diff options
Diffstat (limited to 'src/argaze.test/ArUcoMarker/utils')
| -rw-r--r-- | src/argaze.test/ArUcoMarker/utils/aoi_3d.obj | 7 | ||||
| -rw-r--r-- | src/argaze.test/ArUcoMarker/utils/aruco_camera.json | 98 | ||||
| -rw-r--r-- | src/argaze.test/ArUcoMarker/utils/detector.json | 42 | ||||
| -rw-r--r-- | src/argaze.test/ArUcoMarker/utils/detector_parameters.json | 5 | ||||
| -rw-r--r-- | src/argaze.test/ArUcoMarker/utils/full_hd_board.png | bin | 0 -> 18475 bytes | |||
| -rw-r--r-- | src/argaze.test/ArUcoMarker/utils/full_hd_marker.png | bin | 0 -> 116210 bytes | |||
| -rw-r--r-- | src/argaze.test/ArUcoMarker/utils/optic_parameters.json | 31 | ||||
| -rw-r--r-- | src/argaze.test/ArUcoMarker/utils/scene.json | 20 | ||||
| -rw-r--r-- | src/argaze.test/ArUcoMarker/utils/scene.obj | 22 |
9 files changed, 225 insertions, 0 deletions
diff --git a/src/argaze.test/ArUcoMarker/utils/aoi_3d.obj b/src/argaze.test/ArUcoMarker/utils/aoi_3d.obj new file mode 100644 index 0000000..92e85bd --- /dev/null +++ b/src/argaze.test/ArUcoMarker/utils/aoi_3d.obj @@ -0,0 +1,7 @@ +o Test +v 0.000000 0.000000 0.000000 +v 25.000000 0.000000 0.000000 +v 0.000000 14.960000 0.000000 +v 25.000000 14.960000 0.000000 +s off +f 1 2 4 3 diff --git a/src/argaze.test/ArUcoMarker/utils/aruco_camera.json b/src/argaze.test/ArUcoMarker/utils/aruco_camera.json new file mode 100644 index 0000000..980dc9f --- /dev/null +++ b/src/argaze.test/ArUcoMarker/utils/aruco_camera.json @@ -0,0 +1,98 @@ +{ + "name": "TestArUcoCamera", + "size": [1920, 1080], + "aruco_detector": { + "dictionary": { + "name": "DICT_ARUCO_ORIGINAL" + }, + "optic_parameters": { + "rms": 1.0, + "dimensions": [ + 1920, + 1080 + ], + "K": [ + [ + 1.0, + 0.0, + 1.0 + ], + [ + 0.0, + 1.0, + 1.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "D": [ + -1.0, + -0.5, + 0.0, + 0.5, + 1.0 + ] + }, + "parameters": { + "cornerRefinementMethod": 3, + "aprilTagQuadSigma": 2, + "aprilTagDeglitch": 1 + } + }, + "scenes": { + "TestSceneA" : { + "aruco_markers_group": { + "dictionary": "DICT_ARUCO_ORIGINAL", + "places": { + "0": { + "translation": [1, 0, 0], + "rotation": [0, 0, 0], + "size": 3.0 + }, + "1": { + "translation": [0, 1, 0], + "rotation": [0, 90, 0], + "size": 3.0 + } + } + }, + "layers": { + "Main" : { + "aoi_scene": "aoi_3d.obj" + } + }, + "angle_tolerance": 1.0, + "distance_tolerance": 2.0 + }, + "TestSceneB" : { + "aruco_markers_group": { + "dictionary": "DICT_ARUCO_ORIGINAL", + "places": { + "0": { + "translation": [1, 0, 0], + "rotation": [0, 0, 0], + "size": 3.0 + }, + "1": { + "translation": [0, 1, 0], + "rotation": [0, 90, 0], + "size": 3.0 + } + } + }, + "layers": { + "Main" : { + "aoi_scene": "aoi_3d.obj" + } + }, + "angle_tolerance": 1.0, + "distance_tolerance": 2.0 + } + }, + "layers": { + "Main": {} + } +}
\ No newline at end of file diff --git a/src/argaze.test/ArUcoMarker/utils/detector.json b/src/argaze.test/ArUcoMarker/utils/detector.json new file mode 100644 index 0000000..8aada6d --- /dev/null +++ b/src/argaze.test/ArUcoMarker/utils/detector.json @@ -0,0 +1,42 @@ +{ + "dictionary": { + "name": "DICT_ARUCO_ORIGINAL" + }, + "marker_size": 3.0, + "optic_parameters": { + "rms": 1.0, + "dimensions": [ + 1920, + 1080 + ], + "K": [ + [ + 1.0, + 0.0, + 1.0 + ], + [ + 0.0, + 1.0, + 1.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "D": [ + -1.0, + -0.5, + 0.0, + 0.5, + 1.0 + ] + }, + "parameters": { + "cornerRefinementMethod": 3, + "aprilTagQuadSigma": 2, + "aprilTagDeglitch": 1 + } +}
\ No newline at end of file diff --git a/src/argaze.test/ArUcoMarker/utils/detector_parameters.json b/src/argaze.test/ArUcoMarker/utils/detector_parameters.json new file mode 100644 index 0000000..d26a3fa --- /dev/null +++ b/src/argaze.test/ArUcoMarker/utils/detector_parameters.json @@ -0,0 +1,5 @@ +{ + "cornerRefinementMethod": 3, + "aprilTagQuadSigma": 2, + "aprilTagDeglitch": 1 +}
\ No newline at end of file diff --git a/src/argaze.test/ArUcoMarker/utils/full_hd_board.png b/src/argaze.test/ArUcoMarker/utils/full_hd_board.png Binary files differnew file mode 100644 index 0000000..d30b300 --- /dev/null +++ b/src/argaze.test/ArUcoMarker/utils/full_hd_board.png diff --git a/src/argaze.test/ArUcoMarker/utils/full_hd_marker.png b/src/argaze.test/ArUcoMarker/utils/full_hd_marker.png Binary files differnew file mode 100644 index 0000000..42146fe --- /dev/null +++ b/src/argaze.test/ArUcoMarker/utils/full_hd_marker.png diff --git a/src/argaze.test/ArUcoMarker/utils/optic_parameters.json b/src/argaze.test/ArUcoMarker/utils/optic_parameters.json new file mode 100644 index 0000000..988731c --- /dev/null +++ b/src/argaze.test/ArUcoMarker/utils/optic_parameters.json @@ -0,0 +1,31 @@ +{ + "rms": 1.0, + "dimensions": [ + 1920, + 1080 + ], + "K": [ + [ + 1.0, + 0.0, + 1.0 + ], + [ + 0.0, + 1.0, + 1.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "D": [ + -1.0, + -0.5, + 0.0, + 0.5, + 1.0 + ] +}
\ No newline at end of file diff --git a/src/argaze.test/ArUcoMarker/utils/scene.json b/src/argaze.test/ArUcoMarker/utils/scene.json new file mode 100644 index 0000000..bdd9ae8 --- /dev/null +++ b/src/argaze.test/ArUcoMarker/utils/scene.json @@ -0,0 +1,20 @@ +{ + "dictionary": { + "name": "DICT_ARUCO_ORIGINAL" + }, + "marker_size": 1, + "places": { + "0": { + "translation": [0, 0, 0], + "rotation": [0, 0, 0] + }, + "1": { + "translation": [10, 10, 0], + "rotation": [0, 0, 0] + }, + "2": { + "translation": [0, 10, 0], + "rotation": [0, 0, 0] + } + } +} diff --git a/src/argaze.test/ArUcoMarker/utils/scene.obj b/src/argaze.test/ArUcoMarker/utils/scene.obj new file mode 100644 index 0000000..1eb9f81 --- /dev/null +++ b/src/argaze.test/ArUcoMarker/utils/scene.obj @@ -0,0 +1,22 @@ +# .OBJ file for ArUcoMarkerGroup unitary test +o DICT_ARUCO_ORIGINAL#0_Marker +v -0.500000 -0.500000 0.000000 +v 0.500000 -0.500000 0.000000 +v -0.500000 0.500000 0.000000 +v 0.500000 0.500000 0.000000 +vn 0.0000 0.0000 1.0000 +f 1//1 2//1 4//1 3//1 +o DICT_ARUCO_ORIGINAL#1_Marker +v 9.500000 9.500000 0.000000 +v 10.500000 9.500000 0.000000 +v 9.500000 10.500000 0.000000 +v 10.500000 10.500000 0.000000 +vn 0.0000 0.0000 1.0000 +f 5//2 6//2 8//2 7//2 +o DICT_ARUCO_ORIGINAL#2_Marker +v -0.500000 9.500000 0.000000 +v 0.500000 9.500000 0.000000 +v -0.500000 10.500000 0.000000 +v 0.500000 10.500000 0.000000 +vn 0.0000 0.0000 1.0000 +f 9//3 10//3 12//3 11//3 |
