diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py | 22 |
1 files changed, 10 insertions, 12 deletions
diff --git a/src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py b/src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py index df390b4..bedd408 100644 --- a/src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py +++ b/src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py @@ -497,26 +497,24 @@ class ArUcoMarkersGroup(): v_count = 0 - for identifier, place in self.places.items(): + for p, (identifier, place) in enumerate(self.places.items()): file.write(f'o {self.dictionary.name}#{identifier}_Marker\n') vertices = '' - T = place.translation - R = place.rotation - - points = (T + numpy.float32([R.dot(place.marker.points[0]), R.dot(place.marker.points[1]), R.dot(place.marker.points[2]), R.dot(place.marker.points[3])])).reshape(-1, 3) - - print(points) - # Write vertices in reverse order - for i in [3, 2, 1, 0]: + for v in [3, 2, 1, 0]: - file.write(f'v {" ".join(map(str, points[i]))}\n') + file.write(f'v {" ".join(map(str, place.corners[v]))}\n') v_count += 1 - vertices += f' {v_count}' + vertices += f' {v_count}//{p+1}' + + # Write normal vector + nvec = numpy.cross(place.corners[-1] - place.corners[0], place.corners[1] - place.corners[0]) + nvec = nvec / numpy.linalg.norm(nvec) + file.write(f'vn {nvec[0]} {nvec[1]} {nvec[2]}\n') - file.write('s off\n') + #file.write('s off\n') file.write(f'f{vertices}\n') |