diff options
| -rw-r--r-- | src/argaze/ArScene.py | 6 |
1 files changed, 3 insertions, 3 deletions
diff --git a/src/argaze/ArScene.py b/src/argaze/ArScene.py index 1fea998..f63f170 100644 --- a/src/argaze/ArScene.py +++ b/src/argaze/ArScene.py @@ -126,7 +126,7 @@ class ArScene(): raise PoseEstimationFailed('No marker detected') # Estimate set pose from tracked markers - tvec, rvec, success, consistent_markers, unconsistencies = self.aruco_scene.estimate_pose(self.aruco_tracker.tracked_markers) + tvec, rmat, success, consistent_markers, unconsistencies = self.aruco_scene.estimate_pose(self.aruco_tracker.tracked_markers) # When pose estimation fails, ignore AOI scene projection if not success: @@ -140,7 +140,7 @@ class ArScene(): if visual_hfov > 0: # Transform scene into camera referential - aoi_scene_camera_ref = self.aoi_scene.transform(tvec, rvec) + aoi_scene_camera_ref = self.aoi_scene.transform(tvec, rmat) # Get aoi inside vision cone field cone_vision_height_cm = 200 # cm @@ -157,7 +157,7 @@ class ArScene(): # DON'T APPLY CAMERA DISTORSION : it projects points which are far from the frame into it # This hack isn't realistic but as the gaze will mainly focus on centered AOI, where the distorsion is low, it is acceptable. - aoi_scene_projection = aoi_scene_copy.project(tvec, rvec, self.aruco_camera.K) + aoi_scene_projection = aoi_scene_copy.project(tvec, rmat, self.aruco_camera.K) # Warn user when the projected scene is empty if len(aoi_scene_projection) == 0: |