2 files changed, 5 insertions, 9 deletions
diff --git a/src/argaze/ArUcoMarkers/ArUcoCamera.py b/src/argaze/ArUcoMarkers/ArUcoCamera.py
index 86802a5..52979cc 100644
--- a/src/argaze/ArUcoMarkers/ArUcoCamera.py
+++ b/src/argaze/ArUcoMarkers/ArUcoCamera.py
@@ -142,15 +142,12 @@ class ArUcoCamera(ArFeatures.ArCamera):
 
 			return ArUcoCamera.from_dict(aruco_camera_data, working_directory)
 
-	@DataFeatures.PipelineStep
+	@DataFeatures.PipelineStepMethod
 	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.
 		"""
 
 		# Use try block to always release the camera frame lock in finally block
@@ -160,7 +157,7 @@ class ArUcoCamera(ArFeatures.ArCamera):
 			self.acquire()
 
 			# Detect aruco markers
-			detection_time = self.aruco_detector.detect_markers(image)
+			self.aruco_detector.detect_markers(image)
 
 			# Fill camera frame background with image
 			self.background = image
@@ -212,9 +209,6 @@ class ArUcoCamera(ArFeatures.ArCamera):
 			# Timestamp camera frame
 			self.timestamp = timestamp
 
-		# Return detection time
-		return detection_time
-
 	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.
 
diff --git a/src/argaze/ArUcoMarkers/ArUcoDetector.py b/src/argaze/ArUcoMarkers/ArUcoDetector.py
index e6a305f..6d12f3d 100644
--- a/src/argaze/ArUcoMarkers/ArUcoDetector.py
+++ b/src/argaze/ArUcoMarkers/ArUcoDetector.py
@@ -14,6 +14,7 @@ import os
 from collections import Counter
 import time
 
+from argaze import DataFeatures
 from argaze.ArUcoMarkers import ArUcoMarkersDictionary, ArUcoMarker, ArUcoOpticCalibrator
 
 import numpy
@@ -131,7 +132,7 @@ class DetectorParameters():
         return self.__parameters
 
 @dataclass
-class ArUcoDetector():
+class ArUcoDetector(DataFeatures.PipelineStepObject):
     """ArUco markers detector.
 
     Parameters:
@@ -255,6 +256,7 @@ class ArUcoDetector():
 
         return output
 
+    @DataFeatures.PipelineStepMethod
     def detect_markers(self, image: numpy.array) -> float:
         """Detect all ArUco markers into an image.