From b6101dddb28fa6ac9cd556facdc38c1ebcff7db3 Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Mon, 26 Feb 2024 16:46:55 +0100
Subject: Mirroring ArUco marker pose estimation. Setting ArUco markers size
 too.

---
 src/argaze/ArUcoMarkers/ArUcoDetector.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

(limited to 'src')

diff --git a/src/argaze/ArUcoMarkers/ArUcoDetector.py b/src/argaze/ArUcoMarkers/ArUcoDetector.py
index 2f05098..ff86ee9 100644
--- a/src/argaze/ArUcoMarkers/ArUcoDetector.py
+++ b/src/argaze/ArUcoMarkers/ArUcoDetector.py
@@ -330,8 +330,8 @@ class ArUcoDetector(DataFeatures.PipelineStepObject):
 
                     marker.translation = markers_tvecs[i][0]
                     marker.rotation, _ = cv.Rodrigues(markers_rvecs[i][0])
-
-                    marker.points = markers_points.reshape(4, 3).dot(marker.rotation) + marker.translation
+                    marker.size = size
+                    marker.points = markers_points.reshape(4, 3).dot(marker.rotation) - marker.translation
 
     @property
     def detected_markers(self) -> dict[ArUcoMarkerType]:
-- 
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