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
78
79
80
81
82
|
Estimate scene pose
===================
An [ArUcoScene](../../argaze.md/#argaze.ArUcoMarkers.ArUcoScene) class defines a space with [ArUco markers inside](aruco_markers_description.md) helping to estimate scene pose when they are watched by [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarkers.ArUcoCamera).
## Add ArUcoScene to ArUcoCamera JSON configuration file
An [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarkers.ArUcoCamera) instance can contains multiples [ArUcoScene](../../argaze.md/#argaze.ArUcoMarkers.ArUcoScene).
Here is an extract from the JSON [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarkers.ArUcoCamera) configuration file with a sample where one scene is added and displayed:
```json
{
"name": "My FullHD camera",
"size": [1920, 1080],
...
"scenes": {
"MyScene" : {
"aruco_markers_group": {
"dictionary": "DICT_APRILTAG_16h5",
"marker_size": 5,
"places": {
"0": {
"translation": [2.5, 2.5, 0],
"rotation": [0, 0, 0]
},
"1": {
"translation": [0, 25.5, 2],
"rotation": [0, 45, 0]
},
"2": {
"translation": [35.5, 0, 3],
"rotation": [-45, 0, 0]
}
}
}
}
}
...
"image_parameters": {
...
"draw_scenes": {
"MyScene": {
"draw_aruco_markers_group": {
"draw_axes": {
"thickness": 3,
"length": 10
},
"draw_places": {
"color": [0, 0, 0],
"border_size": 1
},
"draw_places_axes": {
"thickness": 1,
"length": 2.5
}
}
}
}
}
}
```
Now, let's understand the meaning of each JSON entry.
### "MyScene"
The name of the [ArUcoScene](../../argaze.md/#argaze.ArUcoMarkers.ArUcoScene). Basically useful for visualisation purpose.
### ArUco markers group
The 3D places of ArUco markers into the scene as defined at [ArUco markers description chapter](aruco_markers_description.md). Thanks to this description, it is possible to estimate the pose of [ArUcoScene](../../argaze.md/#argaze.ArUcoMarkers.ArUcoScene) in [ArUcoCamera](../../argaze.md/#argaze.ArUcoMarkers.ArUcoCamera) frame.
!!! note
[ArUcoScene](../../argaze.md/#argaze.ArUcoMarkers.ArUcoScene) pose estimation is done when calling the [ArUcoCamera.watch](../../argaze.md/#argaze.ArFeatures.ArCamera.watch) method.
### Draw scenes
The drawing parameters of each loaded [ArUcoScene](../../argaze.md/#argaze.ArUcoMarkers.ArUcoScene) in [ArUcoCamera.image](../../argaze.md/#argaze.ArFeatures.ArFrame.image).
|
