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-rw-r--r--src/argaze/ArFeatures.py10
1 files changed, 3 insertions, 7 deletions
diff --git a/src/argaze/ArFeatures.py b/src/argaze/ArFeatures.py
index 033e290..0d2062d 100644
--- a/src/argaze/ArFeatures.py
+++ b/src/argaze/ArFeatures.py
@@ -91,7 +91,7 @@ class ArEnvironment():
# dict:
else:
- new_aruco_detector_parameters = ArUcoDetector.DetectorParameters(**new_detector_data.pop('parameters'))
+ new_aruco_detector_parameters = ArUcoDetector.DetectorParameters(**detector_parameters_value)
new_aruco_detector = ArUcoDetector.ArUcoDetector(new_aruco_dictionary, new_marker_size, new_optic_parameters, new_aruco_detector_parameters)
@@ -184,8 +184,6 @@ class ArScene():
aoi_scene: AOI 3D scene description that will be projected onto estimated scene once its pose will be estimated : see [project][argaze.ArFeatures.ArScene.project] function below.
- aoi_frames: Link sub AOIs to a parent AOI (e.g. AOIFrame). By default all AOIs are linked to orthogonal_projection.
-
aruco_axis: Optional dictionary to define orthogonal axis where each axis is defined by list of 3 markers identifier (first is origin). \
This pose estimation strategy is used by [estimate_pose][argaze.ArFeatures.ArScene.estimate_pose] function when at least 3 markers are detected.
@@ -198,7 +196,6 @@ class ArScene():
aruco_scene: ArUcoScene.ArUcoScene = field(default_factory=ArUcoScene.ArUcoScene)
aoi_scene: AOI3DScene.AOI3DScene = field(default_factory=AOI3DScene.AOI3DScene)
- aoi_frames: dict = field(default_factory=dict)
aruco_axis: dict = field(default_factory=dict)
aruco_aoi: dict = field(default_factory=dict)
angle_tolerance: float = field(default=0.)
@@ -212,8 +209,6 @@ class ArScene():
# Preprocess orthogonal projection to speed up further aruco aoi processings
self.__orthogonal_projection_cache = self.orthogonal_projection
- print(self.aoi_frames)
-
def __str__(self) -> str:
"""
Returns:
@@ -236,9 +231,10 @@ class ArScene():
"""
scene_size = self.aoi_scene.size
+ scene_center = self.aoi_scene.center
# Center, step back and rotate pose to get whole scene into field of view
- tvec = self.aoi_scene.center*[-1, 1, 0] + [0, 0, scene_size[1]]
+ tvec = scene_center*[-1, 1, 0] + [0, 0, scene_size[1]]
rvec = numpy.array([[-numpy.pi, 0.0, 0.0]])
# Edit optic intrinsic parameter to capture whole scene