diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/argaze/ArUcoMarkers/ArUcoScene.py | 25 |
1 files changed, 22 insertions, 3 deletions
diff --git a/src/argaze/ArUcoMarkers/ArUcoScene.py b/src/argaze/ArUcoMarkers/ArUcoScene.py index 8acedb1..0edb253 100644 --- a/src/argaze/ArUcoMarkers/ArUcoScene.py +++ b/src/argaze/ArUcoMarkers/ArUcoScene.py @@ -36,6 +36,7 @@ class ArUcoScene(ArFeatures.ArScene): # Init private attribute self.__aruco_markers_group = None + self.__required_markers_number = 2 @property def aruco_markers_group(self) -> ArUcoMarkersGroup.ArUcoMarkersGroup: @@ -53,6 +54,24 @@ class ArUcoScene(ArFeatures.ArScene): self.__aruco_markers_group.parent = self + @property + def required_markers_number(self) -> int: + """Numbers of markers that have to be detected to allow pose estimation (default: 2).""" + + return self.__required_markers_number + + @required_markers_number.setter + def required_markers_number(self, n: int): + + # Constrain number to 1 at least + if n < 1: + + self.__required_markers_number = 1 + + else: + + self.__required_markers_number = n + @DataFeatures.PipelineStepMethod def estimate_pose(self, detected_markers: dict) -> tuple[numpy.array, numpy.array, dict]: """Estimate scene pose from detected ArUco markers. @@ -78,10 +97,10 @@ class ArUcoScene(ArFeatures.ArScene): raise ArFeatures.PoseEstimationFailed('No marker belongs to the scene') - # Pose estimation fails if only one marker belongs to the scene - if len(scene_markers) == 1: + # Pose estimation fails when not enough marker belongs to the scene + if len(scene_markers) < self.required_markers_number: - raise ArFeatures.PoseEstimationFailed('Only one marker belongs to the scene') + raise ArFeatures.PoseEstimationFailed(f'Not enough marker belongs to the scene') # Estimate pose from markers corners success, tvec, rmat = self.__aruco_markers_group.estimate_pose_from_markers_corners(scene_markers, self.parent.aruco_detector.optic_parameters.K, self.parent.aruco_detector.optic_parameters.D) |