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| author | Théo de la Hogue | 2023-04-25 20:05:46 +0200 |
|---|---|---|
| committer | Théo de la Hogue | 2023-04-25 20:05:46 +0200 |
| commit | a3d5e8c2a25d816b1c2e10e6e313f09b623af060 (patch) | |
| tree | 692f31a0cd5abd98a3037a70e3a9bf001e623f16 | |
| parent | 313b4c3a0ab4fc6023237c3f8f8989fcacb4b4cc (diff) | |
| download | argaze-a3d5e8c2a25d816b1c2e10e6e313f09b623af060.zip argaze-a3d5e8c2a25d816b1c2e10e6e313f09b623af060.tar.gz argaze-a3d5e8c2a25d816b1c2e10e6e313f09b623af060.tar.bz2 argaze-a3d5e8c2a25d816b1c2e10e6e313f09b623af060.tar.xz | |
Check consistency only if thre is more than one marker.
| -rw-r--r-- | src/argaze/utils/environment_edit.py | 26 |
1 files changed, 15 insertions, 11 deletions
diff --git a/src/argaze/utils/environment_edit.py b/src/argaze/utils/environment_edit.py index 72af4c6..6b0063d 100644 --- a/src/argaze/utils/environment_edit.py +++ b/src/argaze/utils/environment_edit.py @@ -149,7 +149,9 @@ def main(): # Edit marker's color for i, m in ar_environment.aruco_detector.detected_markers.items(): - m.color = list(itertools.permutations([0, 255, 255]))[i] + color_list = list(itertools.permutations([0, 255, 255])) + + m.color = color_list[i%len(color_list)] # Draw center cv2.circle(video_frame, m.center.astype(int), 5, m.color, -1) @@ -298,18 +300,20 @@ def main(): # 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) + if len(ar_environment.aruco_detector.detected_markers) > 1: + + # 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) + # 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) - + # 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: |