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| author | Théo de la Hogue | 2023-04-25 17:50:18 +0200 |
|---|---|---|
| committer | Théo de la Hogue | 2023-04-25 17:50:18 +0200 |
| commit | 57b54b559ab312a764d0dca294140bc5073abd2d (patch) | |
| tree | ead867535d2671a1b484e6b893885354ff1e8b31 /src | |
| parent | 34b66cfa0ba454ad9d830e2b68dce4d4ce63882c (diff) | |
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Fixing scene translation estimation based on axis marker.
Diffstat (limited to 'src')
| -rw-r--r-- | src/argaze/ArUcoMarkers/ArUcoScene.py | 3 |
1 files changed, 2 insertions, 1 deletions
diff --git a/src/argaze/ArUcoMarkers/ArUcoScene.py b/src/argaze/ArUcoMarkers/ArUcoScene.py index 70ce236..1bb76cd 100644 --- a/src/argaze/ArUcoMarkers/ArUcoScene.py +++ b/src/argaze/ArUcoMarkers/ArUcoScene.py @@ -527,6 +527,7 @@ class ArUcoScene(): P = numpy.array([OA*X_sign, OB*Y_sign, numpy.cross(OA*X_sign, OB*Y_sign)]) + # Marker axis OA = A_marker.translation - O_marker.translation OA = OA / numpy.linalg.norm(OA) @@ -543,7 +544,7 @@ class ArUcoScene(): self._rotation = P.dot(M.T) # Consider ArUcoScene translation as the translation of the marker at axis origin - self._translation = O_marker.translation - O_place.translation.dot(O_place.rotation).dot(O_marker.rotation.T) + self._translation = O_marker.translation - O_place.translation.dot(O_place.rotation).dot(M.T) return self._translation, self._rotation |