From 9299c740ebba8db0e37f240f82152eb77e1b2efa Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Mon, 19 Dec 2022 20:01:47 +0100
Subject: Replacing rvec by rmat

---
 src/argaze/ArScene.py | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/argaze/ArScene.py b/src/argaze/ArScene.py
index 1fea998..f63f170 100644
--- a/src/argaze/ArScene.py
+++ b/src/argaze/ArScene.py
@@ -126,7 +126,7 @@ class ArScene():
 			raise PoseEstimationFailed('No marker detected')
 
 		# Estimate set pose from tracked markers
-		tvec, rvec, success, consistent_markers, unconsistencies = self.aruco_scene.estimate_pose(self.aruco_tracker.tracked_markers)
+		tvec, rmat, success, consistent_markers, unconsistencies = self.aruco_scene.estimate_pose(self.aruco_tracker.tracked_markers)
 
 		# When pose estimation fails, ignore AOI scene projection
 		if not success:
@@ -140,7 +140,7 @@ class ArScene():
 			if visual_hfov > 0:
 
 				# Transform scene into camera referential
-				aoi_scene_camera_ref = self.aoi_scene.transform(tvec, rvec)
+				aoi_scene_camera_ref = self.aoi_scene.transform(tvec, rmat)
 
 				# Get aoi inside vision cone field 
 				cone_vision_height_cm = 200 # cm
@@ -157,7 +157,7 @@ class ArScene():
 
 			# DON'T APPLY CAMERA DISTORSION : it projects points which are far from the frame into it
 			# This hack isn't realistic but as the gaze will mainly focus on centered AOI, where the distorsion is low, it is acceptable.
-			aoi_scene_projection = aoi_scene_copy.project(tvec, rvec, self.aruco_camera.K)
+			aoi_scene_projection = aoi_scene_copy.project(tvec, rmat, self.aruco_camera.K)
 
 			# Warn user when the projected scene is empty
 			if len(aoi_scene_projection) == 0:
-- 
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