From 13d597dd3ce8366b11537901223fa9f16963ae87 Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Mon, 24 Apr 2023 17:35:35 +0200
Subject: Ignoring places out of field.

---
 src/argaze/ArUcoMarkers/ArUcoScene.py | 10 ++++------
 1 file changed, 4 insertions(+), 6 deletions(-)

(limited to 'src')

diff --git a/src/argaze/ArUcoMarkers/ArUcoScene.py b/src/argaze/ArUcoMarkers/ArUcoScene.py
index f5660dc..70ce236 100644
--- a/src/argaze/ArUcoMarkers/ArUcoScene.py
+++ b/src/argaze/ArUcoMarkers/ArUcoScene.py
@@ -613,7 +613,7 @@ class ArUcoScene():
                 cv.line(frame, tuple(axisPoints[3].ravel()), tuple(axisPoints[0].ravel()), (n,n,f), 6) # X (red)
                 cv.line(frame, tuple(axisPoints[3].ravel()), tuple(axisPoints[1].ravel()), (n,f,n), 6) # Y (green)
                 cv.line(frame, tuple(axisPoints[3].ravel()), tuple(axisPoints[2].ravel()), (f,n,n), 6) # Z (blue)
-
+                
                 # Draw place
                 placePoints = (T + numpy.float32([R.dot([-l, -l, 0]), R.dot([l, -l, 0]), R.dot([l, l, 0]), R.dot([-l, l, 0])])).reshape(-1, 3)
                 placePoints, _ = cv.projectPoints(placePoints, self._rotation, self._translation, numpy.array(K), numpy.array(D))
@@ -624,8 +624,6 @@ class ArUcoScene():
                 cv.line(frame, tuple(placePoints[2].ravel()), tuple(placePoints[3].ravel()), (f,f,f), 3)
                 cv.line(frame, tuple(placePoints[3].ravel()), tuple(placePoints[0].ravel()), (f,f,f), 3)
 
-            except cv.error as e:
-
-                print('ArUcoScene.draw_places: ', e)
-                print('T: ', T)
-                print('R: ', R)
+            # Ignore errors due to out of field places: their coordinate are larger than int32 limitations.
+            except cv.error:
+                pass
-- 
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