diff options
| -rw-r--r-- | src/argaze/ArFeatures.py | 10 | ||||
| -rw-r--r-- | src/argaze/ArUcoMarkers/ArUcoCamera.py | 2 |
2 files changed, 9 insertions, 3 deletions
diff --git a/src/argaze/ArFeatures.py b/src/argaze/ArFeatures.py index 02da0fe..1b24957 100644 --- a/src/argaze/ArFeatures.py +++ b/src/argaze/ArFeatures.py @@ -1239,13 +1239,14 @@ class ArScene(): raise NotImplementedError('estimate_pose() method not implemented') - def project(self, tvec: numpy.array, rvec: numpy.array, visual_hfov: float = 0.) -> Tuple[str, AOI2DScene.AOI2DScene]: - """Project layers according estimated pose and optional horizontal field of view clipping angle. + def project(self, tvec: numpy.array, rvec: numpy.array, visual_hfov: float = 0., visual_vfov: float = 0.) -> Tuple[str, AOI2DScene.AOI2DScene]: + """Project layers according estimated pose and optional field of view clipping angles. Parameters: tvec: translation vector rvec: rotation vector visual_hfov: horizontal field of view clipping angle + visual_vfov: vertical field of view clipping angle Returns: layer_name: name of projected layer @@ -1255,6 +1256,7 @@ class ArScene(): for name, layer in self.layers.items(): # Clip AOI out of the visual horizontal field of view (optional) + # TODO: use HFOV and VFOV and don't use vision_cone method if visual_hfov > 0: # Transform layer aoi scene into camera referential @@ -1293,9 +1295,13 @@ class ArCamera(ArFrame): Parameters: scenes: all scenes to project into camera frame + visual_hfov: Optional angle in degree to clip scenes projection according visual horizontal field of view (HFOV). + visual_vfov: Optional angle in degree to clip scenes projection according visual vertical field of view (VFOV). """ scenes: dict = field(default_factory=dict) + visual_hfov: float = field(default=0.) + visual_vfov: float = field(default=0.) def __post_init__(self): diff --git a/src/argaze/ArUcoMarkers/ArUcoCamera.py b/src/argaze/ArUcoMarkers/ArUcoCamera.py index 33f5b37..f39c516 100644 --- a/src/argaze/ArUcoMarkers/ArUcoCamera.py +++ b/src/argaze/ArUcoMarkers/ArUcoCamera.py @@ -196,7 +196,7 @@ class ArUcoCamera(ArFeatures.ArCamera): tvec, rmat, _, _ = scene.estimate_pose(self.aruco_detector.detected_markers) # Project scene into camera frame according estimated pose - for layer_name, layer_projection in scene.project(tvec, rmat): + for layer_name, layer_projection in scene.project(tvec, rmat, self.visual_hfov, self.visual_vfov): try: |