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author | Théo de la Hogue | 2024-04-10 15:13:12 +0200 |
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committer | Théo de la Hogue | 2024-04-10 15:13:12 +0200 |
commit | 03013286100d4a3cc49439afc6f432f7be0c494b (patch) | |
tree | 3615506f50381208bd4d327d61a49440143d6ffe /docs/user_guide/aruco_markers_pipeline/aoi_3d_description.md | |
parent | bcfb82055c1736262ce974dc5dd10b365dda8d5c (diff) | |
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diff --git a/docs/user_guide/aruco_markers_pipeline/aoi_3d_description.md b/docs/user_guide/aruco_markers_pipeline/aoi_3d_description.md deleted file mode 100644 index 23ea550..0000000 --- a/docs/user_guide/aruco_markers_pipeline/aoi_3d_description.md +++ /dev/null @@ -1,68 +0,0 @@ -Describe 3D AOI -=============== - -Now [scene pose is estimated](aruco_markers_description.md) thanks to ArUco markers description, [areas of interest (AOI)](../../argaze.md/#argaze.AreaOfInterest.AOIFeatures.AreaOfInterest) need to be described into the same 3D referential. - -In the example scene, the two screens, the control panel and the window are considered as areas of interest. - -![3D AOI description](../../img/aoi_3d_description.png) - -All AOI need to be described from same origin than markers in a [right-handed 3D axis](https://robotacademy.net.au/lesson/right-handed-3d-coordinate-frame/) where: - -* +X is pointing to the right, -* +Y is pointing to the top, -* +Z is pointing to the backward. - -!!! warning - All AOI spatial values must be given in **centimeters**. - -### Edit OBJ file description - -OBJ file format could be exported from most 3D editors. - -``` obj -o Left_Screen -v 0.000000 -0.000000 -0.000000 -v 15.000000 -0.000000 -0.000000 -v 0.000000 18.963333 -6.355470 -v 15.000000 18.963333 -6.355470 -f 1 2 4 3 -o Right_Screen -v 20.000000 0.000000 -0.000000 -v 35.000000 0.000000 -0.000000 -v 20.000000 18.963337 -6.355472 -v 35.000000 18.963337 -6.355472 -f 5 6 8 7 -o Control_Panel -v 49.500000 30.000000 18.333333 -v 55.500000 30.000000 18.333333 -v 49.500000 38.000000 18.333333 -v 55.500000 38.000000 18.333333 -f 9 10 12 11 -o Window -v -57.800000 5.500000 -33.500000 -v 46.000000 15.500000 -35.000000 -v 1.500000 53.000000 -1.000000 -v 50.200000 61.000000 6.000000 -v -35.850000 35.000000 -15.000000 -f 13 14 16 15 17 -``` - -Here are common OBJ file features needed to describe AOI: - -* Object lines (starting with *o* key) indicate AOI name. -* Vertice lines (starting with *v* key) indicate AOI vertices. -* Face (starting with *f* key) link vertices together. - -### Edit JSON file description - -JSON file format allows to describe AOI vertices. - -``` json -{ - "Left_Screen": [[0, 0, 0], [15, 0, 0], [0, 18.963333, -6.355470], [15, 18.963333, -6.355470]], - "Right_Screen": [[20, 0, 0], [35, 0, 0], [20, 18.963337, -6.355472], [35, 18.963337, -6.355472]], - "Control_Panel": [[49.5, 30, 18.333333], [55.5, 30, 18.333333], [49.5, 38, 18.333333], [55.5, 38, 18.333333]], - "Window": [[-57.8, 5.5, -33.5], [46, 15.5, -35], [1.5, 53, -1], [50.2, 61, 6], [-35.85, 35, -15]] -} -``` |