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-rw-r--r--src/argaze/ArScene.py39
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