cv2
import numpy
def main():
"""
Detect DICTIONARY and SIZE ArUco markers inside a MOVIE frame then, export detected ArUco markers group as .obj file into an OUTPUT folder.
"""
# Manage arguments
parser = argparse.ArgumentParser(description=main.__doc__.split('-')[0])
parser.add_argument('movie', metavar='MOVIE', type=str, default=None, help='movie path')
parser.add_argument('dictionary', metavar='DICTIONARY', type=str, default=None, help='expected ArUco markers dictionary')
parser.add_argument('size', metavar='SIZE', type=float, default=None, help='expected ArUco markers size (in cm)')
parser.add_argument('-p', '--parameters', metavar='PARAMETERS', type=str, default=None, help='ArUco detector parameters file')
parser.add_argument('-op', '--optic_parameters', metavar='OPTIC_PARAMETERS', type=str, default=None, help='ArUco detector optic parameters file')
parser.add_argument('-s', '--start', metavar='START', type=float, default=0., help='start time in second')
parser.add_argument('-o', '--output', metavar='OUTPUT', type=str, default='.', help='export folder path')
parser.add_argument('-v', '--verbose', action='store_true', default=False, help='enable verbose mode to print information in console')
args = parser.parse_args()
# Load movie
video_capture = cv2.VideoCapture(args.movie)
video_fps = video_capture.get(cv2.CAP_PROP_FPS)
image_width = int(video_capture.get(cv2.CAP_PROP_FRAME_WIDTH))
image_height = int(video_capture.get(cv2.CAP_PROP_FRAME_HEIGHT))
# Edit ArUco detector configuration
configuration = {
"dictionary": args.dictionary
}
if args.parameters:
configuration["parameters"] = args.parameters
if args.optic_parameters:
configuration["optic_parameters"] = args.optic_parameters
# Load ArUco detector configuration
aruco_detector = ArUcoDetector.ArUcoDetector.from_dict(configuration, '.')
if args.verbose:
print(aruco_detector)
# Create empty ArUco scene
aruco_markers_group = None
# Edit draw parameters
draw_parameters = {
"color": [255, 255, 255],
"draw_axes": {
"thickness": 4
}
}
# Create a window
cv2.namedWindow("Export detected ArUco markers", cv2.WINDOW_AUTOSIZE)
# Enable exit signal handler
exit = UtilsFeatures.ExitSignalHandler()
# Init image selection
current_image_index = -1
_, current_image = video_capture.read()
next_image_index = int(args.start * video_fps)
refresh = False
while not exit.status():
# Select a new image and detect markers once
if next_image_index != current_image_index or refresh:
video_capture.set(cv2.CAP_PROP_POS_FRAMES, next_image_index)
success, video_image = video_capture.read()
video_height, video_width, _ = video_image.shape
# Create default optic parameters adapted to frame size
if aruco_detector.optic_parameters is None:
# Note: The choice of 1000 for default focal length should be discussed...
aruco_detector.optic_parameters = ArUcoOpticCalibrator.OpticParameters(rms=-1, dimensions=(video_width, video_height), K=ArUcoOpticCalibrator.K0(focal_length=(1000., 1000.), width=video_width, height=video_height))
if success:
# Refresh once
refresh = False
current_image_index = video_capture.get(cv2.CAP_PROP_POS_FRAMES) - 1
current_image_time = video_capture.get(cv2.CAP_PROP_POS_MSEC)
try:
# Detect and project AR features
aruco_detector.detect_markers(current_image_time, video_image)
# Estimate all detected markers pose
aruco_detector.estimate_markers_pose(args.size)
# Build aruco scene from detected markers
aruco_markers_group = ArUcoMarkersGroup.ArUcoMarkersGroup(aruco_detector.dictionary, aruco_detector.detected_markers())
# Detection suceeded
exception = None
# Write errors
except Exception as e:
aruco_markers_group = None
exception = e
# Draw detected markers
aruco_detector.draw_detected_markers(video_image, draw_parameters)
# Write detected markers
cv2.putText(video_image, f'Detecting markers {list(aruco_detector.detected_markers().keys())}', (20, video_height-40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
# Write timing
cv2.putText(video_image, f'Frame at {int(current_image_time)}ms', (20, 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
# Write exception
if exception is not None:
cv2.putText(video_image, f'error: {exception}', (20, 80), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
# Write documentation
cv2.putText(video_image, f'<- previous image', (video_width-500, video_height-160), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
cv2.putText(video_image, f'-> next image', (video_width-500, video_height-120), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
cv2.putText(video_image, f'r: reload config', (video_width-500, video_height-80), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
cv2.putText(video_image, f'Ctrl+s: export ArUco markers', (video_width-500, video_height-40), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
# Copy image
current_image = video_image.copy()
# Keep last image
else:
video_image = current_image.copy()
key_pressed = cv2.waitKey(10)
#if key_pressed != -1:
# print(key_pressed)
# Select previous image with left arrow
if key_pressed == 2:
next_image_index -= 1
# Select next image with right arrow
if key_pressed == 3:
next_image_index += 1
# Clip image index
if next_image_index < 0:
next_image_index = 0
# r: reload configuration
if key_pressed == 114:
aruco_detector = ArUcoDetector.ArUcoDetector.from_dict(configuration)
refresh = True
print('Configuration reloaded')
# Save selected marker edition using 'Ctrl + s'
if key_pressed == 19:
if aruco_markers_group:
aruco_markers_group.to_obj(f'{args.output}/{int(current_image_time)}-aruco_markers_group.obj')
print(f'ArUco markers saved into {args.output}')
else:
print(f'No ArUco markers to export')
# Close window using 'Esc' key
if key_pressed == 27:
break
# Display video
cv2.imshow(aruco_detector.name, video_image)
# Close movie capture
video_capture.release()
# Stop image display
cv2.destroyAllWindows()
if __name__ == '__main__':
main()
|
