From 15cacb17bd0ce27e5e8c90b8f29fd2affe301d8d Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Tue, 28 May 2024 17:31:04 +0200
Subject: Clearing frame background. Calling map method inside its own try
 block.

---
 src/argaze/ArFeatures.py | 23 +++++++++++++++++++----
 1 file changed, 19 insertions(+), 4 deletions(-)

diff --git a/src/argaze/ArFeatures.py b/src/argaze/ArFeatures.py
index 79af23c..ba602de 100644
--- a/src/argaze/ArFeatures.py
+++ b/src/argaze/ArFeatures.py
@@ -1435,6 +1435,9 @@ class ArCamera(ArFrame):
 			# Project camera frame background into each scene frame if possible
 			for frame in self.scene_frames():
 
+				# Clear frame background
+				frame.background = DataFeatures.TimestampedImage(numpy.full((frame.size[1], frame.size[0], 3), 0).astype(numpy.uint8), timestamp=self.background.timestamp)
+
 				# Is there an AOI inside camera frame layers projection which its name equals to a scene frame name?
 				for camera_layer_name, camera_layer in self.layers.items():
 
@@ -1448,14 +1451,13 @@ class ArCamera(ArFrame):
 						mapping = cv2.getPerspectiveTransform(aoi_2d.astype(numpy.float32), destination)
 						frame.background = DataFeatures.TimestampedImage(cv2.warpPerspective(self.background, mapping, (width, height)), timestamp=self.background.timestamp)
 
-						# Notify frame 'on_map' signal observers
-						frame.send_signal('map', timestamp=self.background.timestamp)
-
 					# Ignore missing frame projection
 					except KeyError:
 
 						pass
 
+				# Notify frame's 'on_map' signal observers
+				frame.send_signal('map', timestamp=self.background.timestamp)
 
 # Define default ArContext image parameters
 DEFAULT_ARCONTEXT_IMAGE_PARAMETERS = {
@@ -1616,7 +1618,20 @@ class ArContext(DataFeatures.PipelineStepObject):
 
 				self.__pipeline.watch(DataFeatures.TimestampedImage(image, timestamp=timestamp))
 
-				# TODO: make this step optional
+				
+				self.__pipeline.map(timestamp=timestamp)
+
+			except DataFeatures.TimestampedException as e:
+
+				logging.warning('%s._process_camera_image: %s', DataFeatures.get_class_path(self), e)
+
+				self.__exceptions.append(e)
+
+			# TODO: make map step optional
+			try:
+
+				logging.debug('\t> map image (%i x %i)', width, height)
+
 				self.__pipeline.map(timestamp=timestamp)
 
 			except DataFeatures.TimestampedException as e:
-- 
cgit v1.1