Removing useless test. Using condition instead of try except strucutre. Reporting detection time.

1 files changed, 15 insertions, 12 deletions

diff --git a/src/argaze/ArFeatures.py b/src/argaze/ArFeatures.py
index ceca69f..a4601bb 100644
--- a/src/argaze/ArFeatures.py
+++ b/src/argaze/ArFeatures.py
@@ -349,22 +349,25 @@ class ArEnvironment():
 
 				yield scene_name, frame_name, frame
 
-	def detect_and_project(self, image: numpy.array) -> dict:
-		"""Detect environment aruco markers from image and project scenes into camera frame."""
+	def detect_and_project(self, image: numpy.array) -> int:
+		"""Detect environment aruco markers from image and project scenes into camera frame.
+
+		Returns:
+            - time: marker detection time in ms
+        """
 
 		# Detect aruco markers
-		self.aruco_detector.detect_markers(image)
-		
+		detection_time = self.aruco_detector.detect_markers(image)
+
 		# Project each aoi 3d scene into camera frame
 		for scene_name, scene in self.scenes.items():
 
-			# Project scene
-			try:
+			if scene.aruco_aoi:
 
-				# Try to build AOI scene from detected ArUco marker corners
+				# Build AOI scene directly from detected ArUco marker corners
 				scene.build_aruco_aoi_scene(self.aruco_detector.detected_markers)
 
-			except SceneProjectionFailed:
+			else:
 
 				# Estimate scene markers poses
 				self.aruco_detector.estimate_markers_pose(scene.aruco_scene.identifiers)
@@ -378,6 +381,8 @@ class ArEnvironment():
 				# Project scene into camera frame according estimated pose
 				scene.project(tvec, rmat)
 
+		return detection_time
+
 	def look(self, timestamp: int|float, gaze_position: GazeFeatures.GazePosition):
 		"""Project timestamped gaze position into each scene."""
 
@@ -839,10 +844,8 @@ class ArScene():
 			built AOI 2D scene
 		"""
 
-		# Check aruco aoi is defined
-		if len(self.aruco_aoi) == 0:
-
-			raise SceneProjectionFailed('No aruco aoi is defined')
+		# ArUco aoi must be defined
+		assert(self.aruco_aoi)
 
 		# AOI projection fails when no marker is detected
 		if len(detected_markers) == 0: