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Diffstat (limited to 'docs')
| -rw-r--r-- | docs/user_guide/aruco_markers/markers_scene_description.md | 47 |
1 files changed, 38 insertions, 9 deletions
diff --git a/docs/user_guide/aruco_markers/markers_scene_description.md b/docs/user_guide/aruco_markers/markers_scene_description.md index 3ea962e..0b5b712 100644 --- a/docs/user_guide/aruco_markers/markers_scene_description.md +++ b/docs/user_guide/aruco_markers/markers_scene_description.md @@ -11,6 +11,10 @@ The ArGaze toolkit provides [ArUcoScene](../../../argaze/#argaze.ArUcoMarkers.Ar * check the consistency of detected markers according the place where each marker is expected to be, * estimate the pose of the scene from the pose of detected markers. +## Scene creation + +### from OBJ + ArUco scene description uses common OBJ file format that can be exported from most 3D editors. Notice that plane normals (vn) needs to be exported. ``` obj @@ -33,6 +37,24 @@ f 5//2 6//2 8//2 7//2 ... ``` +Here is a sample of code to show the loading of an [ArUcoScene](../../../argaze/#argaze.ArUcoMarkers.ArUcoScene) OBJ file description: + +``` python +from argaze.ArUcoMarkers import ArUcoScene + +# Create an ArUco scene from a OBJ file description +aruco_scene = ArUcoScene.ArUcoScene.from_obj('./markers.obj') + +# Print loaded marker places +for place_id, place in aruco_scene.places.items(): + + print(f'place {place_id} for marker: ', place.marker.identifier) + print(f'place {place_id} translation: ', place.translation) + print(f'place {place_id} rotation: ', place.rotation) +``` + +### from JSON + [ArUcoScene](../../../argaze/#argaze.ArUcoMarkers.ArUcoScene) description can also be written in a JSON file format. ``` json @@ -56,20 +78,18 @@ f 5//2 6//2 8//2 7//2 } ``` -Here is a sample of code to show the loading of an [ArUcoScene](../../../argaze/#argaze.ArUcoMarkers.ArUcoScene) OBJ file description: +### from detected markers + +Here is a more advanced usage where ArUco scene is built from markers detected into an image: ``` python from argaze.ArUcoMarkers import ArUcoScene -# Create an ArUco scene from a OBJ file description -aruco_scene = ArUcoScene.ArUcoScene.from_obj('./markers.obj') - -# Print loaded marker places -for place_id, place in aruco_scene.places.items(): +# Assuming markers have been detected and their pose estimated thanks to ArUcoDetector +# ... - print(f'place {place_id} for marker: ', place.marker.identifier) - print(f'place {place_id} translation: ', place.translation) - print(f'place {place_id} rotation: ', place.rotation) +# Build ArUco scene from detected markers +aruco_scene = ArUcoScene.ArUcoScene(aruco_detector.marker_size, aruco_detector.dictionary, aruco_detector.detected_markers) ``` ## Markers filtering @@ -115,3 +135,12 @@ The third approach is only available when ArUco markers are placed in such a con ``` python tvec, rmat = self.aruco_scene.estimate_pose_from_axis_markers(origin_marker, horizontal_axis_marker, vertical_axis_marker) ``` + +## Scene exportation + +As ArUco scene can be exported to OBJ file description to import it into most 3D editors. + +``` python +# Export an ArUco scene as OBJ file description +aruco_scene.to_obj('markers.obj') +``` |