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Diffstat (limited to 'docs/user_guide/aruco_markers_pipeline/aoi_description.md')
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diff --git a/docs/user_guide/aruco_markers_pipeline/aoi_description.md b/docs/user_guide/aruco_markers_pipeline/aoi_description.md deleted file mode 100644 index 101ec9f..0000000 --- a/docs/user_guide/aruco_markers_pipeline/aoi_description.md +++ /dev/null @@ -1,62 +0,0 @@ -Describe AOI -============ - -Once [ArUco markers are placed into a scene](aruco_markers_description.md), areas of interest need to be described into the same 3D referential. - -In the example scene, each screen is considered as an area of interest more the blue triangle area inside the top screen. - - - -All AOIs 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 AOIs spatial values must be given in **centimeters**. - -### Edit OBJ file description - -OBJ file format could be exported from most 3D editors. - -``` obj -o YellowSquare -v 6.200003 -7.275252 25.246159 -v 31.200003 -7.275252 25.246159 -v 6.200003 1.275252 1.753843 -v 31.200003 1.275252 1.753843 -s off -f 1 2 4 3 -o GrayRectangle -v 2.500000 2.500000 -0.500000 -v 37.500000 2.500000 -0.500000 -v 2.500000 27.500000 -0.500000 -v 37.500000 27.500000 -0.500000 -s off -f 5 6 8 7 -o BlueTriangle -v 12.500002 7.500000 -0.500000 -v 27.500002 7.500000 -0.500000 -v 20.000002 22.500000 -0.500000 -s off -f 9 10 11 -``` - -Here are common OBJ file features needed to describe AOIs: - -* 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 AOIs vertices. - -``` json -{ - "YellowSquare": [[6.2, -7.275252, 25.246159], [31.2, -7.275252, 25.246159], [31.2, 1.275252, 1.753843], [6.2, 1.275252, 1.753843]], - "GrayRectangle": [[2.5, 2.5, -0.5], [37.5, 2.5, -0.5], [37.5, 27.5, -0.5], [2.5, 27.5, -0.5]], - "BlueTriangle": [[12.5, 7.5, -0.5], [27.5, 7.5, -0.5], [20, 22.5, -0.5]] -} -``` |