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| author | Théo de la Hogue | 2023-04-24 17:00:16 +0200 |
|---|---|---|
| committer | Théo de la Hogue | 2023-04-24 17:00:16 +0200 |
| commit | 7181f1587cd4d78c34d4dba740f1a5b7b2a5856c (patch) | |
| tree | e5b9a604ccae2c0bc5662786067f032bfcb86c83 /src | |
| parent | 8d31f9d273b56e4fe5df8b588a79900173a296ee (diff) | |
| download | argaze-7181f1587cd4d78c34d4dba740f1a5b7b2a5856c.zip argaze-7181f1587cd4d78c34d4dba740f1a5b7b2a5856c.tar.gz argaze-7181f1587cd4d78c34d4dba740f1a5b7b2a5856c.tar.bz2 argaze-7181f1587cd4d78c34d4dba740f1a5b7b2a5856c.tar.xz | |
Loading ArUco scene directly from dict with several rotation values format.
Diffstat (limited to 'src')
| -rw-r--r-- | src/argaze.test/utils/environment.json | 36 | ||||
| -rw-r--r-- | src/argaze/ArFeatures.py | 2 | ||||
| -rw-r--r-- | src/argaze/ArUcoMarkers/ArUcoScene.py | 20 |
3 files changed, 43 insertions, 15 deletions
diff --git a/src/argaze.test/utils/environment.json b/src/argaze.test/utils/environment.json index 17920d8..57d04cf 100644 --- a/src/argaze.test/utils/environment.json +++ b/src/argaze.test/utils/environment.json @@ -45,13 +45,19 @@ "scenes": { "TestSceneA" : { "aruco_scene": { - "0": { - "translation": [1, 0, 0], - "rotation": [0, 0, 0] + "marker_size": 3.0, + "dictionary": { + "name": "DICT_ARUCO_ORIGINAL" }, - "1": { - "translation": [0, 1, 0], - "rotation": [0, 90, 0] + "places": { + "0": { + "translation": [1, 0, 0], + "rotation": [0, 0, 0] + }, + "1": { + "translation": [0, 1, 0], + "rotation": [0, 90, 0] + } } }, "aoi_scene": "aoi.obj", @@ -60,13 +66,19 @@ }, "TestSceneB" : { "aruco_scene": { - "0": { - "translation": [1, 0, 0], - "rotation": [0, 0, 0] + "marker_size": 3.0, + "dictionary": { + "name": "DICT_ARUCO_ORIGINAL" }, - "1": { - "translation": [0, 1, 0], - "rotation": [0, 90, 0] + "places": { + "0": { + "translation": [1, 0, 0], + "rotation": [0, 0, 0] + }, + "1": { + "translation": [0, 1, 0], + "rotation": [0, 90, 0] + } } }, "aoi_scene": "aoi.obj", diff --git a/src/argaze/ArFeatures.py b/src/argaze/ArFeatures.py index 112b7d1..e645ec7 100644 --- a/src/argaze/ArFeatures.py +++ b/src/argaze/ArFeatures.py @@ -89,7 +89,7 @@ class ArEnvironment(): # dict: else: - new_aruco_scene = ArUcoScene.ArUcoScene(new_aruco_detector.marker_size, new_aruco_detector.dictionary, aruco_scene_value) + new_aruco_scene = ArUcoScene.ArUcoScene(**aruco_scene_value) # Check aoi_scene value type aoi_scene_value = scene_data.pop('aoi_scene') diff --git a/src/argaze/ArUcoMarkers/ArUcoScene.py b/src/argaze/ArUcoMarkers/ArUcoScene.py index 868e84d..f5660dc 100644 --- a/src/argaze/ArUcoMarkers/ArUcoScene.py +++ b/src/argaze/ArUcoMarkers/ArUcoScene.py @@ -85,9 +85,25 @@ class ArUcoScene(): identifier = int(identifier) - # Convert translation and rotation values + # Get translation vector tvec = numpy.array(place.pop('translation')).astype(numpy.float32) - rmat = make_rotation_matrix(*place.pop('rotation')).astype(numpy.float32) + + # Check rotation value shape + rvalue = numpy.array(place.pop('rotation')).astype(numpy.float32) + + # Rotation matrix + if rvalue.shape == (3, 3): + + rmat = rvalue + + # Rotation vector (expected in degree) + elif rvalue.shape == (3,): + + rmat = make_rotation_matrix(rvalue[0], rvalue[1], rvalue[2]).astype(numpy.float32) + + else: + + raise ValueError(f'Bad rotation value: {rvalue}') new_marker = ArUcoMarker.ArUcoMarker(self.dictionary, identifier, self.marker_size) |