Removing useless utils script.

2 files changed, 0 insertions, 758 deletions

diff --git a/src/argaze/utils/demo_heatmap_run.py b/src/argaze/utils/demo_heatmap_run.py
deleted file mode 100644
index be31d31..0000000
--- a/src/argaze/utils/demo_heatmap_run.py
+++ /dev/null
@@ -1,46 +0,0 @@
-#!/usr/bin/env python
-
-import os 
-
-from argaze.AreaOfInterest import AOIFeatures
-
-import numpy
-import cv2
-
-def main():
-
-	window_name = 'Heatmap'
-	image_size = (800, 600)
-
-	heatmap = AOIFeatures.Heatmap(image_size)
-
-	heatmap.init()
-
-	cv2.namedWindow(window_name, cv2.WINDOW_AUTOSIZE)
-
-	# Update pointer position
-	def on_mouse_event(event, x, y, flags, param):
-
-		heatmap.update((x, y), sigma=0.05)
-
-	# Attach mouse callback to window
-	cv2.setMouseCallback(window_name, on_mouse_event)
-
-	while True:
-
-		cv2.imshow(window_name, heatmap.image)
-
-		# Stop and save picture by pressing 'Esc' key
-		if cv2.waitKey(10) == 27:
-
-			current_directory = os.path.dirname(os.path.abspath(__file__))
-			cv2.imwrite(os.path.join(current_directory,'heatmap.png'), heatmap.image)
-
-			break
-
-	# Stop image display
-	cv2.destroyAllWindows()
-
-if __name__ == '__main__':
-
-    main()
\ No newline at end of file
diff --git a/src/argaze/utils/environment_edit.py b/src/argaze/utils/environment_edit.py
deleted file mode 100644
index 1cf1d2f..0000000
--- a/src/argaze/utils/environment_edit.py
+++ /dev/null
@@ -1,712 +0,0 @@
-#!/usr/bin/env python
-
-""" """
-
-__author__ = "Théo de la Hogue"
-__credits__ = []
-__copyright__ = "Copyright 2023, Ecole Nationale de l'Aviation Civile (ENAC)"
-__license__ = "BSD"
-
-import argparse
-import time
-import itertools
-
-from argaze import ArFeatures, GazeFeatures
-from argaze.AreaOfInterest import AOIFeatures
-from argaze.ArUcoMarkers import ArUcoScene
-from argaze.utils import MiscFeatures
-
-from tobiiproglasses2 import *
-
-import cv2
-import numpy
-
-def main():
-    """
-    Load AR environment from .json file, detect ArUco markers into movie images and estimate environment pose.
-    Edit environment setup to improve pose estimation.
-    """
-
-    # Manage arguments
-    parser = argparse.ArgumentParser(description=main.__doc__.split('-')[0])
-    parser.add_argument('environment', metavar='ENVIRONMENT', type=str, help='ar environment filepath')
-    parser.add_argument('movie', metavar='MOVIE', type=str, default=None, help='movie path')
-    parser.add_argument('-s','--start', metavar='START', type=float, default=0., help='start time in second')
-    parser.add_argument('-o', '--output', metavar='OUT', type=str, default='edited_environment.json', help='edited ar environment file path')
-    args = parser.parse_args()
-
-    # Load AR enviroment
-    ar_environment = ArFeatures.ArEnvironment.from_json(args.environment)
-
-    #print('ArEnvironment:\n', ar_environment)
-
-    # Select first AR scene
-    ar_scene = list(ar_environment.scenes.values())[0]
-
-    # Create a window to display AR environment
-    cv2.namedWindow(ar_environment.name, cv2.WINDOW_AUTOSIZE)
-
-    # Init mouse interaction
-    pointer = (0, 0)
-    left_click = (0, 0)
-    right_click = (0, 0)
-    right_drag = (0, 0)
-    right_button = False
-    edit_trans = False # translate
-    edit_z = False
-    snap = False
-    draw_help = False
-    draw_grid = False
-    draw_cover = False
-    pose_mode = 0
-    z_grid = 100.
-
-    # Update pointer position
-    def on_mouse_event(event, x, y, flags, param):
-
-        nonlocal pointer
-        nonlocal left_click
-        nonlocal right_click
-        nonlocal right_drag
-        nonlocal right_button
-
-        # Update pointer
-        pointer = (x, y)
-
-        # Update left_click
-        if event == cv2.EVENT_LBUTTONUP:
-
-            left_click = pointer
-
-        # Udpate right_button
-        elif event == cv2.EVENT_RBUTTONDOWN and not right_button:
-
-            right_button = True
-            right_click = pointer
-
-        elif event == cv2.EVENT_RBUTTONUP and right_button:
-
-            right_button = False
-
-        # Udpate right_drag
-        if right_button:
-
-            right_drag = (pointer[0] - right_click[0], pointer[1] - right_click[1])
-
-    # Attach mouse callback to window
-    cv2.setMouseCallback(ar_environment.name, on_mouse_event)
-
-    # Enable movie video capture
-    video_capture = cv2.VideoCapture(args.movie)
-
-    video_fps = video_capture.get(cv2.CAP_PROP_FPS)
-    image_width = int(video_capture.get(cv2.CAP_PROP_FRAME_WIDTH))
-    image_height = int(video_capture.get(cv2.CAP_PROP_FRAME_HEIGHT))
-
-    # Enable exit signal handler
-    exit = MiscFeatures.ExitSignalHandler()
-
-    # Init image selection
-    current_image_index = -1
-    _, current_image = video_capture.read()
-    next_image_index = int(args.start * video_fps)
-    refresh = False
-
-    # Init marker selection
-    scene_markers = {}
-    selected_marker_id = -1
-    hovered_marker_id = -1
-
-    # Init place edition
-    place_edit = {}
-     
-    while not exit.status():
-
-        # Edit fake gaze position from pointer
-        gaze_position = GazeFeatures.GazePosition(pointer, precision=2)
-
-        # Reset info image
-        info_image = numpy.full((850, 1500, 3), 0, dtype=numpy.uint8)
-
-        # Select a new image and detect markers once
-        if next_image_index != current_image_index or refresh or draw_cover:
-
-            video_capture.set(cv2.CAP_PROP_POS_FRAMES, next_image_index)
-
-            success, video_image = video_capture.read()
-
-            if success:
-
-                # Refresh once
-                refresh = False
-
-                current_image_index = video_capture.get(cv2.CAP_PROP_POS_FRAMES) - 1
-                current_image_time = video_capture.get(cv2.CAP_PROP_POS_MSEC)
-
-                # Hide zone
-                if draw_cover:
-
-                    # Draw black circle under pointer
-                    cv2.circle(video_image, pointer, 50, (0, 0, 0), -1)
-                
-                # Detect markers
-                ar_environment.aruco_detector.detect_markers(video_image)
-
-                # Filter scene markers
-                scene_markers, _ = ar_scene.aruco_scene.filter_markers(ar_environment.aruco_detector.detected_markers)
-
-                # Estimate scene marker's pose
-                ar_environment.aruco_detector.estimate_markers_pose(scene_markers.keys())
-
-                # Write scene detected markers
-                cv2.putText(video_image, f'{list(scene_markers.keys())}', (20, image_height-80), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
-                
-                # Draw gray panel on top
-                cv2.rectangle(video_image, (0, 0), (image_width, 50), (63, 63, 63), -1)
-
-                # Draw camera calibration
-                if draw_grid:
-
-                    cv2.putText(video_image, f'Grid at {z_grid} cm', (500, 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
-                    ar_environment.aruco_detector.optic_parameters.draw(video_image, image_width/10, image_height/10, z_grid, color=(127, 127, 127))
-
-                # Write timing
-                cv2.putText(video_image, f'Time: {int(current_image_time)} ms', (20, 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
-                
-                # Copy image
-                current_image = video_image.copy()
-
-        # Keep last image
-        else:
-
-            video_image = current_image.copy()
-
-        # Handle scene marker selection on left click
-        if len(scene_markers) > 0:
-
-            # Update selected and hovered markers id
-            selected_marker_id = -1
-            hovered_marker_id = -1
-            for (marker_id, marker) in scene_markers.items():
-
-                marker_aoi = marker.corners.reshape(4, 2).view(AOIFeatures.AreaOfInterest)
-
-                # Select by left clicking on marker
-                if marker_aoi.contains_point(left_click):
-
-                    selected_marker_id = marker_id
-
-                # Hover by pointing on marker
-                if marker_aoi.contains_point(pointer):
-
-                    hovered_marker_id = marker_id
-
-            # Edit marker's color
-            color_list = list(itertools.permutations([0, 255, 255]))
-
-            for i, m in scene_markers.items():
-
-                m.color = color_list[i%len(color_list)]
-
-                if i == selected_marker_id or i == hovered_marker_id:
-                    continue
-
-                if hovered_marker_id > 0:
-                    m.color = (0, 0, 0)
-                else:
-                    m.color = (127, 127, 127)
-
-                # Draw center
-                cv2.circle(video_image, m.center.astype(int), 5, m.color, -1)
-
-            try:
-
-                # A marker is selected
-                if selected_marker_id >= 0:
-
-                    try:
-                        
-                        # Retreive selected marker
-                        selected_marker = scene_markers[selected_marker_id]
-
-                        # Write selected marker id
-                        cv2.rectangle(info_image, (0, 0), (500, 50), selected_marker.color, -1)
-                        cv2.putText(info_image, f'Selected marker #{selected_marker.identifier}', (20, 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 0), 1, cv2.LINE_AA)
-                        cv2.rectangle(info_image, (0, 50), (500, image_height), (255, 255, 255), -1)
-
-                        # Write selected marker rotation matrix
-                        R = ArUcoScene.make_euler_rotation_vector(selected_marker.rotation)
-                        cv2.putText(info_image, f'Rotation (camera axis)', (20, 120), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 0), 1, cv2.LINE_AA)
-                        cv2.putText(info_image, f'{R[0]:.3f}', (40, 160), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 1, cv2.LINE_AA)
-                        cv2.putText(info_image, f'{R[1]:.3f}', (40, 200), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), 1, cv2.LINE_AA)
-                        cv2.putText(info_image, f'{R[2]:.3f}', (40, 240), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 0, 0), 1, cv2.LINE_AA)
-                        
-                        # Write selected marker translation vector
-                        T = selected_marker.translation
-                        cv2.putText(info_image, f'Translation (camera axis):', (20, 320), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 0), 1, cv2.LINE_AA)
-                        cv2.putText(info_image, f'{T[0]:.3f}', (40, 360), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 1, cv2.LINE_AA)
-                        cv2.putText(info_image, f'{T[1]:.3f}', (40, 400), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), 1, cv2.LINE_AA)
-                        cv2.putText(info_image, f'{T[2]:.3f}', (40, 440), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 0, 0), 1, cv2.LINE_AA)
-
-                        # Retreive selected marker place
-                        selected_place = ar_scene.aruco_scene.places[selected_marker_id]
-
-                        # On right click
-                        if right_button:
-
-                            pointer_delta_x, pointer_delta_y = right_drag[0] / image_width, right_drag[1] / image_height
-
-                            place_edit[selected_marker_id] = {'rotation': (0, 0, 0), 'translation': (0, 0, 0)}
-
-                            if edit_trans:
-                            
-                                # Edit place rotation
-                                if edit_z:
-                                    place_edit[selected_marker_id]['rotation'] = (0, 0, -pointer_delta_y)
-                                else:
-                                    place_edit[selected_marker_id]['rotation'] = (pointer_delta_y, pointer_delta_x, 0)
-
-                            else:
-
-                                # Edit place translation
-                                if edit_z:
-                                     place_edit[selected_marker_id]['translation'] = (0, 0, pointer_delta_y)
-                                else:
-                                    place_edit[selected_marker_id]['translation'] = (-pointer_delta_x, pointer_delta_y, 0)
-                                   
-                            # Edit transformations
-                            R = ArUcoScene.make_rotation_matrix(*place_edit[selected_marker_id]['rotation']).T
-                            T = numpy.array(place_edit[selected_marker_id]['translation'])
-
-                            # Apply transformations
-                            edited_place = ArUcoScene.Place(selected_place.translation + T, selected_place.rotation.dot(R), selected_marker)
-
-                        else:
-
-                            edited_place = selected_place
-
-                        # A marker is hovered while another is selected
-                        if hovered_marker_id >= 0 and hovered_marker_id != selected_marker_id:
-
-                            # Retreive hovered marker
-                            hovered_marker = scene_markers[hovered_marker_id]
-
-                            # Write hovered marker id
-                            cv2.rectangle(info_image, (500, 0), (1000, 50), hovered_marker.color, -1)
-                            cv2.putText(info_image, f'Hovered marker #{hovered_marker.identifier}', (520, 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 0), 1, cv2.LINE_AA)
-                            cv2.rectangle(info_image, (500, 50), (1000, image_height), (255, 255, 255), -1)
-
-                            # Write hovered marker rotation matrix
-                            R = ArUcoScene.make_euler_rotation_vector(hovered_marker.rotation)
-                            cv2.putText(info_image, f'Rotation (camera axis)', (520, 120), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 0), 1, cv2.LINE_AA)
-                            cv2.putText(info_image, f'{R[0]:.3f}', (540, 160), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 1, cv2.LINE_AA)
-                            cv2.putText(info_image, f'{R[1]:.3f}', (540, 200), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), 1, cv2.LINE_AA)
-                            cv2.putText(info_image, f'{R[2]:.3f}', (540, 240), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 0, 0), 1, cv2.LINE_AA)
-                            
-                            # Write hovered marker translation vector
-                            T = hovered_marker.translation
-                            cv2.putText(info_image, f'Translation (camera axis):', (520, 320), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 0), 1, cv2.LINE_AA)
-                            cv2.putText(info_image, f'{T[0]:.3f}', (540, 360), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 1, cv2.LINE_AA)
-                            cv2.putText(info_image, f'{T[1]:.3f}', (540, 400), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), 1, cv2.LINE_AA)
-                            cv2.putText(info_image, f'{T[2]:.3f}', (540, 440), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 0, 0), 1, cv2.LINE_AA)
-
-                            # Retreive hovered marker place
-                            hovered_place = ar_scene.aruco_scene.places[hovered_marker_id]
-
-                            # Write hovered place rotation matrix
-                            R = ArUcoScene.make_euler_rotation_vector(hovered_place.rotation)
-                            cv2.putText(info_image, f'Rotation (scene axis):', (520, 500), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 0), 1, cv2.LINE_AA)
-                            cv2.putText(info_image, f'{R[0]:.3f}', (540, 540), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 1, cv2.LINE_AA)
-                            cv2.putText(info_image, f'{R[1]:.3f}', (540, 580), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), 1, cv2.LINE_AA)
-                            cv2.putText(info_image, f'{R[2]:.3f}', (540, 620), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 0, 0), 1, cv2.LINE_AA)
-                            
-                            # Write hovered place translation vector
-                            T = hovered_place.translation
-                            cv2.putText(info_image, f'Translation (scene axis):', (520, 700), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 0), 1, cv2.LINE_AA)
-                            cv2.putText(info_image, f'{T[0]:.3f}', (540, 740), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 1, cv2.LINE_AA)
-                            cv2.putText(info_image, f'{T[1]:.3f}', (540, 780), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), 1, cv2.LINE_AA)
-                            cv2.putText(info_image, f'{T[2]:.3f}', (540, 820), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 0, 0), 1, cv2.LINE_AA)
-
-                            # Rotation between markers and places
-                            markers_rotation_matrix = hovered_marker.rotation.dot(selected_marker.rotation.T)
-                            places_rotation_matrix = hovered_place.rotation.dot(selected_place.rotation.T)
-
-                            markers_rotation_vector = ArUcoScene.make_euler_rotation_vector(markers_rotation_matrix)
-                            places_rotation_vector = ArUcoScene.make_euler_rotation_vector(places_rotation_matrix)
-
-                            # Translation info between markers and places
-                            markers_translation = hovered_marker.translation - selected_marker.translation
-                            places_translation = hovered_place.translation - selected_place.translation
-
-                            # Write selected/hovered markers id
-                            cv2.rectangle(info_image, (1000, 0), (1500, 50), (63, 63, 63), -1)
-                            cv2.putText(info_image, f'#{selected_marker.identifier} -> #{hovered_marker.identifier}', (1020, 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
-                            cv2.rectangle(info_image, (1000, 50), (1500, image_height), (190, 190, 190), -1)
-
-                            # Write selected/hovered markers rotation matrix
-                            R = markers_rotation_vector
-                            cv2.putText(info_image, f'Rotation (camera axis)', (1020, 120), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 0), 1, cv2.LINE_AA)
-                            cv2.putText(info_image, f'{R[0]:.3f}', (1040, 160), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 1, cv2.LINE_AA)
-                            cv2.putText(info_image, f'{R[1]:.3f}', (1040, 200), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), 1, cv2.LINE_AA)
-                            cv2.putText(info_image, f'{R[2]:.3f}', (1040, 240), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 0, 0), 1, cv2.LINE_AA)
-                            
-                            # Write selected/hovered markers translation vector
-                            T = markers_translation
-                            cv2.putText(info_image, f'Translation (camera axis):', (1020, 320), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 0), 1, cv2.LINE_AA)
-                            cv2.putText(info_image, f'{T[0]:.3f}', (1040, 360), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 1, cv2.LINE_AA)
-                            cv2.putText(info_image, f'{T[1]:.3f}', (1040, 400), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), 1, cv2.LINE_AA)
-                            cv2.putText(info_image, f'{T[2]:.3f}', (1040, 440), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 0, 0), 1, cv2.LINE_AA)
-
-                            # Write selected/hovered places rotation matrix
-                            R = places_rotation_vector
-                            cv2.putText(info_image, f'Rotation (scene axis):', (1020, 500), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 0), 1, cv2.LINE_AA)
-                            cv2.putText(info_image, f'{R[0]:.3f}', (1040, 540), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 1, cv2.LINE_AA)
-                            cv2.putText(info_image, f'{R[1]:.3f}', (1040, 580), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), 1, cv2.LINE_AA)
-                            cv2.putText(info_image, f'{R[2]:.3f}', (1040, 620), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 0, 0), 1, cv2.LINE_AA)
-                            
-                            # Write selected/hovered places translation vector
-                            T = places_translation
-                            cv2.putText(info_image, f'Translation (scene axis):', (1020, 700), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 0), 1, cv2.LINE_AA)
-                            cv2.putText(info_image, f'{T[0]:.3f}', (1040, 740), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 1, cv2.LINE_AA)
-                            cv2.putText(info_image, f'{T[1]:.3f}', (1040, 780), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), 1, cv2.LINE_AA)
-                            cv2.putText(info_image, f'{T[2]:.3f}', (1040, 820), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 0, 0), 1, cv2.LINE_AA)
-
-                            if snap: 
-
-                                # Snap once
-                                snap = False
-
-                                print(f'******* SNAP {selected_marker_id} / {hovered_marker_id} *******')
-
-                                '''
-                                # Edit rotation transformation
-                                #R = places_rotation_matrix.dot(rmat.T).dot(markers_rotation_matrix.T).dot(rmat)
-
-                                #rmat_places_rotation_vector = ArUcoScene.make_euler_rotation_vector(places_rotation_matrix.dot(rmat.T))
-                                rdiff = places_rotation_vector - markers_rotation_vector
-                                R = ArUcoScene.make_rotation_matrix(*rdiff)
-
-                                print(f'markers_rotation_vector: {markers_rotation_vector}')
-                                print(f'places_rotation_vector: {places_rotation_vector}')
-                                print(f'rdiff: {rdiff}')
-                                print(f'R: {ArUcoScene.make_euler_rotation_vector(R)}')
-                                '''
-
-                                # Edit translation transformation
-                                T = (places_translation.dot(rmat.T) - markers_translation).dot(rmat)
-
-                                print(f'markers_translation: {markers_translation} ({numpy.linalg.norm(markers_translation)})')
-                                print(f'places_translation: {places_translation} ({numpy.linalg.norm(places_translation)})')
-                                print(f'T: {T} ({numpy.linalg.norm(T)})')
-
-                                # Apply transformations
-                                edited_place = ArUcoScene.Place(selected_place.translation + T, selected_place.rotation, selected_marker)
-                        
-                        # Write edited place rotation matrix
-                        R = ArUcoScene.make_euler_rotation_vector(edited_place.rotation)
-                        cv2.putText(info_image, f'Rotation (scene axis):', (20, 500), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 0), 1, cv2.LINE_AA)
-                        cv2.putText(info_image, f'{R[0]:.3f}', (40, 540), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 1, cv2.LINE_AA)
-                        cv2.putText(info_image, f'{R[1]:.3f}', (40, 580), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), 1, cv2.LINE_AA)
-                        cv2.putText(info_image, f'{R[2]:.3f}', (40, 620), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 0, 0), 1, cv2.LINE_AA)
-                        
-                        # Write edited place translation vector
-                        T = edited_place.translation
-                        cv2.putText(info_image, f'Translation (scene axis):', (20, 700), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 0), 1, cv2.LINE_AA)
-                        cv2.putText(info_image, f'{T[0]:.3f}', (40, 740), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 1, cv2.LINE_AA)
-                        cv2.putText(info_image, f'{T[1]:.3f}', (40, 780), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), 1, cv2.LINE_AA)
-                        cv2.putText(info_image, f'{T[2]:.3f}', (40, 820), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 0, 0), 1, cv2.LINE_AA)
-
-                        # Replace selected place by edited place
-                        ar_scene.aruco_scene.places[selected_marker_id] = edited_place
-
-                        # Refresh places consistency
-                        ar_scene.aruco_scene.init_places_consistency()
-
-                        # Estimate scene pose from each marker
-                        cv2.putText(video_image, f'Single marker scene pose estimation', (20, image_height - 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
-
-                        for i, m in scene_markers.items():
-
-                            tvec, rmat = ar_scene.aruco_scene.estimate_pose_from_single_marker(m)
-
-                            # Project AOI scene into image according estimated pose
-                            aoi_scene_projection = ar_scene.project(tvec, rmat, visual_hfov=TobiiSpecifications.VISUAL_HFOV)
-
-                            if i == selected_marker_id:
-
-                                # Draw AOI scene projection with gaze
-                                aoi_scene_projection.draw_circlecast(video_image, gaze_position, 1, base_color=m.color, matching_color=(255, 255, 255))
-
-                            else:
-
-                                # Draw AOI scene
-                                aoi_scene_projection.draw(video_image, color=m.color)
-
-                        # Draw expected marker places
-                        ar_scene.draw_places(video_image)
-
-                    # Catch missing selected marker
-                    except KeyError:
-                        
-                        cv2.putText(video_image, f'Marker {selected_marker_id} not found', (20, 120), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 1, cv2.LINE_AA)
-
-                # No marker selected
-                else:
-
-                    cv2.putText(info_image, f'Left click on marker to select it', (20, 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
-           
-                    if len(scene_markers) > 1:
-
-                        # Check markers consistency
-                        consistent_markers, unconsistent_markers, unconsistencies = ar_scene.aruco_scene.check_markers_consistency(scene_markers, ar_scene.angle_tolerance, ar_scene.distance_tolerance)
-
-                        # No marker hovered
-                        if hovered_marker_id < 0:
-
-                            # Set unconsistent marker color to red 
-                            for i, m in scene_markers.items():
-                                if i in list(unconsistent_markers.keys()) and i != hovered_marker_id:
-                                    m.color = (0, 0, 255)
-
-                        # Write unconsistencies
-                        line = 0
-                        for i, (label, value) in enumerate(unconsistencies['rotation'].items()):
-
-                            current_rotation = value['current']
-                            expected_rotation = value['expected']
-
-                            cv2.putText(info_image, f'Unconsistent rotation {label}: [{current_rotation[0]:.3f} {current_rotation[1]:.3f} {current_rotation[2]:.3f}]', (20, 120+line*40), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 1, cv2.LINE_AA)
-                            line += 1
-
-                            cv2.putText(info_image, f'Expected rotation {label}: [{expected_rotation[0]:.3f} {expected_rotation[1]:.3f} {expected_rotation[2]:.3f}]', (20, 120+line*40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
-                            line += 1
-
-                        for i, (label, value) in enumerate(unconsistencies['translation'].items()):
-
-                            current_translation = value['current']
-                            expected_translation = value['expected']
-
-                            cv2.putText(info_image, f'Unconsistent translation {label}: {current_translation:.3f}', (20, 120+ line*40), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 1, cv2.LINE_AA)
-                            line += 1
-
-                            cv2.putText(info_image, f'Expected translation {label}: {expected_translation:.3f}', (20, 120+ line*40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
-                            line += 1
-
-                    # Force pose mode to single marker scene pose estimation
-                    else: 
-
-                        pose_mode = 0
-                    
-                    # Single marker scene pose estimation
-                    if pose_mode == 0:
-
-                        cv2.putText(video_image, f'Single marker scene pose estimation', (20, image_height - 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
-                
-                        for i, m in scene_markers.items():
-
-                            tvec, rmat = ar_scene.aruco_scene.estimate_pose_from_single_marker(m)
-
-                            # Project AOI scene into image according estimated pose
-                            aoi_scene_projection = ar_scene.project(tvec, rmat, visual_hfov=TobiiSpecifications.VISUAL_HFOV)
-
-                            # Draw AOI scene
-                            aoi_scene_projection.draw(video_image, color=m.color)
-
-                    # Consistent markers scene pose estimation
-                    if pose_mode == 1:
-
-                        cv2.putText(video_image, f'Consistent markers scene pose estimation', (20, image_height - 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
-                
-                        tvec, rmat = ar_scene.aruco_scene.estimate_pose_from_markers(consistent_markers)
-
-                        # Project AOI scene into image according estimated pose
-                        aoi_scene_projection = ar_scene.project(tvec, rmat, visual_hfov=TobiiSpecifications.VISUAL_HFOV)
-
-                        # Draw AOI scene
-                        aoi_scene_projection.draw(video_image, color=(255, 255, 255))
-
-                    # ArUco marker axis scene pose estimation
-                    elif pose_mode == 2:
-
-                        # Write pose estimation strategy
-                        cv2.putText(video_image, f'ArUco marker axis scene pose estimation', (20, image_height - 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
-                
-                        for axis_name, axis_markers in ar_scene.aruco_axis.items():
-
-                            try:
-
-                                origin_marker = scene_markers[axis_markers['origin_marker']]
-                                horizontal_axis_marker = scene_markers[axis_markers['horizontal_axis_marker']]
-                                vertical_axis_marker = scene_markers[axis_markers['vertical_axis_marker']]
-
-                                tvec, rmat = ar_scene.aruco_scene.estimate_pose_from_axis_markers(origin_marker, horizontal_axis_marker, vertical_axis_marker)
-
-                                # Project AOI scene into image according estimated pose
-                                aoi_scene_projection = ar_scene.project(tvec, rmat, visual_hfov=TobiiSpecifications.VISUAL_HFOV)
-
-                                # Draw AOI scene
-                                aoi_scene_projection.draw(video_image, color=(255, 255, 255))
-
-                                break
-
-                            except:
-                                pass
-
-                    # ArUco AOI scene building
-                    elif pose_mode == 3:
-
-                        # Write pose estimation strategy
-                        cv2.putText(video_image, f'ArUco AOI scene building', (20, image_height - 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
-                       
-                        try :
-
-                            # Try to build AOI scene from detected ArUco marker corners
-                            aoi_scene_projection = ar_scene.build_aruco_aoi_scene(scene_markers)
-
-                            # Draw AOI scene
-                            aoi_scene_projection.draw(video_image, color=(255, 255, 255))
-
-                        except:
-                            pass
-
-                        # Draw expected marker places
-                        #ar_scene.draw_places(video_image)
-
-            # Catch exceptions raised by estimate_pose and project methods
-            except (ArFeatures.PoseEstimationFailed, ArFeatures.SceneProjectionFailed) as e:
-
-                cv2.rectangle(video_image, (0, 90), (700, 130), (127, 127, 127), -1)
-                cv2.putText(video_image, f'Error: {e}', (20, 100), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
-            
-                # Draw image
-                cv2.imshow(ar_environment.name, video_image)
-
-        # Draw detected markers
-        ar_environment.aruco_detector.draw_detected_markers(video_image)
-
-        # Draw pointer
-        gaze_position.draw(video_image)
-
-        # Write documentation
-        cv2.putText(video_image, f'Press \'h\' for help', (950, 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
-
-        if draw_help:
-
-            cv2.rectangle(video_image, (0, 50), (700, 300), (127, 127, 127), -1)
-            cv2.putText(video_image, f'> Left click on marker: select marker', (20, 80), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
-            cv2.putText(video_image, f'> Left click on image: unselect marker', (20, 120), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
-            cv2.putText(video_image, f'> T: translate, R: rotate, Z: select axis', (20, 160), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
-            cv2.putText(video_image, f'> Right click and drag: edit axis', (20, 200), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
-            cv2.putText(video_image, f'> Ctrl + S: save environment', (20, 240), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
-            cv2.putText(video_image, f'> Backspace: reload environment', (20, 280), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
-
-        # Write selected marker id
-        elif selected_marker_id >= 0:
-
-            cv2.rectangle(video_image, (0, 50), (700, 90), (127, 127, 127), -1)
-
-            # Select color
-            if edit_z:
-                str_axis = 'Z'
-                color_axis = (255, 0, 0)
-            else:
-                str_axis = 'XY'
-                color_axis = (0, 255, 255)
-
-            if edit_trans:
-                cv2.putText(video_image, f'Rotate marker {selected_marker_id} around axis {str_axis}', (20, 80), cv2.FONT_HERSHEY_SIMPLEX, 1, color_axis, 1, cv2.LINE_AA)
-            else:
-                cv2.putText(video_image, f'Translate marker {selected_marker_id} along axis {str_axis}', (20, 80), cv2.FONT_HERSHEY_SIMPLEX, 1, color_axis, 1, cv2.LINE_AA)
-
-        key_pressed = cv2.waitKey(10)
-
-        #if key_pressed != -1:
-        #    print(key_pressed)
-
-        # Select previous image with left arrow
-        if key_pressed == 2:
-            next_image_index -= 1
-
-        # Select next image with right arrow
-        if key_pressed == 3:
-            next_image_index += 1
-
-        # Clip image index
-        if next_image_index < 0:
-            next_image_index = 0
-
-        # Edit rotation with r key
-        if key_pressed == 114:
-            edit_trans = True
-
-        # Edit translation with t key
-        if key_pressed == 116:
-            edit_trans = False
-
-        # Switch Z axis edition
-        if key_pressed == 122:
-            edit_z = not edit_z
-
-        # Snap hovered marker with s key
-        if key_pressed == 115:
-            snap = True
-
-        # Switch help mode with h key
-        if key_pressed == 104:
-            draw_help = not draw_help
-
-        # Switch grid mode with g key
-        if key_pressed == 103:
-            draw_grid = not draw_grid
-            refresh = True
-
-        # Raise z grid with down arrow
-        if key_pressed == 0:
-            z_grid += 10.
-            refresh = True
-
-        # Unraise z grid with up arrow
-        if key_pressed == 1:
-            z_grid -= 10.
-            refresh = True
-
-        # Switch draw_cover mode with c key
-        if key_pressed == 99:
-            draw_cover = not draw_cover
-
-        # Switch pose estimation mode with m key
-        if key_pressed == 109:
-            pose_mode += 1
-            if pose_mode > 3:
-                pose_mode = 0
-
-        # Save selected marker edition using 'Ctrl + s'
-        if key_pressed == 19:
-            ar_environment.to_json(args.output)
-            print(f'Environment saved into {args.output}')
-
-        # Close window using 'Esc' key
-        if key_pressed == 27:
-            break
-
-        # Reload environment on 'Backspace' key
-        if key_pressed == 127:
-            ar_environment = ArFeatures.ArEnvironment.from_json(args.environment)
-            print(f'Environment reloaded from {args.environment}')
-            refresh = True
-
-        # Display video
-        cv2.imshow(ar_environment.name, video_image)
-
-        # Display info
-        cv2.imshow('Info', info_image)
-
-    # Close movie capture
-    video_capture.release()
-
-    # Stop image display
-    cv2.destroyAllWindows()
-
-if __name__ == '__main__':
-
-    main()
\ No newline at end of file