diff options
Diffstat (limited to 'docs/user_guide/aruco_markers_pipeline/pose_estimation.md')
| -rw-r--r-- | docs/user_guide/aruco_markers_pipeline/pose_estimation.md | 84 |
1 files changed, 0 insertions, 84 deletions
diff --git a/docs/user_guide/aruco_markers_pipeline/pose_estimation.md b/docs/user_guide/aruco_markers_pipeline/pose_estimation.md deleted file mode 100644 index 7f6573c..0000000 --- a/docs/user_guide/aruco_markers_pipeline/pose_estimation.md +++ /dev/null @@ -1,84 +0,0 @@ -Estimate scene pose -=================== - -Once [ArUco markers are placed into a scene](aruco_markers_description.md) and [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarkers.ArUcoCamera) is [configured](configuration_and_execution.md), scene pose can be estimated. - - - -## Add ArUcoScene to ArUcoCamera JSON configuration file - -An [ArUcoScene](../../argaze.md/#argaze.ArUcoMarkers.ArUcoScene) class defines a space with [ArUco markers inside](aruco_markers_description.md) helping to estimate scene pose when they are watched by [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarkers.ArUcoCamera). - -Here is an extract from the JSON [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarkers.ArUcoCamera) configuration file with a sample where one scene is added and displayed: - -```json -{ - "name": "My FullHD camera", - "size": [1920, 1080], - ... - "scenes": { - "MyScene" : { - "aruco_markers_group": { - "dictionary": "DICT_APRILTAG_16h5", - "places": { - "0": { - "translation": [17.5, 2.75, -0.5], - "rotation": [-18.5, 0, 0], - "size": 5 - }, - "1": { - "translation": [46, 34, 18.333], - "rotation": [0, 70, 0], - "size": 5 - }, - "2": { - "translation": [41, 4, 3.333], - "rotation": [-60, 0, 0], - "size": 5 - } - } - } - } - }, - ... - "image_parameters": { - ... - "draw_scenes": { - "MyScene": { - "draw_aruco_markers_group": { - "draw_axes": { - "thickness": 3, - "length": 10 - }, - "draw_places": { - "color": [0, 0, 0], - "border_size": 1 - } - } - } - } - } -} -``` - -Now, let's understand the meaning of each JSON entry. - -### *scenes* - -An [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarkers.ArUcoCamera) instance can contains multiples [ArUcoScene](../../argaze.md/#argaze.ArUcoMarkers.ArUcoScene) stored by name. - -### MyScene - -The name of an [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. - -### *draw_scenes* - -The drawing parameters of each loaded [ArUcoScene](../../argaze.md/#argaze.ArUcoMarkers.ArUcoScene) in [ArUcoCamera.image](../../argaze.md/#argaze.ArFeatures.ArFrame.image). |