Changing aruco_aoi dict corner field names.

1 files changed, 12 insertions, 2 deletions

diff --git a/src/argaze/ArScene.py b/src/argaze/ArScene.py
index e0fa52b..1f8caba 100644
--- a/src/argaze/ArScene.py
+++ b/src/argaze/ArScene.py
@@ -162,10 +162,20 @@ class ArScene():
 			- frame height: optional, if None the height will be setup according given width and scene dimensions ratio.
 		"""
 		scene_size = self.aoi_scene.size
+		print('scene_size=', scene_size)
+
 		frame_size = numpy.array([width, scene_size[1]/scene_size[0]*width if height == 0. else height])
+		print('frame_size=', frame_size)
+
+		# Center, step back and rotate camera to get whole scene into field of view
 		tvec = self.aoi_scene.center*[-1, 1, 0] + [0, 0, scene_size[1]]
+		print('tvec=', tvec)
+
 		rvec = numpy.array([[-numpy.pi, 0.0, 0.0]])
+
+		# Edit intrinsic camera parameter to capture whole scene
 		K = numpy.array([[frame_size[1], 0.0, frame_size[0]/2], [0.0, frame_size[1], frame_size[1]/2], [0.0, 0.0, 1.0]])
+		print('K=', K)
 
 		return frame_size, tvec, rvec, K
 
@@ -292,11 +302,11 @@ class ArScene():
 
 			# Each aoi's corner is defined by a marker's corner
 			aoi_corners = []
-			for corner in ["top_left_corner", "top_right_corner", "bottom_left_corner", "bottom_right_corner"]:
+			for corner in ["upper_left_corner", "upper_right_corner", "lower_left_corner", "lower_right_corner"]:
 
 				aoi_corners.append(self.aruco_tracker.tracked_markers[aoi[corner]["marker_identifier"]].corners[0][aoi[corner]["marker_corner_index"]])
 
-			aruco_aoi_scene[aruco_aoi_name] = AOIFeatures.AreaOfInterest(aoi_corners)
+			aruco_aoi_scene[aruco_aoi_name] = AOIFeatures.AreaOfInterest(aoi_corners).clockwise()
 
 			# Then each inner aoi is projected from the current aruco aoi
 			for inner_aoi_name, inner_aoi in self.aoi_scene.items():