Assessing aruco detection time.

1 files changed, 14 insertions, 2 deletions

diff --git a/src/argaze/ArUcoMarkers/ArUcoDetector.py b/src/argaze/ArUcoMarkers/ArUcoDetector.py
index b9ee077..723bc26 100644
--- a/src/argaze/ArUcoMarkers/ArUcoDetector.py
+++ b/src/argaze/ArUcoMarkers/ArUcoDetector.py
@@ -11,6 +11,7 @@ from typing import TypeVar, Tuple
 from dataclasses import dataclass, field
 import json
 from collections import Counter
+import time
 
 from argaze.ArUcoMarkers import ArUcoMarkersDictionary, ArUcoMarker, ArUcoOpticCalibrator
 
@@ -175,18 +176,27 @@ class ArUcoDetector():
 
         return output
 
-    def detect_markers(self, image: numpy.array):
+    def detect_markers(self, image: numpy.array) -> int:
         """Detect all ArUco markers into an image.
 
         .. danger:: DON'T MIRROR IMAGE
            It makes the markers detection to fail.
+
+        Returns:
+            - time: marker detection time in ms
         """
 
         # Reset detected markers data
         self.__detected_markers, self.__detected_markers_corners, self.__detected_markers_ids = {}, [], []
 
+        # Store marker detection start date
+        detection_start = time.time()
+
         # Detect markers into gray picture
         self.__detected_markers_corners, self.__detected_markers_ids, _ = aruco.detectMarkers(cv.cvtColor(image, cv.COLOR_BGR2GRAY), self.dictionary.markers, parameters = self.parameters.internal)
+        
+        # Assess marker detection time in ms
+        detection_time = int((time.time() - detection_start) * 1e3)
 
         # Is there detected markers ?
         if len(self.__detected_markers_corners) > 0:
@@ -203,7 +213,7 @@ class ArUcoDetector():
 
                 marker.corners = self.__detected_markers_corners[i]
 
-                # No pose estimation: call estimate_pose to get one
+                # No pose estimation: call estimate_markers_pose to get one
                 marker.translation = numpy.empty([0])
                 marker.rotation = numpy.empty([0])
                 marker.points = numpy.empty([0])
@@ -212,6 +222,8 @@ class ArUcoDetector():
 
                 self.__detected_ids.append(marker_id)
 
+        return detection_time
+
     def estimate_markers_pose(self, markers_ids: list = []):
         """Estimate pose of current detected markers or of given markers id list."""