diff options
Diffstat (limited to 'src/argaze/ArUcoMarkers/ArUcoCamera.py')
| -rw-r--r-- | src/argaze/ArUcoMarkers/ArUcoCamera.py | 13 |
1 files changed, 8 insertions, 5 deletions
diff --git a/src/argaze/ArUcoMarkers/ArUcoCamera.py b/src/argaze/ArUcoMarkers/ArUcoCamera.py index 286afa7..a86f411 100644 --- a/src/argaze/ArUcoMarkers/ArUcoCamera.py +++ b/src/argaze/ArUcoMarkers/ArUcoCamera.py @@ -145,6 +145,9 @@ class ArUcoCamera(ArFeatures.ArCamera): def watch(self, timestamp: int|float, image: numpy.array) -> Tuple[float, float, dict]: """Detect environment aruco markers from image and project scenes into camera frame. + !!! note + This method timestamps camera frame and its layers. + Returns: detection time: aruco marker detection time in ms. projection time: scenes projection time in ms. @@ -197,10 +200,10 @@ class ArUcoCamera(ArFeatures.ArCamera): try: - # Update layer aoi + # Update camera layer aoi self.layers[layer_name].aoi_scene |= layer_projection - # Update layer timestamp + # Timestamp camera layer self.layers[layer_name].timestamp = timestamp except KeyError: @@ -215,12 +218,12 @@ class ArUcoCamera(ArFeatures.ArCamera): # Assess projection time in ms projection_time = (time.perf_counter() - projection_start) * 1e3 - # Update camera frame timestamp - self.timestamp = timestamp - # Unlock camera frame exploitation self.release() + # Timestamp camera frame + self.timestamp = timestamp + # Return detection time, projection time and exceptions return detection_time, projection_time, exceptions |