From 3861fd896c3b2b3e0136c253dbd57086b53c9bb2 Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Tue, 8 Aug 2023 08:14:27 +0200
Subject: Adding new ArEnvironment map method to project camera frame backgrund
 into aoi frame background.

---
 src/argaze/ArFeatures.py | 40 +++++++++++++++++++++++++++++++++++++++-
 1 file changed, 39 insertions(+), 1 deletion(-)

diff --git a/src/argaze/ArFeatures.py b/src/argaze/ArFeatures.py
index 03082e6..b884020 100644
--- a/src/argaze/ArFeatures.py
+++ b/src/argaze/ArFeatures.py
@@ -1274,7 +1274,10 @@ class ArEnvironment():
 		return detection_time, exceptions
 
 	def look(self, timestamp: int|float, gaze_position: GazeFeatures.GazePosition):
-		"""Project timestamped gaze position into each frame."""
+		"""Project timestamped gaze position into each frame.
+
+		.. warning:: detect_and_project method needs to be called first.
+		"""
 
 		# Can't use camera frame when it is locked
 		if self.__camera_frame_lock.locked():
@@ -1317,6 +1320,41 @@ class ArEnvironment():
 		# Unlock camera frame exploitation
 		self.__camera_frame_lock.release()
 
+	def map(self):
+		"""Project camera frame background into aoi frames background.
+
+		.. warning:: detect_and_project method needs to be called first.
+		"""
+
+		# Can't use camera frame when it is locked
+		if self.__camera_frame_lock.locked():
+			return
+
+		# Lock camera frame exploitation
+		self.__camera_frame_lock.acquire()
+
+		# Project image if possible
+		for aoi_frame in self.aoi_frames:
+
+			# Is aoi frame projected into camera frame ?
+			try:
+
+				aoi_2d = self.camera_frame.aoi_2d_scene[aoi_frame.name]
+
+				# Apply perspective transform algorithm to fill aoi frame background
+				width, height = aoi_frame.size
+				destination = numpy.float32([[0, height],[width, height],[width, 0],[0, 0]])
+				mapping = cv2.getPerspectiveTransform(aoi_2d.astype(numpy.float32), destination)
+				aoi_frame.background = cv2.warpPerspective(self.camera_frame.background, mapping, (width, height))
+
+			# Ignore missing aoi frame projection
+			except KeyError:
+
+				pass
+
+		# Unlock camera frame exploitation
+		self.__camera_frame_lock.release()
+
 	def to_json(self, json_filepath):
 		"""Save environment to .json file."""
 
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