Returning which pose estimatation strategy have been used.

1 files changed, 5 insertions, 4 deletions

diff --git a/src/argaze/ArFeatures.py b/src/argaze/ArFeatures.py
index e645ec7..7bbe1dc 100644
--- a/src/argaze/ArFeatures.py
+++ b/src/argaze/ArFeatures.py
@@ -204,6 +204,7 @@ class ArScene():
 		* **Returns:** 
 			- scene translation vector
 			- scene rotation matrix
+			- pose estimation strategy
 			- dict of markers used to estimate the pose
 		"""
 
@@ -224,8 +225,8 @@ class ArScene():
 
 			marker_id, marker = scene_markers.popitem()
 			tvec, rmat = self.aruco_scene.estimate_pose_from_single_marker(marker)
-
-			return tvec, rmat, {marker_id: marker}
+			
+			return tvec, rmat, 'estimate_pose_from_single_marker', {marker_id: marker}
 
 		# Try to estimate scene pose from 3 markers defining an orthogonal axis
 		elif len(scene_markers) >= 3 and len(self.aruco_axis) > 0:
@@ -240,7 +241,7 @@ class ArScene():
 
 					tvec, rmat = self.aruco_scene.estimate_pose_from_axis_markers(origin_marker, horizontal_axis_marker, vertical_axis_marker)
 
-					return tvec, rmat, {origin_marker.identifier: origin_marker, horizontal_axis_marker.identifier: horizontal_axis_marker, vertical_axis_marker.identifier: vertical_axis_marker}
+					return tvec, rmat, 'estimate_pose_from_axis_markers', {origin_marker.identifier: origin_marker, horizontal_axis_marker.identifier: horizontal_axis_marker, vertical_axis_marker.identifier: vertical_axis_marker}
 
 				except:
 					pass
@@ -258,7 +259,7 @@ class ArScene():
 		# Otherwise, estimate scene pose from all consistent markers pose
 		tvec, rmat = self.aruco_scene.estimate_pose_from_markers(consistent_markers)
 
-		return tvec, rmat, consistent_markers
+		return tvec, rmat, strategy, 'estimate_pose_from_markers', consistent_markers
 
 	def project(self, tvec: numpy.array, rvec: numpy.array, visual_hfov=0) -> AOI2DSceneType:
 		"""Project AOI scene according estimated pose and optional horizontal field of view clipping angle.