From db4c1466c70e69de8d19cb4b01dd1f31bfc36978 Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Wed, 26 Jun 2024 09:18:50 +0200
Subject: Adding a way to enable/disable the copy of the camera background into
 scenes frames.

---
 src/argaze/ArFeatures.py              | 104 ++++++++++++++++------------------
 src/argaze/ArUcoMarker/ArUcoCamera.py |   5 ++
 2 files changed, 55 insertions(+), 54 deletions(-)

diff --git a/src/argaze/ArFeatures.py b/src/argaze/ArFeatures.py
index 3888503..38d1759 100644
--- a/src/argaze/ArFeatures.py
+++ b/src/argaze/ArFeatures.py
@@ -1102,6 +1102,7 @@ class ArCamera(ArFrame):
 		self.__projection_cache_writer = None
 		self.__projection_cache_reader = None
 		self.__projection_cache_data = None
+		self.__copy_background_into_scenes_frames = False
 
 		# Init protected attributes
 		self._scenes = {}
@@ -1289,6 +1290,54 @@ class ArCamera(ArFrame):
 
 		return True
 
+	@property
+	def copy_background_into_scenes_frames(self) -> bool:
+		"""Enable/disable camera frame background copy into scene frames background."""
+		return self.__copy_background_into_scenes_frames
+	
+	@copy_background_into_scenes_frames.setter
+	@DataFeatures.PipelineStepAttributeSetter
+	def copy_background_into_scenes_frames(self, project: bool) -> bool:
+
+		self.__copy_background_into_scenes_frames = project
+	
+	def _copy_background_into_scenes_frames(self):
+		"""Copy camera frame background into scene frames background.
+
+		!!! warning
+			This method have to be called once AOI have been projected into camera frame layers.
+
+		!!! note
+			This method makes each frame to send an 'on_copy_background_into_scenes_frames' signal to their observers.
+		"""
+
+		# Project camera frame background into each scene frame if possible
+		for frame in self.scene_frames():
+
+			# Clear frame background
+			frame.background = DataFeatures.TimestampedImage(numpy.full((frame.size[1], frame.size[0], 3), 0).astype(numpy.uint8), timestamp=self.background.timestamp)
+
+			# Is there an AOI inside camera frame layers projection which its name equals to a scene frame name?
+			for camera_layer_name, camera_layer in self.layers.items():
+
+				try:
+
+					aoi_2d = camera_layer.aoi_scene[frame.name]
+
+					# Apply perspective transform algorithm to fill aoi frame background
+					width, height = frame.size
+					destination = numpy.float32([[0, 0], [width, 0], [width, height], [0, height]])
+					mapping = cv2.getPerspectiveTransform(aoi_2d.astype(numpy.float32), destination)
+					frame.background = DataFeatures.TimestampedImage(cv2.warpPerspective(self.background, mapping, (width, height)), timestamp=self.background.timestamp)
+
+				# Ignore missing frame projection
+				except KeyError:
+
+					pass
+
+			# Notify frame's 'on_copy_background_into_scenes_frames' signal observers
+			frame.send_signal('copy_background_into_scenes_frames', timestamp=self.background.timestamp)
+
 	def scene_frames(self) -> Iterator[ArFrame]:
 		"""Iterate over all scenes frames"""
 
@@ -1444,44 +1493,6 @@ class ArCamera(ArFrame):
 						except KeyError:
 							pass
 
-	@DataFeatures.PipelineStepMethod
-	@DataFeatures.PipelineStepExecutionTime
-	def map(self):
-		"""Project camera frame background into scene frames background.
-
-		!!! warning
-			watch method needs to be called first.
-		"""
-
-		# Use camera frame lock feature
-		with self._lock:
-
-			# Project camera frame background into each scene frame if possible
-			for frame in self.scene_frames():
-
-				# Clear frame background
-				frame.background = DataFeatures.TimestampedImage(numpy.full((frame.size[1], frame.size[0], 3), 0).astype(numpy.uint8), timestamp=self.background.timestamp)
-
-				# Is there an AOI inside camera frame layers projection which its name equals to a scene frame name?
-				for camera_layer_name, camera_layer in self.layers.items():
-
-					try:
-
-						aoi_2d = camera_layer.aoi_scene[frame.name]
-
-						# Apply perspective transform algorithm to fill aoi frame background
-						width, height = frame.size
-						destination = numpy.float32([[0, 0], [width, 0], [width, height], [0, height]])
-						mapping = cv2.getPerspectiveTransform(aoi_2d.astype(numpy.float32), destination)
-						frame.background = DataFeatures.TimestampedImage(cv2.warpPerspective(self.background, mapping, (width, height)), timestamp=self.background.timestamp)
-
-					# Ignore missing frame projection
-					except KeyError:
-
-						pass
-
-				# Notify frame's 'on_map' signal observers
-				frame.send_signal('map', timestamp=self.background.timestamp)
 
 # Define default ArContext image parameters
 DEFAULT_ARCONTEXT_IMAGE_PARAMETERS = {
@@ -1601,22 +1612,7 @@ class ArContext(DataFeatures.PipelineStepObject):
 				logging.warning('%s._process_camera_image: %s', DataFeatures.get_class_path(self), e)
 
 				self.__exceptions.append(e)
-
-			'''
-			# TODO: make map step optional
-			try:
-
-				logging.debug('\t> map image (%i x %i)', width, height)
-
-				self.__pipeline.map(timestamp=timestamp)
-
-			except DataFeatures.TimestampedException as e:
-
-				logging.warning('%s._process_camera_image: %s', DataFeatures.get_class_path(self), e)
-
-				self.__exceptions.append(e)
-			'''
-
+			
 		else:
 
 			raise (TypeError('Pipeline is not ArCamera instance.'))
diff --git a/src/argaze/ArUcoMarker/ArUcoCamera.py b/src/argaze/ArUcoMarker/ArUcoCamera.py
index 34ad57a..8ae8cb8 100644
--- a/src/argaze/ArUcoMarker/ArUcoCamera.py
+++ b/src/argaze/ArUcoMarker/ArUcoCamera.py
@@ -196,6 +196,11 @@ class ArUcoCamera(ArFeatures.ArCamera):
 						# Raise exception
 						raise e
 
+			# Copy camera frame background into scene frames background if required
+			if self.copy_background_into_scenes_frames:
+
+				self._copy_background_into_scenes_frames()
+
 	@DataFeatures.PipelineStepImage
 	@DataFeatures.PipelineStepExecutionTime
 	def image(self, draw_detected_markers: dict = None, draw_scenes: dict = None,
-- 
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