Add marker detection and hand-eye API wrappers #276
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vawale
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Please consider changing the format of rgba = camera_frame.point_cloud().copy_data("rgba")
rgb = rgba[:, :, :3].copy().astype(np.uint8)
if marker_list is not None:
detected_markers = detection_result.detected_markers()
detected_corners = [
np.array(marker.corners_in_pixel_coordinates).reshape((4, 1, 2))
for marker in detected_markers
]
marker_ids = np.array([marker.id for marker in detected_markers])
rgb = cv2.aruco.drawDetectedMarkers(rgb, detected_corners, marker_ids, [0, 255, 0]) |
|
@eskaur @Frontier789 could you advise on this? |
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Do we have the same issue in C++ then? Or is this just a problem in python? |
In C++ we return our own special types (std::arrayZivid::PointXY,4), so the user has to do some conversion before passing it to OpenCV anyway. Therefore I don't consider this an issue in C++. In python it becomes more tempting to be super compatible with 3rd party APIs since we return universal stuff like lists and numpy arrays. |
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Working on making the corner getters return numpy arrays. |
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This commit adds API wrappers for the SDK 2.13 fiducial marker detection and hand-eye calibration. Added to the `zivid.calibration` module are the classes `MarkerShape`, `MarkerDictionary`, and `DetectionResultFiducialMarkers`, as well as the function `detect_markers`. The `DetectionResultFiducialMarkers` class can be used to construct a `HandEyeInput`, just like `DetectionResult`. The hand-eye test data was updated with some newer ZDFs that were downsampled to save on Git LFS bandwidth. Co-authored-by: Eskil Aursand <[email protected]>
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This commit adds API wrappers for the SDK 2.13 fiducial marker detection and hand-eye calibration.
Added to the
zivid.calibrationmodule are the classesMarkerShape,MarkerDictionary, andDetectionResultFiducialMarkers, as well as the functiondetect_markers. TheDetectionResultFiducialMarkersclass can be used to construct aHandEyeInput, just likeDetectionResult.The hand-eye test data was updated with some newer ZDFs that were downsampled to save on Git LFS bandwidth.