Merge pull request #18 from meyerls/dev

Partly fixes issue #17 with wrong scaling

aruco_estimator/aruco_scale_factor.py

@@ -204,9 +204,9 @@ def __detect(self):
             raise ValueError("Thread return has not the same length as the input parameters!")
 
         # Checks if all tuples in list are None
-        #if not all(all(v) for v in result):
+        # if not all(all(v) for v in result):
         #    self.aruco_marker_detected = False
-        #else:
+        # else:
         #    self.aruco_marker_detected = True
 
         for image_idx in self.images.keys():
@@ -326,7 +326,7 @@ def run(self) -> [np.ndarray, None]:
         """
         self.__detect()
 
-        #if not self.aruco_marker_detected:
+        # if not self.aruco_marker_detected:
         #    return self.aruco_marker_detected
 
         self.__ray_cast()

aruco_estimator/download.py

@@ -83,7 +83,7 @@ def download_door_dataset(self, output_path: str = os.path.abspath(__file__), ov
 
         self.url = 'https://faubox.rrze.uni-erlangen.de/dl/fiUNWMmsaEAavXHfjqxfyXU9/door.zip'
         self.dataset_name = 'door'
-        self.scale = 0.15  # cm
+        self.scale = 0.15  # m
 
         existence = self.__check_existence(output_directory=output_path, dataset_name=self.dataset_name)
 

scale_estimator.py

@@ -22,7 +22,7 @@
     parser = argparse.ArgumentParser(description='Estimate scale factor for COLMAP projects with aruco markers.')
     parser.add_argument('--colmap_project', type=str, help='Path to COLMAP project')
     parser.add_argument('--dense_model', type=str, help='name to the dense model', default='fused.ply')
-    parser.add_argument('--aruco_size', type=float, help='Size of the aruco marker in cm.', default=15)
+    parser.add_argument('--aruco_size', type=float, help='Size of the aruco marker in meter.', default=0.15)
     parser.add_argument('--visualize', action='store_true', help='Flag to enable visualization')
     parser.add_argument('--point_size', type=float, help='Point size of the visualized dense point cloud. '
                                                          'Depending on the number of points in the model. '

setup.py

@@ -16,7 +16,7 @@
 
 setuptools.setup(
     name='aruco-estimator',
-    version='1.1.2',
+    version='1.1.3',
     description='Aruco Scale Factor Estimation',
     license="MIT",
     long_description=long_description,