Returning proejction time.

2 files changed, 16 insertions, 4 deletions

diff --git a/docs/user_guide/aruco_markers_pipeline/advanced_topics/scripting.md b/docs/user_guide/aruco_markers_pipeline/advanced_topics/scripting.md
index 529bff8..892d6dd 100644
--- a/docs/user_guide/aruco_markers_pipeline/advanced_topics/scripting.md
+++ b/docs/user_guide/aruco_markers_pipeline/advanced_topics/scripting.md
@@ -79,9 +79,9 @@ for name, aruco_scene in aruco_camera.scenes.items():
 ...:
 
     # Watch image with ArUco camera
-    detection_time, exception = aruco_camera.watch(image)
+    detection_time, projection_time, exception = aruco_camera.watch(image)
 
-    # Do something with pipeline detection time
+    # Do something with pipeline times
     ...
 
     # Do something with pipeline exception
@@ -95,6 +95,10 @@ Let's understand the meaning of each returned data.
 
 ArUco marker detection time in ms.
 
+### *projection_time*
+
+Scenes projection time in ms.
+
 ### *exception*
 
 A [python Exception](https://docs.python.org/3/tutorial/errors.html#exceptions) object raised during pipeline execution.
diff --git a/src/argaze/ArUcoMarkers/ArUcoCamera.py b/src/argaze/ArUcoMarkers/ArUcoCamera.py
index 4f00a3a..33f5b37 100644
--- a/src/argaze/ArUcoMarkers/ArUcoCamera.py
+++ b/src/argaze/ArUcoMarkers/ArUcoCamera.py
@@ -11,6 +11,7 @@ from typing import TypeVar, Tuple
 from dataclasses import dataclass, field
 import json
 import os
+import time
 
 from argaze import ArFeatures, DataStructures
 from argaze.ArUcoMarkers import ArUcoMarkersDictionary, ArUcoDetector, ArUcoOpticCalibrator, ArUcoScene
@@ -146,6 +147,7 @@ class ArUcoCamera(ArFeatures.ArCamera):
 
 		Returns:
 			detection time: aruco marker detection time in ms.
+			projection time: scenes projection time in ms.
 			exception: dictionary with exception raised per scene.
 		"""
 
@@ -155,6 +157,9 @@ class ArUcoCamera(ArFeatures.ArCamera):
 		# Lock camera frame exploitation
 		self._frame_lock.acquire()
 
+		# Store projection execution start date
+		projection_start = time.perf_counter()
+
 		# Fill camera frame background with image
 		self.background = image
 
@@ -206,11 +211,14 @@ class ArUcoCamera(ArFeatures.ArCamera):
 
 				exceptions[scene_name] = e
 
+		# Assess projection time in ms
+		projection_time = (time.perf_counter() - projection_start) * 1e3
+
 		# Unlock camera frame exploitation
 		self._frame_lock.release()
 
-		# Return dection time and exceptions
-		return detection_time, exceptions
+		# Return detection time, projection time and exceptions
+		return detection_time, projection_time, exceptions
 
 	def __image(self, draw_detected_markers: dict = None, draw_scenes: dict = None, draw_optic_parameters_grid: dict = None, **kwargs: dict) -> numpy.array:
 		"""Get frame image with ArUco detection visualisation.