4 files changed, 8 insertions, 23 deletions
diff --git a/src/argaze/ArFeatures.py b/src/argaze/ArFeatures.py
index dca2e3a..599b81f 100644
--- a/src/argaze/ArFeatures.py
+++ b/src/argaze/ArFeatures.py
@@ -1448,9 +1448,13 @@ class ArCamera(ArFrame):
 
 				yield scene_frame
 
-	def watch(self, image: numpy.array) -> Tuple[float, dict]:
+	def watch(self, timestamp: int|float, image: numpy.array) -> Tuple[float, dict]:
 		"""Detect AR features from image and project scenes into camera frame.
 
+		Parameters:
+			timestamp: image time stamp (unit does'nt matter)
+			image: image where to extract AR features
+
 		Returns:
 			detection time: AR features detection time in ms.
 			exception: dictionary with exception raised per scene.
@@ -1469,25 +1473,6 @@ class ArCamera(ArFrame):
 			watch method needs to be called first.
 		"""
 
-		# Can't use camera frame while it is locked
-		wait_start = time.perf_counter()
-		waiting_time = 0
-
-		while super().locked():
-
-			time.sleep(1e-6)
-			waiting_time = (time.perf_counter() - wait_start) * 1e3
-
-			# TODO? return waiting time?
-
-			# TODO? add timeout parameter?
-			#if waiting_time > timeout:
-			#	return None, None
-
-		# DEBUG
-		#if waiting_time > 0:
-		#	print(f'ArCamera: waiting {waiting_time:.3f} ms before to process gaze position at {timestamp} time.')
-
 		# Project gaze position into camera frame
 		yield self, super().look(timestamp, gaze_position)
 
diff --git a/src/argaze/ArUcoMarkers/ArUcoCamera.py b/src/argaze/ArUcoMarkers/ArUcoCamera.py
index 04226c0..1cf0896 100644
--- a/src/argaze/ArUcoMarkers/ArUcoCamera.py
+++ b/src/argaze/ArUcoMarkers/ArUcoCamera.py
@@ -142,7 +142,7 @@ class ArUcoCamera(ArFeatures.ArCamera):
 
 			return ArUcoCamera.from_dict(aruco_camera_data, working_directory)
 
-	def watch(self, image: numpy.array) -> Tuple[float, float, dict]:
+	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.
 
 		Returns:
diff --git a/src/argaze/utils/aruco_markers_group_export.py b/src/argaze/utils/aruco_markers_group_export.py
index 8740af2..92646ca 100644
--- a/src/argaze/utils/aruco_markers_group_export.py
+++ b/src/argaze/utils/aruco_markers_group_export.py
@@ -74,7 +74,7 @@ def main():
                 current_image_time = video_capture.get(cv2.CAP_PROP_POS_MSEC)
 
                 # Detect markers
-                detection_time, projection_time, exceptions = aruco_camera.watch(video_image)
+                detection_time, projection_time, exceptions = aruco_camera.watch(current_image_time, video_image)
 
                 # Estimate each markers pose
                 aruco_camera.aruco_detector.estimate_markers_pose(aruco_camera.aruco_detector.detected_markers)
diff --git a/src/argaze/utils/demo_aruco_markers_run.py b/src/argaze/utils/demo_aruco_markers_run.py
index ce81da4..67e2845 100644
--- a/src/argaze/utils/demo_aruco_markers_run.py
+++ b/src/argaze/utils/demo_aruco_markers_run.py
@@ -118,7 +118,7 @@ def main():
                     video_chrono.restart()
 
                 # Detect and project AR features
-                detection_time, projection_time, exceptions = aruco_camera.watch(video_image)
+                detection_time, projection_time, exceptions = aruco_camera.watch(capture_time, video_image)
 
                 # Assess visualisation time
                 visualisation_start = time.time()