Renaming detect_and_project method into watch.

3 files changed, 25 insertions, 23 deletions

diff --git a/src/argaze/ArFeatures.py b/src/argaze/ArFeatures.py
index 1a13092..d7c70b1 100644
--- a/src/argaze/ArFeatures.py
+++ b/src/argaze/ArFeatures.py
@@ -48,7 +48,7 @@ class PoseEstimationFailed(Exception):
 
 class SceneProjectionFailed(Exception):
 	"""
-	Exception raised by ArCamera detect_and_project method when the scene can't be projected.
+	Exception raised by ArCamera watch method when the scene can't be projected.
 	"""
 
 	def __init__(self, message):  
@@ -1413,15 +1413,15 @@ class ArCamera(ArFrame):
 
 				yield scene_frame
 
-	def detect_and_project(self, image: numpy.array) -> Tuple[float, dict]:
+	def watch(self, image: numpy.array) -> Tuple[float, dict]:
 		"""Detect AR features from image and project scenes into camera frame."""
 
-		raise NotImplementedError('detect_and_project() method not implemented')
+		raise NotImplementedError('watch() method not implemented')
 
 	def look(self, timestamp: int|float, gaze_position: GazeFeatures.GazePosition):
 		"""Project timestamped gaze position into each scene frames.
 
-		!!! warning detect_and_project method needs to be called first.
+		!!! warning watch method needs to be called first.
 		"""
 
 		# Can't use camera frame when it is locked
@@ -1470,7 +1470,7 @@ class ArCamera(ArFrame):
 	def map(self):
 		"""Project camera frame background into scene frames background.
 
-		.. warning:: detect_and_project method needs to be called first.
+		.. warning:: watch method needs to be called first.
 		"""
 
 		# Can't use camera frame when it is locked
diff --git a/src/argaze/ArUcoMarkers/ArUcoCamera.py b/src/argaze/ArUcoMarkers/ArUcoCamera.py
index 5ff4b85..ad70391 100644
--- a/src/argaze/ArUcoMarkers/ArUcoCamera.py
+++ b/src/argaze/ArUcoMarkers/ArUcoCamera.py
@@ -71,25 +71,27 @@ class ArUcoCamera(ArFeatures.ArCamera):
 		"""
 
 		# Load ArUco detector
-		try:
-			new_detector_data = aruco_camera_data.pop('aruco_detector')
+		new_detector_data = aruco_camera_data.pop('aruco_detector')
 
-			new_aruco_dictionary = ArUcoMarkersDictionary.ArUcoMarkersDictionary(**new_detector_data.pop('dictionary'))
-			new_marker_size = new_detector_data.pop('marker_size')
+		new_aruco_dictionary = ArUcoMarkersDictionary.ArUcoMarkersDictionary(**new_detector_data.pop('dictionary'))
+		new_marker_size = new_detector_data.pop('marker_size')
 
-			# Check optic_parameters value type
-			optic_parameters_value = new_detector_data.pop('optic_parameters')
+		# Check optic_parameters value type
+		optic_parameters_value = new_detector_data.pop('optic_parameters')
 
-			# str: relative path to .json file
-			if type(optic_parameters_value) == str:
+		# str: relative path to .json file
+		if type(optic_parameters_value) == str:
 
-				optic_parameters_value = os.path.join(working_directory, optic_parameters_value)
-				new_optic_parameters = ArUcoOpticCalibrator.OpticParameters.from_json(optic_parameters_value)
+			optic_parameters_value = os.path.join(working_directory, optic_parameters_value)
+			new_optic_parameters = ArUcoOpticCalibrator.OpticParameters.from_json(optic_parameters_value)
 
-			# dict:
-			else:
+		# dict:
+		else:
 
-				new_optic_parameters = ArUcoOpticCalibrator.OpticParameters(**optic_parameters_value)
+			new_optic_parameters = ArUcoOpticCalibrator.OpticParameters(**optic_parameters_value)
+
+		# Load ArUco detector parameters
+		try:
 
 			# Check detector parameters value type
 			detector_parameters_value = new_detector_data.pop('parameters')
@@ -104,12 +106,12 @@ class ArUcoCamera(ArFeatures.ArCamera):
 			else:
 
 				new_aruco_detector_parameters = ArUcoDetector.DetectorParameters(**detector_parameters_value)
-			
-			new_aruco_detector = ArUcoDetector.ArUcoDetector(new_aruco_dictionary, new_marker_size, new_optic_parameters, new_aruco_detector_parameters)
 
 		except KeyError:
 
-			new_aruco_detector = None
+			new_aruco_detector_parameters = ArUcoDetector.DetectorParameters()
+		
+		new_aruco_detector = ArUcoDetector.ArUcoDetector(new_aruco_dictionary, new_marker_size, new_optic_parameters, new_aruco_detector_parameters)
 
 		# Load ArUcoScenes
 		new_scenes = {}
@@ -159,7 +161,7 @@ class ArUcoCamera(ArFeatures.ArCamera):
 
 			return ArUcoCamera.from_dict(aruco_camera_data, working_directory)
 
-	def detect_and_project(self, image: numpy.array) -> Tuple[float, dict]:
+	def watch(self, image: numpy.array) -> Tuple[float, dict]:
 		"""Detect environment aruco markers from image and project scenes into camera frame.
 
 		Returns:
diff --git a/src/argaze/utils/demo_aruco_markers_run.py b/src/argaze/utils/demo_aruco_markers_run.py
index dd79569..6dc081d 100644
--- a/src/argaze/utils/demo_aruco_markers_run.py
+++ b/src/argaze/utils/demo_aruco_markers_run.py
@@ -75,7 +75,7 @@ def main():
             if success:
 
                 # Detect and project AR features
-                detection_time, exceptions = aruco_camera.detect_and_project(video_image)
+                detection_time, exceptions = aruco_camera.watch(video_image)
 
                 # Get ArUcoCamera frame image
                 aruco_camera_image = aruco_camera.image()