diff options
| -rw-r--r-- | src/argaze/ArScene.py | 39 |
1 files changed, 27 insertions, 12 deletions
diff --git a/src/argaze/ArScene.py b/src/argaze/ArScene.py index 29c8e95..1fea998 100644 --- a/src/argaze/ArScene.py +++ b/src/argaze/ArScene.py @@ -13,6 +13,22 @@ import numpy ArSceneType = TypeVar('ArScene', bound="ArScene") # Type definition for type annotation convenience +class PoseEstimationFailed(Exception): + """Exception raised by ArScene project method when the pose can't be estimated due to unconsistencies.""" + + def __init__(self, message, unconsistencies=None): + + super().__init__(message) + + self.unconsistencies = unconsistencies + +class SceneProjectionFailed(Exception): + """Exception raised by ArScene project method when the scene can't be projected.""" + + def __init__(self, message): + + super().__init__(message) + @dataclass class ArScene(): """Define an Augmented Reality environnement thanks to ArUco markers and project it onto incoming frames.""" @@ -92,19 +108,22 @@ class ArScene(): output += f'\n\nArUcoTracker tracking data: {self.aruco_tracker.tracking_data}' output += f'\n\nArUcoScene: {self.aruco_scene}' output += f'\n\nAOIScene: {self.aoi_scene}' + output += '\n' return output - def project(self, frame, consistent_markers_number:int = 1, visual_hfov=0): + def project(self, frame, consistent_markers_number:int = 1, visual_hfov=0, pre_tracked_markers=False): """Project ArScene into frame.""" - # Track markers with pose estimation and draw them - self.aruco_tracker.track(frame) + # Track markers with pose estimation if it not already done + if not pre_tracked_markers: + + self.aruco_tracker.track(frame) # When no marker is detected, no AOI scene projection can't be done if len(self.aruco_tracker.tracked_markers) == 0: - raise UserWarning('No marker detected') + raise PoseEstimationFailed('No marker detected') # Estimate set pose from tracked markers tvec, rvec, success, consistent_markers, unconsistencies = self.aruco_scene.estimate_pose(self.aruco_tracker.tracked_markers) @@ -112,11 +131,7 @@ class ArScene(): # When pose estimation fails, ignore AOI scene projection if not success: - # DEBUG: print unconsistencies distances or angles - for key, value in unconsistencies.items(): - print(f'Unconsistent {key}: {value}') - - raise UserWarning('Pose estimation fails') + raise PoseEstimationFailed('Unconsistent marker poses', unconsistencies) # Consider pose estimation only if theer is a given number of consistent markers at least elif len(consistent_markers) >= consistent_markers_number: @@ -144,9 +159,9 @@ class ArScene(): # This hack isn't realistic but as the gaze will mainly focus on centered AOI, where the distorsion is low, it is acceptable. aoi_scene_projection = aoi_scene_copy.project(tvec, rvec, self.aruco_camera.K) - # Warn user when the merged scene is empty - if len(aoi_scene_projection.keys()) == 0: + # Warn user when the projected scene is empty + if len(aoi_scene_projection) == 0: - raise UserWarning('AOI projection is empty') + raise SceneProjectionFailed('AOI projection is empty') return aoi_scene_projection |