From 70e40f95513374008d3cb6bb3361d6951bf41d20 Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Wed, 6 Dec 2023 23:00:08 +0100
Subject: Locking ArCamera frame image exploitation.

---
 src/argaze/ArFeatures.py | 14 +++++++++++++-
 1 file changed, 13 insertions(+), 1 deletion(-)

diff --git a/src/argaze/ArFeatures.py b/src/argaze/ArFeatures.py
index 5ec6b7e..4e05764 100644
--- a/src/argaze/ArFeatures.py
+++ b/src/argaze/ArFeatures.py
@@ -1565,7 +1565,19 @@ class ArCamera(ArFrame):
 			kwargs: ArFrame.image parameters
 		"""
 
-		return super().image(**kwargs)
+		# Can't use camera frame when it is locked
+		if self._frame_lock.locked():
+			return
+
+		# Lock camera frame exploitation
+		self._frame_lock.acquire()
+
+		_image = super().image(**kwargs)
+
+		# Unlock camera frame exploitation
+		self._frame_lock.release()
+
+		return _image
 
 	def to_json(self, json_filepath):
 		"""Save camera to .json file."""
-- 
cgit v1.1


From 85ef93cad4b7c554cb6bf3077afeb0825160473f Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Tue, 9 Jan 2024 17:10:58 +0100
Subject: removing frame lock management as it is done in super class.

---
 src/argaze/ArUcoMarkers/ArUcoCamera.py | 11 +----------
 1 file changed, 1 insertion(+), 10 deletions(-)

diff --git a/src/argaze/ArUcoMarkers/ArUcoCamera.py b/src/argaze/ArUcoMarkers/ArUcoCamera.py
index ed6c619..75c8bfa 100644
--- a/src/argaze/ArUcoMarkers/ArUcoCamera.py
+++ b/src/argaze/ArUcoMarkers/ArUcoCamera.py
@@ -227,14 +227,8 @@ class ArUcoCamera(ArFeatures.ArCamera):
 			kwargs: ArCamera.image parameters
 		"""
 
-		# Can't use camera frame when it is locked
-		if self._frame_lock.locked():
-			return
-
-		# Lock camera frame exploitation
-		self._frame_lock.acquire()
-
 		# Get camera frame image
+		# Note: don't use self._frame_lock here as super().image manage it.
 		image = super().image(**kwargs)
 
 		# Draw optic parameters grid if required
@@ -254,9 +248,6 @@ class ArUcoCamera(ArFeatures.ArCamera):
 
 			self.aruco_detector.draw_detected_markers(image, draw_detected_markers)
 
-		# Unlock camera frame exploitation
-		self._frame_lock.release()
-
 		return image
 
 	def image(self, **kwargs: dict) -> numpy.array:
-- 
cgit v1.1


From 876a70f9e3ed7066f8ab68ed80ab3fc511d36c22 Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Tue, 16 Jan 2024 11:19:46 +0100
Subject: Adding a new DataStructure SharedObject and using it in ArLayer and
 ArFrame.

---
 src/argaze/ArFeatures.py               | 83 +++++++++++++---------------------
 src/argaze/ArUcoMarkers/ArUcoCamera.py | 10 ++--
 src/argaze/DataStructures.py           | 22 +++++++++
 3 files changed, 61 insertions(+), 54 deletions(-)

diff --git a/src/argaze/ArFeatures.py b/src/argaze/ArFeatures.py
index 4e05764..f725380 100644
--- a/src/argaze/ArFeatures.py
+++ b/src/argaze/ArFeatures.py
@@ -94,10 +94,13 @@ DEFAULT_ARLAYER_DRAW_PARAMETERS = {
 }
 
 @dataclass
-class ArLayer():
+class ArLayer(DataStructures.SharedObject):
 	"""
 	Defines a space where to make matching of gaze movements and AOI and inside which those matchings need to be analyzed.
 
+	!!! note
+		Inherits from DataStructures.SharedObject class to be shared by multiple threads
+
 	Parameters:
 		name: name of the layer
 		aoi_scene: AOI scene description
@@ -118,15 +121,15 @@ class ArLayer():
 
 	def __post_init__(self):
 
+		# Init sharedObject
+		super().__init__()
+
 		# Define parent attribute: it will be setup by parent later
 		self.__parent = None
 
 		# Init current gaze movement
 		self.__gaze_movement = GazeFeatures.UnvalidGazeMovement()
 
-		# Init lock to share looking data with multiples threads
-		self.__look_lock = threading.Lock()
-
 		# Cast aoi scene to its effective dimension
 		if self.aoi_scene.dimension == 2:
 
@@ -372,7 +375,7 @@ class ArLayer():
 		"""
 
 		# Lock layer exploitation
-		self.__look_lock.acquire()
+		self.acquire()
 
 		# Store look execution start date
 		look_start = time.perf_counter()
@@ -460,7 +463,7 @@ class ArLayer():
 		execution_times['total'] = (time.perf_counter() - look_start) * 1e3
 		
 		# Unlock layer exploitation
-		self.__look_lock.release()
+		self.release()
 
 		# Return look data
 		return looked_aoi, aoi_scan_path_analysis, execution_times, exception
@@ -479,8 +482,8 @@ class ArLayer():
 
 			return self.draw(image, **self.draw_parameters)
 
-		# Lock frame exploitation
-		self.__look_lock.acquire()
+		# Lock layer exploitation
+		self.acquire()
 
 		# Draw aoi if required
 		if draw_aoi_scene is not None:
@@ -492,8 +495,8 @@ class ArLayer():
 
 			self.aoi_matcher.draw(image, self.aoi_scene, **draw_aoi_matching)
 
-		# Unlock frame exploitation
-		self.__look_lock.release()
+		# Unlock layer exploitation
+		self.release()
 
 # Define default ArFrame image parameters
 DEFAULT_ARFRAME_IMAGE_PARAMETERS = {
@@ -517,10 +520,13 @@ DEFAULT_ARFRAME_IMAGE_PARAMETERS = {
 }
 
 @dataclass
-class ArFrame():
+class ArFrame(DataStructures.SharedObject):
 	"""
 	Defines a rectangular area where to project in timestamped gaze positions and inside which they need to be analyzed.
 
+	!!! note
+		Inherits from DataStructures.SharedObject class to be shared by multiple threads
+
 	Parameters:
 		name: name of the frame
 		size: defines the dimension of the rectangular area where gaze positions are projected
@@ -551,6 +557,9 @@ class ArFrame():
 	
 	def __post_init__(self):
 
+		# Init sharedObject
+		super().__init__()
+
 		# Define parent attribute: it will be setup by parent later
 		self.__parent = None
 
@@ -562,9 +571,6 @@ class ArFrame():
 		# Init current gaze position
 		self.__gaze_position = GazeFeatures.UnvalidGazePosition()
 
-		# Init lock to share looked data with multiples threads
-		self.__look_lock = threading.Lock()
-
 		# Prepare logging if needed
 		self.__ts_logs = {}
 
@@ -852,7 +858,7 @@ class ArFrame():
 		"""
 
 		# Lock frame exploitation
-		self.__look_lock.acquire()
+		self.acquire()
 
 		# Store look execution start date
 		look_start = time.perf_counter()
@@ -988,7 +994,7 @@ class ArFrame():
 		execution_times['total'] = (time.perf_counter() - look_start) * 1e3
 
 		# Unlock frame exploitation
-		self.__look_lock.release()
+		self.release()
 
 		# Return look data
 		return self.__gaze_position, identified_gaze_movement, scan_step_analysis, layer_analysis, execution_times, exception
@@ -1009,7 +1015,7 @@ class ArFrame():
 		"""
 
 		# Lock frame exploitation
-		self.__look_lock.acquire()
+		self.acquire()
 
 		# Draw background only
 		if background_weight is not None and (heatmap_weight is None or self.heatmap is None):
@@ -1066,7 +1072,7 @@ class ArFrame():
 			self.__gaze_position.draw(image, **draw_gaze_positions)
 
 		# Unlock frame exploitation
-		self.__look_lock.release()
+		self.release()
 
 		return image
 
@@ -1393,9 +1399,6 @@ class ArCamera(ArFrame):
 
 				layer.aoi_scan_path.expected_aoi = expected_aoi_list
 				layer.aoi_matcher.exclude = exclude_aoi_list
-
-		# Init a lock to share scene projections into camera frame between multiple threads
-		self._frame_lock = threading.Lock()
 	
 	def __str__(self) -> str:
 		"""
@@ -1470,7 +1473,7 @@ class ArCamera(ArFrame):
 		wait_start = time.perf_counter()
 		waiting_time = 0
 
-		while self._frame_lock.locked():
+		while super().locked():
 
 			time.sleep(1e-6)
 			waiting_time = (time.perf_counter() - wait_start) * 1e3
@@ -1485,12 +1488,12 @@ class ArCamera(ArFrame):
 		#if waiting_time > 0:
 		#	print(f'ArCamera: waiting {waiting_time:.3f} ms before to process gaze position at {timestamp} time.')
 
-		# Lock camera frame exploitation
-		self._frame_lock.acquire()
-
 		# Project gaze position into camera frame
 		yield self, super().look(timestamp, gaze_position)
 
+		# Lock camera frame exploitation
+		super().acquire()
+
 		# Project gaze position into each scene frames if possible
 		for scene_frame in self.scene_frames:
 
@@ -1517,7 +1520,7 @@ class ArCamera(ArFrame):
 					pass
 
 		# Unlock camera frame exploitation
-		self._frame_lock.release()
+		super().release()
 
 	def map(self):
 		"""Project camera frame background into scene frames background.
@@ -1527,11 +1530,11 @@ class ArCamera(ArFrame):
 		"""
 
 		# Can't use camera frame when it is locked
-		if self._frame_lock.locked():
+		if super().locked():
 			return
 
 		# Lock camera frame exploitation
-		self._frame_lock.acquire()
+		super().acquire()
 
 		# Project camera frame background into each scene frame if possible
 		for frame in self.scene_frames:
@@ -1555,29 +1558,7 @@ class ArCamera(ArFrame):
 					pass
 
 		# Unlock camera frame exploitation
-		self._frame_lock.release()
-
-	def image(self, **kwargs: dict) -> numpy.array:
-		"""
-		Get frame image.
-
-		Parameters:
-			kwargs: ArFrame.image parameters
-		"""
-
-		# Can't use camera frame when it is locked
-		if self._frame_lock.locked():
-			return
-
-		# Lock camera frame exploitation
-		self._frame_lock.acquire()
-
-		_image = super().image(**kwargs)
-
-		# Unlock camera frame exploitation
-		self._frame_lock.release()
-
-		return _image
+		super().release()
 
 	def to_json(self, json_filepath):
 		"""Save camera to .json file."""
diff --git a/src/argaze/ArUcoMarkers/ArUcoCamera.py b/src/argaze/ArUcoMarkers/ArUcoCamera.py
index 75c8bfa..c7df7e0 100644
--- a/src/argaze/ArUcoMarkers/ArUcoCamera.py
+++ b/src/argaze/ArUcoMarkers/ArUcoCamera.py
@@ -155,7 +155,7 @@ class ArUcoCamera(ArFeatures.ArCamera):
 		detection_time = self.aruco_detector.detect_markers(image)
 
 		# Lock camera frame exploitation
-		self._frame_lock.acquire()
+		super().acquire()
 
 		# Store projection execution start date
 		projection_start = time.perf_counter()
@@ -212,7 +212,7 @@ class ArUcoCamera(ArFeatures.ArCamera):
 		projection_time = (time.perf_counter() - projection_start) * 1e3
 
 		# Unlock camera frame exploitation
-		self._frame_lock.release()
+		super().release()
 
 		# Return detection time, projection time and exceptions
 		return detection_time, projection_time, exceptions
@@ -228,9 +228,13 @@ class ArUcoCamera(ArFeatures.ArCamera):
 		"""
 
 		# Get camera frame image
-		# Note: don't use self._frame_lock here as super().image manage it.
+		# Note: don't lock/unlock camera frame here as super().image manage it.
 		image = super().image(**kwargs)
 
+		# Check image
+		if image is None:
+			return
+
 		# Draw optic parameters grid if required
 		if draw_optic_parameters_grid is not None:
 
diff --git a/src/argaze/DataStructures.py b/src/argaze/DataStructures.py
index fc5072b..d3b6544 100644
--- a/src/argaze/DataStructures.py
+++ b/src/argaze/DataStructures.py
@@ -13,6 +13,7 @@ import collections
 import json
 import ast
 import bisect
+import threading, traceback, sys
 
 import pandas
 import numpy
@@ -99,6 +100,27 @@ class JsonEncoder(json.JSONEncoder):
 
             return public_dict
 
+class SharedObject():
+    """Enable multiple threads sharing."""
+
+    def __init__(self):
+        self._lock = threading.Lock()
+
+    def acquire(self):
+        self._lock.acquire()
+
+    def release(self):
+        self._lock.release()
+
+    def locked(self) -> bool:
+        return self._lock.locked()
+
+    def __enter__(self):
+        self.acquire()
+
+    def __exit__(self, type, value, traceback):
+        self.release()
+
 class TimeStampedBuffer(collections.OrderedDict):
     """Ordered dictionary to handle timestamped data.
     ```
-- 
cgit v1.1


From 74a6c56be33cada2bf45c2c9bb6ba25f57f38696 Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Tue, 16 Jan 2024 11:36:55 +0100
Subject: Removing useless test.

---
 src/argaze/ArFeatures.py               | 4 ----
 src/argaze/ArUcoMarkers/ArUcoCamera.py | 4 ----
 2 files changed, 8 deletions(-)

diff --git a/src/argaze/ArFeatures.py b/src/argaze/ArFeatures.py
index f725380..dca2e3a 100644
--- a/src/argaze/ArFeatures.py
+++ b/src/argaze/ArFeatures.py
@@ -1529,10 +1529,6 @@ class ArCamera(ArFrame):
 			watch method needs to be called first.
 		"""
 
-		# Can't use camera frame when it is locked
-		if super().locked():
-			return
-
 		# Lock camera frame exploitation
 		super().acquire()
 
diff --git a/src/argaze/ArUcoMarkers/ArUcoCamera.py b/src/argaze/ArUcoMarkers/ArUcoCamera.py
index c7df7e0..04226c0 100644
--- a/src/argaze/ArUcoMarkers/ArUcoCamera.py
+++ b/src/argaze/ArUcoMarkers/ArUcoCamera.py
@@ -231,10 +231,6 @@ class ArUcoCamera(ArFeatures.ArCamera):
 		# Note: don't lock/unlock camera frame here as super().image manage it.
 		image = super().image(**kwargs)
 
-		# Check image
-		if image is None:
-			return
-
 		# Draw optic parameters grid if required
 		if draw_optic_parameters_grid is not None:
 
-- 
cgit v1.1


From cb4bd786cddb6f946de10487a3ddd3135aaf6eab Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Tue, 16 Jan 2024 12:03:07 +0100
Subject: Adding a new timestamp parameter to ArCamera.watch method.

---
 .../advanced_topics/scripting.md                   |  4 ++--
 .../aruco_markers_pipeline/aoi_3d_frame.md         | 10 ++-------
 .../configuration_and_execution.md                 | 10 ++-------
 src/argaze/ArFeatures.py                           | 25 +++++-----------------
 src/argaze/ArUcoMarkers/ArUcoCamera.py             |  2 +-
 src/argaze/utils/aruco_markers_group_export.py     |  2 +-
 src/argaze/utils/demo_aruco_markers_run.py         |  2 +-
 7 files changed, 14 insertions(+), 41 deletions(-)

diff --git a/docs/user_guide/aruco_markers_pipeline/advanced_topics/scripting.md b/docs/user_guide/aruco_markers_pipeline/advanced_topics/scripting.md
index 892d6dd..c79c8b5 100644
--- a/docs/user_guide/aruco_markers_pipeline/advanced_topics/scripting.md
+++ b/docs/user_guide/aruco_markers_pipeline/advanced_topics/scripting.md
@@ -75,11 +75,11 @@ for name, aruco_scene in aruco_camera.scenes.items():
 [ArUcoCamera.watch](../../../argaze.md/#argaze.ArFeatures.ArCamera.watch) method returns data about pipeline execution.
 
 ```python
-# Assuming that images are available
+# Assuming that timestamped images are available
 ...:
 
     # Watch image with ArUco camera
-    detection_time, projection_time, exception = aruco_camera.watch(image)
+    detection_time, projection_time, exception = aruco_camera.watch(timestamp, image)
 
     # Do something with pipeline times
     ...
diff --git a/docs/user_guide/aruco_markers_pipeline/aoi_3d_frame.md b/docs/user_guide/aruco_markers_pipeline/aoi_3d_frame.md
index 7f60f86..86839c1 100644
--- a/docs/user_guide/aruco_markers_pipeline/aoi_3d_frame.md
+++ b/docs/user_guide/aruco_markers_pipeline/aoi_3d_frame.md
@@ -101,17 +101,11 @@ The names of 3D AOI **and** their related [ArFrames](../../argaze.md/#argaze.ArF
 After camera image is passed to [ArUcoCamera.watch](../../argaze.md/#argaze.ArFeatures.ArCamera.watch) method, it is possible to apply a perpective transformation in order to project watched image into each [ArUcoScenes](../../argaze.md/#argaze.ArUcoMarkers.ArUcoScene) [frames background](../../argaze.md/#argaze.ArFeatures.ArFrame) image.
 
 ```python
-# Assuming that Full HD (1920x1080) video stream or file is opened
-...
-
-# Assuming that the video reading is handled in a looping code block
+# Assuming that Full HD (1920x1080) timestamped images are available
 ...:
 
-    # Capture image from video stream of file
-    image = video_capture.read()
-
     # Detect ArUco markers, estimate scene pose then, project 3D AOI into camera frame
-    aruco_camera.watch(image)
+    aruco_camera.watch(timestamp, image)
 
     # Map watched image into ArUcoScenes frames background
     aruco_camera.map()
diff --git a/docs/user_guide/aruco_markers_pipeline/configuration_and_execution.md b/docs/user_guide/aruco_markers_pipeline/configuration_and_execution.md
index 329a137..43bb64e 100644
--- a/docs/user_guide/aruco_markers_pipeline/configuration_and_execution.md
+++ b/docs/user_guide/aruco_markers_pipeline/configuration_and_execution.md
@@ -98,17 +98,11 @@ The usual [ArFrame visualisation parameters](../gaze_analysis_pipeline/visualisa
 Pass each camera image to [ArUcoCamera.watch](../../argaze.md/#argaze.ArFeatures.ArCamera.watch) method to execute the whole pipeline dedicated to ArUco markers detection, scene pose estimation and 3D AOI projection.
 
 ```python
-# Assuming that Full HD (1920x1080) video stream or file is opened
-...
-
-# Assuming that the video reading is handled in a looping code block
+# Assuming that Full HD (1920x1080) timestamped images are available
 ...:
 
-    # Capture image from video stream of file
-    image = video_capture.read()
-
     # Detect ArUco markers, estimate scene pose then, project 3D AOI into camera frame
-    aruco_camera.watch(image)
+    aruco_camera.watch(timestamp, image)
 
     # Display ArUcoCamera frame image to display detected ArUco markers, scene pose, 2D AOI projection and ArFrame visualisation.
     ... aruco_camera.image()
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()
-- 
cgit v1.1


From 777a8438ebf225da99aaf2624b9d28b0680f7d5b Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Tue, 16 Jan 2024 12:30:21 +0100
Subject: Using self instead of super().

---
 src/argaze/ArFeatures.py               | 8 ++++----
 src/argaze/ArUcoMarkers/ArUcoCamera.py | 4 ++--
 2 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/src/argaze/ArFeatures.py b/src/argaze/ArFeatures.py
index 599b81f..6170f47 100644
--- a/src/argaze/ArFeatures.py
+++ b/src/argaze/ArFeatures.py
@@ -1477,7 +1477,7 @@ class ArCamera(ArFrame):
 		yield self, super().look(timestamp, gaze_position)
 
 		# Lock camera frame exploitation
-		super().acquire()
+		self.acquire()
 
 		# Project gaze position into each scene frames if possible
 		for scene_frame in self.scene_frames:
@@ -1505,7 +1505,7 @@ class ArCamera(ArFrame):
 					pass
 
 		# Unlock camera frame exploitation
-		super().release()
+		self.release()
 
 	def map(self):
 		"""Project camera frame background into scene frames background.
@@ -1515,7 +1515,7 @@ class ArCamera(ArFrame):
 		"""
 
 		# Lock camera frame exploitation
-		super().acquire()
+		self.acquire()
 
 		# Project camera frame background into each scene frame if possible
 		for frame in self.scene_frames:
@@ -1539,7 +1539,7 @@ class ArCamera(ArFrame):
 					pass
 
 		# Unlock camera frame exploitation
-		super().release()
+		self.release()
 
 	def to_json(self, json_filepath):
 		"""Save camera to .json file."""
diff --git a/src/argaze/ArUcoMarkers/ArUcoCamera.py b/src/argaze/ArUcoMarkers/ArUcoCamera.py
index 1cf0896..251a081 100644
--- a/src/argaze/ArUcoMarkers/ArUcoCamera.py
+++ b/src/argaze/ArUcoMarkers/ArUcoCamera.py
@@ -155,7 +155,7 @@ class ArUcoCamera(ArFeatures.ArCamera):
 		detection_time = self.aruco_detector.detect_markers(image)
 
 		# Lock camera frame exploitation
-		super().acquire()
+		self.acquire()
 
 		# Store projection execution start date
 		projection_start = time.perf_counter()
@@ -212,7 +212,7 @@ class ArUcoCamera(ArFeatures.ArCamera):
 		projection_time = (time.perf_counter() - projection_start) * 1e3
 
 		# Unlock camera frame exploitation
-		super().release()
+		self.release()
 
 		# Return detection time, projection time and exceptions
 		return detection_time, projection_time, exceptions
-- 
cgit v1.1


From c8cdc1c013c4e9286f6c8d4d8469faf4411b7ab5 Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Tue, 16 Jan 2024 12:53:21 +0100
Subject: Adding a new timestamp attribute to SharedObject class.

---
 src/argaze/DataStructures.py | 18 +++++++++++++-----
 1 file changed, 13 insertions(+), 5 deletions(-)

diff --git a/src/argaze/DataStructures.py b/src/argaze/DataStructures.py
index d3b6544..cf5bc3a 100644
--- a/src/argaze/DataStructures.py
+++ b/src/argaze/DataStructures.py
@@ -13,7 +13,8 @@ import collections
 import json
 import ast
 import bisect
-import threading, traceback, sys
+import threading
+import math
 
 import pandas
 import numpy
@@ -105,6 +106,7 @@ class SharedObject():
 
     def __init__(self):
         self._lock = threading.Lock()
+        self._timestamp = math.nan
 
     def acquire(self):
         self._lock.acquire()
@@ -115,11 +117,17 @@ class SharedObject():
     def locked(self) -> bool:
         return self._lock.locked()
 
-    def __enter__(self):
-        self.acquire()
+    @property
+    def timestamp(self) -> int|float:
+        """Get timestamp"""
+
+        return self._timestamp
+
+    @timestamp.setter
+    def timestamp(self, timestamp: int|float):
+        """Set timestamp"""
 
-    def __exit__(self, type, value, traceback):
-        self.release()
+        self._timestamp = timestamp
 
 class TimeStampedBuffer(collections.OrderedDict):
     """Ordered dictionary to handle timestamped data.
-- 
cgit v1.1


From 09b321699d0e324d7112ee6a531248ad3c9a719d Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Tue, 16 Jan 2024 12:53:59 +0100
Subject: Improving annotations.

---
 src/argaze/ArFeatures.py | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/argaze/ArFeatures.py b/src/argaze/ArFeatures.py
index 6170f47..21eb320 100644
--- a/src/argaze/ArFeatures.py
+++ b/src/argaze/ArFeatures.py
@@ -554,7 +554,7 @@ class ArFrame(DataStructures.SharedObject):
 	layers: dict = field(default_factory=dict)
 	log: bool = field(default=False)
 	image_parameters: dict = field(default_factory=DEFAULT_ARFRAME_IMAGE_PARAMETERS)
-	
+
 	def __post_init__(self):
 
 		# Init sharedObject
@@ -818,14 +818,14 @@ class ArFrame(DataStructures.SharedObject):
 			return ArFrame.from_dict(frame_data, working_directory)
 
 	@property
-	def parent(self):
+	def parent(self) -> object:
 		"""Get parent instance"""
 
 		return self.__parent
 
 	@parent.setter
-	def parent(self, parent):
-		"""Get parent instance"""
+	def parent(self, parent: object):
+		"""Set parent instance"""
 
 		self.__parent = parent
 
-- 
cgit v1.1


From 53ee1a9a6e7ddc1b34fbaa8b0cf2e9936eebcf0d Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Tue, 16 Jan 2024 12:54:53 +0100
Subject: Updatimg ArFrame and ArLayers timestamps during ArUcoCamera.watch
 method.

---
 src/argaze/ArUcoMarkers/ArUcoCamera.py | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/src/argaze/ArUcoMarkers/ArUcoCamera.py b/src/argaze/ArUcoMarkers/ArUcoCamera.py
index 251a081..286afa7 100644
--- a/src/argaze/ArUcoMarkers/ArUcoCamera.py
+++ b/src/argaze/ArUcoMarkers/ArUcoCamera.py
@@ -197,8 +197,12 @@ class ArUcoCamera(ArFeatures.ArCamera):
 
 					try:
 
+						# Update layer aoi
 						self.layers[layer_name].aoi_scene |= layer_projection
 
+						# Update layer timestamp
+						self.layers[layer_name].timestamp = timestamp
+
 					except KeyError:
 
 						pass
@@ -211,6 +215,9 @@ 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()
 
-- 
cgit v1.1


From f46c1f9e8268d87ae497fa8110ecebf517ba5645 Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Tue, 16 Jan 2024 15:37:11 +0100
Subject: Adding more timestamp support and token support to SharedObject
 class.

---
 src/argaze/DataStructures.py | 44 +++++++++++++++++++++++++++++++++++++++++++-
 1 file changed, 43 insertions(+), 1 deletion(-)

diff --git a/src/argaze/DataStructures.py b/src/argaze/DataStructures.py
index cf5bc3a..6e058e8 100644
--- a/src/argaze/DataStructures.py
+++ b/src/argaze/DataStructures.py
@@ -107,6 +107,7 @@ class SharedObject():
     def __init__(self):
         self._lock = threading.Lock()
         self._timestamp = math.nan
+        self._token = None
 
     def acquire(self):
         self._lock.acquire()
@@ -121,13 +122,54 @@ class SharedObject():
     def timestamp(self) -> int|float:
         """Get timestamp"""
 
-        return self._timestamp
+        self._lock.acquire()
+        timestamp = self._timestamp
+        self._lock.release()
+
+        return timestamp
 
     @timestamp.setter
     def timestamp(self, timestamp: int|float):
         """Set timestamp"""
 
+        self._lock.acquire()
         self._timestamp = timestamp
+        self._lock.release()
+
+    def untimestamp(self):
+        """Reset timestamp"""
+
+        self._lock.acquire()
+        self._timestamp = math.nan
+        self._lock.release()
+
+    @property
+    def timestamped(self) -> bool:
+        """Is the object timestamped?"""
+
+        self._lock.acquire()
+        timestamped = not math.isnan(self._timestamp)
+        self._lock.release()
+
+        return timestamped
+
+    @property
+    def token(self) -> any:
+        """Get token"""
+
+        self._lock.acquire()
+        token = self._token
+        self._lock.release()
+
+        return token
+
+    @token.setter
+    def token(self, token: any):
+        """Set token"""
+
+        self._lock.acquire()
+        self._token = token
+        self._lock.release()
 
 class TimeStampedBuffer(collections.OrderedDict):
     """Ordered dictionary to handle timestamped data.
-- 
cgit v1.1


From 7ec4e8ea2a2d528804f6c59157202cc350f9377b Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Tue, 16 Jan 2024 15:38:33 +0100
Subject: Timestamping watched camera frame.

---
 src/argaze/ArUcoMarkers/ArUcoCamera.py | 13 ++++++++-----
 1 file 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
 
-- 
cgit v1.1


From 983047f35c778c041bea67d4ceeab26f99269143 Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Tue, 16 Jan 2024 16:05:32 +0100
Subject: Downcasing letter.

---
 src/argaze/ArFeatures.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/argaze/ArFeatures.py b/src/argaze/ArFeatures.py
index 21eb320..7f1d2d6 100644
--- a/src/argaze/ArFeatures.py
+++ b/src/argaze/ArFeatures.py
@@ -1275,7 +1275,7 @@ class ArScene():
 
 		return ArScene(new_scene_name, new_layers, new_frames, **scene_data)
 	
-	def estimate_pose(self, detected_features: Any) -> Tuple[numpy.array, numpy.array]:
+	def estimate_pose(self, detected_features: any) -> Tuple[numpy.array, numpy.array]:
 		"""Define abstract estimate scene pose method.
 
 		Parameters:
-- 
cgit v1.1


From 7d76d3b9728696fa8c98a3336a9d0642db7476b7 Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Wed, 17 Jan 2024 13:28:05 +0100
Subject: Including aruco detection into camera frame exploitation.

---
 src/argaze/ArUcoMarkers/ArUcoCamera.py | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/argaze/ArUcoMarkers/ArUcoCamera.py b/src/argaze/ArUcoMarkers/ArUcoCamera.py
index a86f411..6afce03 100644
--- a/src/argaze/ArUcoMarkers/ArUcoCamera.py
+++ b/src/argaze/ArUcoMarkers/ArUcoCamera.py
@@ -154,12 +154,12 @@ class ArUcoCamera(ArFeatures.ArCamera):
 			exception: dictionary with exception raised per scene.
 		"""
 
-		# Detect aruco markers
-		detection_time = self.aruco_detector.detect_markers(image)
-
 		# Lock camera frame exploitation
 		self.acquire()
 
+		# Detect aruco markers
+		detection_time = self.aruco_detector.detect_markers(image)
+
 		# Store projection execution start date
 		projection_start = time.perf_counter()
 
-- 
cgit v1.1