From 6a3a5c674a877aa6feaee73c3e9e9419c540cda6 Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Wed, 26 Apr 2023 11:58:59 +0200
Subject: Ignore errors due to out of field axis

---
 src/argaze/ArUcoMarkers/ArUcoScene.py | 22 ++++++++++++++--------
 1 file changed, 14 insertions(+), 8 deletions(-)

(limited to 'src')

diff --git a/src/argaze/ArUcoMarkers/ArUcoScene.py b/src/argaze/ArUcoMarkers/ArUcoScene.py
index 1bb76cd..788d00a 100644
--- a/src/argaze/ArUcoMarkers/ArUcoScene.py
+++ b/src/argaze/ArUcoMarkers/ArUcoScene.py
@@ -580,14 +580,20 @@ class ArUcoScene():
         n = 95 * consistency if consistency < 2 else 0
         f = 159 * consistency if consistency < 2 else 255
 
-        # Draw axis
-        axisPoints = numpy.float32([[ll, 0, 0], [0, ll, 0], [0, 0, ll], [0, 0, 0]]).reshape(-1, 3)
-        axisPoints, _ = cv.projectPoints(axisPoints, self._rotation, self._translation, numpy.array(K), numpy.array(D))
-        axisPoints = axisPoints.astype(int)
-
-        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)
+        try:
+
+            # Draw axis
+            axisPoints = numpy.float32([[ll, 0, 0], [0, ll, 0], [0, 0, ll], [0, 0, 0]]).reshape(-1, 3)
+            axisPoints, _ = cv.projectPoints(axisPoints, self._rotation, self._translation, numpy.array(K), numpy.array(D))
+            axisPoints = axisPoints.astype(int)
+
+            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)
+
+        # Ignore errors due to out of field axis: their coordinate are larger than int32 limitations.
+        except cv.error:
+            pass
 
     def draw_places(self, frame, K, D, consistency=2):
         """Draw scene places and their axis according a consistency score."""
-- 
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