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#!/usr/bin/env python
"""Augmented Reality pipeline demo script."""
__author__ = "Théo de la Hogue"
__credits__ = []
__copyright__ = "Copyright 2023, Ecole Nationale de l'Aviation Civile (ENAC)"
__license__ = "BSD"
import argparse
import contextlib
import os
import time
from argaze import ArFeatures, GazeFeatures
from argaze.ArUcoMarkers import ArUcoCamera
from argaze.utils import UtilsFeatures
import cv2
import numpy
def main():
"""
Load ArUcoCamera 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('aruco_camera', metavar='ARUCO_CAMERA', type=str, help='ArUco camera filepath')
parser.add_argument('-s', '--source', metavar='SOURCE', type=str, default='0', help='video capture source (a number to select camera device or a filepath to load a movie)')
args = parser.parse_args()
# Load ArUcoCamera
aruco_camera = ArUcoCamera.ArUcoCamera.from_json(args.aruco_camera)
# Create a window to display ArUcoCamera
cv2.namedWindow(aruco_camera.name, cv2.WINDOW_AUTOSIZE)
# Init timestamp
start_time = time.time()
# Prepare gaze analysis assessment
call_chrono = UtilsFeatures.TimeProbe()
call_chrono.start()
gaze_positions_frequency = 0
gaze_analysis_time = 0
# Fake gaze position with mouse pointer
def on_mouse_event(event, x, y, flags, param):
nonlocal gaze_positions_frequency
nonlocal gaze_analysis_time
# Assess gaze analysis
lap_time, nb_laps, elapsed_time = call_chrono.lap()
if elapsed_time > 1e3:
gaze_positions_frequency = nb_laps
call_chrono.restart()
# Edit millisecond timestamp
timestamp = int((time.time() - start_time) * 1e3)
try:
# Project gaze position into camera
for _ in aruco_camera.look(timestamp, GazeFeatures.GazePosition((x, y))):
pass
# Assess gaze analysis
gaze_analysis_time = aruco_camera.execution_times['look']
except Exception as e:
gaze_analysis_time = 0
# Attach mouse callback to window
cv2.setMouseCallback(aruco_camera.name, on_mouse_event)
# Prepare video fps assessment
video_fps = 0
video_chrono = UtilsFeatures.TimeProbe()
video_chrono.start()
# Prepare visualisation time assessment
visualisation_time = 0
# Enable camera video capture into separate thread
video_capture = cv2.VideoCapture(int(args.source) if args.source.isdecimal() else args.source)
# Waiting for 'ctrl+C' interruption
with contextlib.suppress(KeyboardInterrupt):
# Assess capture time
capture_start = time.time()
# Capture images
while video_capture.isOpened():
# Read video image
success, video_image = video_capture.read()
# Assess capture time
capture_time = int((time.time() - capture_start) * 1e3)
if success:
# Assess video fps
lap_time, nb_laps, elapsed_time = video_chrono.lap()
if elapsed_time > 1e3:
video_fps = nb_laps
video_chrono.restart()
try:
# Detect and project AR features
aruco_camera.watch(capture_time, video_image)
exception = None
# Write errors
except Exception as e:
exception = e
# Assess visualisation time
visualisation_start = time.time()
# Get ArUcoCamera frame image
aruco_camera_image = aruco_camera.image()
# Get execution times
detection_time = aruco_camera.aruco_detector.execution_times['detect_markers']
projection_time = aruco_camera.execution_times['watch'] - detection_time
# Write time info
cv2.rectangle(aruco_camera_image, (0, 0), (aruco_camera.size[0], 100), (63, 63, 63), -1)
cv2.putText(aruco_camera_image, f'{video_fps} FPS | Capture {capture_time}ms | Detection {int(detection_time)}ms | Projection {int(projection_time)}ms | Visualisation {visualisation_time}ms', (20, 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
cv2.putText(aruco_camera_image, f'{gaze_positions_frequency} gaze positions/s | Gaze analysis {gaze_analysis_time:.2f}ms', (20, 80), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
# Handle exceptions
cv2.rectangle(aruco_camera_image, (0, 100), (aruco_camera.size[0], 80), (127, 127, 127), -1)
cv2.putText(aruco_camera_image, f'error: {exception}', (20, 140), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
# Write hint
cv2.putText(aruco_camera_image, 'Mouve mouse pointer over gray rectangle area', (20, aruco_camera.size[1]-40), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
# Display ArUcoCamera frame image
cv2.imshow(aruco_camera.name, aruco_camera_image)
# Draw and display each scene frames
for scene_frame in aruco_camera.scene_frames:
# Display scene frame
cv2.imshow(f'{scene_frame.parent.name}:{scene_frame.name}', scene_frame.image())
else:
# Assess visualisation time
visualisation_start = time.time()
# Stop by pressing 'Esc' key
# NOTE: on MacOS, cv2.waitKey(1) waits ~40ms
if cv2.waitKey(1) == 27:
# Close camera video capture
video_capture.release()
# Assess visualisation time
visualisation_time = int((time.time() - visualisation_start) * 1e3)
# Stop image display
cv2.destroyAllWindows()
if __name__ == '__main__':
main()
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