markers_configuration_sample.yml

%YAML:1.0
# This file describes how markers are placed on objects.
#
# This can also be used to provide marker aliases, or transform the computed
# origin of a marker.
#
# This sample file define 3 objects, and covers the different options
# available.

# This first object has only one marker (ID 0). 'myobject1' is the name returned
# by the object detector. The size of the marker is 20x20 (the unit does not
# matter, but must be consistent with the calibration unit. We recommend to use
# millimeters).
# This simple declaration allows to define name aliases for markers. 'tag'
# and 'size' are the only two mandatory fields.
myobject1:
    - tag: 0
      size: 20

# The second object also has a single marker, but translated and rotated.  The
# origin of 'myobject2' is will be 10 units *below* the marker, on the object's X
# axis, and the marker is rotated by 90 degrees along the object's Z axis.
# Rotations must be specified in degrees as XYZ Euler rotations, ie a rotation
# on the X axis followed by a rotation on the Y axis, followed by a rotation on
# the Z axis.
myobject2:
    - tag: 1
      size: 30
      translation: [10., 0., 0.]
      rotation: [0., 0., 90.]

# The third object features 3 markers, of various size, and at various positions.
# Here, the rotation is omitted (defaults to [0.,0.,0.]).
# If a marker sets the option 'keep' to 'true', the marker 3D position is
# returned besides the object.
myobject3:
    - tag: 2
      size: 20
      translation: [-50., -100., 0.0]
      keep: true
    - tag: 3
      size: 30
      translation: [50., -100., 0.0]
    - tag: 4
      size: 30
      translation: [50., 100., 0.0]