Plot Zoloto Axes.

plot_axes.py

from pathlib import Path

from zoloto.cameras.camera import Camera
from zoloto.marker_dict import MarkerDict

import matplotlib.pyplot as plt


class DefaultCamera(Camera):

    def get_marker_size(self, marker_id: int) -> int:
        """Get the size of a particular marker."""
        return 10

if __name__ == "__main__":

    plt.ion()
    fig = plt.figure()
    plt.axis([0, 1000, -5, 5])

    i = 0

    camera = DefaultCamera(
        0,
        marker_dict=MarkerDict.DICT_APRILTAG_36H11,
        calibration_file=Path(__file__).parent.joinpath('C270.xml'),
    )

    while True:
        markers = list(camera.process_frame())

        if len(markers) == 1:
            marker = markers[0]
            print(marker.orientation, end="\r")
            plt.scatter(i, marker.orientation.rot_x, c="red")
            plt.scatter(i, marker.orientation.rot_y, c="green")
            plt.scatter(i, marker.orientation.rot_z, c="blue")
            i += 1
            plt.show()
            plt.pause(0.0001)