Renaming ArUcoMarkers into ArUcoMarker

9 files changed, 225 insertions, 0 deletions

diff --git a/src/argaze.test/ArUcoMarker/utils/aoi_3d.obj b/src/argaze.test/ArUcoMarker/utils/aoi_3d.obj
new file mode 100644
index 0000000..92e85bd
--- /dev/null
+++ b/src/argaze.test/ArUcoMarker/utils/aoi_3d.obj
@@ -0,0 +1,7 @@
+o Test
+v 0.000000 0.000000 0.000000
+v 25.000000 0.000000 0.000000
+v 0.000000 14.960000 0.000000
+v 25.000000 14.960000 0.000000
+s off
+f 1 2 4 3
diff --git a/src/argaze.test/ArUcoMarker/utils/aruco_camera.json b/src/argaze.test/ArUcoMarker/utils/aruco_camera.json
new file mode 100644
index 0000000..980dc9f
--- /dev/null
+++ b/src/argaze.test/ArUcoMarker/utils/aruco_camera.json
@@ -0,0 +1,98 @@
+{
+	"name": "TestArUcoCamera",
+    "size": [1920, 1080],
+    "aruco_detector": {
+    	"dictionary": {
+            "name": "DICT_ARUCO_ORIGINAL"
+        },
+    	"optic_parameters": {
+            "rms": 1.0,
+            "dimensions": [
+                1920,
+                1080
+            ],
+            "K": [
+                [
+                    1.0,
+                    0.0,
+                    1.0
+                ],
+                [
+                    0.0,
+                    1.0,
+                    1.0
+                ],
+                [
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ],
+            "D": [
+    	        -1.0,
+    	        -0.5,
+    	        0.0,
+    	        0.5,
+    	        1.0
+    	    ]
+        },
+        "parameters": {
+            "cornerRefinementMethod": 3,
+            "aprilTagQuadSigma": 2,
+            "aprilTagDeglitch": 1
+        }
+    },
+    "scenes": {
+        "TestSceneA" : {
+            "aruco_markers_group": {
+                "dictionary": "DICT_ARUCO_ORIGINAL",
+                "places": {
+                    "0": {
+                        "translation": [1, 0, 0],
+                        "rotation": [0, 0, 0],
+                        "size": 3.0
+                    },
+                    "1": {
+                        "translation": [0, 1, 0],
+                        "rotation": [0, 90, 0],
+                        "size": 3.0
+                    }
+                }
+            },
+            "layers": {
+                "Main" : {
+                    "aoi_scene": "aoi_3d.obj"
+                }
+            },
+            "angle_tolerance": 1.0,
+            "distance_tolerance": 2.0
+        },
+        "TestSceneB" : {
+            "aruco_markers_group": {
+                "dictionary": "DICT_ARUCO_ORIGINAL",
+                "places": {
+                    "0": {
+                        "translation": [1, 0, 0],
+                        "rotation": [0, 0, 0],
+                        "size": 3.0
+                    },
+                    "1": {
+                        "translation": [0, 1, 0],
+                        "rotation": [0, 90, 0],
+                        "size": 3.0
+                    }
+                }
+            },
+            "layers": {
+                "Main" : {
+                    "aoi_scene": "aoi_3d.obj"
+                }
+            },
+            "angle_tolerance": 1.0,
+            "distance_tolerance": 2.0
+        }
+    },
+    "layers": {
+        "Main": {}
+    }
+}
\ No newline at end of file
diff --git a/src/argaze.test/ArUcoMarker/utils/detector.json b/src/argaze.test/ArUcoMarker/utils/detector.json
new file mode 100644
index 0000000..8aada6d
--- /dev/null
+++ b/src/argaze.test/ArUcoMarker/utils/detector.json
@@ -0,0 +1,42 @@
+{
+    "dictionary": {
+        "name": "DICT_ARUCO_ORIGINAL"
+    },
+    "marker_size": 3.0,
+    "optic_parameters": {
+        "rms": 1.0,
+        "dimensions": [
+            1920,
+            1080
+        ],
+        "K": [
+            [
+                1.0,
+                0.0,
+                1.0
+            ],
+            [
+                0.0,
+                1.0,
+                1.0
+            ],
+            [
+                0.0,
+                0.0,
+                1.0
+            ]
+        ],
+        "D": [
+            -1.0,
+            -0.5,
+            0.0,
+            0.5,
+            1.0
+        ]
+    },
+    "parameters": {
+        "cornerRefinementMethod": 3,
+        "aprilTagQuadSigma": 2,
+        "aprilTagDeglitch": 1
+    }
+}
\ No newline at end of file
diff --git a/src/argaze.test/ArUcoMarker/utils/detector_parameters.json b/src/argaze.test/ArUcoMarker/utils/detector_parameters.json
new file mode 100644
index 0000000..d26a3fa
--- /dev/null
+++ b/src/argaze.test/ArUcoMarker/utils/detector_parameters.json
@@ -0,0 +1,5 @@
+{
+    "cornerRefinementMethod": 3,
+    "aprilTagQuadSigma": 2,
+    "aprilTagDeglitch": 1
+}
\ No newline at end of file
diff --git a/src/argaze.test/ArUcoMarker/utils/full_hd_board.png b/src/argaze.test/ArUcoMarker/utils/full_hd_board.png
new file mode 100644
index 0000000..d30b300
--- /dev/null
+++ b/src/argaze.test/ArUcoMarker/utils/full_hd_board.png
diff --git a/src/argaze.test/ArUcoMarker/utils/full_hd_marker.png b/src/argaze.test/ArUcoMarker/utils/full_hd_marker.png
new file mode 100644
index 0000000..42146fe
--- /dev/null
+++ b/src/argaze.test/ArUcoMarker/utils/full_hd_marker.png
diff --git a/src/argaze.test/ArUcoMarker/utils/optic_parameters.json b/src/argaze.test/ArUcoMarker/utils/optic_parameters.json
new file mode 100644
index 0000000..988731c
--- /dev/null
+++ b/src/argaze.test/ArUcoMarker/utils/optic_parameters.json
@@ -0,0 +1,31 @@
+{
+    "rms": 1.0,
+    "dimensions": [
+        1920,
+        1080
+    ],
+    "K": [
+        [
+            1.0,
+            0.0,
+            1.0
+        ],
+        [
+            0.0,
+            1.0,
+            1.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "D": [
+        -1.0,
+        -0.5,
+        0.0,
+        0.5,
+        1.0
+    ]
+}
\ No newline at end of file
diff --git a/src/argaze.test/ArUcoMarker/utils/scene.json b/src/argaze.test/ArUcoMarker/utils/scene.json
new file mode 100644
index 0000000..bdd9ae8
--- /dev/null
+++ b/src/argaze.test/ArUcoMarker/utils/scene.json
@@ -0,0 +1,20 @@
+{
+	"dictionary": {
+        "name": "DICT_ARUCO_ORIGINAL"
+    },
+	"marker_size": 1,
+	"places": {
+		"0": {
+			"translation": [0, 0, 0],
+			"rotation": [0, 0, 0]
+		},
+		"1": {
+			"translation": [10, 10, 0],
+			"rotation": [0, 0, 0]
+		},
+		"2": {
+			"translation": [0, 10, 0],
+			"rotation": [0, 0, 0]
+		}
+	}
+}
diff --git a/src/argaze.test/ArUcoMarker/utils/scene.obj b/src/argaze.test/ArUcoMarker/utils/scene.obj
new file mode 100644
index 0000000..1eb9f81
--- /dev/null
+++ b/src/argaze.test/ArUcoMarker/utils/scene.obj
@@ -0,0 +1,22 @@
+# .OBJ file for ArUcoMarkerGroup unitary test
+o DICT_ARUCO_ORIGINAL#0_Marker
+v -0.500000 -0.500000 0.000000
+v 0.500000 -0.500000 0.000000
+v -0.500000 0.500000 0.000000
+v 0.500000 0.500000 0.000000
+vn 0.0000 0.0000 1.0000
+f 1//1 2//1 4//1 3//1
+o DICT_ARUCO_ORIGINAL#1_Marker
+v 9.500000 9.500000 0.000000
+v 10.500000 9.500000 0.000000
+v 9.500000 10.500000 0.000000
+v 10.500000 10.500000 0.000000
+vn 0.0000 0.0000 1.0000
+f 5//2 6//2 8//2 7//2
+o DICT_ARUCO_ORIGINAL#2_Marker
+v -0.500000 9.500000 0.000000
+v 0.500000 9.500000 0.000000
+v -0.500000 10.500000 0.000000
+v 0.500000 10.500000 0.000000
+vn 0.0000 0.0000 1.0000
+f 9//3 10//3 12//3 11//3