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#!/usr/bin/env python
import argparse
import time
import itertools
from argaze import ArFeatures, GazeFeatures
from argaze.AreaOfInterest import AOIFeatures
from argaze.ArUcoMarkers import ArUcoScene
from argaze.utils import MiscFeatures
from tobiiproglasses2 import *
import cv2
import numpy
def main():
"""
Load AR environment from .json file, detect ArUco markers into movie frames and estimate environment pose.
Edit environment setup to improve pose estimation.
"""
# 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('movie', metavar='MOVIE', type=str, default=None, help='movie path')
parser.add_argument('-s','--start', metavar='START', type=float, default=0., help='start time in second')
parser.add_argument('-o', '--output', metavar='OUT', type=str, default='environment.json', help='edited ar environment file path')
args = parser.parse_args()
# Load AR enviroment
ar_environment = ArFeatures.ArEnvironment.from_json(args.environment)
#print('ArEnvironment:\n', ar_environment)
# Select first AR scene
ar_scene = list(ar_environment.scenes.values())[0]
# Create a window to display AR environment
cv2.namedWindow(ar_environment.name, cv2.WINDOW_AUTOSIZE)
# Init mouse interaction
pointer = (0, 0)
left_click = (0, 0)
right_click = (0, 0)
right_drag = (0, 0)
right_button = False
edit_trans = False # translate
edit_z = False
draw_help = False
draw_grid = False
draw_cover = False
pose_mode = 0
# Update pointer position
def on_mouse_event(event, x, y, flags, param):
nonlocal pointer
nonlocal left_click
nonlocal right_click
nonlocal right_drag
nonlocal right_button
# Update pointer
pointer = (x, y)
# Update left_click
if event == cv2.EVENT_LBUTTONUP:
left_click = pointer
# Udpate right_button
elif event == cv2.EVENT_RBUTTONDOWN and not right_button:
right_button = True
right_click = pointer
elif event == cv2.EVENT_RBUTTONUP and right_button:
right_button = False
# Udpate right_drag
if right_button:
right_drag = (pointer[0] - right_click[0], pointer[1] - right_click[1])
# Attach mouse callback to window
cv2.setMouseCallback(ar_environment.name, on_mouse_event)
# Enable movie video capture
video_capture = cv2.VideoCapture(args.movie)
video_fps = video_capture.get(cv2.CAP_PROP_FPS)
frame_width = int(video_capture.get(cv2.CAP_PROP_FRAME_WIDTH))
frame_height = int(video_capture.get(cv2.CAP_PROP_FRAME_HEIGHT))
# Enable exit signal handler
exit = MiscFeatures.ExitSignalHandler()
# Init frame selection
current_frame_index = -1
_, current_frame = video_capture.read()
next_frame_index = int(args.start * video_fps)
refresh = False
# Init marker selection
selected_marker_id = -1
# Init place edition
place_edit = {}
while not exit.status():
# Edit fake gaze position from pointer
gaze_position = GazeFeatures.GazePosition(pointer, precision=2)
# Reset info frame
info_frame = numpy.full((500, 1000, 3), 0, dtype=numpy.uint8)
# Select a new frame and detect markers once
if next_frame_index != current_frame_index or refresh or draw_cover:
video_capture.set(cv2.CAP_PROP_POS_FRAMES, next_frame_index)
success, video_frame = video_capture.read()
if success:
# Refresh once
refresh = False
current_frame_index = video_capture.get(cv2.CAP_PROP_POS_FRAMES) - 1
current_frame_time = video_capture.get(cv2.CAP_PROP_POS_MSEC)
# Draw camera calibration
if draw_grid:
ar_environment.aruco_detector.camera.draw(video_frame, frame_width/10, frame_height/10, 100., color=(127, 127, 127))
# Hide zone
if draw_cover:
# Draw black circle under pointer
cv2.circle(video_frame, pointer, 50, (0, 0, 0), -1)
# Detect markers
ar_environment.aruco_detector.detect_markers(video_frame)
# Edit marker's color
for i, m in ar_environment.aruco_detector.detected_markers.items():
m.color = list(itertools.permutations([0, 255, 255]))[i]
# Draw center
cv2.circle(video_frame, m.center.astype(int), 5, m.color, -1)
# Write timing
cv2.rectangle(video_frame, (0, 0), (frame_width, 50), (63, 63, 63), -1)
cv2.putText(video_frame, f'Time: {int(current_frame_time)} ms', (20, 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
# Copy frame
current_frame = video_frame.copy()
# Keep last frame
else:
video_frame = current_frame.copy()
# Handle marker selection on left click
if len(ar_environment.aruco_detector.detected_markers) > 0:
# Update selected marker id by left clicking on marker
for (marker_id, marker) in ar_environment.aruco_detector.detected_markers.items():
marker_aoi = marker.corners.reshape(4, 2).view(AOIFeatures.AreaOfInterest)
if marker_aoi.contains_point(left_click):
selected_marker_id = marker_id
break
else:
selected_marker_id = -1
try:
# A marker is selected
if selected_marker_id >= 0:
try:
# Retreive selected marker
selected_marker = ar_environment.aruco_detector.detected_markers[selected_marker_id]
# Write selected marker id
cv2.rectangle(info_frame, (0, 0), (1000, 50), selected_marker.color, -1)
cv2.putText(info_frame, f'Selected marker #{selected_marker.identifier}', (20, 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 0), 1, cv2.LINE_AA)
# Estimate selected marker pose
ar_environment.aruco_detector.estimate_markers_pose([selected_marker_id])
# Write selected marker rotation matrix
R = selected_marker.rotation
cv2.putText(info_frame, f'Rotation matrix:', (20, 120), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
cv2.putText(info_frame, f'{R[0][0]:.3f} {R[0][1]:.3f} {R[0][2]:.3f}', (40, 160), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 1, cv2.LINE_AA)
cv2.putText(info_frame, f'{R[1][0]:.3f} {R[1][1]:.3f} {R[1][2]:.3f}', (40, 200), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), 1, cv2.LINE_AA)
cv2.putText(info_frame, f'{R[2][0]:.3f} {R[2][1]:.3f} {R[2][2]:.3f}', (40, 240), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 0, 0), 1, cv2.LINE_AA)
# Write selected marker translation vector
T = selected_marker.translation
cv2.putText(info_frame, f'Translation vector:', (20, 320), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
cv2.putText(info_frame, f'{T[0]:.3f}', (40, 360), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 1, cv2.LINE_AA)
cv2.putText(info_frame, f'{T[1]:.3f}', (40, 400), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), 1, cv2.LINE_AA)
cv2.putText(info_frame, f'{T[2]:.3f}', (40, 440), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 0, 0), 1, cv2.LINE_AA)
# Retreive selected marker place
selected_place = ar_scene.aruco_scene.places[selected_marker_id]
cv2.putText(info_frame, f'Edited place #{selected_place.marker.identifier}', (520, 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 0), 1, cv2.LINE_AA)
# On right click
if right_button:
pointer_delta_x, pointer_delta_y = right_drag[0] / frame_width, right_drag[1] / frame_height
place_edit[selected_marker_id] = {'rotation': (0, 0, 0), 'translation': (0, 0, 0)}
if edit_trans:
# Edit place rotation
if edit_z:
place_edit[selected_marker_id]['rotation'] = (0, 0, -pointer_delta_y)
else:
place_edit[selected_marker_id]['rotation'] = (pointer_delta_y, pointer_delta_x, 0)
else:
# Edit place translation
if edit_z:
place_edit[selected_marker_id]['translation'] = (0, 0, pointer_delta_y)
else:
place_edit[selected_marker_id]['translation'] = (-pointer_delta_x, pointer_delta_y, 0)
# Apply transformations
R = selected_place.rotation.dot(ArUcoScene.make_rotation_matrix(*place_edit[selected_marker_id]['rotation']).T)
T = selected_place.translation + numpy.array(place_edit[selected_marker_id]['translation'])
edited_place = ArUcoScene.Place(T, R, selected_marker)
else:
edited_place = selected_place
# Write edited place rotation matrix
R = edited_place.rotation
cv2.putText(info_frame, f'Rotation matrix:', (520, 120), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
cv2.putText(info_frame, f'{R[0][0]:.3f} {R[0][1]:.3f} {R[0][2]:.3f}', (540, 160), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 1, cv2.LINE_AA)
cv2.putText(info_frame, f'{R[1][0]:.3f} {R[1][1]:.3f} {R[1][2]:.3f}', (540, 200), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), 1, cv2.LINE_AA)
cv2.putText(info_frame, f'{R[2][0]:.3f} {R[2][1]:.3f} {R[2][2]:.3f}', (540, 240), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 0, 0), 1, cv2.LINE_AA)
# Write edited place translation vector
T = edited_place.translation
cv2.putText(info_frame, f'Translation vector:', (520, 320), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
cv2.putText(info_frame, f'{T[0]:.3f}', (540, 360), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 1, cv2.LINE_AA)
cv2.putText(info_frame, f'{T[1]:.3f}', (540, 400), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), 1, cv2.LINE_AA)
cv2.putText(info_frame, f'{T[2]:.3f}', (540, 440), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 0, 0), 1, cv2.LINE_AA)
# Replace selected place by edited place
ar_scene.aruco_scene.places[selected_marker_id] = edited_place
# Estimate scene pose considering only selected marker
tvec, rmat, strategy, _ = ar_scene.estimate_pose({selected_marker_id: selected_marker})
strategy = strategy.replace('_', ' ')
# Write pose estimation strategy
cv2.putText(video_frame, f'{strategy} with marker {selected_marker_id}', (20, frame_height - 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
# Draw expected marker places
ar_scene.draw_places(video_frame)
# Project AOI scene into frame according estimated pose
aoi_scene_projection = ar_scene.project(tvec, rmat, visual_hfov=TobiiSpecifications.VISUAL_HFOV)
# Draw AOI scene projection with gaze
aoi_scene_projection.draw_circlecast(video_frame, gaze_position, base_color=selected_marker.color, looked_color=selected_marker.color)
# Catch missing selected marker
except KeyError:
cv2.putText(video_frame, f'Marker {selected_marker_id} not found', (20, 120), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 1, cv2.LINE_AA)
# No marker selected
else:
cv2.putText(info_frame, f'Left click on marker to select it', (20, 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
# Estimate all marker's pose
ar_environment.aruco_detector.estimate_markers_pose()
# Check markers consistency
consistent_markers, unconsistent_markers, unconsistencies = ar_scene.aruco_scene.check_markers_consistency(ar_environment.aruco_detector.detected_markers, ar_scene.angle_tolerance, ar_scene.distance_tolerance)
# Set unconsistent marker color to red
for i, m in ar_environment.aruco_detector.detected_markers.items():
if i in list(unconsistent_markers.keys()):
m.color = (0, 0, 255)
# Write unconsistencies
for i, (label, value) in enumerate(unconsistencies.items()):
cv2.putText(info_frame, f'Unconsistent {label}: {value:.3f}', (20, 120+ i*40), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 1, cv2.LINE_AA)
# Single marker scene pose estimation
if pose_mode == 0:
cv2.putText(video_frame, f'Single marker scene pose estimation', (20, frame_height - 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
for i, m in ar_environment.aruco_detector.detected_markers.items():
tvec, rmat = ar_scene.aruco_scene.estimate_pose_from_single_marker(m)
# Project AOI scene into frame according estimated pose
aoi_scene_projection = ar_scene.project(tvec, rmat, visual_hfov=TobiiSpecifications.VISUAL_HFOV)
aoi_scene_projection.draw(video_frame, color=m.color)
# ArUco marker axis scene pose estimation
elif pose_mode == 1:
# Write pose estimation strategy
cv2.putText(video_frame, f'ArUco marker axis scene pose estimation', (20, frame_height - 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
for axis_name, axis_markers in ar_scene.aruco_axis.items():
try:
origin_marker = ar_environment.aruco_detector.detected_markers[axis_markers['origin_marker']]
horizontal_axis_marker = ar_environment.aruco_detector.detected_markers[axis_markers['horizontal_axis_marker']]
vertical_axis_marker = ar_environment.aruco_detector.detected_markers[axis_markers['vertical_axis_marker']]
tvec, rmat = ar_scene.aruco_scene.estimate_pose_from_axis_markers(origin_marker, horizontal_axis_marker, vertical_axis_marker)
# Project AOI scene into frame according estimated pose
aoi_scene_projection = ar_scene.project(tvec, rmat, visual_hfov=TobiiSpecifications.VISUAL_HFOV)
aoi_scene_projection.draw(video_frame, color=(255, 255, 255))
break
except:
pass
# ArUco AOI scene building
elif pose_mode == 2:
# Write pose estimation strategy
cv2.putText(video_frame, f'ArUco AOI scene building', (20, frame_height - 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
try :
# Try to build AOI scene from detected ArUco marker corners
aoi_scene_projection = ar_scene.build_aruco_aoi_scene(ar_environment.aruco_detector.detected_markers)
except:
pass
# Draw expected marker places
#ar_scene.draw_places(video_frame)
# Catch exceptions raised by estimate_pose and project methods
except (ArFeatures.PoseEstimationFailed, ArFeatures.SceneProjectionFailed) as e:
cv2.rectangle(video_frame, (0, 90), (700, 130), (127, 127, 127), -1)
cv2.putText(video_frame, f'Error: {e}', (20, 100), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
# Draw frame
cv2.imshow(ar_environment.name, video_frame)
# Draw detected markers
ar_environment.aruco_detector.draw_detected_markers(video_frame)
# Draw pointer
gaze_position.draw(video_frame)
# Write documentation
cv2.putText(video_frame, f'Press \'h\' for help', (950, 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
if draw_help:
cv2.rectangle(video_frame, (0, 50), (700, 300), (127, 127, 127), -1)
cv2.putText(video_frame, f'> Left click on marker: select marker', (20, 80), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
cv2.putText(video_frame, f'> Left click on frame: unselect marker', (20, 120), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
cv2.putText(video_frame, f'> T: translate, R: rotate, Z: select axis', (20, 160), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
cv2.putText(video_frame, f'> Right click and drag: edit axis', (20, 200), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
cv2.putText(video_frame, f'> Ctrl + S: save environment', (20, 240), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
cv2.putText(video_frame, f'> Backspace: reload environment', (20, 280), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
# Write selected marker id
elif selected_marker_id >= 0:
cv2.rectangle(video_frame, (0, 50), (700, 90), (127, 127, 127), -1)
# Select color
if edit_z:
str_axis = 'Z'
color_axis = (255, 0, 0)
else:
str_axis = 'XY'
color_axis = (0, 255, 255)
if edit_trans:
cv2.putText(video_frame, f'Rotate marker {selected_marker_id} around axis {str_axis}', (20, 80), cv2.FONT_HERSHEY_SIMPLEX, 1, color_axis, 1, cv2.LINE_AA)
else:
cv2.putText(video_frame, f'Translate marker {selected_marker_id} along axis {str_axis}', (20, 80), cv2.FONT_HERSHEY_SIMPLEX, 1, color_axis, 1, cv2.LINE_AA)
key_pressed = cv2.waitKey(10)
#if key_pressed != -1:
# print(key_pressed)
# Select previous frame with left arrow
if key_pressed == 2:
next_frame_index -= 1
# Select next frame with right arrow
if key_pressed == 3:
next_frame_index += 1
# Clip frame index
if next_frame_index < 0:
next_frame_index = 0
# Edit rotation with r key
if key_pressed == 114:
edit_trans = True
# Edit translation with t key
if key_pressed == 116:
edit_trans = False
# Switch Z axis edition
if key_pressed == 122:
edit_z = not edit_z
# Switch help mode with h key
if key_pressed == 104:
draw_help = not draw_help
# Switch grid mode with g key
if key_pressed == 103:
draw_grid = not draw_grid
refresh = True
# Switch draw_cover mode with c key
if key_pressed == 99:
draw_cover = not draw_cover
# Switch pose estimation mode with m key
if key_pressed == 109:
pose_mode += 1
if pose_mode > 2:
pose_mode = 0
# Save selected marker edition using 'Ctrl + s'
if key_pressed == 19:
ar_environment.to_json(args.output)
print(f'Environment saved into {args.output}')
# Close window using 'Esc' key
if key_pressed == 27:
break
# Reload environment on 'Backspace' key
if key_pressed == 127:
ar_environment = ArFeatures.ArEnvironment.from_json(args.environment)
print(f'Environment reloaded from {args.environment}')
refresh = True
# Display video
cv2.imshow(ar_environment.name, video_frame)
# Display info
cv2.imshow('Info', info_frame)
# Close movie capture
video_capture.release()
# Stop frame display
cv2.destroyAllWindows()
if __name__ == '__main__':
main()
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