diff options
| -rw-r--r-- | docs/user_guide/aruco_markers_pipeline/pose_estimation.md | 4 | ||||
| -rw-r--r-- | src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py | 35 |
2 files changed, 2 insertions, 37 deletions
diff --git a/docs/user_guide/aruco_markers_pipeline/pose_estimation.md b/docs/user_guide/aruco_markers_pipeline/pose_estimation.md index 6027039..6b58b24 100644 --- a/docs/user_guide/aruco_markers_pipeline/pose_estimation.md +++ b/docs/user_guide/aruco_markers_pipeline/pose_estimation.md @@ -51,10 +51,6 @@ Here is an extract from the JSON [ArUcoCamera](../../argaze.md/#argaze.ArUcoMark "draw_places": { "color": [0, 0, 0], "border_size": 1 - }, - "draw_places_axes": { - "thickness": 1, - "length": 2.5 } } } diff --git a/src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py b/src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py index edae927..b4aedbd 100644 --- a/src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py +++ b/src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py @@ -432,11 +432,7 @@ class ArUcoMarkersGroup(): try: - T = self.places[identifier].translation - R = self.places[identifier].rotation - - placePoints = (T + numpy.float32([R.dot([-l, -l, 0]), R.dot([l, -l, 0]), R.dot([l, l, 0]), R.dot([-l, l, 0])])).reshape(-1, 3) - placePoints, _ = cv2.projectPoints(placePoints, self._rotation, self._translation, numpy.array(K), numpy.array(D)) + placePoints, _ = cv2.projectPoints(place.corners, self._rotation, self._translation, numpy.array(K), numpy.array(D)) placePoints = placePoints.astype(int) cv2.line(image, tuple(placePoints[0].ravel()), tuple(placePoints[1].ravel()), color, border_size) @@ -448,29 +444,7 @@ class ArUcoMarkersGroup(): except cv2.error: pass - def draw_places_axes(self, image: numpy.array, K, D, thickness: int = 0, length: float = 0): - """Draw group place axes.""" - - for identifier, place in self.places.items(): - - try: - - T = self.places[identifier].translation - R = self.places[identifier].rotation - - axisPoints = (T + numpy.float32([R.dot([length, 0, 0]), R.dot([0, length, 0]), R.dot([0, 0, length]), R.dot([0, 0, 0])])).reshape(-1, 3) - axisPoints, _ = cv2.projectPoints(axisPoints, self._rotation, self._translation, numpy.array(K), numpy.array(D)) - axisPoints = axisPoints.astype(int) - - cv2.line(image, tuple(axisPoints[3].ravel()), tuple(axisPoints[0].ravel()), (0, 0, 255), thickness) # X (red) - cv2.line(image, tuple(axisPoints[3].ravel()), tuple(axisPoints[1].ravel()), (0, 255, 0), thickness) # Y (green) - cv2.line(image, tuple(axisPoints[3].ravel()), tuple(axisPoints[2].ravel()), (255, 0, 0), thickness) # Z (blue) - - # Ignore errors due to out of field places: their coordinate are larger than int32 limitations. - except cv2.error: - pass - - def draw(self, image: numpy.array, K, D, draw_axes: dict = None, draw_places: dict = None, draw_places_axes: dict = None): + def draw(self, image: numpy.array, K, D, draw_axes: dict = None, draw_places: dict = None): """Draw group axes and places. Parameters: @@ -489,11 +463,6 @@ class ArUcoMarkersGroup(): self.draw_places(image, K, D, **draw_places) - # Draw places axes if required - if draw_places_axes is not None: - - self.draw_places_axes(image, K, D, **draw_places_axes) - def to_obj(self, obj_filepath): """Save group to .obj file.""" |