Updating ArFeatures changes.

2 files changed, 33 insertions, 29 deletions

diff --git a/src/argaze/utils/demo_ar_features_run.py b/src/argaze/utils/demo_ar_features_run.py
index d7854e3..6151188 100644
--- a/src/argaze/utils/demo_ar_features_run.py
+++ b/src/argaze/utils/demo_ar_features_run.py
@@ -45,12 +45,10 @@ def main():
         timestamp = int((time.time() - start_time) * 1e3)
 
         # Project gaze position into environment
-        for scene_name, scene_looking_data in ar_environment.look(timestamp, GazeFeatures.GazePosition((x, y))):
+        for frame, look_data in ar_environment.look(timestamp, GazeFeatures.GazePosition((x, y))):
 
-            for frame_name, frame_looking_data in scene_looking_data:
-
-                # Do nothing with frame looking data
-                pass
+            # Do nothing with look data
+            pass
 
     # Attach mouse callback to window
     cv2.setMouseCallback(ar_environment.name, on_mouse_event)
@@ -69,34 +67,40 @@ def main():
 
             if success:
 
-                # Try to detect and project environment
-                try:
+                # Detect and project environment
+                detection_time, exceptions = ar_environment.detect_and_project(video_image)
+
+                # Create environment image
+                environment_image = ar_environment.image
+
+                # Write detection fps
+                cv2.rectangle(environment_image, (0, 0), (420, 50), (63, 63, 63), -1)
+                cv2.putText(environment_image, f'Detection fps: {1e3/detection_time:.1f}', (20, 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
 
-                    ar_environment.detect_and_project(video_image)
+                # Handle exceptions
+                for i, (scene_name, e) in enumerate(exceptions.items()):
 
-                # Catch errors
-                except (ArFeatures.PoseEstimationFailed, ArFeatures.SceneProjectionFailed) as e:
+                     # Write errors
+                    cv2.rectangle(environment_image, (0, (i+1)*50), (720, (i+2)*50), (127, 127, 127), -1)
+                    cv2.putText(environment_image, f'{scene_name} error: {e}', (20, (i+1)*90), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
 
-                    cv2.rectangle(video_image, (0, 50), (700, 100), (127, 127, 127), -1)
-                    cv2.putText(video_image, f'Error: {e}', (20, 80), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
-            
-                # Draw environment
-                ar_environment.draw(video_image)
+                # Draw environment info
+                ar_environment.draw(environment_image)
 
                 # Display environment
-                cv2.imshow(ar_environment.name, video_image)
+                cv2.imshow(ar_environment.name, environment_image)
 
-                # Draw and display each frames in separate window
-                for scene_name, frame_name, frame in ar_environment.frames:
+                # Draw and display each aoi frames
+                for aoi_frame in ar_environment.aoi_frames:
 
                     # Create frame image 
-                    frame_image = frame.image
+                    aoi_frame_image = aoi_frame.image
 
                     # Draw frame info
-                    frame.draw(frame_image)
+                    aoi_frame.draw(aoi_frame_image)
 
                     # Display frame
-                    cv2.imshow(f'{scene_name}:{frame_name}', frame_image)
+                    cv2.imshow(f'{aoi_frame.parent.name}:{aoi_frame.name}', aoi_frame_image)
 
             # Stop by pressing 'Esc' key
             if cv2.waitKey(10) == 27:
diff --git a/src/argaze/utils/demo_environment/demo_ar_features_setup.json b/src/argaze/utils/demo_environment/demo_ar_features_setup.json
index 0081ccf..3e030f8 100644
--- a/src/argaze/utils/demo_environment/demo_ar_features_setup.json
+++ b/src/argaze/utils/demo_environment/demo_ar_features_setup.json
@@ -12,18 +12,18 @@
             "aprilTagDeglitch": 1
         }
     },
+    "camera_frame": {
+        "gaze_movement_identifier": {
+                "DispersionThresholdIdentification": {
+                    "deviation_max_threshold": 50,
+                    "duration_min_threshold": 200
+                }
+            }
+    },
     "scenes": {
         "AR Scene Demo" : {
             "aruco_scene": "aruco_scene.obj",
             "aoi_3d_scene": "aoi_3d_scene.obj",
-            "camera_frame": {
-                "gaze_movement_identifier": {
-                        "DispersionThresholdIdentification": {
-                            "deviation_max_threshold": 50,
-                            "duration_min_threshold": 200
-                        }
-                    }
-            },
             "aoi_frames": {
                 "GrayRectangle": {
                     "size": [640, 480],