diff options
| -rw-r--r-- | src/argaze/ArUcoMarkers/ArUcoScene.py | 49 |
1 files changed, 44 insertions, 5 deletions
diff --git a/src/argaze/ArUcoMarkers/ArUcoScene.py b/src/argaze/ArUcoMarkers/ArUcoScene.py index 85c3fbf..3783660 100644 --- a/src/argaze/ArUcoMarkers/ArUcoScene.py +++ b/src/argaze/ArUcoMarkers/ArUcoScene.py @@ -113,7 +113,7 @@ class ArUcoScene(): # Normalize places data new_places = {} - for identifier, place in self.places.items(): + for identifier, data in self.places.items(): # Convert string identifier to int value if type(identifier) == str: @@ -121,10 +121,10 @@ class ArUcoScene(): identifier = int(identifier) # Get translation vector - tvec = numpy.array(place.pop('translation')).astype(numpy.float32) + tvec = numpy.array(data.pop('translation')).astype(numpy.float32) # Check rotation value shape - rvalue = numpy.array(place.pop('rotation')).astype(numpy.float32) + rvalue = numpy.array(data.pop('rotation')).astype(numpy.float32) # Rotation matrix if rvalue.shape == (3, 3): @@ -146,10 +146,15 @@ class ArUcoScene(): new_places[identifier] = Place(tvec, rmat, new_marker) + # else places are configured using detected markers + elif isinstance(data, ArUcoMarker.ArUcoMarker): + + new_places[identifier] = Place(data.translation, data.rotation, data) + # else places are already at expected format - elif (type(identifier) == int) and isinstance(place, Place): + elif (type(identifier) == int) and isinstance(data, Place): - new_places[identifier] = place + new_places[identifier] = data self.places = new_places @@ -676,3 +681,37 @@ class ArUcoScene(): # Ignore errors due to out of field places: their coordinate are larger than int32 limitations. except cv.error: pass + + def to_obj(self, obj_filepath): + """Save ArUco scene to .obj file.""" + + with open(obj_filepath, 'w', encoding='utf-8') as file: + + file.write('# ArGaze OBJ File\n') + file.write('# http://achil.recherche.enac.fr/features/eye/argaze/\n') + + v_count = 0 + + for identifier, place in self.places.items(): + + file.write(f'o {self.dictionary.name}#{identifier}_Marker\n') + + vertices = '' + + T = place.translation + R = place.rotation + + points = (T + numpy.float32([R.dot(place.marker.points[0]), R.dot(place.marker.points[1]), R.dot(place.marker.points[2]), R.dot(place.marker.points[3])])).reshape(-1, 3) + + print(points) + + # Write vertices in reverse order + for i in [3, 2, 1, 0]: + + file.write(f'v {" ".join(map(str, points[i]))}\n') + v_count += 1 + + vertices += f' {v_count}' + + file.write('s off\n') + file.write(f'f{vertices}\n') |