From d9dc8fc6f542c1ba46cba9d66a741890f946474a Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Mon, 23 Oct 2023 14:34:10 +0200
Subject: Removing draw_places_axes image parameter. Fixing aruco markers group
 drawing.

---
 .../aruco_markers_pipeline/pose_estimation.md      |  4 ---
 src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py       | 35 ++--------------------
 2 files changed, 2 insertions(+), 37 deletions(-)

diff --git a/docs/user_guide/aruco_markers_pipeline/pose_estimation.md b/docs/user_guide/aruco_markers_pipeline/pose_estimation.md
index 6027039..6b58b24 100644
--- a/docs/user_guide/aruco_markers_pipeline/pose_estimation.md
+++ b/docs/user_guide/aruco_markers_pipeline/pose_estimation.md
@@ -51,10 +51,6 @@ Here is an extract from the JSON [ArUcoCamera](../../argaze.md/#argaze.ArUcoMark
                     "draw_places": {
                         "color": [0, 0, 0],
                         "border_size": 1
-                    },
-                    "draw_places_axes": {
-                        "thickness": 1,
-                        "length": 2.5
                     }
                 }
             }
diff --git a/src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py b/src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py
index edae927..b4aedbd 100644
--- a/src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py
+++ b/src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py
@@ -432,11 +432,7 @@ class ArUcoMarkersGroup():
 
             try:
 
-                T = self.places[identifier].translation
-                R = self.places[identifier].rotation
-
-                placePoints = (T + numpy.float32([R.dot([-l, -l, 0]), R.dot([l, -l, 0]), R.dot([l, l, 0]), R.dot([-l, l, 0])])).reshape(-1, 3)
-                placePoints, _ = cv2.projectPoints(placePoints, self._rotation, self._translation, numpy.array(K), numpy.array(D))
+                placePoints, _ = cv2.projectPoints(place.corners, self._rotation, self._translation, numpy.array(K), numpy.array(D))
                 placePoints = placePoints.astype(int)
                 
                 cv2.line(image, tuple(placePoints[0].ravel()), tuple(placePoints[1].ravel()), color, border_size)
@@ -448,29 +444,7 @@ class ArUcoMarkersGroup():
             except cv2.error:
                 pass
 
-    def draw_places_axes(self, image: numpy.array, K, D, thickness: int = 0, length: float = 0):
-        """Draw group place axes."""
-
-        for identifier, place in self.places.items():
-
-            try:
-
-                T = self.places[identifier].translation
-                R = self.places[identifier].rotation
-
-                axisPoints = (T + numpy.float32([R.dot([length, 0, 0]), R.dot([0, length, 0]), R.dot([0, 0, length]), R.dot([0, 0, 0])])).reshape(-1, 3)
-                axisPoints, _ = cv2.projectPoints(axisPoints, self._rotation, self._translation, numpy.array(K), numpy.array(D))
-                axisPoints = axisPoints.astype(int)
-
-                cv2.line(image, tuple(axisPoints[3].ravel()), tuple(axisPoints[0].ravel()), (0, 0, 255), thickness) # X (red)
-                cv2.line(image, tuple(axisPoints[3].ravel()), tuple(axisPoints[1].ravel()), (0, 255, 0), thickness) # Y (green)
-                cv2.line(image, tuple(axisPoints[3].ravel()), tuple(axisPoints[2].ravel()), (255, 0, 0), thickness) # Z (blue)
-                
-            # Ignore errors due to out of field places: their coordinate are larger than int32 limitations.
-            except cv2.error:
-                pass
-
-    def draw(self, image: numpy.array, K, D, draw_axes: dict = None, draw_places: dict = None, draw_places_axes: dict = None):
+    def draw(self, image: numpy.array, K, D, draw_axes: dict = None, draw_places: dict = None):
         """Draw group axes and places.
     
         Parameters:
@@ -489,11 +463,6 @@ class ArUcoMarkersGroup():
 
             self.draw_places(image, K, D, **draw_places)
 
-        # Draw places axes if required
-        if draw_places_axes is not None:
-
-            self.draw_places_axes(image, K, D, **draw_places_axes)
-
     def to_obj(self, obj_filepath):
         """Save group to .obj file."""
 
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