Highlithing hovered marker.

1 files changed, 25 insertions, 10 deletions

diff --git a/src/argaze/utils/environment_edit.py b/src/argaze/utils/environment_edit.py
index 6b2c354..aa208e5 100644
--- a/src/argaze/utils/environment_edit.py
+++ b/src/argaze/utils/environment_edit.py
@@ -106,6 +106,7 @@ def main():
 
     # Init marker selection
     selected_marker_id = -1
+    hovered_marker_id = -1
 
     # Init place edition
     place_edit = {}
@@ -142,6 +143,9 @@ def main():
                 # Detect markers
                 ar_environment.aruco_detector.detect_markers(video_frame)
 
+                # Write detected markers
+                cv2.putText(video_frame, f'{list(ar_environment.aruco_detector.detected_markers.keys())}', (20, frame_height-80), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
+                
                 # Draw gray panel on top
                 cv2.rectangle(video_frame, (0, 0), (frame_width, 50), (63, 63, 63), -1)
 
@@ -165,19 +169,22 @@ def main():
         # Handle marker selection on left click
         if len(ar_environment.aruco_detector.detected_markers) > 0:
 
-            # Update selected marker id by left clicking on marker
+            # Update selected and hovered markers id
+            selected_marker_id = -1
+            hovered_marker_id = -1
             for (marker_id, marker) in ar_environment.aruco_detector.detected_markers.items():
 
                 marker_aoi = marker.corners.reshape(4, 2).view(AOIFeatures.AreaOfInterest)
 
+                # Select by left clicking on marker
                 if marker_aoi.contains_point(left_click):
 
                     selected_marker_id = marker_id
-                    break
-
-                else:
 
-                    selected_marker_id = -1
+                # Hover by pointing on marker
+                if marker_aoi.contains_point(pointer):
+                    
+                    hovered_marker_id = marker_id
 
             # Edit marker's color
             color_list = list(itertools.permutations([0, 255, 255]))
@@ -186,7 +193,12 @@ def main():
 
                 m.color = color_list[i%len(color_list)]
 
-                if selected_marker_id >= 0 and i != selected_marker_id:
+                if i == selected_marker_id or i == hovered_marker_id:
+                    continue
+
+                if hovered_marker_id > 0:
+                    m.color = (0, 0, 0)
+                else:
                     m.color = (127, 127, 127)
 
                 # Draw center
@@ -322,10 +334,13 @@ def main():
                         # Check markers consistency
                         consistent_markers, unconsistent_markers, unconsistencies = ar_scene.aruco_scene.check_markers_consistency(ar_environment.aruco_detector.detected_markers, ar_scene.angle_tolerance, ar_scene.distance_tolerance)
 
-                        # Set unconsistent marker color to red 
-                        for i, m in ar_environment.aruco_detector.detected_markers.items():
-                            if i in list(unconsistent_markers.keys()):
-                                m.color = (0, 0, 255)
+                        # No marker hovered
+                        if hovered_marker_id < 0:
+
+                            # Set unconsistent marker color to red 
+                            for i, m in ar_environment.aruco_detector.detected_markers.items():
+                                if i in list(unconsistent_markers.keys()) and i != hovered_marker_id:
+                                    m.color = (0, 0, 255)
 
                         # Write unconsistencies
                         line = 0