From 32cf8a67e18442ccc6b3f4c21416dd6ad2ab5e70 Mon Sep 17 00:00:00 2001
From: Jake Howard <git@theorangeone.net>
Date: Wed, 16 Nov 2022 14:08:03 +0000
Subject: [PATCH] Update example to annotate axis

---
 example.py               | 16 ----------------
 example/calibrations.xml | 37 +++++++++++++++++++++++++++++++++++++
 example/example.py       | 29 +++++++++++++++++++++++++++++
 3 files changed, 66 insertions(+), 16 deletions(-)
 delete mode 100755 example.py
 create mode 100644 example/calibrations.xml
 create mode 100755 example/example.py

diff --git a/example.py b/example.py
deleted file mode 100755
index 55fea92..0000000
--- a/example.py
+++ /dev/null
@@ -1,16 +0,0 @@
-import cv2
-import cv2.aruco as aruco
-
-aruco_dict = aruco.Dictionary_get(aruco.DICT_APRILTAG_36H11)
-parameters = aruco.DetectorParameters_create()
-
-cap = cv2.VideoCapture(0)
-
-while True:
-    _, frame = cap.read()
-    corners, ids, rejects = aruco.detectMarkers(frame, aruco_dict, parameters=parameters)
-    aruco.drawDetectedMarkers(frame, corners, ids)
-    aruco.drawDetectedMarkers(frame, rejects, borderColor=(0, 0, 255))
-
-    cv2.imshow('preview', frame)
-    cv2.waitKey(1)
diff --git a/example/calibrations.xml b/example/calibrations.xml
new file mode 100644
index 0000000..c0f2413
--- /dev/null
+++ b/example/calibrations.xml
@@ -0,0 +1,37 @@
+<?xml version="1.0"?>
+<!-- Sourced from https://docs.opencv.org/4.5.3/d7/d21/tutorial_interactive_calibration.html -->
+<opencv_storage>
+<calibrationDate>"Thu 07 Apr 2016 04:23:03 PM MSK"</calibrationDate>
+<framesCount>21</framesCount>
+<cameraResolution>
+  640 480</cameraResolution>
+<cameraMatrix type_id="opencv-matrix">
+  <rows>3</rows>
+  <cols>3</cols>
+  <dt>d</dt>
+  <data>
+    1.2519588293098975e+03 0. 6.6684948780852471e+02 0.
+    1.2519588293098975e+03 3.6298123112613683e+02 0. 0. 1.</data></cameraMatrix>
+<cameraMatrix_std_dev type_id="opencv-matrix">
+  <rows>4</rows>
+  <cols>1</cols>
+  <dt>d</dt>
+  <data>
+    0. 1.2887048808572649e+01 2.8536856683866230e+00
+    2.8341737483430314e+00</data></cameraMatrix_std_dev>
+<dist_coeffs type_id="opencv-matrix">
+  <rows>1</rows>
+  <cols>5</cols>
+  <dt>d</dt>
+  <data>
+    1.3569117181595716e-01 -8.2513063822554633e-01 0. 0.
+    1.6412101575010554e+00</data></dist_coeffs>
+<dist_coeffs_std_dev type_id="opencv-matrix">
+  <rows>5</rows>
+  <cols>1</cols>
+  <dt>d</dt>
+  <data>
+    1.5570675523402111e-02 8.7229075437543435e-02 0. 0.
+    1.8382427901856876e-01</data></dist_coeffs_std_dev>
+<avg_reprojection_error>4.2691743074130178e-01</avg_reprojection_error>
+</opencv_storage>
diff --git a/example/example.py b/example/example.py
new file mode 100755
index 0000000..028b5be
--- /dev/null
+++ b/example/example.py
@@ -0,0 +1,29 @@
+from pathlib import Path
+
+import cv2
+from zoloto.cameras.camera import Camera
+from zoloto.marker_type import MarkerType
+
+
+class AxisAnnotatingCamera(Camera):
+    def _annotate_frame(self, frame):
+        """
+        Annotate axis onto the image too.
+
+        This does perform the detection twice, but for a demo this is fine.
+        """
+        super()._annotate_frame(frame)
+        for marker in self.process_frame_eager(frame=frame):
+            cv2.drawFrameAxes(
+                frame,
+                self.calibration_params.camera_matrix,
+                self.calibration_params.distance_coefficients,
+                marker._rvec,
+                marker._tvec,
+                self._marker_size
+            )
+
+
+with AxisAnnotatingCamera(0, marker_type=MarkerType.APRILTAG_36H11, marker_size=100, calibration_file=Path(__file__).parent / "calibrations.xml") as camera:
+    print("Starting preview... Press 'q' to exit.")  # noqa: T001
+    camera.show(annotate=True)