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-rw-r--r--src/argaze/ArScene.py14
1 files changed, 12 insertions, 2 deletions
diff --git a/src/argaze/ArScene.py b/src/argaze/ArScene.py
index e0fa52b..1f8caba 100644
--- a/src/argaze/ArScene.py
+++ b/src/argaze/ArScene.py
@@ -162,10 +162,20 @@ class ArScene():
- frame height: optional, if None the height will be setup according given width and scene dimensions ratio.
"""
scene_size = self.aoi_scene.size
+ print('scene_size=', scene_size)
+
frame_size = numpy.array([width, scene_size[1]/scene_size[0]*width if height == 0. else height])
+ print('frame_size=', frame_size)
+
+ # Center, step back and rotate camera to get whole scene into field of view
tvec = self.aoi_scene.center*[-1, 1, 0] + [0, 0, scene_size[1]]
+ print('tvec=', tvec)
+
rvec = numpy.array([[-numpy.pi, 0.0, 0.0]])
+
+ # Edit intrinsic camera parameter to capture whole scene
K = numpy.array([[frame_size[1], 0.0, frame_size[0]/2], [0.0, frame_size[1], frame_size[1]/2], [0.0, 0.0, 1.0]])
+ print('K=', K)
return frame_size, tvec, rvec, K
@@ -292,11 +302,11 @@ class ArScene():
# Each aoi's corner is defined by a marker's corner
aoi_corners = []
- for corner in ["top_left_corner", "top_right_corner", "bottom_left_corner", "bottom_right_corner"]:
+ for corner in ["upper_left_corner", "upper_right_corner", "lower_left_corner", "lower_right_corner"]:
aoi_corners.append(self.aruco_tracker.tracked_markers[aoi[corner]["marker_identifier"]].corners[0][aoi[corner]["marker_corner_index"]])
- aruco_aoi_scene[aruco_aoi_name] = AOIFeatures.AreaOfInterest(aoi_corners)
+ aruco_aoi_scene[aruco_aoi_name] = AOIFeatures.AreaOfInterest(aoi_corners).clockwise()
# Then each inner aoi is projected from the current aruco aoi
for inner_aoi_name, inner_aoi in self.aoi_scene.items():