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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 os
import time
from argaze import ArFeatures, GazeFeatures
import cv2
import numpy
def main():
"""
Load AR environment from .json file, detect ArUco markers into camera device images and project it.
"""
current_directory = os.path.dirname(os.path.abspath(__file__))
# Manage arguments
parser = argparse.ArgumentParser(description=main.__doc__.split('-')[0])
parser.add_argument('environment', metavar='ENVIRONMENT', type=str, help='ar environment filepath')
parser.add_argument('-d', '--device', metavar='DEVICE', type=int, default=0, help='video capture device id')
args = parser.parse_args()
# Load AR enviroment
ar_environment = ArFeatures.ArEnvironment.from_json(args.environment)
# Create a window to display AR environment
cv2.namedWindow(ar_environment.name, cv2.WINDOW_AUTOSIZE)
# Init timestamp
start_time = time.time()
# Fake gaze position with mouse pointer
def on_mouse_event(event, x, y, flags, param):
# Edit millisecond timestamp
timestamp = int((time.time() - start_time) * 1e3)
# Project gaze position into environment
for scene_name, scene_looking_data in ar_environment.look(timestamp, GazeFeatures.GazePosition((x, y))):
for frame_name, frame_looking_data in scene_looking_data:
# Do nothing with frame looking data
pass
# Attach mouse callback to window
cv2.setMouseCallback(ar_environment.name, on_mouse_event)
# Enable camera video capture
video_capture = cv2.VideoCapture(args.device)
# Waiting for 'ctrl+C' interruption
try:
# Capture images
while video_capture.isOpened():
# Read video image
success, video_image = video_capture.read()
if success:
# Try to detect and project environment
try:
ar_environment.detect_and_project(video_image)
# Catch errors
except (ArFeatures.PoseEstimationFailed, ArFeatures.SceneProjectionFailed) as e:
cv2.rectangle(video_image, (0, 50), (700, 100), (127, 127, 127), -1)
cv2.putText(video_image, f'Error: {e}', (20, 80), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
# Draw environment
ar_environment.draw(video_image)
# Display environment
cv2.imshow(ar_environment.name, video_image)
# Draw and display each frames in separate window
for scene_name, frame_name, frame in ar_environment.frames:
# Create frame image
frame_image = frame.image
# Draw frame info
frame.draw(frame_image)
# Display frame
cv2.imshow(f'{scene_name}:{frame_name}', frame_image)
# Stop by pressing 'Esc' key
if cv2.waitKey(10) == 27:
break
# Stop on 'ctrl+C' interruption
except KeyboardInterrupt:
pass
# Close camera video capture
video_capture.release()
# Stop image display
cv2.destroyAllWindows()
if __name__ == '__main__':
main()
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