From 7d955a57567f0395e356355994573ab03dd8393a Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Wed, 10 Aug 2022 12:32:42 +0200
Subject: Ignoring markers which are too far from the center. to avoid optical
 distorsion.

---
 src/argaze/ArUcoMarkers/ArUcoTracker.py                    | 8 ++++++++
 src/argaze/utils/export_tobii_segment_aruco_visual_scan.py | 7 +++++++
 2 files changed, 15 insertions(+)

diff --git a/src/argaze/ArUcoMarkers/ArUcoTracker.py b/src/argaze/ArUcoMarkers/ArUcoTracker.py
index 3ce5e2e..57214c1 100644
--- a/src/argaze/ArUcoMarkers/ArUcoTracker.py
+++ b/src/argaze/ArUcoMarkers/ArUcoTracker.py
@@ -201,6 +201,14 @@ class ArUcoTracker():
         """Get marker i corners."""
         return self.__markers_corners[i]
 
+    def get_marker_center(self, i):
+        """Get marker i center coordinates."""
+        
+        sum_x = numpy.sum(self.__markers_corners[i][:, 0])
+        sum_y = numpy.sum(self.__markers_corners[i][:, 1])
+
+        return sum_x/4, sum_y/4
+
     def get_marker_rotation(self, i):
         """Get marker i rotation vector."""
         return self.__rvecs[i]
diff --git a/src/argaze/utils/export_tobii_segment_aruco_visual_scan.py b/src/argaze/utils/export_tobii_segment_aruco_visual_scan.py
index 9ca836b..4174949 100644
--- a/src/argaze/utils/export_tobii_segment_aruco_visual_scan.py
+++ b/src/argaze/utils/export_tobii_segment_aruco_visual_scan.py
@@ -219,6 +219,13 @@ def main():
                         if aoi3D_scene == None:
                             continue
 
+                        # Ignore marker too far from center
+                        marker_x, marker_y = aruco_tracker.get_marker_center(i)
+                        distance_to_center = ( (video_frame.width/2 - marker_x)**2 + (video_frame.height/2 - marker_y)**2 )**0.5
+                        
+                        if distance_to_center > 900:
+                            continue
+
                         aoi3D_scene.rotation = aruco_tracker.get_marker_rotation(i)
                         aoi3D_scene.translation = aruco_tracker.get_marker_translation(i)
 
-- 
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