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
 
-- 
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