src/argaze.test/utils/environment.json


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

{
	"name": "TestEnvironment",
    "aruco_detector": {
    	"dictionary": "DICT_ARUCO_ORIGINAL",
    	"marker_size": 3.0,
    	"camera": {
            "rms": 1.0,
            "dimensions": [
                1920,
                1080
            ],
            "K": [
                [
                    1.0,
                    0.0,
                    1.0
                ],
                [
                    0.0,
                    1.0,
                    1.0
                ],
                [
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "D": [
    	        -1.0,
    	        -0.5,
    	        0.0,
    	        0.5,
    	        1.0
    	    ]
        },
        "parameters": {
            "cornerRefinementMethod": 3,
            "aprilTagQuadSigma": 2,
            "aprilTagDeglitch": 1
        }
    },
    "TestScene" : {
        "aruco_scene": {
            "0": {
                "translation": [1, 0, 0],
                "rotation": [0, 0, 0]
            },
            "1": {
                "translation": [0, 1, 0],
                "rotation": [0, 90, 0]
            }
        },
        "aoi_scene": "aoi.obj",
        "angle_tolerance": 1.0,
        "distance_tolerance": 2.0
    }
}