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Rearrange pixel corner co-ordinates #45

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Rearrange pixel corner co-ordinates #45

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900fdd9
Rearrange corner locations to match Apriltags
Adimote Jun 4, 2018
d3c66b0
add comment to pixel_corners
Adimote Jun 4, 2018
8e7e3a6
mention the top left is relative to the marker
Adimote Jun 12, 2018
888c848
Fix pixel corner co-ordinates ordering
Adimote Jun 12, 2018
83f4061
Add example for the first pixel corner value
Adimote Jun 12, 2018
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8 changes: 3 additions & 5 deletions sb_vision/tokens.py
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Original file line number Diff line number Diff line change
Expand Up @@ -89,11 +89,9 @@ def update_pixel_coords(

self.homography_matrix = homography_matrix

# The pixel_corners value we expose is in clockwise order starting with
# the bottom left corner of the marker (if it weren't rotated).
# AprilTags returns an array with the first being the top left. thus we need to
# shift the ordering of the values by one to match our output.
self.pixel_corners = [pixel_corners[3]] + pixel_corners[:3]
# pixel corners: counter-clockwise from the bottom-left corner (relative to the marker) of the marker.
# For example, if the marker is upside down, the first corner coordinate will be the in the top right.
self.pixel_corners = pixel_corners

# centre of marker: average the corners
self.pixel_centre = PixelCoordinate(*np.average(pixel_corners, axis=0))
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