From 98bae44272c0c9c3c6e04196cd5b24ddb2eb0ddd Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Wed, 12 Apr 2023 11:01:46 +0200
Subject: Externalizing make_rotation_matrix function to use it else where than
 inside the ArScene code.

---
 src/argaze/ArUcoMarkers/ArUcoScene.py | 44 +++++++++++++++++------------------
 1 file changed, 22 insertions(+), 22 deletions(-)

diff --git a/src/argaze/ArUcoMarkers/ArUcoScene.py b/src/argaze/ArUcoMarkers/ArUcoScene.py
index 06faa41..868e84d 100644
--- a/src/argaze/ArUcoMarkers/ArUcoScene.py
+++ b/src/argaze/ArUcoMarkers/ArUcoScene.py
@@ -22,6 +22,26 @@ R0 = numpy.array([[1., 0., 0.], [0., 1., 0.], [0., 0., 1.]])
 ArUcoSceneType = TypeVar('ArUcoScene', bound="ArUcoScene")
 # Type definition for type annotation convenience
 
+def make_rotation_matrix(x, y, z):
+
+    # Create rotation matrix around x axis
+    c = numpy.cos(numpy.deg2rad(x))
+    s = numpy.sin(numpy.deg2rad(x))
+    Rx = numpy.array([[1, 0, 0], [0, c, -s], [0, s, c]])
+
+    # Create rotation matrix around y axis
+    c = numpy.cos(numpy.deg2rad(y))
+    s = numpy.sin(numpy.deg2rad(y))
+    Ry = numpy.array([[c, 0, s], [0, 1, 0], [-s, 0, c]])
+
+    # Create rotation matrix around z axis
+    c = numpy.cos(numpy.deg2rad(z))
+    s = numpy.sin(numpy.deg2rad(z))
+    Rz = numpy.array([[c, -s, 0], [s, c, 0], [0, 0, 1]])
+
+    # Return intrinsic rotation matrix
+    return Rx.dot(Ry.dot(Rz))
+
 @dataclass(frozen=True)
 class Place():
     """Define a place as a pose and a marker."""
@@ -58,26 +78,6 @@ class ArUcoScene():
         # Normalize places data
         new_places = {}
 
-        def __make_rotation_matrix(x, y, z):
-
-            # Create rotation matrix around x axis
-            c = numpy.cos(numpy.deg2rad(x))
-            s = numpy.sin(numpy.deg2rad(x))
-            Rx = numpy.array([[1, 0, 0], [0, c, -s], [0, s, c]])
-
-            # Create rotation matrix around y axis
-            c = numpy.cos(numpy.deg2rad(y))
-            s = numpy.sin(numpy.deg2rad(y))
-            Ry = numpy.array([[c, 0, s], [0, 1, 0], [-s, 0, c]])
-
-            # Create rotation matrix around z axis
-            c = numpy.cos(numpy.deg2rad(z))
-            s = numpy.sin(numpy.deg2rad(z))
-            Rz = numpy.array([[c, -s, 0], [s, c, 0], [0, 0, 1]])
-
-            # Return intrinsic rotation matrix
-            return Rx.dot(Ry.dot(Rz))
-
         for identifier, place in self.places.items():
 
             # Convert string identifier to int value
@@ -85,9 +85,9 @@ class ArUcoScene():
 
                 identifier = int(identifier)
 
-                # Convert translation and rotation keys to Place object
+                # Convert translation and rotation values
                 tvec = numpy.array(place.pop('translation')).astype(numpy.float32)
-                rmat = __make_rotation_matrix(*place.pop('rotation')).astype(numpy.float32)
+                rmat = make_rotation_matrix(*place.pop('rotation')).astype(numpy.float32)
 
                 new_marker = ArUcoMarker.ArUcoMarker(self.dictionary, identifier, self.marker_size)
 
-- 
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