diff options
| -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 |