From 7181f1587cd4d78c34d4dba740f1a5b7b2a5856c Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Mon, 24 Apr 2023 17:00:16 +0200
Subject: Loading ArUco scene directly from dict with several rotation values
 format.

---
 src/argaze.test/utils/environment.json | 36 ++++++++++++++++++++++------------
 src/argaze/ArFeatures.py               |  2 +-
 src/argaze/ArUcoMarkers/ArUcoScene.py  | 20 +++++++++++++++++--
 3 files changed, 43 insertions(+), 15 deletions(-)

(limited to 'src')

diff --git a/src/argaze.test/utils/environment.json b/src/argaze.test/utils/environment.json
index 17920d8..57d04cf 100644
--- a/src/argaze.test/utils/environment.json
+++ b/src/argaze.test/utils/environment.json
@@ -45,13 +45,19 @@
     "scenes": {
         "TestSceneA" : {
             "aruco_scene": {
-                "0": {
-                    "translation": [1, 0, 0],
-                    "rotation": [0, 0, 0]
+                "marker_size": 3.0,
+                "dictionary": {
+                    "name": "DICT_ARUCO_ORIGINAL"
                 },
-                "1": {
-                    "translation": [0, 1, 0],
-                    "rotation": [0, 90, 0]
+                "places": {
+                    "0": {
+                        "translation": [1, 0, 0],
+                        "rotation": [0, 0, 0]
+                    },
+                    "1": {
+                        "translation": [0, 1, 0],
+                        "rotation": [0, 90, 0]
+                    }
                 }
             },
             "aoi_scene": "aoi.obj",
@@ -60,13 +66,19 @@
         },
         "TestSceneB" : {
             "aruco_scene": {
-                "0": {
-                    "translation": [1, 0, 0],
-                    "rotation": [0, 0, 0]
+                "marker_size": 3.0,
+                "dictionary": {
+                    "name": "DICT_ARUCO_ORIGINAL"
                 },
-                "1": {
-                    "translation": [0, 1, 0],
-                    "rotation": [0, 90, 0]
+                "places": {
+                    "0": {
+                        "translation": [1, 0, 0],
+                        "rotation": [0, 0, 0]
+                    },
+                    "1": {
+                        "translation": [0, 1, 0],
+                        "rotation": [0, 90, 0]
+                    }
                 }
             },
             "aoi_scene": "aoi.obj",
diff --git a/src/argaze/ArFeatures.py b/src/argaze/ArFeatures.py
index 112b7d1..e645ec7 100644
--- a/src/argaze/ArFeatures.py
+++ b/src/argaze/ArFeatures.py
@@ -89,7 +89,7 @@ class ArEnvironment():
 				# dict:
 				else:
 
-					new_aruco_scene = ArUcoScene.ArUcoScene(new_aruco_detector.marker_size, new_aruco_detector.dictionary, aruco_scene_value)
+					new_aruco_scene = ArUcoScene.ArUcoScene(**aruco_scene_value)
 
 				# Check aoi_scene value type
 				aoi_scene_value = scene_data.pop('aoi_scene')
diff --git a/src/argaze/ArUcoMarkers/ArUcoScene.py b/src/argaze/ArUcoMarkers/ArUcoScene.py
index 868e84d..f5660dc 100644
--- a/src/argaze/ArUcoMarkers/ArUcoScene.py
+++ b/src/argaze/ArUcoMarkers/ArUcoScene.py
@@ -85,9 +85,25 @@ class ArUcoScene():
 
                 identifier = int(identifier)
 
-                # Convert translation and rotation values
+                # Get translation vector
                 tvec = numpy.array(place.pop('translation')).astype(numpy.float32)
-                rmat = make_rotation_matrix(*place.pop('rotation')).astype(numpy.float32)
+
+                # Check rotation value shape
+                rvalue = numpy.array(place.pop('rotation')).astype(numpy.float32)
+
+                # Rotation matrix
+                if rvalue.shape == (3, 3):
+
+                    rmat = rvalue
+
+                # Rotation vector (expected in degree)
+                elif rvalue.shape == (3,):
+
+                    rmat = make_rotation_matrix(rvalue[0], rvalue[1], rvalue[2]).astype(numpy.float32)
+
+                else:
+
+                    raise ValueError(f'Bad rotation value: {rvalue}')
 
                 new_marker = ArUcoMarker.ArUcoMarker(self.dictionary, identifier, self.marker_size)
 
-- 
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