diff options
Diffstat (limited to 'docs/user_guide/aruco_marker_pipeline/aoi_3d_description.md')
| -rw-r--r-- | docs/user_guide/aruco_marker_pipeline/aoi_3d_description.md | 68 |
1 files changed, 68 insertions, 0 deletions
diff --git a/docs/user_guide/aruco_marker_pipeline/aoi_3d_description.md b/docs/user_guide/aruco_marker_pipeline/aoi_3d_description.md new file mode 100644 index 0000000..23ea550 --- /dev/null +++ b/docs/user_guide/aruco_marker_pipeline/aoi_3d_description.md @@ -0,0 +1,68 @@ +Describe 3D AOI +=============== + +Now [scene pose is estimated](aruco_markers_description.md) thanks to ArUco markers description, [areas of interest (AOI)](../../argaze.md/#argaze.AreaOfInterest.AOIFeatures.AreaOfInterest) need to be described into the same 3D referential. + +In the example scene, the two screens, the control panel and the window are considered as areas of interest. + + + +All AOI need to be described from same origin than markers in a [right-handed 3D axis](https://robotacademy.net.au/lesson/right-handed-3d-coordinate-frame/) where: + +* +X is pointing to the right, +* +Y is pointing to the top, +* +Z is pointing to the backward. + +!!! warning + All AOI spatial values must be given in **centimeters**. + +### Edit OBJ file description + +OBJ file format could be exported from most 3D editors. + +``` obj +o Left_Screen +v 0.000000 -0.000000 -0.000000 +v 15.000000 -0.000000 -0.000000 +v 0.000000 18.963333 -6.355470 +v 15.000000 18.963333 -6.355470 +f 1 2 4 3 +o Right_Screen +v 20.000000 0.000000 -0.000000 +v 35.000000 0.000000 -0.000000 +v 20.000000 18.963337 -6.355472 +v 35.000000 18.963337 -6.355472 +f 5 6 8 7 +o Control_Panel +v 49.500000 30.000000 18.333333 +v 55.500000 30.000000 18.333333 +v 49.500000 38.000000 18.333333 +v 55.500000 38.000000 18.333333 +f 9 10 12 11 +o Window +v -57.800000 5.500000 -33.500000 +v 46.000000 15.500000 -35.000000 +v 1.500000 53.000000 -1.000000 +v 50.200000 61.000000 6.000000 +v -35.850000 35.000000 -15.000000 +f 13 14 16 15 17 +``` + +Here are common OBJ file features needed to describe AOI: + +* Object lines (starting with *o* key) indicate AOI name. +* Vertice lines (starting with *v* key) indicate AOI vertices. +* Face (starting with *f* key) link vertices together. + +### Edit JSON file description + +JSON file format allows to describe AOI vertices. + +``` json +{ + "Left_Screen": [[0, 0, 0], [15, 0, 0], [0, 18.963333, -6.355470], [15, 18.963333, -6.355470]], + "Right_Screen": [[20, 0, 0], [35, 0, 0], [20, 18.963337, -6.355472], [35, 18.963337, -6.355472]], + "Control_Panel": [[49.5, 30, 18.333333], [55.5, 30, 18.333333], [49.5, 38, 18.333333], [55.5, 38, 18.333333]], + "Window": [[-57.8, 5.5, -33.5], [46, 15.5, -35], [1.5, 53, -1], [50.2, 61, 6], [-35.85, 35, -15]] +} +``` |