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authorThéo de la Hogue2024-01-29 11:35:08 +0100
committerThéo de la Hogue2024-01-29 11:35:08 +0100
commitb3441d12929ee31908fd88138fae546495690459 (patch)
tree3c4ae930a66b761ed70185f8f5bb5cc9e8bd732f /docs/user_guide/aruco_markers_pipeline
parent4e06b458990ea4c4b3de7afe4b1fe343f1a8f214 (diff)
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Making ArUcoMarkersGroup as PipelineStepObject. Markers size don't need to be equal anymore.
Diffstat (limited to 'docs/user_guide/aruco_markers_pipeline')
-rw-r--r--docs/user_guide/aruco_markers_pipeline/aoi_3d_frame.md2
-rw-r--r--docs/user_guide/aruco_markers_pipeline/aruco_markers_description.md15
-rw-r--r--docs/user_guide/aruco_markers_pipeline/configuration_and_execution.md5
-rw-r--r--docs/user_guide/aruco_markers_pipeline/pose_estimation.md10
4 files changed, 19 insertions, 13 deletions
diff --git a/docs/user_guide/aruco_markers_pipeline/aoi_3d_frame.md b/docs/user_guide/aruco_markers_pipeline/aoi_3d_frame.md
index 4f9af7c..53d1ddb 100644
--- a/docs/user_guide/aruco_markers_pipeline/aoi_3d_frame.md
+++ b/docs/user_guide/aruco_markers_pipeline/aoi_3d_frame.md
@@ -108,7 +108,7 @@ After camera image is passed to [ArUcoCamera.watch](../../argaze.md/#argaze.ArFe
aruco_camera.watch(timestamp, image)
# Map watched image into ArUcoScenes frames background
- aruco_camera.map()
+ aruco_camera.map(timestamp)
```
### Analyse timestamped gaze positions into ArUcoScenes frames
diff --git a/docs/user_guide/aruco_markers_pipeline/aruco_markers_description.md b/docs/user_guide/aruco_markers_pipeline/aruco_markers_description.md
index ebbeec7..055d1de 100644
--- a/docs/user_guide/aruco_markers_pipeline/aruco_markers_description.md
+++ b/docs/user_guide/aruco_markers_pipeline/aruco_markers_description.md
@@ -87,7 +87,10 @@ Here are common OBJ file features needed to describe ArUco markers places:
* Face (starting with *f* key) link vertices and normals indexes together.
!!! warning
- All markers must have the same size and belong to the same dictionary.
+ Markers have to belong to the same dictionary.
+
+!!! note
+ Markers can have different size.
### Edit JSON file description
@@ -96,19 +99,21 @@ JSON file format allows to describe markers places using translation and euler a
``` json
{
"dictionary": "DICT_APRILTAG_16h5",
- "marker_size": 5,
"places": {
"0": {
"translation": [17.5, 2.75, -0.5],
- "rotation": [-18.5, 0, 0]
+ "rotation": [-18.5, 0, 0],
+ "size": 5
},
"1": {
"translation": [46, 34, 18.333],
- "rotation": [0, 70, 0]
+ "rotation": [0, 70, 0],
+ "size": 5
},
"2": {
"translation": [41, 4, 3.333],
- "rotation": [-60, 0, 0]
+ "rotation": [-60, 0, 0],
+ "size": 5
}
}
}
diff --git a/docs/user_guide/aruco_markers_pipeline/configuration_and_execution.md b/docs/user_guide/aruco_markers_pipeline/configuration_and_execution.md
index 5b740dc..4f3ce5b 100644
--- a/docs/user_guide/aruco_markers_pipeline/configuration_and_execution.md
+++ b/docs/user_guide/aruco_markers_pipeline/configuration_and_execution.md
@@ -18,8 +18,7 @@ Here is a simple JSON [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarkers.ArUcoCa
"name": "My FullHD camera",
"size": [1920, 1080],
"aruco_detector": {
- "dictionary": "DICT_APRILTAG_16h5",
- "marker_size": 5
+ "dictionary": "DICT_APRILTAG_16h5"
},
"gaze_movement_identifier": {
"DispersionThresholdIdentification": {
@@ -76,7 +75,7 @@ The first [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarkers.ArUcoCamera) pipeli
![ArUco markers detection](../../img/aruco_camera_markers_detection.png)
-The [ArUcoDetector](../../argaze.md/#argaze.ArUcoMarkers.ArUcoDetector) is in charge to detect all markers from a specific dictionary with a given size in centimeters.
+The [ArUcoDetector](../../argaze.md/#argaze.ArUcoMarkers.ArUcoDetector) is in charge to detect all markers from a specific dictionary.
!!! warning "Mandatory"
JSON *aruco_detector* entry is mandatory.
diff --git a/docs/user_guide/aruco_markers_pipeline/pose_estimation.md b/docs/user_guide/aruco_markers_pipeline/pose_estimation.md
index 853c4a8..7f6573c 100644
--- a/docs/user_guide/aruco_markers_pipeline/pose_estimation.md
+++ b/docs/user_guide/aruco_markers_pipeline/pose_estimation.md
@@ -20,19 +20,21 @@ Here is an extract from the JSON [ArUcoCamera](../../argaze.md/#argaze.ArUcoMark
"MyScene" : {
"aruco_markers_group": {
"dictionary": "DICT_APRILTAG_16h5",
- "marker_size": 5,
"places": {
"0": {
"translation": [17.5, 2.75, -0.5],
- "rotation": [-18.5, 0, 0]
+ "rotation": [-18.5, 0, 0],
+ "size": 5
},
"1": {
"translation": [46, 34, 18.333],
- "rotation": [0, 70, 0]
+ "rotation": [0, 70, 0],
+ "size": 5
},
"2": {
"translation": [41, 4, 3.333],
- "rotation": [-60, 0, 0]
+ "rotation": [-60, 0, 0],
+ "size": 5
}
}
}