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#!/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 ArUcoCamera, ArUcoMarkersGroup
from argaze.utils import UtilsFeatures
import cv2
import numpy
def main():
"""
Load a MOVIE and an ArUcoCamera CONFIGURATION to detect ArUco markers inside a selected 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('configuration', metavar='CONFIGURATION', type=str, default=None, help='ArUco camera configuration')
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')
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))
# Load ArUco camera
aruco_camera = ArUcoCamera.ArUcoCamera.from_json(args.configuration)
# Create empty ArUco scene
aruco_markers_group = None
# Create a window
cv2.namedWindow(aruco_camera.name, 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()
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)
# Detect markers
detection_time, projection_time, exceptions = aruco_camera.watch(video_image)
# Estimate each markers pose
aruco_camera.aruco_detector.estimate_markers_pose(aruco_camera.aruco_detector.detected_markers)
# Build aruco scene from detected markers
aruco_markers_group = ArUcoMarkersGroup.ArUcoMarkersGroup(aruco_camera.aruco_detector.marker_size, aruco_camera.aruco_detector.dictionary, aruco_camera.aruco_detector.detected_markers)
# Get camera image
camera_image = aruco_camera.image()
# Write detected markers
cv2.putText(camera_image, f'Detecting markers {list(aruco_camera.aruco_detector.detected_markers.keys())}', (20, aruco_camera.size[1]-40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
# Write timing
cv2.putText(camera_image, f'Frame at {int(current_image_time)}ms', (20, 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
cv2.putText(camera_image, f'Detection {int(detection_time)}ms', (20, 80), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
cv2.putText(camera_image, f'Projection {int(projection_time)}ms', (20, 120), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
# Write documentation
cv2.putText(camera_image, f'<- previous image', (aruco_camera.size[0]-500, aruco_camera.size[1]-120), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
cv2.putText(camera_image, f'-> next image', (aruco_camera.size[0]-500, aruco_camera.size[1]-80), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
cv2.putText(camera_image, f'Ctrl+s: export ArUco markers', (aruco_camera.size[0]-500, aruco_camera.size[1]-40), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
# Copy image
current_image = camera_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_camera = ArUcoCamera.ArUcoCamera.from_json(args.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_camera.name, video_image)
# Close movie capture
video_capture.release()
# Stop image display
cv2.destroyAllWindows()
if __name__ == '__main__':
main()
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