diff options
| -rw-r--r-- | src/argaze/ArUcoMarkers/ArUcoDetector.py | 16 |
1 files changed, 14 insertions, 2 deletions
diff --git a/src/argaze/ArUcoMarkers/ArUcoDetector.py b/src/argaze/ArUcoMarkers/ArUcoDetector.py index b9ee077..723bc26 100644 --- a/src/argaze/ArUcoMarkers/ArUcoDetector.py +++ b/src/argaze/ArUcoMarkers/ArUcoDetector.py @@ -11,6 +11,7 @@ from typing import TypeVar, Tuple from dataclasses import dataclass, field import json from collections import Counter +import time from argaze.ArUcoMarkers import ArUcoMarkersDictionary, ArUcoMarker, ArUcoOpticCalibrator @@ -175,18 +176,27 @@ class ArUcoDetector(): return output - def detect_markers(self, image: numpy.array): + def detect_markers(self, image: numpy.array) -> int: """Detect all ArUco markers into an image. .. danger:: DON'T MIRROR IMAGE It makes the markers detection to fail. + + Returns: + - time: marker detection time in ms """ # Reset detected markers data self.__detected_markers, self.__detected_markers_corners, self.__detected_markers_ids = {}, [], [] + # Store marker detection start date + detection_start = time.time() + # Detect markers into gray picture self.__detected_markers_corners, self.__detected_markers_ids, _ = aruco.detectMarkers(cv.cvtColor(image, cv.COLOR_BGR2GRAY), self.dictionary.markers, parameters = self.parameters.internal) + + # Assess marker detection time in ms + detection_time = int((time.time() - detection_start) * 1e3) # Is there detected markers ? if len(self.__detected_markers_corners) > 0: @@ -203,7 +213,7 @@ class ArUcoDetector(): marker.corners = self.__detected_markers_corners[i] - # No pose estimation: call estimate_pose to get one + # No pose estimation: call estimate_markers_pose to get one marker.translation = numpy.empty([0]) marker.rotation = numpy.empty([0]) marker.points = numpy.empty([0]) @@ -212,6 +222,8 @@ class ArUcoDetector(): self.__detected_ids.append(marker_id) + return detection_time + def estimate_markers_pose(self, markers_ids: list = []): """Estimate pose of current detected markers or of given markers id list.""" |