sksurgeryarucotracker.algorithms.rigid_bodies module¶
Classes and functions for maintaining ArUco rigid bodies
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class
sksurgeryarucotracker.algorithms.rigid_bodies.
ArUcoRigidBody
(rigid_body_name)[source]¶ Bases:
object
Class to handle the loading and registering of ArUco Rigid Bodies
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add_single_tag
(tag_size, marker_id, dictionary)[source]¶ We can use this to track single ArUco tags rather than patterns as long as we know the tag size in mm
Param: tag size in mm Param: marker id/_
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get_pose
(camera_projection_matrix, camera_distortion)[source]¶ Estimate the pose of the rigid body, with or without camera calibration
Param: camera_projection_matrix 3x3 projection matrix. If None we estimate pose based on pattern size Param: 1x5 camera distortion vector
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load_3d_points
(filename, dictionaryname)[source]¶ Loads the 3D point geometry from a file
Parameters: filename – Path of file containing tag data
We can scale the tag, which is very useful if you’ve got the tag on your mobile phone.
Parameters: measured_pattern_width – Width of the tag in mm
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class
sksurgeryarucotracker.algorithms.rigid_bodies.
Board
(markerpoints, dictionary, marker_ids)[source]¶ Bases:
object
A local replacement for aruco.Board which was deprecated at 4.7
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class
sksurgeryarucotracker.algorithms.rigid_bodies.
TwoDTags
[source]¶ Bases:
object
Stores two linked arrays, on of tag IDs and the other 2D points
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sksurgeryarucotracker.algorithms.rigid_bodies.
configure_rigid_bodies
(configuration)[source]¶ reads configuration and creates a list of rigid bodies together with a list of dictionaries used.
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sksurgeryarucotracker.algorithms.rigid_bodies.
load_board_from_file
(filename, dictionary=16)[source]¶ loads marker pattern from filename. :return: an aruco.board :raise ValueError: If the file does not have 16 or 13 columns
We can scale the tag on a board, which is very useful if you’ve got the tag on your mobile phone.
Param: the board to scale Parameters: measured_pattern_width – Width of the tag in mm