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-rw-r--r--src/argaze/ArScene.py6
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: