1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
|
Environment Setup
=================
[ArCamera](../../argaze.md/#argaze.ArFeatures.ArCamera) setup is loaded from JSON file format.
Each [ArCamera](../../argaze.md/#argaze.ArFeatures.ArCamera) defines a unique [ArUcoDetector](../../argaze.md/#argaze.ArUcoMarkers.ArUcoDetector.ArUcoDetector) dedicated to detection of markers from a specific [ArUcoMarkersDictionary](../../argaze.md/#argaze.ArUcoMarkers.ArUcoMarkersDictionary) and with a given size. However, it is possible to load multiple [ArScene](../../argaze.md/#argaze.ArFeatures.ArScene) into a same [ArCamera](../../argaze.md/#argaze.ArFeatures.ArCamera).
Here is JSON environment file example where it is assumed that mentioned .obj files are located relatively to the environment file on disk.
```
{
"name": "my AR environment",
"aruco_detector": {
"dictionary": {
"name": "DICT_APRILTAG_16h5"
}
"marker_size": 5,
"optic_parameters": {
"rms": 0.6,
"dimensions": [
1920,
1080
],
"K": [
[
1135,
0.0,
956
],
[
0.0,
1135,
560
],
[
0.0,
0.0,
1.0
]
],
"D": [
0.01655492265003404,
0.1985524264972037,
0.002129965902489484,
-0.0019528582922179365,
-0.5792910353639452
]
},
"parameters": {
"cornerRefinementMethod": 3,
"aprilTagQuadSigma": 2,
"aprilTagDeglitch": 1
}
},
"scenes": {
"my first AR scene" : {
"aruco_markers_group": "./first_scene/markers.obj",
"aoi_scene": "./first_scene/aoi.obj",
"angle_tolerance": 15.0,
"distance_tolerance": 2.54
},
"my second AR scene" : {
"aruco_markers_group": "./second_scene/markers.obj",
"aoi_scene": "./second_scene/aoi.obj",
"angle_tolerance": 15.0,
"distance_tolerance": 2.54
}
}
}
```
```python
from argaze import ArFeatures
# Load AR environment
ar_camera = ArFeatures.ArCamera.from_json('./environment.json')
```
|
