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authorThéo de la Hogue2024-04-17 13:32:51 +0200
committerThéo de la Hogue2024-04-17 13:32:51 +0200
commit4d0de7c804914a55977635ec6bc46beb0cf7808a (patch)
treeb3e40c76052b067723bfc41547b81a38a0da00b2 /src/argaze.test/ArUcoMarker/utils
parent9e0e2db258a2a475637813649e81b7e400b17022 (diff)
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Renaming ArUcoMarkers into ArUcoMarker
Diffstat (limited to 'src/argaze.test/ArUcoMarker/utils')
-rw-r--r--src/argaze.test/ArUcoMarker/utils/aoi_3d.obj7
-rw-r--r--src/argaze.test/ArUcoMarker/utils/aruco_camera.json98
-rw-r--r--src/argaze.test/ArUcoMarker/utils/detector.json42
-rw-r--r--src/argaze.test/ArUcoMarker/utils/detector_parameters.json5
-rw-r--r--src/argaze.test/ArUcoMarker/utils/full_hd_board.pngbin0 -> 18475 bytes
-rw-r--r--src/argaze.test/ArUcoMarker/utils/full_hd_marker.pngbin0 -> 116210 bytes
-rw-r--r--src/argaze.test/ArUcoMarker/utils/optic_parameters.json31
-rw-r--r--src/argaze.test/ArUcoMarker/utils/scene.json20
-rw-r--r--src/argaze.test/ArUcoMarker/utils/scene.obj22
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
Binary files differ
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
Binary files differ
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