From f18c8dc95e1016f0783808fd5ab531fee62f4998 Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Mon, 16 Oct 2023 16:49:58 +0200
Subject: Failing to estimate pose when only one marker belongs to the scene.

---
 src/argaze/ArUcoMarkers/ArUcoScene.py | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/src/argaze/ArUcoMarkers/ArUcoScene.py b/src/argaze/ArUcoMarkers/ArUcoScene.py
index b8b9cfd..51dd88c 100644
--- a/src/argaze/ArUcoMarkers/ArUcoScene.py
+++ b/src/argaze/ArUcoMarkers/ArUcoScene.py
@@ -117,6 +117,11 @@ class ArUcoScene(ArFeatures.ArScene):
 
 			raise ArFeatures.PoseEstimationFailed('No marker belongs to the scene')
 
+		# Pose estimation fails if only one marker belongs to the scene
+		if len(scene_markers) == 1:
+
+			raise ArFeatures.PoseEstimationFailed('Only one marker belongs to the scene')
+
 		# Estimate pose from a markers corners
 		success, tvec, rmat = self.aruco_markers_group.estimate_pose_from_markers_corners(scene_markers, self.parent.aruco_detector.optic_parameters.K, self.parent.aruco_detector.optic_parameters.D)
 
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