From 4b799088a368bd1143fc35b36015a063cec122f6 Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Tue, 2 Apr 2024 13:10:59 +0200
Subject: Logging watch function.

---
 src/argaze/ArUcoMarkers/ArUcoCamera.py | 13 ++++++++++++-
 1 file changed, 12 insertions(+), 1 deletion(-)

diff --git a/src/argaze/ArUcoMarkers/ArUcoCamera.py b/src/argaze/ArUcoMarkers/ArUcoCamera.py
index 1371a38..f32e4b6 100644
--- a/src/argaze/ArUcoMarkers/ArUcoCamera.py
+++ b/src/argaze/ArUcoMarkers/ArUcoCamera.py
@@ -17,6 +17,7 @@ __copyright__ = "Copyright 2023, Ecole Nationale de l'Aviation Civile (ENAC)"
 __license__ = "GPLv3"
 
 from typing import Self
+import logging
 import json
 import os
 import time
@@ -132,18 +133,24 @@ class ArUcoCamera(ArFeatures.ArCamera):
 	def watch(self, image: DataFeatures.TimestampedImage):
 		"""Detect environment aruco markers from image and project scenes into camera frame."""
 
+		logging.debug('ArUcoCamera.watch')
+
 		# Use camera frame locker feature
 		with self._lock:
 
 			# Draw black rectangles to mask sides
 			if self.__sides_mask > 0:
 
+				logging.debug('\t> drawing sides mask (%i px)', self.__sides_mask)
+
 				height, width, _ = image.shape
 
 				cv2.rectangle(image, (0, 0), (self.__sides_mask, height), (0, 0, 0), -1)
 				cv2.rectangle(image, (width - self.__sides_mask, 0), (width, height), (0, 0, 0), -1)
 
 			# Detect aruco markers
+			logging.debug('\t> detect markers')
+
 			self.__aruco_detector.detect_markers(image)
 
 			# Fill camera frame background with timestamped image
@@ -178,11 +185,15 @@ class ArUcoCamera(ArFeatures.ArCamera):
 				'''
 
 				# Estimate scene pose from detected scene markers
+				logging.debug('\t> estimate %s scene pose', scene_name)
+
 				tvec, rmat, _ = scene.estimate_pose(self.__aruco_detector.detected_markers(), timestamp=self.timestamp)
 
 				# Project scene into camera frame according estimated pose
 				for layer_name, layer_projection in scene.project(tvec, rmat, self.visual_hfov, self.visual_vfov, timestamp=self.timestamp):
 
+					logging.debug('\t> project %s scene %s layer', scene_name, layer_name)
+
 					try:
 
 						# Update camera layer aoi
@@ -230,7 +241,7 @@ class ArUcoCamera(ArFeatures.ArCamera):
 				self.__aruco_detector.draw_detected_markers(image, draw_detected_markers)
 
 		return image
-
+		
 	def image(self, **kwargs: dict) -> numpy.array:
 		"""
 		Get frame image.
-- 
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