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Diffstat (limited to 'docs/user_guide/aruco_markers_pipeline/aruco_markers_description.md')
| -rw-r--r-- | docs/user_guide/aruco_markers_pipeline/aruco_markers_description.md | 35 |
1 files changed, 14 insertions, 21 deletions
diff --git a/docs/user_guide/aruco_markers_pipeline/aruco_markers_description.md b/docs/user_guide/aruco_markers_pipeline/aruco_markers_description.md index 1c13013..6380f88 100644 --- a/docs/user_guide/aruco_markers_pipeline/aruco_markers_description.md +++ b/docs/user_guide/aruco_markers_pipeline/aruco_markers_description.md @@ -3,11 +3,11 @@ Set up ArUco markers First of all, ArUco markers needs to be printed and placed into the scene. -Here is an example scene where markers are surrounding a multi-screen workspace with a triangle area inside one of them. +Here is an example scene where markers are surrounding a workspace with a screen and a sheet on the table (considering the sheet stays static for the moment).  -## Print ArUco markers from a ArUco dictionary +## Print ArUco markers from an ArUco dictionary ArUco markers always belongs to a set of markers called ArUco markers dictionary. @@ -65,24 +65,18 @@ v 0.000000 0.000000 0.000000 v 5.000000 0.000000 0.000000 v 0.000000 5.000000 0.000000 v 5.000000 5.000000 0.000000 -vn 0.0000 0.0000 1.0000 -s off f 1//1 2//1 4//1 3//1 o DICT_APRILTAG_16h5#1_Marker -v -1.767767 23.000002 3.767767 -v 1.767767 23.000002 0.232233 -v -1.767767 28.000002 3.767767 -v 1.767767 28.000002 0.232233 -vn 0.7071 0.0000 0.7071 -s off +v -0.855050 24.000002 4.349232 +v 0.855050 24.000002 -0.349231 +v -0.855050 29.000002 4.349232 +v 0.855050 29.000002 -0.349231 f 5//2 6//2 8//2 7//2 o DICT_APRILTAG_16h5#2_Marker -v 33.000000 -1.767767 4.767767 -v 38.000000 -1.767767 4.767767 -v 33.000000 1.767767 1.232233 -v 38.000000 1.767767 1.232233 -vn 0.0000 0.7071 0.7071 -s off +v 44.000000 0.000000 9.500000 +v 49.000000 0.000000 9.500000 +v 44.000000 -0.000000 4.500000 +v 49.000000 -0.000000 4.500000 f 9//3 10//3 12//3 11//3 ``` @@ -90,7 +84,6 @@ Here are common OBJ file features needed to describe ArUco markers places: * Object lines (starting with *o* key) indicate markers dictionary and id by following this format: **DICTIONARY**#**ID**\_Marker. * Vertice lines (starting with *v* key) indicate markers corners. The marker size will be automatically deducted from the geometry. -* Plane normals (starting with *vn* key) need to be exported for further pose estimation. * Face (starting with *f* key) link vertices and normals indexes together. !!! warning @@ -110,12 +103,12 @@ JSON file format allows to describe markers places using translation and euler a "rotation": [0, 0, 0] }, "1": { - "translation": [0, 25.5, 2], - "rotation": [0, 45, 0] + "translation": [0, 26.5, 2], + "rotation": [0, 70, 0] }, "2": { - "translation": [35.5, 0, 3], - "rotation": [-45, 0, 0] + "translation": [46.5, 0, 7], + "rotation": [-90, 0, 0] } } } |