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""" """
"""
This program is free software: you can redistribute it and/or modify it under
the terms of the GNU General Public License as published by the Free Software
Foundation, either version 3 of the License, or (at your option) any later
version.
This program is distributed in the hope that it will be useful, but WITHOUT
ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
You should have received a copy of the GNU General Public License along with
this program. If not, see <https://www.gnu.org/licenses/>.
"""
__author__ = "Théo de la Hogue"
__credits__ = []
__copyright__ = "Copyright 2023, Ecole Nationale de l'Aviation Civile (ENAC)"
__license__ = "GPLv3"
import logging
from argaze import DataFeatures
from argaze.ArUcoMarker import ArUcoMarkerGroup
class ArUcoMarkersPoseRecorder(DataFeatures.PipelineStepObject):
@DataFeatures.PipelineStepInit
def __init__(self, **kwargs):
# Init private attributes
self.__output_folder = None
self.__size = None
self.__ids = None
@property
def output_folder(self) -> str:
"""folder path where to write ArUco markers pose."""
return self.__output_folder
@output_folder.setter
def output_folder(self, output_folder: str):
self.__output_folder = output_folder
def on_detect_markers(self, timestamp, aruco_detector, exception):
logging.info('%s writes estimated markers pose into %s', DataFeatures.get_class_path(self), self.__output_folder)
if aruco_detector.pose is not None:
# Write ArUco markers group
aruco_detector.pose.to_obj(f'{self.__output_folder}/{int(timestamp)}-aruco_markers_group.obj')
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