From a3d5e8c2a25d816b1c2e10e6e313f09b623af060 Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Tue, 25 Apr 2023 20:05:46 +0200
Subject: Check consistency only if thre is more than one marker.

---
 src/argaze/utils/environment_edit.py | 26 +++++++++++++++-----------
 1 file changed, 15 insertions(+), 11 deletions(-)

diff --git a/src/argaze/utils/environment_edit.py b/src/argaze/utils/environment_edit.py
index 72af4c6..6b0063d 100644
--- a/src/argaze/utils/environment_edit.py
+++ b/src/argaze/utils/environment_edit.py
@@ -149,7 +149,9 @@ def main():
                 # Edit marker's color
                 for i, m in ar_environment.aruco_detector.detected_markers.items():
 
-                    m.color = list(itertools.permutations([0, 255, 255]))[i]
+                    color_list = list(itertools.permutations([0, 255, 255]))
+
+                    m.color = color_list[i%len(color_list)]
 
                     # Draw center
                     cv2.circle(video_frame, m.center.astype(int), 5, m.color, -1)
@@ -298,18 +300,20 @@ def main():
                     # Estimate all marker's pose
                     ar_environment.aruco_detector.estimate_markers_pose()
 
-                    # Check markers consistency
-                    consistent_markers, unconsistent_markers, unconsistencies = ar_scene.aruco_scene.check_markers_consistency(ar_environment.aruco_detector.detected_markers, ar_scene.angle_tolerance, ar_scene.distance_tolerance)
+                    if len(ar_environment.aruco_detector.detected_markers) > 1:
+
+                        # Check markers consistency
+                        consistent_markers, unconsistent_markers, unconsistencies = ar_scene.aruco_scene.check_markers_consistency(ar_environment.aruco_detector.detected_markers, ar_scene.angle_tolerance, ar_scene.distance_tolerance)
 
-                    # Set unconsistent marker color to red 
-                    for i, m in ar_environment.aruco_detector.detected_markers.items():
-                        if i in list(unconsistent_markers.keys()):
-                            m.color = (0, 0, 255)
+                        # Set unconsistent marker color to red 
+                        for i, m in ar_environment.aruco_detector.detected_markers.items():
+                            if i in list(unconsistent_markers.keys()):
+                                m.color = (0, 0, 255)
 
-                    # Write unconsistencies
-                    for i, (label, value) in enumerate(unconsistencies.items()):
-                        cv2.putText(info_frame, f'Unconsistent {label}: {value:.3f}', (20, 120+ i*40), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 1, cv2.LINE_AA)
- 
+                        # Write unconsistencies
+                        for i, (label, value) in enumerate(unconsistencies.items()):
+                            cv2.putText(info_frame, f'Unconsistent {label}: {value:.3f}', (20, 120+ i*40), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 1, cv2.LINE_AA)
+     
                     # Single marker scene pose estimation
                     if pose_mode == 0:
 
-- 
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