From 734f7291dd429203ad57c3dd69dd86d6af0ed138 Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Wed, 29 May 2024 14:20:53 +0200
Subject: Removing unvalid AOI projection.

---
 src/argaze/AreaOfInterest/AOI3DScene.py | 15 +++++++++++----
 1 file changed, 11 insertions(+), 4 deletions(-)

diff --git a/src/argaze/AreaOfInterest/AOI3DScene.py b/src/argaze/AreaOfInterest/AOI3DScene.py
index d50f9ff..13ea354 100644
--- a/src/argaze/AreaOfInterest/AOI3DScene.py
+++ b/src/argaze/AreaOfInterest/AOI3DScene.py
@@ -17,6 +17,7 @@ __credits__ = []
 __copyright__ = "Copyright 2023, Ecole Nationale de l'Aviation Civile (ENAC)"
 __license__ = "GPLv3"
 
+import logging
 import re
 from typing import Self
 
@@ -174,8 +175,7 @@ class AOI3DScene(AOIFeatures.AOIScene):
 		return self.project(tvec, rvec, K)
 	'''
 
-	def vision_cone(self, cone_radius, cone_height, cone_tip=[0., 0., 0.], cone_direction=[0., 0., 1.]) -> tuple[
-		Self, Self]:
+	def vision_cone(self, cone_radius, cone_height, cone_tip=[0., 0., 0.], cone_direction=[0., 0., 1.]) -> tuple[Self, Self]:
 		"""Get AOI which are inside and out a given cone field.
 
 		!!! note
@@ -236,11 +236,18 @@ class AOI3DScene(AOIFeatures.AOIScene):
 		aoi2D_scene = AOI2DScene.AOI2DScene()
 
 		for name, aoi3D in self.items():
+
 			vertices_2d, J = cv2.projectPoints(aoi3D.astype(numpy.float32), R, T, numpy.array(K), numpy.array(D))
 
-			aoi2D = vertices_2d.reshape((len(vertices_2d), 2)).view(AOIFeatures.AreaOfInterest)
+			aoi2D = AOIFeatures.AreaOfInterest(vertices_2d.reshape((len(vertices_2d), 2)))
+
+			if aoi2D.is_valid:
+
+				aoi2D_scene[name] = aoi2D
+
+			else:
 
-			aoi2D_scene[name] = aoi2D
+				logging.warning('AOI3DScene.project: %s AOI polygon is not valid.', name)
 
 		return aoi2D_scene
 
-- 
cgit v1.1