diff options
| -rw-r--r-- | docs/user_guide/aruco_markers_pipeline/advanced_topics/scripting.md | 8 | ||||
| -rw-r--r-- | src/argaze/ArUcoMarkers/ArUcoCamera.py | 12 |
2 files changed, 16 insertions, 4 deletions
diff --git a/docs/user_guide/aruco_markers_pipeline/advanced_topics/scripting.md b/docs/user_guide/aruco_markers_pipeline/advanced_topics/scripting.md index 529bff8..892d6dd 100644 --- a/docs/user_guide/aruco_markers_pipeline/advanced_topics/scripting.md +++ b/docs/user_guide/aruco_markers_pipeline/advanced_topics/scripting.md @@ -79,9 +79,9 @@ for name, aruco_scene in aruco_camera.scenes.items(): ...: # Watch image with ArUco camera - detection_time, exception = aruco_camera.watch(image) + detection_time, projection_time, exception = aruco_camera.watch(image) - # Do something with pipeline detection time + # Do something with pipeline times ... # Do something with pipeline exception @@ -95,6 +95,10 @@ Let's understand the meaning of each returned data. ArUco marker detection time in ms. +### *projection_time* + +Scenes projection time in ms. + ### *exception* A [python Exception](https://docs.python.org/3/tutorial/errors.html#exceptions) object raised during pipeline execution. diff --git a/src/argaze/ArUcoMarkers/ArUcoCamera.py b/src/argaze/ArUcoMarkers/ArUcoCamera.py index 4f00a3a..33f5b37 100644 --- a/src/argaze/ArUcoMarkers/ArUcoCamera.py +++ b/src/argaze/ArUcoMarkers/ArUcoCamera.py @@ -11,6 +11,7 @@ from typing import TypeVar, Tuple from dataclasses import dataclass, field import json import os +import time from argaze import ArFeatures, DataStructures from argaze.ArUcoMarkers import ArUcoMarkersDictionary, ArUcoDetector, ArUcoOpticCalibrator, ArUcoScene @@ -146,6 +147,7 @@ class ArUcoCamera(ArFeatures.ArCamera): Returns: detection time: aruco marker detection time in ms. + projection time: scenes projection time in ms. exception: dictionary with exception raised per scene. """ @@ -155,6 +157,9 @@ class ArUcoCamera(ArFeatures.ArCamera): # Lock camera frame exploitation self._frame_lock.acquire() + # Store projection execution start date + projection_start = time.perf_counter() + # Fill camera frame background with image self.background = image @@ -206,11 +211,14 @@ class ArUcoCamera(ArFeatures.ArCamera): exceptions[scene_name] = e + # Assess projection time in ms + projection_time = (time.perf_counter() - projection_start) * 1e3 + # Unlock camera frame exploitation self._frame_lock.release() - # Return dection time and exceptions - return detection_time, exceptions + # Return detection time, projection time and exceptions + return detection_time, projection_time, exceptions def __image(self, draw_detected_markers: dict = None, draw_scenes: dict = None, draw_optic_parameters_grid: dict = None, **kwargs: dict) -> numpy.array: """Get frame image with ArUco detection visualisation. |