diff options
| -rw-r--r-- | src/argaze/utils/tobii_stream_arcube_display.py | 17 |
1 files changed, 8 insertions, 9 deletions
diff --git a/src/argaze/utils/tobii_stream_arcube_display.py b/src/argaze/utils/tobii_stream_arcube_display.py index 8224d4a..255961a 100644 --- a/src/argaze/utils/tobii_stream_arcube_display.py +++ b/src/argaze/utils/tobii_stream_arcube_display.py @@ -23,14 +23,13 @@ def main(): parser.add_argument('-t', '--tobii_ip', metavar='TOBII_IP', type=str, default=None, help='tobii glasses ip') parser.add_argument('-c', '--camera_calibration', metavar='CAM_CALIB', type=str, default=None, help='json camera calibration filepath') parser.add_argument('-p', '--aruco_tracker_configuration', metavar='TRACK_CONFIG', type=str, default=None, help='json aruco tracker configuration filepath') - parser.add_argument('-ac', '--aruco_cube', metavar='ARUCO_CUBE', type=str, help='json arcube description filepath') - parser.add_argument('-to', '--tolerance', metavar='TOLERANCE', type=float, default=1, help='arcube face pose estimation tolerance') + parser.add_argument('-ac', '--aruco_cube', metavar='ARUCO_CUBE', type=str, help='json aruco_cube description filepath') parser.add_argument('-w', '--window', metavar='DISPLAY', type=bool, default=True, help='enable window display', action=argparse.BooleanOptionalAction) args = parser.parse_args() # Load ArUcoCube - arcube = ArUcoCube.ArUcoCube(args.aruco_cube) - arcube.print_cache() + aruco_cube = ArUcoCube.ArUcoCube(args.aruco_cube) + aruco_cube.print_cache() # Create tobii controller (with auto discovery network process if no ip argument is provided) print('\nLooking for a Tobii Glasses Pro 2 device ...') @@ -64,14 +63,14 @@ def main(): raise UserWarning('.json camera calibration filepath required. Use -c option.') # Create aruco tracker - aruco_tracker = ArUcoTracker.ArUcoTracker(arcube.dictionary, arcube.marker_size, aruco_camera) + aruco_tracker = ArUcoTracker.ArUcoTracker(aruco_cube.dictionary, aruco_cube.marker_size, aruco_camera) # Load specific configuration file if args.aruco_tracker_configuration != None: aruco_tracker.load_configuration_file(args.aruco_tracker_configuration) - print(f'ArUcoTracker configuration for markers detection:') + print(f'\nArUcoTracker configuration for markers detection:') aruco_tracker.print_configuration() # Init head pose tracking @@ -140,17 +139,17 @@ def main(): raise UserWarning('No marker detected') # Estimate cube pose from tracked markers - valid = arcube.estimate_pose(aruco_tracker.get_tracked_markers()) + valid = aruco_cube.estimate_pose(aruco_tracker.get_tracked_markers()) # Draw markers pose estimation aruco_tracker.draw_tracked_markers(visu_frame.matrix) # Draw cube pose estimation - arcube.draw(visu_frame.matrix, aruco_camera.get_K(), aruco_camera.get_D()) + aruco_cube.draw(visu_frame.matrix, aruco_camera.get_K(), aruco_camera.get_D()) # Warn about cube pose validity if not valid: - + raise UserWarning('Cube pose is not validated.') # Pose estimation error |