From 03013286100d4a3cc49439afc6f432f7be0c494b Mon Sep 17 00:00:00 2001 From: Théo de la Hogue Date: Wed, 10 Apr 2024 15:13:12 +0200 Subject: orthographic corrections --- .../aruco_markers_description.md | 120 --------------------- 1 file changed, 120 deletions(-) delete mode 100644 docs/user_guide/aruco_markers_pipeline/aruco_markers_description.md (limited to 'docs/user_guide/aruco_markers_pipeline/aruco_markers_description.md') diff --git a/docs/user_guide/aruco_markers_pipeline/aruco_markers_description.md b/docs/user_guide/aruco_markers_pipeline/aruco_markers_description.md deleted file mode 100644 index 055d1de..0000000 --- a/docs/user_guide/aruco_markers_pipeline/aruco_markers_description.md +++ /dev/null @@ -1,120 +0,0 @@ -Set up ArUco markers -==================== - -First of all, ArUco markers needs to be printed and placed into the scene. - -Here is an example scene where markers are surrounding a workspace with two screens, a control panel and a window. - -![Scene](../../img/scene.png) - -## Print ArUco markers from an ArUco dictionary - -ArUco markers always belongs to a set of markers called ArUco markers dictionary. - -![ArUco dictionaries](../../img/aruco_dictionaries.png) - -Many ArUco dictionaries exist with properties concerning the format, the number of markers or the difference between each markers to avoid error in tracking. - -Here is the documention [about ArUco markers dictionaries](https://docs.opencv.org/3.4/d9/d6a/group__aruco.html#gac84398a9ed9dd01306592dd616c2c975). - -The creation of [ArUcoMarkers](../../argaze.md/#argaze.ArUcoMarkers.ArUcoMarker) pictures from a dictionary is illustrated in the code below: - -``` python -from argaze.ArUcoMarkers import ArUcoMarkersDictionary - -# Create a dictionary of specific April tags -aruco_dictionary = ArUcoMarkersDictionary.ArUcoMarkersDictionary('DICT_APRILTAG_16h5') - -# Export marker n°5 as 3.5 cm picture with 300 dpi resolution -aruco_dictionary.create_marker(5, 3.5).save('./markers/', 300) - -# Export all dictionary markers as 3.5 cm pictures with 300 dpi resolution -aruco_dictionary.save('./markers/', 3.5, 300) -``` - -!!! note - There is **A4_DICT_APRILTAG_16h5_5cm_0-7.pdf** file located in *./src/argaze/ArUcoMarkers/utils/* folder ready to be printed on A4 paper sheet. - -Let's print some of them before to go further. - -!!! warning - Print markers with a blank zone around them to help in their detection. - -## Describe ArUco markers place - -Once [ArUcoMarkers](../../argaze.md/#argaze.ArUcoMarkers.ArUcoMarker) pictures are placed into a scene it is possible to describe their 3D places into a file. - -![ArUco markers description](../../img/aruco_markers_description.png) - -Where ever the origin point is, all markers places need to be described in a [right-handed 3D axis](https://robotacademy.net.au/lesson/right-handed-3d-coordinate-frame/) where: - -* +X is pointing to the right, -* +Y is pointing to the top, -* +Z is pointing to the backward. - -!!! warning - All ArUco markers spatial values must be given in **centimeters**. - -### Edit OBJ file description - -OBJ file format could be exported from most 3D editors. - -``` obj -o DICT_APRILTAG_16h5#0_Marker -v 15.000000 0.378741 0.330527 -v 20.000000 0.378741 0.330527 -v 15.000000 5.120359 -1.255996 -v 20.000000 5.120359 -1.255996 -f 1 2 4 3 -o DICT_APRILTAG_16h5#1_Marker -v 43.500000 31.428055 18.333317 -v 48.500000 31.428055 18.333317 -v 43.500000 36.428055 18.333317 -v 48.500000 36.428055 18.333317 -f 5 6 8 7 -o DICT_APRILTAG_16h5#2_Marker -v 38.500000 2.678055 5.498381 -v 43.500000 2.678055 5.498381 -v 38.500000 5.178055 1.168253 -v 43.500000 5.178055 1.168253 -f 9 10 12 11 -``` - -Here are common OBJ file features needed to describe ArUco markers places: - -* Object lines (starting with *o* key) indicate markers dictionary and id by following this format: **DICTIONARY**#**ID**\_Marker. -* Vertice lines (starting with *v* key) indicate markers corners. The marker size will be automatically deducted from the geometry. -* Face (starting with *f* key) link vertices and normals indexes together. - -!!! warning - Markers have to belong to the same dictionary. - -!!! note - Markers can have different size. - -### Edit JSON file description - -JSON file format allows to describe markers places using translation and euler angle rotation vectors. - -``` json -{ - "dictionary": "DICT_APRILTAG_16h5", - "places": { - "0": { - "translation": [17.5, 2.75, -0.5], - "rotation": [-18.5, 0, 0], - "size": 5 - }, - "1": { - "translation": [46, 34, 18.333], - "rotation": [0, 70, 0], - "size": 5 - }, - "2": { - "translation": [41, 4, 3.333], - "rotation": [-60, 0, 0], - "size": 5 - } - } -} -``` -- cgit v1.1