diff options
Diffstat (limited to 'docs/user_guide/aruco_markers_pipeline/aruco_scene.md')
| -rw-r--r-- | docs/user_guide/aruco_markers_pipeline/aruco_scene.md | 128 |
1 files changed, 108 insertions, 20 deletions
diff --git a/docs/user_guide/aruco_markers_pipeline/aruco_scene.md b/docs/user_guide/aruco_markers_pipeline/aruco_scene.md index 2f37fa7..b47fefb 100644 --- a/docs/user_guide/aruco_markers_pipeline/aruco_scene.md +++ b/docs/user_guide/aruco_markers_pipeline/aruco_scene.md @@ -1,9 +1,7 @@ Add an ArUcoScene ================= -An [ArUcoScene](../../argaze.md/#argaze.ArUcoMarkers.ArUcoScene) class defines ... - -Besides, the [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarkers.ArUcoCamera) class projects [ArUcoScenes](../../argaze.md/#argaze.ArUcoMarkers.ArUcoScene)'s layers into its own layers thanks to ArUco markers pose estimations made by its [ArUcoDetector](../../argaze.md/#argaze.ArUcoMarkers.ArUcoDetector). +An [ArUcoScene](../../argaze.md/#argaze.ArUcoMarkers.ArUcoScene) class defines a space where [areas of interest description](aoi_description.md) is mapped onto [ArUco markers description](aruco_markers_description.md).  @@ -11,7 +9,7 @@ Besides, the [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarkers.ArUcoCamera) cla An [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarkers.ArUcoCamera) instance can contains multiples [ArUcoScene](../../argaze.md/#argaze.ArUcoMarkers.ArUcoScene). -Here is an extract from the JSON ArUcoCamera configuration file with a sample where one scene is added: +Here is an extract from the JSON [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarkers.ArUcoCamera) configuration file with a sample where one scene is added: ```json { @@ -20,16 +18,25 @@ Here is an extract from the JSON ArUcoCamera configuration file with a sample wh ... "scenes": { "MyScene" : { - "aruco_markers_group": "aruco_description.json" - }, - "layers": { - "MyLayer": { - "aoi_scene": "aoi_description.obj" - } + "aruco_markers_group": { + "dictionary": "DICT_APRILTAG_16h5", + "marker_size": 5, + "places": { + "0": { + "translation": [2.5, 2.5, 0], + "rotation": [0, 0, 0] + }, + "1": { + "translation": [0, 25.5, 2], + "rotation": [0, 45, 0] + }, + "2": { + "translation": [35.5, 0, 3], + "rotation": [-45, 0, 0] + } + } + } } - }, - "layers": { - "MyLayer": {} } ... } @@ -37,20 +44,101 @@ Here is an extract from the JSON ArUcoCamera configuration file with a sample wh Now, let's understand the meaning of each JSON entry. -### "MyLayer" +### "MyScene" The name of the [ArUcoScene](../../argaze.md/#argaze.ArUcoMarkers.ArUcoScene). Basically useful for visualisation purpose. ### ArUco markers group -... +The 3D places of ArUco markers into the scene as defined at [ArUco markers description chapter](aruco_markers_description.md). Thanks to this description, it is possible to estimate the pose of [ArUcoScene](../../argaze.md/#argaze.ArUcoMarkers.ArUcoScene) in [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarkers.ArUcoCamera) frame. + +!!! note + + [ArUcoScene](../../argaze.md/#argaze.ArUcoMarkers.ArUcoScene) pose estimation is done when calling the [ArUcoCamera.watch](../../argaze.md/#argaze.ArFeatures.ArCamera.watch) method. + +## Add ArLayer to ArUcoScene to load AOI + +The [ArLayer](../../argaze.md/#argaze.ArFeatures.ArLayer) class allows to load areas of interest description. + +An [ArUcoScene](../../argaze.md/#argaze.ArUcoMarkers.ArUcoScene) instance can contains multiples [ArLayers](../../argaze.md/#argaze.ArFeatures.ArLayer). + +Here is the previous extract where one layer is added to the [ArUcoScene](../../argaze.md/#argaze.ArUcoMarkers.ArUcoScene): + +```json +{ + "name": "My FullHD camera", + "size": [1920, 1080], + ... + "scenes": { + "MyScene" : { + "aruco_markers_group": { + ... + }, + "layers": { + "MyLayer": { + "aoi_scene": { + "YellowSquare": [[6.2, -7.275252, 25.246159], [31.2, -7.275252, 25.246159], [6.2, 1.275252, 1.753843], [31.2, 1.275252, 1.753843]], + "GrayRectangle": [[2.5, 2.5, -0.5], [37.5, 2.5, -0.5], [2.5, 27.5, -0.5], [37.5, 27.5, -0.5]], + "BlueTriangle": [[12.5, 7.5, -0.5], [27.5, 7.5, -0.5], [20, 22.5, -0.5]] + } + } + } + } + } + ... +} +``` + +Now, let's understand the meaning of each JSON entry. + +### "MyLayer" + +The name of the [ArLayer](../../argaze.md/#argaze.ArFeatures.ArLayer). Basically useful for visualisation purpose. + +### AOI Scene + +The [AOIScene](../../argaze.md/#argaze.AreaOfInterest.AOIFeatures.AOIScene) defines a set of 3D [AreaOfInterest](../../argaze.md/#argaze.AreaOfInterest.AOIFeatures.AreaOfInterest) registered by name. + +## Add ArLayer to ArUcoCamera to project AOI + +Here is the previous extract where one layer is added to the [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarkers.ArUcoCamera): + +```json +{ + "name": "My FullHD camera", + "size": [1920, 1080], + ... + "scenes": { + "MyScene" : { + "aruco_markers_group": { + ... + }, + "layers": { + "MyLayer": { + "aoi_scene": { + ... + } + } + } + } + }, + "layers": { + "MyLayer": {} + } + ... +} +``` + +Now, let's understand the meaning of each JSON entry. + +### "MyLayer" -### Layers +The name of the [ArLayer](../../argaze.md/#argaze.ArFeatures.ArLayer). Basically useful for visualisation purpose. -... +!!! warning -### AOI scene + An [ArUcoScene](../../argaze.md/#argaze.ArUcoMarkers.ArUcoScene) layer is projected into [an ArUcoCamera](../../argaze.md/#argaze.ArUcoMarkers.ArUcoCamera) layer, **provided they have the same name**. -The [AOIScene](../../argaze.md/#argaze.AreaOfInterest.AOIFeatures.AOIScene) defines a set of 2D [AreaOfInterest](../../argaze.md/#argaze.AreaOfInterest.AOIFeatures.AreaOfInterest) registered by name. +!!! note - + [ArUcoScene](../../argaze.md/#argaze.ArUcoMarkers.ArUcoScene) layers are projected into their dedicated [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarkers.ArUcoCamera) layers when calling the [ArUcoCamera.watch](../../argaze.md/#argaze.ArFeatures.ArCamera.watch) method. |