From 928329ba7a1675a4c0a35d43fc073d1aeff5cf9c Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Mon, 19 Dec 2022 20:01:00 +0100
Subject: Removing cv.Rodrigues transformation as we use only rotation matrix.

---
 src/argaze/AreaOfInterest/AOI3DScene.py | 10 ++++------
 1 file changed, 4 insertions(+), 6 deletions(-)

diff --git a/src/argaze/AreaOfInterest/AOI3DScene.py b/src/argaze/AreaOfInterest/AOI3DScene.py
index e081f57..070789e 100644
--- a/src/argaze/AreaOfInterest/AOI3DScene.py
+++ b/src/argaze/AreaOfInterest/AOI3DScene.py
@@ -14,8 +14,8 @@ import cv2 as cv
 T0 = numpy.array([0., 0., 0.])
 """Define no translation vector."""
 
-R0 = numpy.array([0., 0., 0.])
-"""Define no rotation vector."""
+R0 = numpy.array([[1., 0., 0.], [0., 1., 0.], [0., 0., 1.]])
+"""Define no rotation matrix."""
 
 K0 = numpy.array([[1., 0., 0.], [0., 1., 0.], [0., 0., 0.]])
 """Define default camera intrinsic parameters matrix."""
@@ -188,7 +188,7 @@ class AOI3DScene(AOIFeatures.AOIScene):
 
 		* **Arguments:** 
 			- translation vector
-			- [axis-angle](https://en.wikipedia.org/wiki/Axis%E2%80%93angle_representation) rotation vector
+			- rotation matrix
 			- camera intrinsic parameters matrix
 			- camera distorsion coefficients vector
 		"""
@@ -210,13 +210,11 @@ class AOI3DScene(AOIFeatures.AOIScene):
 
 		* **Arguments:** 
 			- translation vector
-			- [axis-angle](https://en.wikipedia.org/wiki/Axis%E2%80%93angle_representation) rotation vector
+			- rotation matrix
 		"""
 
 		aoi3D_scene = AOI3DScene()
 
-		R, _ = cv.Rodrigues(R)
-
 		for name, aoi3D in self.items():
 
 			aoi3D_scene[name] = aoi3D.dot(R.T) + T
-- 
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