diff options
| -rw-r--r-- | src/argaze/utils/tobii_stream_arcube_display.py | 23 |
1 files changed, 17 insertions, 6 deletions
diff --git a/src/argaze/utils/tobii_stream_arcube_display.py b/src/argaze/utils/tobii_stream_arcube_display.py index 04c47c5..8224d4a 100644 --- a/src/argaze/utils/tobii_stream_arcube_display.py +++ b/src/argaze/utils/tobii_stream_arcube_display.py @@ -134,19 +134,30 @@ def main(): # Track markers with pose estimation aruco_tracker.track(video_frame.matrix) - # Draw markers pose estimation - aruco_tracker.draw_tracked_markers(visu_frame.matrix) - # Warn user that no markers have been detected if aruco_tracker.get_tracked_markers_number() == 0: raise UserWarning('No marker detected') # Estimate cube pose from tracked markers - arcube.estimate_pose(aruco_tracker.get_tracked_markers()) + valid = arcube.estimate_pose(aruco_tracker.get_tracked_markers()) + + # Draw markers pose estimation + aruco_tracker.draw_tracked_markers(visu_frame.matrix) + + # Draw cube pose estimation + arcube.draw(visu_frame.matrix, aruco_camera.get_K(), aruco_camera.get_D()) + + # Warn about cube pose validity + if not valid: + + raise UserWarning('Cube pose is not validated.') - # Draw cube axis - arcube.draw(visu_frame.matrix, aruco_camera.get_K()) + # Pose estimation error + except ValueError as e: + + cv.rectangle(visu_frame.matrix, (0, 100), (500, 150), (127, 127, 127), -1) + cv.putText(visu_frame.matrix, str(e), (20, 140), cv.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 1, cv.LINE_AA) # Write warning except UserWarning as w: |