diff options
Diffstat (limited to 'src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py')
| -rw-r--r-- | src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py | 12 |
1 files changed, 4 insertions, 8 deletions
diff --git a/src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py b/src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py index 7231384..1723f1c 100644 --- a/src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py +++ b/src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py @@ -16,8 +16,7 @@ __credits__ = [] __copyright__ = "Copyright 2023, Ecole Nationale de l'Aviation Civile (ENAC)" __license__ = "GPLv3" -from typing import TypeVar, Tuple -from dataclasses import dataclass, field +from typing import Self import json import math import itertools @@ -35,9 +34,6 @@ T0 = numpy.array([0., 0., 0.]) R0 = numpy.array([[1., 0., 0.], [0., 1., 0.], [0., 0., 1.]]) """Define no rotation matrix.""" -ArUcoMarkersGroupType = TypeVar('ArUcoMarkersGroup', bound="ArUcoMarkersGroup") -# Type definition for type annotation convenience - def make_rotation_matrix(x, y, z): # Create rotation matrix around x axis @@ -205,7 +201,7 @@ class ArUcoMarkersGroup(DataFeatures.PipelineStepObject): } @classmethod - def from_obj(self, obj_filepath: str) -> ArUcoMarkersGroupType: + def from_obj(self, obj_filepath: str) -> Self: """Load ArUco markers group from .obj file. !!! note @@ -322,7 +318,7 @@ class ArUcoMarkersGroup(DataFeatures.PipelineStepObject): return ArUcoMarkersGroup(new_dictionary, new_places) - def filter_markers(self, detected_markers: dict) -> Tuple[dict, dict]: + def filter_markers(self, detected_markers: dict) -> tuple[dict, dict]: """Sort markers belonging to the group from given detected markers dict (cf ArUcoDetector.detect_markers()). Returns: @@ -345,7 +341,7 @@ class ArUcoMarkersGroup(DataFeatures.PipelineStepObject): return group_markers, remaining_markers - def estimate_pose_from_markers_corners(self, markers: dict, K: numpy.array, D: numpy.array) -> Tuple[bool, numpy.array, numpy.array]: + def estimate_pose_from_markers_corners(self, markers: dict, K: numpy.array, D: numpy.array) -> tuple[bool, numpy.array, numpy.array]: """Estimate pose from markers corners and places corners. Parameters: |