From b947573f7dbccb5b2b13b64677192145f2dbb864 Mon Sep 17 00:00:00 2001
From: Theo De La Hogue
Date: Fri, 22 Sep 2023 22:06:20 +0200
Subject: Working on AOI frame feature: now 2D AOI in scene frame are merged
 into 3D AOI in scene layer.

---
 src/argaze.test/AreaOfInterest/AOIFeatures.py      | 16 ++--
 src/argaze/ArFeatures.py                           | 94 ++++++++++++----------
 src/argaze/AreaOfInterest/AOI2DScene.py            | 31 ++++++-
 src/argaze/AreaOfInterest/AOI3DScene.py            |  9 ++-
 src/argaze/AreaOfInterest/AOIFeatures.py           | 81 ++++++++++++++-----
 src/argaze/utils/demo_data/aoi_2d_scene.json       |  5 ++
 src/argaze/utils/demo_data/aoi_3d_scene.obj        | 50 ------------
 .../utils/demo_data/demo_aruco_markers_setup.json  | 12 ++-
 .../utils/demo_data/demo_gaze_analysis_setup.json  |  7 +-
 src/argaze/utils/demo_gaze_analysis_run.py         | 20 ++---
 10 files changed, 175 insertions(+), 150 deletions(-)
 create mode 100644 src/argaze/utils/demo_data/aoi_2d_scene.json

(limited to 'src')

diff --git a/src/argaze.test/AreaOfInterest/AOIFeatures.py b/src/argaze.test/AreaOfInterest/AOIFeatures.py
index bced0aa..6df33ca 100644
--- a/src/argaze.test/AreaOfInterest/AOIFeatures.py
+++ b/src/argaze.test/AreaOfInterest/AOIFeatures.py
@@ -118,13 +118,17 @@ class TestAreaOfInterestClass(unittest.TestCase):
 
         aoi_2D = AOIFeatures.AreaOfInterest([[0, 0], [0, 2], [2, 2], [2, 0]])
 
-        self.assertEqual(aoi_2D.inner_axis((1, 1)), (0.5, 0.5))
+        self.assertEqual(aoi_2D.inner_axis(1, 1), (0.5, 0.5))
 
     def test_outter_axis(self):
 
         aoi_2D = AOIFeatures.AreaOfInterest([[0, 0], [0, 2], [2, 2], [2, 0]])
 
-        self.assertEqual(aoi_2D.outter_axis((0.5, 0.5)), (1, 1))
+        self.assertEqual(aoi_2D.outter_axis(0.5, 0.5), (1, 1))
+
+        aoi_3D = AOIFeatures.AreaOfInterest([[1, 0, 0], [1, 0, 2], [1, 2, 2], [1, 2, 0]])
+
+        self.assertEqual(aoi_3D.outter_axis(0.5, 0.5), (1, 1, 1))
 
     def test_circle_intersection(self):
 
@@ -181,21 +185,15 @@ class TestAOISceneClass(unittest.TestCase):
         aoi_2d_scene_AB["A"] = AOIFeatures.AreaOfInterest([[0, 0], [0, 1], [1, 1], [1, 0]])
         aoi_2d_scene_AB["B"] = AOIFeatures.AreaOfInterest([[0, 0], [0, 2], [2, 2], [2, 0]])
 
-        print('aoi_2d_scene_AB vars: ', vars(aoi_2d_scene_AB))
-
         # Create second scene with C and D aoi
         aoi_2d_scene_CD = AOIFeatures.AOIScene(2,)
 
         aoi_2d_scene_CD["C"] = AOIFeatures.AreaOfInterest([[0, 0], [0, 3], [3, 3], [3, 0]])
         aoi_2d_scene_CD["D"] = AOIFeatures.AreaOfInterest([[0, 0], [0, 4], [4, 4], [4, 0]])
 
-        print('aoi_2d_scene_CD vars: ', vars(aoi_2d_scene_CD))
-
         # Merge first scene and second scene into a third scene
         aoi_2d_scene_ABCD = aoi_2d_scene_AB | aoi_2d_scene_CD
 
-        print('aoi_2d_scene_ABCD vars: ', vars(aoi_2d_scene_ABCD))
-
         # Check third scene
         self.assertEqual(aoi_2d_scene_ABCD.dimension, 2)
         self.assertEqual(len(aoi_2d_scene_ABCD.items()), 4)
@@ -205,8 +203,6 @@ class TestAOISceneClass(unittest.TestCase):
         # Merge second scene into first scene
         aoi_2d_scene_AB |= aoi_2d_scene_CD
 
-        print('aoi_2d_scene_AB vars: ', vars(aoi_2d_scene_AB))
-
         # Check first scene
         self.assertEqual(aoi_2d_scene_AB.dimension, 2)
         self.assertEqual(len(aoi_2d_scene_AB.items()), 4)
diff --git a/src/argaze/ArFeatures.py b/src/argaze/ArFeatures.py
index 96976c2..ad17df2 100644
--- a/src/argaze/ArFeatures.py
+++ b/src/argaze/ArFeatures.py
@@ -192,6 +192,8 @@ class ArLayer():
 
 		except KeyError:
 
+			pass
+
 			# Add AOI 2D Scene by default
 			new_aoi_scene = AOI2DScene.AOI2DScene()
 
@@ -484,7 +486,7 @@ class ArLayer():
 
 		# Draw aoi if required
 		if draw_aoi_scene is not None:
-		
+
 			self.aoi_scene.draw(image, **draw_aoi_scene)
 
 		# Draw aoi matching if required
@@ -728,11 +730,6 @@ class ArFrame():
 				# Create layer
 				new_layer = ArLayer.from_dict(layer_data, working_directory)
 
-				# Project 3D aoi scene layer to get only 2D aoi scene
-				if new_layer.aoi_scene.dimension == 3:
-
-					new_layer.aoi_scene = new_layer.aoi_scene.orthogonal_projection * new_frame_size
-
 				# Append new layer
 				new_layers[layer_name] = new_layer
 
@@ -1099,13 +1096,6 @@ class ArScene():
 
 			frame.parent = self
 
-		# Preprocess orthogonal projection to speed up further processings
-		self.__orthogonal_projection_cache = {}
-
-		for layer_name, layer in self.layers.items():
-
-			self.__orthogonal_projection_cache[layer_name] = layer.aoi_scene.orthogonal_projection
-
 	def __str__(self) -> str:
 		"""
 		Returns:
@@ -1184,54 +1174,70 @@ class ArScene():
 
 			for frame_name, frame_data in scene_data.pop('frames').items():
 
-				# Append name
-				frame_data['name'] = frame_name
+				# str: relative path to file
+				if type(frame_data) == str:
+
+					filepath = os.path.join(working_directory, frame_data)
+					file_format = filepath.split('.')[-1]
+
+					# JSON file format for 2D or 3D dimension
+					if file_format == 'json':
+
+						new_frame = ArFrame.from_json(filepath)
 
-				# Create frame
-				new_frame = ArFrame.from_dict(frame_data, working_directory)
+				# dict:
+				else:
 
-				# Look for AOI with same frame name
-				aoi_frame = None
-				aoi_frame_found = False
-				for layer_name, layer in new_layers.items():
+					# Append name
+					frame_data['name'] = frame_name
+
+					new_frame = ArFrame.from_dict(frame_data, working_directory)
+
+				# Look for a scene layer with an AOI named like the frame
+				for scene_layer_name, scene_layer in new_layers.items():
 
 					try:
 
-						aoi_frame = layer.aoi_scene[frame_name]
-						aoi_frame_found = True
+						frame_3d = scene_layer.aoi_scene[frame_name]
 
-					except KeyError:
+						# Check that the frame have a layer named like this scene layer
+						aoi_2d_scene = new_frame.layers[scene_layer_name].aoi_scene
+
+						# Transform 2D frame layer AOIs into 3D scene layer AOIs 
+						# Then, add them to scene layer
+						scene_layer.aoi_scene |= aoi_2d_scene.dimensionalize(frame_3d, new_frame.size)
 
-						# AOI name should be unique
-						break
+						'''DEPRECATED: but maybe still usefull?
+						# Project and reframe each layers into corresponding frame layers
+						for frame_layer_name, frame_layer in new_frame.layers.items():
 
-				if aoi_frame_found:
+							try:
 
-					# Project and reframe each layers into corresponding frame layers
-					for frame_layer_name, frame_layer in new_frame.layers.items():
+								layer = new_layers[frame_layer_name]
+								
+								layer_aoi_scene_projection = layer.aoi_scene.orthogonal_projection
+								aoi_frame_projection = layer_aoi_scene_projection[frame_name]
 
-						try:
+								frame_layer.aoi_scene = layer_aoi_scene_projection.reframe(aoi_frame_projection, new_frame.size)
 
-							layer = new_layers[frame_layer_name]
-							
-							layer_aoi_scene_projection = layer.aoi_scene.orthogonal_projection
-							aoi_frame_projection = layer_aoi_scene_projection[frame_name]
+								if frame_layer.aoi_scan_path is not None:
 
-							frame_layer.aoi_scene = layer_aoi_scene_projection.reframe(aoi_frame_projection, new_frame.size)
+									# Edit expected AOI list by removing AOI with name equals to frame layer name
+									expected_aois = list(layer.aoi_scene.keys())
 
-							if frame_layer.aoi_scan_path is not None:
+									if frame_layer_name in expected_aois:
+										expected_aois.remove(frame_layer_name)
 
-								# Edit expected AOI list by removing AOI with name equals to frame layer name
-								expected_aois = list(layer.aoi_scene.keys())
+									frame_layer.aoi_scan_path.expected_aois = expected_aois
 
-								if frame_layer_name in expected_aois:
-									expected_aois.remove(frame_layer_name)
+							except KeyError:
 
-								frame_layer.aoi_scan_path.expected_aois = expected_aois
+								continue
+						'''
 
-						except KeyError:
+					except KeyError as e:
 
-							continue
+						print(e)
 
 				# Append new frame
 				new_frames[frame_name] = new_frame
@@ -1437,7 +1443,7 @@ class ArCamera(ArFrame):
 					# TODO?: Should we prefer to use camera frame AOIMatcher object?
 					if aoi_2d.contains_point(gaze_position.value):
 
-						inner_x, inner_y = aoi_2d.clockwise().inner_axis(gaze_position.value)
+						inner_x, inner_y = aoi_2d.clockwise().inner_axis(*gaze_position.value)
 
 						# QUESTION: How to project gaze precision?
 						inner_gaze_position = GazeFeatures.GazePosition((inner_x, inner_y))
diff --git a/src/argaze/AreaOfInterest/AOI2DScene.py b/src/argaze/AreaOfInterest/AOI2DScene.py
index 73c977f..f6b8dcb 100644
--- a/src/argaze/AreaOfInterest/AOI2DScene.py
+++ b/src/argaze/AreaOfInterest/AOI2DScene.py
@@ -10,7 +10,7 @@ __license__ = "BSD"
 from typing import TypeVar, Tuple
 
 from argaze import DataStructures
-from argaze.AreaOfInterest import AOIFeatures
+from argaze.AreaOfInterest import AOIFeatures, AOI3DScene
 from argaze import GazeFeatures
 
 import cv2
@@ -19,6 +19,9 @@ import numpy
 AOI2DSceneType = TypeVar('AOI2DScene', bound="AOI2DScene")
 # Type definition for type annotation convenience
 
+AOI3DSceneType = TypeVar('AOI3DScene', bound="AOI3DScene")
+# Type definition for type annotation convenience
+
 class AOI2DScene(AOIFeatures.AOIScene):
 	"""Define AOI 2D scene."""
 
@@ -89,6 +92,7 @@ class AOI2DScene(AOIFeatures.AOIScene):
 
 			yield name, aoi, matched_region, aoi_ratio, circle_ratio
 
+	'''DEPRECATED: but maybe still usefull?
 	def reframe(self, aoi: AOIFeatures.AreaOfInterest, size: tuple) -> AOI2DSceneType:
 		"""
 		Reframe whole scene to a scene bounded by a 4 vertices 2D AOI.
@@ -120,3 +124,28 @@ class AOI2DScene(AOIFeatures.AOIScene):
 			aoi2D_scene[name] = numpy.matmul(aoi2D - Src_origin, M.T)
 
 		return aoi2D_scene
+	'''
+	def dimensionalize(self, frame_3d: AOIFeatures.AreaOfInterest, size: tuple) -> AOI3DSceneType:
+		"""
+		Convert to 3D scene considering it is inside of 3D rectangular frame.
+
+		Parameters:
+			aoi_frame_3d: rectangle 3D AOI to use as referential plane 
+			size: size of the frame in pixel
+
+		Returns:
+			AOI 3D scene
+		"""
+
+		# Vectorize outter_axis function
+		vfunc = numpy.vectorize(frame_3d.outter_axis)
+
+		# Prepare new AOI 3D scene
+		aoi3D_scene = AOI3DScene.AOI3DScene()
+
+		for name, aoi2D in self.items():
+
+			X, Y = (aoi2D / size).T
+			aoi3D_scene[name] = numpy.array(vfunc(X, Y)).T.view(AOIFeatures.AreaOfInterest)
+
+		return aoi3D_scene
diff --git a/src/argaze/AreaOfInterest/AOI3DScene.py b/src/argaze/AreaOfInterest/AOI3DScene.py
index 8ea6048..bfe189a 100644
--- a/src/argaze/AreaOfInterest/AOI3DScene.py
+++ b/src/argaze/AreaOfInterest/AOI3DScene.py
@@ -108,9 +108,9 @@ class AOI3DScene(AOIFeatures.AOIScene):
 
 				file.close()
 
-				# retreive all aoi3D vertices
+				# retreive all aoi3D vertices and sort them in clockwise order
 				for name, face in faces.items():
-					aoi3D = AOIFeatures.AreaOfInterest([ vertices[i-1] for i in face ])
+					aoi3D = AOIFeatures.AreaOfInterest([ vertices[i-1] for i in reversed(face) ])
 					aois_3d[name] = aoi3D
 
 		except IOError:
@@ -149,8 +149,9 @@ class AOI3DScene(AOIFeatures.AOIScene):
 				file.write('s off\n')
 				file.write(vertices_ids + '\n')
 
+	'''DEPRECATED: but maybe still usefull?
 	@property
-	def orthogonal_projection(self) -> AOI2DScene.AOI2DScene:
+	def orthogonal_projection(self) -> AOI2DSceneType:
 		"""
 		Orthogonal projection of whole scene.
 
@@ -169,7 +170,7 @@ class AOI3DScene(AOIFeatures.AOIScene):
 		K = numpy.array([[scene_size[1]/scene_size[0], 0.0, 0.5], [0.0, 1., 0.5], [0.0, 0.0, 1.0]])
 
 		return self.project(tvec, rvec, K)
-
+	'''
 	def vision_cone(self, cone_radius, cone_height, cone_tip=[0., 0., 0.], cone_direction=[0., 0., 1.]) -> Tuple[AOI3DSceneType, AOI3DSceneType]:
 		"""Get AOI which are inside and out a given cone field.
 
diff --git a/src/argaze/AreaOfInterest/AOIFeatures.py b/src/argaze/AreaOfInterest/AOIFeatures.py
index e5585c5..ffaf882 100644
--- a/src/argaze/AreaOfInterest/AOIFeatures.py
+++ b/src/argaze/AreaOfInterest/AOIFeatures.py
@@ -127,8 +127,8 @@ class AreaOfInterest(numpy.ndarray):
 
         return mpath.Path(self).contains_points([point])[0]
 
-    def inner_axis(self, point: tuple) -> tuple:
-        """Transform the coordinates from the global axis to the AOI's axis.
+    def inner_axis(self, x: float, y: float) -> tuple:
+        """Transform a point coordinates from global axis to AOI axis.
         !!! warning
                 Available for 2D AOI only.
         !!! danger
@@ -143,35 +143,30 @@ class AreaOfInterest(numpy.ndarray):
         Dst = numpy.array([[0., 0.], [1., 0.], [1., 1.], [0., 1.]]).astype(numpy.float32)
 
         P = cv2.getPerspectiveTransform(Src, Dst)
-        X = numpy.append(numpy.array(numpy.array(point) - Src_origin), [1.0]).astype(numpy.float32)
+        X = numpy.append(numpy.array(numpy.array([x, y]) - Src_origin), [1.0]).astype(numpy.float32)
         Y = numpy.dot(P, X)
 
         La = (Y/Y[2])[:-1]
 
         return tuple(numpy.around(La, 4))
 
-    def outter_axis(self, point: tuple) -> tuple:
-        """Transform the coordinates from the AOI's axis to the global axis.
-        !!! warning
-                Available for 2D AOI only.
+    def outter_axis(self, x: float, y: float) -> tuple:
+        """Transform a point coordinates from AOI axis to global axis.
         !!! danger
-                The AOI points must be sorted in clockwise order."""
-
-        assert(self.dimension == 2)
+                The AOI points must be sorted in clockwise order.
+        !!! danger
+                The AOI must be a rectangle."""
 
-        Src = numpy.array([[0., 0.], [1., 0.], [1., 1.], [0., 1.]]).astype(numpy.float32)
+        # Origin point
+        O = self[0]
 
-        Dst = self.astype(numpy.float32)
-        Dst_origin = Dst[0]
-        Dst = (Dst - Dst_origin).reshape((len(Dst)), 2)
+        # Horizontal axis vector
+        H = self[1] - self[0]
 
-        P = cv2.getPerspectiveTransform(Src, Dst)
-        X = numpy.array([point[0], point[1], 1.0]).astype(numpy.float32)
-        Y = numpy.dot(P, X)
+        # Vertical axis vector
+        V = self[3] - self[0]
 
-        Lp = Dst_origin + (Y/Y[2])[:-1]
-
-        return tuple(numpy.rint(Lp).astype(int))
+        return tuple(O + x * H + y * V)
 
     def circle_intersection(self, center: tuple, radius: float) -> Tuple[numpy.array, float, float]:
         """Get intersection shape with a circle, intersection area / AOI area ratio and intersection area / circle area ratio.
@@ -353,6 +348,42 @@ class AOIScene():
 
         return output
 
+    def __add__(self, add_vector) -> AOISceneType:
+        """Add vector to scene."""
+
+        assert(len(add_vector) == self.__dimension)
+
+        for name, area in self.__areas.items():
+            
+            self.__areas[name] = self.__areas[name] + add_vector
+
+        return self
+
+    # Allow n + scene operation
+    __radd__ = __add__
+
+    def __sub__(self, sub_vector) -> AOISceneType:
+        """Sub vector to scene."""
+
+        assert(len(sub_vector) == self.__dimension)
+
+        for name, area in self.__areas.items():
+            
+            self.__areas[name] = self.__areas[name] - sub_vector
+
+        return self
+
+    def __rsub__(self, rsub_vector) -> AOISceneType:
+        """RSub vector to scene."""
+
+        assert(len(rsub_vector) == self.__dimension)
+
+        for name, area in self.__areas.items():
+            
+            self.__areas[name] = rsub_vector - self.__areas[name]
+
+        return self
+
     def __mul__(self, scale_vector) -> AOISceneType:
         """Scale scene by a vector."""
 
@@ -367,6 +398,16 @@ class AOIScene():
     # Allow n * scene operation
     __rmul__ = __mul__
 
+    def __truediv__(self, div_vector) -> AOISceneType:
+
+        assert(len(div_vector) == self.__dimension)
+
+        for name, area in self.__areas.items():
+            
+            self.__areas[name] = self.__areas[name] / div_vector
+
+        return self
+
     def items(self) -> Tuple[str, AreaOfInterest]:
         """Iterate over areas."""
 
diff --git a/src/argaze/utils/demo_data/aoi_2d_scene.json b/src/argaze/utils/demo_data/aoi_2d_scene.json
new file mode 100644
index 0000000..a0726e8
--- /dev/null
+++ b/src/argaze/utils/demo_data/aoi_2d_scene.json
@@ -0,0 +1,5 @@
+{
+	"RedSquare": [[268, 203], [576, 203], [576, 510], [268, 510]],
+	"BlueTriangle":[[960, 664], [1113, 971], [806, 971]],
+	"GreenCircle":[[1497, 203], [1527, 206], [1556, 215], [1582, 229], [1605, 248], [1624, 271], [1639, 298], [1647, 327], [1650, 357], [1647, 387], [1639, 415], [1624, 442], [1605, 465], [1582, 484], [1556, 498], [1527, 507], [1497, 510], [1467, 507], [1438, 498], [1411, 484], [1388, 465], [1369, 442], [1355, 415], [1346, 387], [1343, 357], [1346, 327], [1355, 298], [1369, 271], [1388, 248], [1411, 229], [1438, 215], [1467, 206]]
+}
\ No newline at end of file
diff --git a/src/argaze/utils/demo_data/aoi_3d_scene.obj b/src/argaze/utils/demo_data/aoi_3d_scene.obj
index d32e235..0ce97de 100644
--- a/src/argaze/utils/demo_data/aoi_3d_scene.obj
+++ b/src/argaze/utils/demo_data/aoi_3d_scene.obj
@@ -1,5 +1,3 @@
-# Blender v3.0.1 OBJ File: 'ar_camera.blend'
-# www.blender.org
 o GrayRectangle
 v 0.000000 0.000000 0.000000
 v 25.000000 0.000000 0.000000
@@ -7,51 +5,3 @@ v 0.000000 14.960000 0.000000
 v 25.000000 14.960000 0.000000
 s off
 f 1 2 4 3
-o RedSquare
-v 3.497026 8.309391 0.000000
-v 7.504756 8.309391 0.000000
-v 3.497026 12.314838 0.001030
-v 7.504756 12.314838 0.001030
-s off
-f 5 6 8 7
-o BlueTriangle
-v 10.500295 2.307687 0.000000
-v 14.503224 2.306344 0.000000
-v 12.502419 6.312207 0.001030
-s off
-f 9 10 11
-o GreenCircle
-v 19.495552 12.311101 0.000000
-v 19.105371 12.272672 0.000000
-v 18.730185 12.158860 0.000000
-v 18.384411 11.974040 0.000000
-v 18.081339 11.725314 0.000000
-v 17.832613 11.422241 0.000000
-v 17.647793 11.076468 0.000000
-v 17.533981 10.701282 0.000000
-v 17.495552 10.311101 0.000000
-v 17.533981 9.920920 0.000000
-v 17.647793 9.545734 0.000000
-v 17.832613 9.199961 0.000000
-v 18.081339 8.896888 0.000000
-v 18.384411 8.648162 0.000000
-v 18.730185 8.463342 0.000000
-v 19.105371 8.349530 0.000000
-v 19.495552 8.311101 0.000000
-v 19.885733 8.349530 0.000000
-v 20.260920 8.463342 0.000000
-v 20.606693 8.648162 0.000000
-v 20.909765 8.896887 0.000000
-v 21.158491 9.199960 0.000000
-v 21.343311 9.545733 0.000000
-v 21.457123 9.920920 0.000000
-v 21.495552 10.311101 0.000000
-v 21.457123 10.701282 0.000000
-v 21.343311 11.076468 0.000000
-v 21.158491 11.422241 0.000000
-v 20.909765 11.725314 0.000000
-v 20.606693 11.974040 0.000000
-v 20.260920 12.158860 0.000000
-v 19.885733 12.272672 0.000000
-s off
-f 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 12
diff --git a/src/argaze/utils/demo_data/demo_aruco_markers_setup.json b/src/argaze/utils/demo_data/demo_aruco_markers_setup.json
index 9a3b79f..5168297 100644
--- a/src/argaze/utils/demo_data/demo_aruco_markers_setup.json
+++ b/src/argaze/utils/demo_data/demo_aruco_markers_setup.json
@@ -53,7 +53,7 @@
             },
             "frames": {
                 "GrayRectangle": {
-                    "size": [640, 383],
+                    "size": [1920, 1149],
                     "background": "frame_background.jpg",
                     "gaze_movement_identifier": {
                         "DispersionThresholdIdentification": {
@@ -65,12 +65,10 @@
                         "duration_max": 10000
                     },
                     "layers": {
-                        "GrayRectangle": {
-                            "aoi_scene": "aoi_3d_scene.obj",
+                        "main_layer": {
+                            "aoi_scene": "aoi_2d_scene.json",
                             "aoi_matcher": {
-                                "FocusPointInside": {
-                                    "exclude": ["GrayRectangle"]
-                                }
+                                "FocusPointInside": {}
                             }
                         }
                     },
@@ -91,7 +89,7 @@
                             }
                         },
                         "draw_layers": {
-                            "GrayRectangle": {
+                            "main_layer": {
                                 "draw_aoi_scene": {
                                     "draw_aoi": {
                                         "color": [255, 255, 255],
diff --git a/src/argaze/utils/demo_data/demo_gaze_analysis_setup.json b/src/argaze/utils/demo_data/demo_gaze_analysis_setup.json
index 414a6fe..52945ae 100644
--- a/src/argaze/utils/demo_data/demo_gaze_analysis_setup.json
+++ b/src/argaze/utils/demo_data/demo_gaze_analysis_setup.json
@@ -25,11 +25,10 @@
         "size": [320, 240]
     },
     "layers": {
-        "GrayRectangle": {
-            "aoi_scene": "aoi_3d_scene.obj",
+        "main_layer": {
+            "aoi_scene": "aoi_2d_scene.json",
             "aoi_matcher": {
                 "DeviationCircleCoverage": {
-                    "exclude": ["GrayRectangle"],
                     "coverage_threshold": 0.5
                 }
             },
@@ -64,7 +63,7 @@
             "deepness": 0
         },
         "draw_layers": {
-            "GrayRectangle": {
+            "main_layer": {
                 "draw_aoi_scene": {
                     "draw_aoi": {
                         "color": [255, 255, 255],
diff --git a/src/argaze/utils/demo_gaze_analysis_run.py b/src/argaze/utils/demo_gaze_analysis_run.py
index 465c5db..789657b 100644
--- a/src/argaze/utils/demo_gaze_analysis_run.py
+++ b/src/argaze/utils/demo_gaze_analysis_run.py
@@ -74,18 +74,18 @@ def main():
 
             # Write last 5 steps of aoi scan path
             path = ''
-            for step in ar_frame.layers["GrayRectangle"].aoi_scan_path[-5:]:
+            for step in ar_frame.layers["main_layer"].aoi_scan_path[-5:]:
 
                 path += f'> {step.aoi} '
             
-            path += f'> {ar_frame.layers["GrayRectangle"].aoi_scan_path.current_aoi}'
+            path += f'> {ar_frame.layers["main_layer"].aoi_scan_path.current_aoi}'
 
             cv2.putText(frame_image, path, (20, ar_frame.size[1]-40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
 
             # Display Transition matrix analysis if loaded
             try:
 
-                transition_matrix_analyzer = ar_frame.layers['GrayRectangle'].aoi_scan_path_analyzers["argaze.GazeAnalysis.TransitionMatrix"]
+                transition_matrix_analyzer = ar_frame.layers["main_layer"].aoi_scan_path_analyzers["argaze.GazeAnalysis.TransitionMatrix"]
 
                 cv2.putText(frame_image, f'Transition matrix density: {transition_matrix_analyzer.transition_matrix_density:.2f}', (20, ar_frame.size[1]-160), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
                 
@@ -97,8 +97,8 @@ def main():
 
                         if from_aoi != to_aoi and probability > 0.0:
 
-                            from_center = ar_frame.layers['GrayRectangle'].aoi_scene[from_aoi].center.astype(int)
-                            to_center = ar_frame.layers['GrayRectangle'].aoi_scene[to_aoi].center.astype(int)
+                            from_center = ar_frame.layers["main_layer"].aoi_scene[from_aoi].center.astype(int)
+                            to_center = ar_frame.layers["main_layer"].aoi_scene[to_aoi].center.astype(int)
                             start_line = (0.5 * from_center + 0.5 * to_center).astype(int)
 
                             color = [int(probability*200) + 55, int(probability*200) + 55, int(probability*200) + 55]
@@ -112,7 +112,7 @@ def main():
             # Display aoi scan path basic metrics analysis if loaded
             try:
 
-                basic_analyzer = ar_frame.layers['GrayRectangle'].aoi_scan_path_analyzers["argaze.GazeAnalysis.Basic"]
+                basic_analyzer = ar_frame.layers["main_layer"].aoi_scan_path_analyzers["argaze.GazeAnalysis.Basic"]
                 
                 # Write basic analysis
                 cv2.putText(frame_image, f'Step number: {basic_analyzer.steps_number}', (20, ar_frame.size[1]-440), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
@@ -141,7 +141,7 @@ def main():
             # Display aoi scan path K-modified coefficient analysis if loaded
             try:
 
-                aoi_kc_analyzer = ar_frame.layers['GrayRectangle'].aoi_scan_path_analyzers["argaze.GazeAnalysis.KCoefficient"]
+                aoi_kc_analyzer = ar_frame.layers["main_layer"].aoi_scan_path_analyzers["argaze.GazeAnalysis.KCoefficient"]
 
                 # Write aoi Kc analysis
                 if aoi_kc_analyzer.K < 0.:
@@ -158,7 +158,7 @@ def main():
             # Display Lempel-Ziv complexity analysis if loaded
             try:
 
-                lzc_analyzer = ar_frame.layers['GrayRectangle'].aoi_scan_path_analyzers["argaze.GazeAnalysis.LempelZivComplexity"]
+                lzc_analyzer = ar_frame.layers["main_layer"].aoi_scan_path_analyzers["argaze.GazeAnalysis.LempelZivComplexity"]
 
                 cv2.putText(frame_image, f'Lempel-Ziv complexity: {lzc_analyzer.lempel_ziv_complexity}', (20, ar_frame.size[1]-200), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
 
@@ -168,7 +168,7 @@ def main():
             # Display N-Gram analysis if loaded
             try:
 
-                ngram_analyzer = ar_frame.layers['GrayRectangle'].aoi_scan_path_analyzers["argaze.GazeAnalysis.NGram"]
+                ngram_analyzer = ar_frame.layers["main_layer"].aoi_scan_path_analyzers["argaze.GazeAnalysis.NGram"]
 
                 # Display only 3-gram analysis
                 start = ar_frame.size[1] - ((len(ngram_analyzer.ngrams_count[3]) + 1) * 40)
@@ -188,7 +188,7 @@ def main():
             # Display Entropy analysis if loaded
             try:
 
-                entropy_analyzer = ar_frame.layers['GrayRectangle'].aoi_scan_path_analyzers["argaze.GazeAnalysis.Entropy"]
+                entropy_analyzer = ar_frame.layers["main_layer"].aoi_scan_path_analyzers["argaze.GazeAnalysis.Entropy"]
 
                 cv2.putText(frame_image, f'Stationary entropy: {entropy_analyzer.stationary_entropy:.3f},', (20, ar_frame.size[1]-280), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
                 cv2.putText(frame_image, f'Transition entropy: {entropy_analyzer.transition_entropy:.3f},', (20, ar_frame.size[1]-240), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
-- 
cgit v1.1


From 23fa1a7835b3c7cfd976b1d160878289b1f0657c Mon Sep 17 00:00:00 2001
From: Theo De La Hogue
Date: Sat, 23 Sep 2023 07:22:23 +0200
Subject: Fixing code annotation. Removing useless documentation section.
 Fixing documentation cross reference.

---
 src/argaze/ArFeatures.py                | 8 ++++----
 src/argaze/ArUcoMarkers/ArUcoCamera.py  | 6 +++---
 src/argaze/AreaOfInterest/AOI2DScene.py | 9 ++++++---
 3 files changed, 13 insertions(+), 10 deletions(-)

(limited to 'src')

diff --git a/src/argaze/ArFeatures.py b/src/argaze/ArFeatures.py
index ad17df2..54ef918 100644
--- a/src/argaze/ArFeatures.py
+++ b/src/argaze/ArFeatures.py
@@ -1044,7 +1044,7 @@ class ArFrame():
 
 		return image
 
-	def image(self, **kwargs) -> numpy.array:
+	def image(self, **kwargs: dict) -> numpy.array:
 		"""
 		Get frame image.
 
@@ -1248,7 +1248,7 @@ class ArScene():
 
 		return ArScene(new_scene_name, new_layers, new_frames, **scene_data)
 	
-	def estimate_pose(self, detected_features) -> Tuple[numpy.array, numpy.array]:
+	def estimate_pose(self, detected_features: Any) -> Tuple[numpy.array, numpy.array]:
 		"""Define abstract estimate scene pose method.
 
 		Parameters:
@@ -1298,7 +1298,7 @@ class ArScene():
 			# Project layer aoi scene
 			yield name, aoi_scene_copy.project(tvec, rvec, self.parent.aruco_detector.optic_parameters.K)
 
-	def draw(self, image: numpy.array, **kwargs):
+	def draw(self, image: numpy.array, **kwargs: dict):
 		"""
 		Draw scene into image.
 		
@@ -1495,7 +1495,7 @@ class ArCamera(ArFrame):
 		# Unlock camera frame exploitation
 		self._frame_lock.release()
 
-	def image(self, **kwargs) -> numpy.array:
+	def image(self, **kwargs: dict) -> numpy.array:
 		"""
 		Get frame image.
 
diff --git a/src/argaze/ArUcoMarkers/ArUcoCamera.py b/src/argaze/ArUcoMarkers/ArUcoCamera.py
index 4f555fb..4c3f042 100644
--- a/src/argaze/ArUcoMarkers/ArUcoCamera.py
+++ b/src/argaze/ArUcoMarkers/ArUcoCamera.py
@@ -73,7 +73,7 @@ class ArUcoCamera(ArFeatures.ArCamera):
 		return output
 
 	@classmethod
-	def from_dict(self, aruco_camera_data, working_directory: str = None) -> ArUcoCameraType:
+	def from_dict(self, aruco_camera_data: dict, working_directory: str = None) -> ArUcoCameraType:
 		"""
 		Load ArUcoCamera from dictionary.
 
@@ -211,7 +211,7 @@ class ArUcoCamera(ArFeatures.ArCamera):
 		# Return dection time and exceptions
 		return detection_time, exceptions
 
-	def __image(self, draw_detected_markers: dict = None, draw_scenes: dict = None, draw_optic_parameters_grid: dict = None, **kwargs) -> numpy.array:
+	def __image(self, draw_detected_markers: dict = None, draw_scenes: dict = None, draw_optic_parameters_grid: dict = None, **kwargs: dict) -> numpy.array:
 		"""Get frame image with ArUco detection visualisation.
 
 		Parameters:
@@ -253,7 +253,7 @@ class ArUcoCamera(ArFeatures.ArCamera):
 
 		return image
 
-	def image(self, **kwargs) -> numpy.array:
+	def image(self, **kwargs: dict) -> numpy.array:
 		"""
 		Get frame image.
 
diff --git a/src/argaze/AreaOfInterest/AOI2DScene.py b/src/argaze/AreaOfInterest/AOI2DScene.py
index f6b8dcb..564f65c 100644
--- a/src/argaze/AreaOfInterest/AOI2DScene.py
+++ b/src/argaze/AreaOfInterest/AOI2DScene.py
@@ -125,20 +125,23 @@ class AOI2DScene(AOIFeatures.AOIScene):
 
 		return aoi2D_scene
 	'''
-	def dimensionalize(self, frame_3d: AOIFeatures.AreaOfInterest, size: tuple) -> AOI3DSceneType:
+	def dimensionalize(self, rectangle_3d: AOIFeatures.AreaOfInterest, size: tuple) -> AOI3DSceneType:
 		"""
 		Convert to 3D scene considering it is inside of 3D rectangular frame.
 
 		Parameters:
-			aoi_frame_3d: rectangle 3D AOI to use as referential plane 
+			rectangle_3d: rectangle 3D AOI to use as referential plane 
 			size: size of the frame in pixel
 
 		Returns:
 			AOI 3D scene
 		"""
 
+		assert(rectangle_3d.dimension == 3)
+		assert(rectangle_3d.points_number == 4)
+
 		# Vectorize outter_axis function
-		vfunc = numpy.vectorize(frame_3d.outter_axis)
+		vfunc = numpy.vectorize(rectangle_3d.outter_axis)
 
 		# Prepare new AOI 3D scene
 		aoi3D_scene = AOI3DScene.AOI3DScene()
-- 
cgit v1.1


From 0410c9980f2c243caa2f2f4f72b814efb72ac654 Mon Sep 17 00:00:00 2001
From: Theo De La Hogue
Date: Sat, 23 Sep 2023 07:59:35 +0200
Subject: Fixing missing import.

---
 src/argaze/ArFeatures.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

(limited to 'src')

diff --git a/src/argaze/ArFeatures.py b/src/argaze/ArFeatures.py
index 54ef918..10e9687 100644
--- a/src/argaze/ArFeatures.py
+++ b/src/argaze/ArFeatures.py
@@ -7,7 +7,7 @@ __credits__ = []
 __copyright__ = "Copyright 2023, Ecole Nationale de l'Aviation Civile (ENAC)"
 __license__ = "BSD"
 
-from typing import TypeVar, Tuple
+from typing import TypeVar, Tuple, Any
 from dataclasses import dataclass, field
 import json
 import os
-- 
cgit v1.1


From 998d6c1b6c4216d887f74375e262147a6fbeff67 Mon Sep 17 00:00:00 2001
From: Theo De La Hogue
Date: Sat, 23 Sep 2023 08:11:40 +0200
Subject: Fixing map method to use clockwise order.

---
 src/argaze/ArFeatures.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

(limited to 'src')

diff --git a/src/argaze/ArFeatures.py b/src/argaze/ArFeatures.py
index 10e9687..a419d93 100644
--- a/src/argaze/ArFeatures.py
+++ b/src/argaze/ArFeatures.py
@@ -1483,7 +1483,7 @@ class ArCamera(ArFrame):
 
 					# Apply perspective transform algorithm to fill aoi frame background
 					width, height = frame.size
-					destination = numpy.float32([[0, height],[width, height],[width, 0],[0, 0]])
+					destination = numpy.float32([[0, 0], [width, 0], [width, height], [0, height]])
 					mapping = cv2.getPerspectiveTransform(aoi_2d.astype(numpy.float32), destination)
 					frame.background = cv2.warpPerspective(self.background, mapping, (width, height))
 
-- 
cgit v1.1


From 217d7ffb68ea4ebbc22cd914cf37d24ce3bcc566 Mon Sep 17 00:00:00 2001
From: Theo De La Hogue
Date: Mon, 25 Sep 2023 14:46:46 +0200
Subject: Adding a way to load SVG AOI description. Allowing to use shape to
 describe rectangular or circular 2D AOI in JSON.

---
 src/argaze/ArFeatures.py                 |  5 +++
 src/argaze/AreaOfInterest/AOI2DScene.py  | 62 ++++++++++++++++++++++++++++++++
 src/argaze/AreaOfInterest/AOIFeatures.py | 48 +++++++++++++++++++++++--
 3 files changed, 112 insertions(+), 3 deletions(-)

(limited to 'src')

diff --git a/src/argaze/ArFeatures.py b/src/argaze/ArFeatures.py
index a419d93..0750cb5 100644
--- a/src/argaze/ArFeatures.py
+++ b/src/argaze/ArFeatures.py
@@ -180,6 +180,11 @@ class ArLayer():
 
 					new_aoi_scene = AOIFeatures.AOIScene.from_json(filepath)
 
+				# SVG file format for 2D dimension only
+				if file_format == 'svg':
+
+					new_aoi_scene = AOIFeatures.AOI2DScene.from_svg(filepath)
+
 				# OBJ file format for 3D dimension only
 				elif file_format == 'obj':
 
diff --git a/src/argaze/AreaOfInterest/AOI2DScene.py b/src/argaze/AreaOfInterest/AOI2DScene.py
index 564f65c..4dc47f4 100644
--- a/src/argaze/AreaOfInterest/AOI2DScene.py
+++ b/src/argaze/AreaOfInterest/AOI2DScene.py
@@ -15,6 +15,7 @@ from argaze import GazeFeatures
 
 import cv2
 import numpy
+from xml.dom import minidom
 
 AOI2DSceneType = TypeVar('AOI2DScene', bound="AOI2DScene")
 # Type definition for type annotation convenience
@@ -29,6 +30,67 @@ class AOI2DScene(AOIFeatures.AOIScene):
 
 		super().__init__(2, aois_2d)
 
+	@classmethod
+	def from_svg(self, svg_filepath: str) -> AOI2DSceneType:
+		"""
+			Load areas from .svg file.
+
+			Parameters:
+			svg_filepath: path to svg file
+
+		!!! note
+			Available SVG elements are: path, rect and circle.
+
+		!!! warning
+			Available SVG path d-string commands are: MoveTo (M) LineTo (L) and ClosePath (Z) commands.
+		"""
+
+		with minidom.parse(svg_filepath) as description_file:
+
+			new_areas = {}
+
+			# Load SVG path
+			for path in description_file.getElementsByTagName('path'):
+
+				# Convert d-string into array
+				d_string = path.getAttribute('d')
+
+				assert(d_string[0] == 'M')
+				assert(d_string[-1] == 'Z')
+
+				points = [(float(x), float(y)) for x, y in [p.split(',') for p in d_string[1:-1].split('L')]]
+
+				new_areas[path.getAttribute('id')] = AOIFeatures.AreaOfInterest(points)
+
+			# Load SVG rect
+			for rect in description_file.getElementsByTagName('rect'):
+
+				# Convert rect element into dict
+				rect_dict = {
+					'shape': 'rectangle',
+					'x': float(rect.getAttribute('x')),
+					'y': float(rect.getAttribute('y')),
+					'width': float(rect.getAttribute('width')),
+					'height': float(rect.getAttribute('height'))
+				}
+
+				new_areas[rect.getAttribute('id')] = AOIFeatures.AreaOfInterest.from_dict(rect_dict)
+
+			# Load SVG circle
+			for circle in description_file.getElementsByTagName('circle'):
+
+				# Convert circle element into dict
+				circle_dict = {
+					'shape': 'circle',
+					'cx': float(circle.getAttribute('cx')),
+					'cy': float(circle.getAttribute('cy')),
+					'radius': float(circle.getAttribute('r'))
+				}
+
+				new_areas[circle.getAttribute('id')] = AOIFeatures.AreaOfInterest.from_dict(circle_dict)
+
+			return AOI2DScene(new_areas)
+
 	def draw(self, image: numpy.array, draw_aoi: dict = None, exclude=[]):
 		"""Draw AOI polygons on image.
 
diff --git a/src/argaze/AreaOfInterest/AOIFeatures.py b/src/argaze/AreaOfInterest/AOIFeatures.py
index ffaf882..debf1fa 100644
--- a/src/argaze/AreaOfInterest/AOIFeatures.py
+++ b/src/argaze/AreaOfInterest/AOIFeatures.py
@@ -11,6 +11,7 @@ from typing import TypeVar, Tuple
 from dataclasses import dataclass, field
 import json
 import os
+import math
 
 from argaze import DataStructures
 
@@ -41,6 +42,40 @@ class AreaOfInterest(numpy.ndarray):
 
         return repr(self.tolist())
 
+    @classmethod
+    def from_dict(self, aoi_data: dict, working_directory: str = None) -> AreaOfInterestType:
+        """Load attributes from dictionary.
+
+        Parameters:
+            aoi_data: dictionary with attributes to load
+            working_directory: folder path where to load files when a dictionary value is a relative filepath.
+        """
+
+        shape = aoi_data.pop('shape')
+
+        if shape == 'rectangle':
+
+            x = aoi_data.pop('x')
+            y = aoi_data.pop('y')
+            width = aoi_data.pop('width')
+            height = aoi_data.pop('height')
+
+            points = [[x, y], [x+width, y], [x+width, y+height], [x, y+height]]
+
+            return AreaOfInterest(points)
+
+        elif shape == 'circle':
+
+            cx = aoi_data.pop('cx')
+            cy = aoi_data.pop('cy')
+            radius = aoi_data.pop('radius')
+
+            # TODO: Use pygeos
+            N = 32
+            points = [(math.cos(2*math.pi / N*x) * radius + cx, math.sin(2*math.pi / N*x) * radius + cy) for x in range(0, N+1)]
+
+            return AreaOfInterest(points)
+
     @property
     def dimension(self) -> int:
         """Number of axis coding area points positions."""
@@ -249,8 +284,15 @@ class AOIScene():
         # Load areas
         areas = {}
 
-        for name, area in aoi_scene_data.items():
-            areas[name] = AreaOfInterest(area)
+        for area_name, area_data in aoi_scene_data.items():
+
+            if type(area_data) == list:
+
+                areas[area_name] = AreaOfInterest(area_data)
+
+            elif type(area_data) == dict:
+
+                areas[area_name] = AreaOfInterest.from_dict(area_data)
 
         # Default dimension is 0
         dimension = 0
@@ -276,7 +318,7 @@ class AOIScene():
             aoi_scene_data = json.load(configuration_file)
             working_directory = os.path.dirname(json_filepath)
 
-            return AOIScene.from_dict(aoi_scene_data, working_directory)     
+            return AOIScene.from_dict(aoi_scene_data, working_directory)
 
     def __getitem__(self, name) -> AreaOfInterest:
         """Get an AOI from the scene."""
-- 
cgit v1.1


From 08791230814241baf2283c07cc6b16b00dcccca4 Mon Sep 17 00:00:00 2001
From: Theo De La Hogue
Date: Tue, 26 Sep 2023 10:42:41 +0200
Subject: Changing JSON description schema.

---
 src/argaze/AreaOfInterest/AOIFeatures.py | 24 +++++++++++++-----------
 1 file changed, 13 insertions(+), 11 deletions(-)

(limited to 'src')

diff --git a/src/argaze/AreaOfInterest/AOIFeatures.py b/src/argaze/AreaOfInterest/AOIFeatures.py
index debf1fa..dfbb165 100644
--- a/src/argaze/AreaOfInterest/AOIFeatures.py
+++ b/src/argaze/AreaOfInterest/AOIFeatures.py
@@ -51,24 +51,26 @@ class AreaOfInterest(numpy.ndarray):
             working_directory: folder path where to load files when a dictionary value is a relative filepath.
         """
 
-        shape = aoi_data.pop('shape')
+        # Get first and unique shape
+        # TODO: allow multiple shapes to describe more complex AOI
+        shape, shape_data = aoi_data.popitem()
 
-        if shape == 'rectangle':
+        if shape == 'Rectangle':
 
-            x = aoi_data.pop('x')
-            y = aoi_data.pop('y')
-            width = aoi_data.pop('width')
-            height = aoi_data.pop('height')
+            x = shape_data.pop('x')
+            y = shape_data.pop('y')
+            width = shape_data.pop('width')
+            height = shape_data.pop('height')
 
             points = [[x, y], [x+width, y], [x+width, y+height], [x, y+height]]
 
             return AreaOfInterest(points)
 
-        elif shape == 'circle':
+        elif shape == 'Circle':
 
-            cx = aoi_data.pop('cx')
-            cy = aoi_data.pop('cy')
-            radius = aoi_data.pop('radius')
+            cx = shape_data.pop('cx')
+            cy = shape_data.pop('cy')
+            radius = shape_data.pop('radius')
 
             # TODO: Use pygeos
             N = 32
@@ -462,7 +464,7 @@ class AOIScene():
 
     @property
     def dimension(self) -> int:
-        """Dimension of the AOIs in scene."""
+        """Dimension of the AOI in scene."""
 
         return self.__dimension
 
-- 
cgit v1.1


From 12ae7e20aba323624d360567ea424ac2d315fbc7 Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Tue, 26 Sep 2023 10:47:43 +0200
Subject: Harmonizing AOI/aoi without s at the end.

---
 src/argaze.test/AreaOfInterest/AOI2DScene.py       |  6 +++---
 src/argaze.test/AreaOfInterest/AOI3DScene.py       |  6 +++---
 src/argaze.test/GazeFeatures.py                    |  4 ++--
 src/argaze/ArFeatures.py                           | 24 +++++++++++-----------
 src/argaze/AreaOfInterest/AOI2DScene.py            |  6 +++---
 src/argaze/AreaOfInterest/AOI3DScene.py            | 10 ++++-----
 src/argaze/GazeAnalysis/DeviationCircleCoverage.py | 14 ++++++-------
 src/argaze/GazeAnalysis/TransitionMatrix.py        |  2 +-
 src/argaze/GazeFeatures.py                         | 22 ++++++++++----------
 9 files changed, 47 insertions(+), 47 deletions(-)

(limited to 'src')

diff --git a/src/argaze.test/AreaOfInterest/AOI2DScene.py b/src/argaze.test/AreaOfInterest/AOI2DScene.py
index 4e96e98..10ff430 100644
--- a/src/argaze.test/AreaOfInterest/AOI2DScene.py
+++ b/src/argaze.test/AreaOfInterest/AOI2DScene.py
@@ -187,14 +187,14 @@ class TestTimeStampedAOIScenesClass(unittest.TestCase):
         aoi_2D_B = AOIFeatures.AreaOfInterest([[1, 1], [1, 2], [2, 2], [2, 1]])
         aoi_2d_scene = AOI2DScene.AOI2DScene({"A": aoi_2D_A, "B": aoi_2D_B})
 
-        ts_aois_scenes = AOIFeatures.TimeStampedAOIScenes()
+        ts_aoi_scenes = AOIFeatures.TimeStampedAOIScenes()
 
-        ts_aois_scenes[0] = aoi_2d_scene
+        ts_aoi_scenes[0] = aoi_2d_scene
 
         # Check that only AOIScene can be added
         with self.assertRaises(AssertionError): 
 
-            ts_aois_scenes[1] = "This string is not an AOI2DScene"
+            ts_aoi_scenes[1] = "This string is not an AOI2DScene"
 
 if __name__ == '__main__':
 
diff --git a/src/argaze.test/AreaOfInterest/AOI3DScene.py b/src/argaze.test/AreaOfInterest/AOI3DScene.py
index b386432..d09f2a8 100644
--- a/src/argaze.test/AreaOfInterest/AOI3DScene.py
+++ b/src/argaze.test/AreaOfInterest/AOI3DScene.py
@@ -107,14 +107,14 @@ class TestTimeStampedAOIScenesClass(unittest.TestCase):
         aoi_3D_B = AOIFeatures.AreaOfInterest([[1, 1, 0], [1, 2, 0], [2, 2, 0], [2, 1, 0]])
         aoi_3d_scene = AOI3DScene.AOI3DScene({"A": aoi_3D_A, "B": aoi_3D_B})
 
-        ts_aois_scenes = AOIFeatures.TimeStampedAOIScenes()
+        ts_aoi_scenes = AOIFeatures.TimeStampedAOIScenes()
 
-        ts_aois_scenes[0] = aoi_3d_scene
+        ts_aoi_scenes[0] = aoi_3d_scene
 
         # Check that only AOIScene can be added
         with self.assertRaises(AssertionError): 
 
-            ts_aois_scenes[1] = "This string is not an AOI3DScene"
+            ts_aoi_scenes[1] = "This string is not an AOI3DScene"
 
 if __name__ == '__main__':
 
diff --git a/src/argaze.test/GazeFeatures.py b/src/argaze.test/GazeFeatures.py
index d609dd2..b41c7c7 100644
--- a/src/argaze.test/GazeFeatures.py
+++ b/src/argaze.test/GazeFeatures.py
@@ -497,10 +497,10 @@ class TestAOIScanStepClass(unittest.TestCase):
 
             aoi_scan_step = GazeFeatures.AOIScanStep(movements, 'Test')
 
-def build_aoi_scan_path(expected_aois, aoi_path):
+def build_aoi_scan_path(expected_aoi, aoi_path):
     """Build AOI scan path"""
 
-    aoi_scan_path = GazeFeatures.AOIScanPath(expected_aois)
+    aoi_scan_path = GazeFeatures.AOIScanPath(expected_aoi)
 
     # Append a hidden last step to allow last given step creation
     aoi_path.append(aoi_path[-2])
diff --git a/src/argaze/ArFeatures.py b/src/argaze/ArFeatures.py
index 0750cb5..122efe8 100644
--- a/src/argaze/ArFeatures.py
+++ b/src/argaze/ArFeatures.py
@@ -96,7 +96,7 @@ DEFAULT_ARLAYER_DRAW_PARAMETERS = {
 @dataclass
 class ArLayer():
 	"""
-	Defines a space where to make matching of gaze movements and AOIs and inside which those matchings need to be analyzed.
+	Defines a space where to make matching of gaze movements and AOI and inside which those matchings need to be analyzed.
 
 	Parameters:
 		name: name of the layer
@@ -203,10 +203,10 @@ class ArLayer():
 			new_aoi_scene = AOI2DScene.AOI2DScene()
 
 		# Edit expected AOI list by removing AOI with name equals to layer name
-		expected_aois = list(new_aoi_scene.keys())
+		expected_aoi = list(new_aoi_scene.keys())
 
-		if new_layer_name in expected_aois:
-			expected_aois.remove(new_layer_name)
+		if new_layer_name in expected_aoi:
+			expected_aoi.remove(new_layer_name)
 
 		# Load aoi matcher
 		try:
@@ -230,13 +230,13 @@ class ArLayer():
 		try:
 
 			new_aoi_scan_path_data = layer_data.pop('aoi_scan_path')
-			new_aoi_scan_path_data['expected_aois'] = expected_aois
+			new_aoi_scan_path_data['expected_aoi'] = expected_aoi
 			new_aoi_scan_path = GazeFeatures.AOIScanPath(**new_aoi_scan_path_data)
 
 		except KeyError:
 
 			new_aoi_scan_path_data = {}
-			new_aoi_scan_path_data['expected_aois'] = expected_aois
+			new_aoi_scan_path_data['expected_aoi'] = expected_aoi
 			new_aoi_scan_path = None
 
 		# Load AOI scan path analyzers
@@ -1208,7 +1208,7 @@ class ArScene():
 						# Check that the frame have a layer named like this scene layer
 						aoi_2d_scene = new_frame.layers[scene_layer_name].aoi_scene
 
-						# Transform 2D frame layer AOIs into 3D scene layer AOIs 
+						# Transform 2D frame layer AOI into 3D scene layer AOI 
 						# Then, add them to scene layer
 						scene_layer.aoi_scene |= aoi_2d_scene.dimensionalize(frame_3d, new_frame.size)
 
@@ -1228,12 +1228,12 @@ class ArScene():
 								if frame_layer.aoi_scan_path is not None:
 
 									# Edit expected AOI list by removing AOI with name equals to frame layer name
-									expected_aois = list(layer.aoi_scene.keys())
+									expected_aoi = list(layer.aoi_scene.keys())
 
-									if frame_layer_name in expected_aois:
-										expected_aois.remove(frame_layer_name)
+									if frame_layer_name in expected_aoi:
+										expected_aoi.remove(frame_layer_name)
 
-									frame_layer.aoi_scan_path.expected_aois = expected_aois
+									frame_layer.aoi_scan_path.expected_aoi = expected_aoi
 
 							except KeyError:
 
@@ -1353,7 +1353,7 @@ class ArCamera(ArFrame):
 
 						continue
 
-				layer.aoi_scan_path.expected_aois = all_aoi_list
+				layer.aoi_scan_path.expected_aoi = all_aoi_list
 
 		# Init a lock to share scene projections into camera frame between multiple threads
 		self._frame_lock = threading.Lock()
diff --git a/src/argaze/AreaOfInterest/AOI2DScene.py b/src/argaze/AreaOfInterest/AOI2DScene.py
index 4dc47f4..a726b23 100644
--- a/src/argaze/AreaOfInterest/AOI2DScene.py
+++ b/src/argaze/AreaOfInterest/AOI2DScene.py
@@ -26,9 +26,9 @@ AOI3DSceneType = TypeVar('AOI3DScene', bound="AOI3DScene")
 class AOI2DScene(AOIFeatures.AOIScene):
 	"""Define AOI 2D scene."""
 
-	def __init__(self, aois_2d: dict = None):
+	def __init__(self, aoi_2d: dict = None):
 
-		super().__init__(2, aois_2d)
+		super().__init__(2, aoi_2d)
 
 	@classmethod
 	def from_svg(self, svg_filepath: str) -> AOI2DSceneType:
@@ -121,7 +121,7 @@ class AOI2DScene(AOIFeatures.AOIScene):
 			yield name, aoi, matching
 
 	def draw_raycast(self, image: numpy.array, pointer:tuple, exclude=[], base_color=(0, 0, 255), matching_color=(0, 255, 0)):
-		"""Draw AOIs with their matching status."""
+		"""Draw AOI with their matching status."""
 
 		for name, aoi, matching in self.raycast(pointer):
 
diff --git a/src/argaze/AreaOfInterest/AOI3DScene.py b/src/argaze/AreaOfInterest/AOI3DScene.py
index bfe189a..33a815c 100644
--- a/src/argaze/AreaOfInterest/AOI3DScene.py
+++ b/src/argaze/AreaOfInterest/AOI3DScene.py
@@ -38,15 +38,15 @@ AOI2DSceneType = TypeVar('AOI2DScene', bound="AOI2DScene")
 class AOI3DScene(AOIFeatures.AOIScene):
 	"""Define AOI 3D scene."""
 
-	def __init__(self, aois_3d: dict = None):
+	def __init__(self, aoi_3d: dict = None):
 
-		super().__init__(3, aois_3d)
+		super().__init__(3, aoi_3d)
 
 	@classmethod
 	def from_obj(self, obj_filepath: str) -> AOI3DSceneType:
 		"""Load AOI3D scene from .obj file."""
 
-		aois_3d = {}
+		aoi_3d = {}
 
 		# regex rules for .obj file parsing
 		OBJ_RX_DICT = {
@@ -111,12 +111,12 @@ class AOI3DScene(AOIFeatures.AOIScene):
 				# retreive all aoi3D vertices and sort them in clockwise order
 				for name, face in faces.items():
 					aoi3D = AOIFeatures.AreaOfInterest([ vertices[i-1] for i in reversed(face) ])
-					aois_3d[name] = aoi3D
+					aoi_3d[name] = aoi3D
 
 		except IOError:
 			raise IOError(f'File not found: {obj_filepath}')
 
-		return AOI3DScene(aois_3d)
+		return AOI3DScene(aoi_3d)
 
 	def to_obj(self, obj_filepath: str):
 		"""Save AOI3D scene into .obj file."""
diff --git a/src/argaze/GazeAnalysis/DeviationCircleCoverage.py b/src/argaze/GazeAnalysis/DeviationCircleCoverage.py
index f0decfc..6dadaba 100644
--- a/src/argaze/GazeAnalysis/DeviationCircleCoverage.py
+++ b/src/argaze/GazeAnalysis/DeviationCircleCoverage.py
@@ -34,7 +34,7 @@ class AOIMatcher(GazeFeatures.AOIMatcher):
         self.__look_count = 0
         self.__looked_aoi_data = (None, None)
         self.__circle_ratio_sum = {}
-        self.__aois_coverages = {}
+        self.__aoi_coverages = {}
         self.__matched_gaze_movement = None
         self.__matched_region = None
 
@@ -79,14 +79,14 @@ class AOIMatcher(GazeFeatures.AOIMatcher):
                 self.__looked_aoi_data = most_likely_looked_aoi_data
 
                 # Calculate looked aoi circle ratio means
-                self.__aois_coverages = {}
+                self.__aoi_coverages = {}
 
                 for aoi_name, circle_ratio_sum in self.__circle_ratio_sum.items():
 
                     circle_ratio_mean = circle_ratio_sum / self.__look_count
 
                     # filter circle ration mean greater than 1
-                    self.__aois_coverages[aoi_name] = circle_ratio_mean if circle_ratio_mean < 1 else 1
+                    self.__aoi_coverages[aoi_name] = circle_ratio_mean if circle_ratio_mean < 1 else 1
 
                 # Update matched gaze movement
                 self.__matched_gaze_movement = gaze_movement
@@ -95,7 +95,7 @@ class AOIMatcher(GazeFeatures.AOIMatcher):
                 self.__matched_region = matched_region
 
                 # Return
-                if self.__aois_coverages[most_likely_looked_aoi_data[0]] > self.coverage_threshold:
+                if self.__aoi_coverages[most_likely_looked_aoi_data[0]] > self.coverage_threshold:
 
                     return self.__looked_aoi_data
 
@@ -179,8 +179,8 @@ class AOIMatcher(GazeFeatures.AOIMatcher):
         return self.__looked_aoi_data[0]
 
     @property
-    def aois_coverages(self) -> dict:
-        """Get all aois coverage means for current fixation. 
+    def aoi_coverages(self) -> dict:
+        """Get all aoi coverage means for current fixation. 
         It represents the ratio of fixation deviation circle surface that used to cover the aoi."""
 
-        return self.__aois_coverages
\ No newline at end of file
+        return self.__aoi_coverages
\ No newline at end of file
diff --git a/src/argaze/GazeAnalysis/TransitionMatrix.py b/src/argaze/GazeAnalysis/TransitionMatrix.py
index 6f408e4..b346b5a 100644
--- a/src/argaze/GazeAnalysis/TransitionMatrix.py
+++ b/src/argaze/GazeAnalysis/TransitionMatrix.py
@@ -42,7 +42,7 @@ class AOIScanPathAnalyzer(GazeFeatures.AOIScanPathAnalyzer):
         row_sum = aoi_scan_path.transition_matrix.apply(lambda row: row.sum(), axis=1)
 
         # Editing transition matrix probabilities
-        # Note: when no transiton starts from an aoi, destination probabilites is equal to 1/S where S is the number of aois
+        # Note: when no transiton starts from an aoi, destination probabilites is equal to 1/S where S is the number of aoi
         self.__transition_matrix_probabilities = aoi_scan_path.transition_matrix.apply(lambda row: row.apply(lambda p: p / row_sum[row.name] if row_sum[row.name] > 0 else 1 / row_sum.size), axis=1)
 
         # Calculate matrix density
diff --git a/src/argaze/GazeFeatures.py b/src/argaze/GazeFeatures.py
index 2dd1cab..814753e 100644
--- a/src/argaze/GazeFeatures.py
+++ b/src/argaze/GazeFeatures.py
@@ -842,13 +842,13 @@ AOIScanPathType = TypeVar('AOIScanPathType', bound="AOIScanPathType")
 class AOIScanPath(list):
     """List of aoi scan steps over successive aoi."""
 
-    def __init__(self, expected_aois: list[str] = [], duration_max: int|float = 0):
+    def __init__(self, expected_aoi: list[str] = [], duration_max: int|float = 0):
 
         super().__init__()
 
         self.duration_max = duration_max
 
-        self.expected_aois = expected_aois
+        self.expected_aoi = expected_aoi
         self.__duration = 0
 
     @property
@@ -903,13 +903,13 @@ class AOIScanPath(list):
         return sequence
 
     @property
-    def expected_aois(self):
+    def expected_aoi(self):
         """List of all expected aoi."""
 
-        return self.__expected_aois
+        return self.__expected_aoi
 
-    @expected_aois.setter
-    def expected_aois(self, expected_aois: list[str] = []):
+    @expected_aoi.setter
+    def expected_aoi(self, expected_aoi: list[str] = []):
         """Edit list of all expected aoi.
 
         !!! warning
@@ -917,15 +917,15 @@ class AOIScanPath(list):
         """
         self.clear()
 
-        self.__expected_aois = expected_aois
+        self.__expected_aoi = expected_aoi
         self.__movements = TimeStampedGazeMovements()
         self.__current_aoi = ''
         self.__index = ord('A')
         self.__aoi_letter = {}
         self.__letter_aoi = {}
 
-        size = len(self.__expected_aois)
-        self.__transition_matrix = pandas.DataFrame(numpy.zeros((size, size)), index=self.__expected_aois, columns=self.__expected_aois)
+        size = len(self.__expected_aoi)
+        self.__transition_matrix = pandas.DataFrame(numpy.zeros((size, size)), index=self.__expected_aoi, columns=self.__expected_aoi)
 
     @property
     def current_aoi(self):
@@ -953,7 +953,7 @@ class AOIScanPath(list):
         !!! warning
                 It could raise AOIScanStepError"""
 
-        if looked_aoi not in self.__expected_aois:
+        if looked_aoi not in self.__expected_aoi:
 
             raise AOIScanStepError('AOI not expected', looked_aoi)
 
@@ -1013,7 +1013,7 @@ class AOIScanPath(list):
         """Get how many fixations are there in the scan path and how many fixation are there in each aoi."""
 
         scan_fixations_count = 0
-        aoi_fixations_count = {aoi: 0 for aoi in self.__expected_aois}
+        aoi_fixations_count = {aoi: 0 for aoi in self.__expected_aoi}
 
         for aoi_scan_step in self:
 
-- 
cgit v1.1


From bd8cb794b3e6500783df86ce1add1fe6382b2f70 Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Tue, 26 Sep 2023 11:48:27 +0200
Subject: Moving gaze movement positions drawing options into gaze movment
 identifier modules.

---
 src/argaze/ArFeatures.py                           | 14 ++++++------
 src/argaze/GazeAnalysis/DeviationCircleCoverage.py |  7 +-----
 .../DispersionThresholdIdentification.py           | 13 +++++++----
 src/argaze/GazeAnalysis/FocusPointInside.py        |  2 +-
 .../VelocityThresholdIdentification.py             | 13 +++++++----
 src/argaze/GazeFeatures.py                         | 10 ++++-----
 .../utils/demo_data/demo_gaze_analysis_setup.json  | 26 ++++++++++++++++------
 7 files changed, 51 insertions(+), 34 deletions(-)

(limited to 'src')

diff --git a/src/argaze/ArFeatures.py b/src/argaze/ArFeatures.py
index 122efe8..cdb7130 100644
--- a/src/argaze/ArFeatures.py
+++ b/src/argaze/ArFeatures.py
@@ -1022,13 +1022,6 @@ class ArFrame():
 
 			self.scan_path.draw(image, **draw_scan_path)
 
-		# Draw layers if required
-		if draw_layers is not None:
-
-			for layer_name, draw_layer in draw_layers.items():
-
-				self.layers[layer_name].draw(image, **draw_layer)
-
 		# Draw current fixation if required
 		if draw_fixations is not None and self.gaze_movement_identifier is not None:
 
@@ -1039,6 +1032,13 @@ class ArFrame():
 
 			self.gaze_movement_identifier.current_saccade.draw(image, **draw_saccades)
 
+		# Draw layers if required
+		if draw_layers is not None:
+
+			for layer_name, draw_layer in draw_layers.items():
+
+				self.layers[layer_name].draw(image, **draw_layer)
+
 		# Draw current gaze position if required
 		if draw_gaze_positions is not None:
 
diff --git a/src/argaze/GazeAnalysis/DeviationCircleCoverage.py b/src/argaze/GazeAnalysis/DeviationCircleCoverage.py
index 6dadaba..d55d8c9 100644
--- a/src/argaze/GazeAnalysis/DeviationCircleCoverage.py
+++ b/src/argaze/GazeAnalysis/DeviationCircleCoverage.py
@@ -109,7 +109,7 @@ class AOIMatcher(GazeFeatures.AOIMatcher):
 
         return (None, None)
 
-    def draw(self, image: numpy.array, aoi_scene: AOIFeatures.AOIScene, draw_matched_fixation: dict = None, draw_matched_fixation_positions: dict = None, draw_matched_region: dict = None, draw_looked_aoi: dict = None, update_looked_aoi: bool = False, looked_aoi_name_color: tuple = None, looked_aoi_name_offset: tuple = (0, 0)):
+    def draw(self, image: numpy.array, aoi_scene: AOIFeatures.AOIScene, draw_matched_fixation: dict = None, draw_matched_region: dict = None, draw_looked_aoi: dict = None, update_looked_aoi: bool = False, looked_aoi_name_color: tuple = None, looked_aoi_name_offset: tuple = (0, 0)):
         """Draw matching into image.
         
         Parameters:
@@ -132,11 +132,6 @@ class AOIMatcher(GazeFeatures.AOIMatcher):
 
                     self.__matched_gaze_movement.draw(image, **draw_matched_fixation)
                 
-                # Draw matched fixation positions if required
-                if draw_matched_fixation_positions is not None:
-
-                    self.__matched_gaze_movement.draw_positions(image, **draw_matched_fixation_positions)
-
                 # Draw matched aoi
                 if self.looked_aoi.all() is not None:
 
diff --git a/src/argaze/GazeAnalysis/DispersionThresholdIdentification.py b/src/argaze/GazeAnalysis/DispersionThresholdIdentification.py
index 15fddf4..a7b9900 100644
--- a/src/argaze/GazeAnalysis/DispersionThresholdIdentification.py
+++ b/src/argaze/GazeAnalysis/DispersionThresholdIdentification.py
@@ -73,7 +73,7 @@ class Fixation(GazeFeatures.Fixation):
 
         return self
 
-    def draw(self, image: numpy.array, deviation_circle_color: tuple = None, duration_border_color: tuple = None, duration_factor: float = 1.):
+    def draw(self, image: numpy.array, deviation_circle_color: tuple = None, duration_border_color: tuple = None, duration_factor: float = 1., draw_positions: dict = None):
         """Draw fixation into image.
         
         Parameters:
@@ -82,15 +82,20 @@ class Fixation(GazeFeatures.Fixation):
             duration_factor: how many pixels per duration unit
         """
 
+        # Draw duration border if required
+        if duration_border_color is not None:
+
+            cv2.circle(image, (int(self.focus[0]), int(self.focus[1])), int(self.deviation_max), duration_border_color, int(self.duration * duration_factor))
+
         # Draw deviation circle if required
         if deviation_circle_color is not None:
 
             cv2.circle(image, (int(self.focus[0]), int(self.focus[1])), int(self.deviation_max), deviation_circle_color, -1)
 
-        # Draw duration border if required
-        if duration_border_color is not None:
+        # Draw positions if required
+        if draw_positions is not None:
 
-            cv2.circle(image, (int(self.focus[0]), int(self.focus[1])), int(self.deviation_max), duration_border_color, int(self.duration * duration_factor))
+            self.draw_positions(image, **draw_positions)
 
 @dataclass(frozen=True)
 class Saccade(GazeFeatures.Saccade):
diff --git a/src/argaze/GazeAnalysis/FocusPointInside.py b/src/argaze/GazeAnalysis/FocusPointInside.py
index b3651e4..88cfbed 100644
--- a/src/argaze/GazeAnalysis/FocusPointInside.py
+++ b/src/argaze/GazeAnalysis/FocusPointInside.py
@@ -54,7 +54,7 @@ class AOIMatcher(GazeFeatures.AOIMatcher):
 
         return (None, None)
 
-    def draw(self, image: numpy.array, aoi_scene: AOIFeatures.AOIScene, draw_matched_fixation: dict = None, draw_matched_fixation_positions: dict = None, draw_looked_aoi: dict = None, looked_aoi_name_color: tuple = None, looked_aoi_name_offset: tuple = (0, 0)):
+    def draw(self, image: numpy.array, aoi_scene: AOIFeatures.AOIScene, draw_matched_fixation: dict = None, draw_looked_aoi: dict = None, looked_aoi_name_color: tuple = None, looked_aoi_name_offset: tuple = (0, 0)):
         """Draw matching into image.
         
         Parameters:
diff --git a/src/argaze/GazeAnalysis/VelocityThresholdIdentification.py b/src/argaze/GazeAnalysis/VelocityThresholdIdentification.py
index 64931f5..d10f666 100644
--- a/src/argaze/GazeAnalysis/VelocityThresholdIdentification.py
+++ b/src/argaze/GazeAnalysis/VelocityThresholdIdentification.py
@@ -72,7 +72,7 @@ class Fixation(GazeFeatures.Fixation):
 
         return self
 
-    def draw(self, image: numpy.array, deviation_circle_color: tuple = None, duration_border_color: tuple = None, duration_factor: float = 1.):
+    def draw(self, image: numpy.array, deviation_circle_color: tuple = None, duration_border_color: tuple = None, duration_factor: float = 1., draw_positions: dict = None):
         """Draw fixation into image.
         
         Parameters:
@@ -81,15 +81,20 @@ class Fixation(GazeFeatures.Fixation):
             duration_factor: how many pixels per duration unit
         """
 
+        # Draw duration border if required
+        if duration_border_color is not None:
+
+            cv2.circle(image, (int(self.focus[0]), int(self.focus[1])), int(self.deviation_max), duration_border_color, int(self.duration * duration_factor))
+        
         # Draw deviation circle if required
         if deviation_circle_color is not None:
 
             cv2.circle(image, (int(self.focus[0]), int(self.focus[1])), int(self.deviation_max), deviation_circle_color, -1)
 
-        # Draw duration border if required
-        if duration_border_color is not None:
+        # Draw positions if required
+        if draw_positions is not None:
 
-            cv2.circle(image, (int(self.focus[0]), int(self.focus[1])), int(self.deviation_max), duration_border_color, int(self.duration * duration_factor))
+            self.draw_positions(image, **draw_positions)
 
 @dataclass(frozen=True)
 class Saccade(GazeFeatures.Saccade):
diff --git a/src/argaze/GazeFeatures.py b/src/argaze/GazeFeatures.py
index 814753e..523bf2c 100644
--- a/src/argaze/GazeFeatures.py
+++ b/src/argaze/GazeFeatures.py
@@ -292,16 +292,16 @@ class GazeMovement():
             ts_start, start_gaze_position = gaze_positions.pop_first()
             ts_next, next_gaze_position = gaze_positions.first
 
-            # Draw position if required
-            if position_color is not None:
-
-                start_gaze_position.draw(image, position_color, draw_precision=False)
-
             # Draw line between positions if required
             if line_color is not None:
 
                 cv2.line(image, (int(start_gaze_position[0]), int(start_gaze_position[1])), (int(next_gaze_position[0]), int(next_gaze_position[1])), line_color, 1)
 
+            # Draw position if required
+            if position_color is not None:
+
+                start_gaze_position.draw(image, position_color, draw_precision=False)
+
     def draw(self, image: numpy.array, **kwargs):
         """Draw gaze movement into image."""
 
diff --git a/src/argaze/utils/demo_data/demo_gaze_analysis_setup.json b/src/argaze/utils/demo_data/demo_gaze_analysis_setup.json
index 52945ae..fe5d197 100644
--- a/src/argaze/utils/demo_data/demo_gaze_analysis_setup.json
+++ b/src/argaze/utils/demo_data/demo_gaze_analysis_setup.json
@@ -8,6 +8,7 @@
             "duration_min_threshold": 200
         }
     },
+    "filter_in_progress_identification": false,
     "scan_path": {
         "duration_max": 10000
     },
@@ -59,8 +60,7 @@
             }, 
             "draw_saccades": {
                 "line_color": [255, 0, 255]
-            },
-            "deepness": 0
+            }
         },
         "draw_layers": {
             "main_layer": {
@@ -72,11 +72,11 @@
                 },
                 "draw_aoi_matching": {
                     "draw_matched_fixation": {
-                        "deviation_circle_color": [255, 255, 255]
-                    },
-                    "draw_matched_fixation_positions": {
-                        "position_color": [0, 255, 255],
-                        "line_color": [0, 0, 0]
+                        "deviation_circle_color": [255, 255, 255],
+                        "draw_positions": {
+                            "position_color": [0, 255, 0],
+                            "line_color": [0, 0, 0]
+                        }
                     },
                     "draw_matched_region": {
                         "color": [0, 255, 0],
@@ -91,6 +91,18 @@
                 }
             }
         }, 
+        "draw_fixations": {
+            "deviation_circle_color": [255, 255, 255],
+            "duration_border_color": [127, 0, 127],
+            "duration_factor": 1e-2,
+            "draw_positions": {
+                "position_color": [0, 255, 255],
+                "line_color": [0, 0, 0]
+            }
+        }, 
+        "draw_saccades": {
+            "line_color": [255, 0, 255]
+        },
         "draw_gaze_positions": {
             "color": [0, 255, 255],
             "size": 2
-- 
cgit v1.1


From 5b27713d162e76a205ee46cff25e5d8fe993a15a Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Tue, 26 Sep 2023 12:27:44 +0200
Subject: Fixing SVG loading.

---
 src/argaze/AreaOfInterest/AOI2DScene.py | 20 +++++++++++---------
 1 file changed, 11 insertions(+), 9 deletions(-)

(limited to 'src')

diff --git a/src/argaze/AreaOfInterest/AOI2DScene.py b/src/argaze/AreaOfInterest/AOI2DScene.py
index a726b23..f8599c5 100644
--- a/src/argaze/AreaOfInterest/AOI2DScene.py
+++ b/src/argaze/AreaOfInterest/AOI2DScene.py
@@ -67,11 +67,12 @@ class AOI2DScene(AOIFeatures.AOIScene):
 
 				# Convert rect element into dict
 				rect_dict = {
-					'shape': 'rectangle',
-					'x': float(rect.getAttribute('x')),
-					'y': float(rect.getAttribute('y')),
-					'width': float(rect.getAttribute('width')),
-					'height': float(rect.getAttribute('height'))
+					"Rectangle": {
+						'x': float(rect.getAttribute('x')),
+						'y': float(rect.getAttribute('y')),
+						'width': float(rect.getAttribute('width')),
+						'height': float(rect.getAttribute('height'))
+					}
 				}
 
 				new_areas[rect.getAttribute('id')] = AOIFeatures.AreaOfInterest.from_dict(rect_dict)
@@ -81,10 +82,11 @@ class AOI2DScene(AOIFeatures.AOIScene):
 
 				# Convert circle element into dict
 				circle_dict = {
-					'shape': 'circle',
-					'cx': float(circle.getAttribute('cx')),
-					'cy': float(circle.getAttribute('cy')),
-					'radius': float(circle.getAttribute('r'))
+					"Circle": {
+						'cx': float(circle.getAttribute('cx')),
+						'cy': float(circle.getAttribute('cy')),
+						'radius': float(circle.getAttribute('r'))
+					}
 				}
 
 				new_areas[circle.getAttribute('id')] = AOIFeatures.AreaOfInterest.from_dict(circle_dict)
-- 
cgit v1.1


From 1f16bf5c37b5fb5d44ed33d78f03e6fdeeac4013 Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Tue, 26 Sep 2023 12:28:15 +0200
Subject: Updating JSON AOI 2D description demo.

---
 src/argaze/utils/demo_data/aoi_2d_scene.json | 17 +++++++++++++++--
 1 file changed, 15 insertions(+), 2 deletions(-)

(limited to 'src')

diff --git a/src/argaze/utils/demo_data/aoi_2d_scene.json b/src/argaze/utils/demo_data/aoi_2d_scene.json
index a0726e8..ac58b63 100644
--- a/src/argaze/utils/demo_data/aoi_2d_scene.json
+++ b/src/argaze/utils/demo_data/aoi_2d_scene.json
@@ -1,5 +1,18 @@
 {
-	"RedSquare": [[268, 203], [576, 203], [576, 510], [268, 510]],
 	"BlueTriangle":[[960, 664], [1113, 971], [806, 971]],
-	"GreenCircle":[[1497, 203], [1527, 206], [1556, 215], [1582, 229], [1605, 248], [1624, 271], [1639, 298], [1647, 327], [1650, 357], [1647, 387], [1639, 415], [1624, 442], [1605, 465], [1582, 484], [1556, 498], [1527, 507], [1497, 510], [1467, 507], [1438, 498], [1411, 484], [1388, 465], [1369, 442], [1355, 415], [1346, 387], [1343, 357], [1346, 327], [1355, 298], [1369, 271], [1388, 248], [1411, 229], [1438, 215], [1467, 206]]
+	"RedSquare": {
+		"Rectangle": {
+			"x": 268,
+			"y": 203,
+			"width": 308,
+			"height": 308
+		}
+	},
+	"GreenCircle": {
+		"Circle": {
+			"cx": 1497,
+			"cy": 356,
+			"radius": 153
+		}
+	}
 }
\ No newline at end of file
-- 
cgit v1.1


From 69d9b4d26d2956d65e0c24fe262071b0c4569c90 Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Tue, 26 Sep 2023 13:03:25 +0200
Subject: Removing drawing fixation positions option from FocusPointInside
 module.

---
 src/argaze/GazeAnalysis/FocusPointInside.py | 5 -----
 1 file changed, 5 deletions(-)

(limited to 'src')

diff --git a/src/argaze/GazeAnalysis/FocusPointInside.py b/src/argaze/GazeAnalysis/FocusPointInside.py
index 88cfbed..24c319e 100644
--- a/src/argaze/GazeAnalysis/FocusPointInside.py
+++ b/src/argaze/GazeAnalysis/FocusPointInside.py
@@ -76,11 +76,6 @@ class AOIMatcher(GazeFeatures.AOIMatcher):
 
                     self.__matched_gaze_movement.draw(image, **draw_matched_fixation)
                 
-                # Draw matched fixation positions if required
-                if draw_matched_fixation_positions is not None:
-
-                    self.__matched_gaze_movement.draw_positions(image, **draw_matched_fixation_positions)
-
                 # Draw matched aoi
                 if self.looked_aoi.all() is not None:
 
-- 
cgit v1.1


From 73a71de88dc34374a0e0f6366c3f13714438dfe3 Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Tue, 26 Sep 2023 13:03:55 +0200
Subject: Updating aruco markers demo configuration.

---
 .../utils/demo_data/demo_aruco_markers_setup.json   | 21 +++++++++++++--------
 1 file changed, 13 insertions(+), 8 deletions(-)

(limited to 'src')

diff --git a/src/argaze/utils/demo_data/demo_aruco_markers_setup.json b/src/argaze/utils/demo_data/demo_aruco_markers_setup.json
index 5168297..e2edc8c 100644
--- a/src/argaze/utils/demo_data/demo_aruco_markers_setup.json
+++ b/src/argaze/utils/demo_data/demo_aruco_markers_setup.json
@@ -57,7 +57,7 @@
                     "background": "frame_background.jpg",
                     "gaze_movement_identifier": {
                         "DispersionThresholdIdentification": {
-                            "deviation_max_threshold": 25,
+                            "deviation_max_threshold": 50,
                             "duration_min_threshold": 200
                         }
                     },
@@ -80,12 +80,12 @@
                         "heatmap_weight": 0.5,
                         "draw_scan_path": {
                             "draw_fixations": {
-                                "deviation_circle_color": [0, 255, 255],
-                                "duration_border_color": [0, 127, 127],
+                                "deviation_circle_color": [255, 0, 255],
+                                "duration_border_color": [127, 0, 127],
                                 "duration_factor": 1e-2
                             }, 
                             "draw_saccades": {
-                                "line_color": [0, 255, 255]
+                                "line_color": [255, 0, 255]
                             }
                         },
                         "draw_layers": {
@@ -100,10 +100,6 @@
                                     "draw_matched_fixation": {
                                         "deviation_circle_color": [255, 255, 255]
                                     },
-                                    "draw_matched_fixation_positions": {
-                                        "position_color": [0, 255, 255],
-                                        "line_color": [0, 0, 0]
-                                    },
                                     "draw_looked_aoi": {
                                         "color": [0, 255, 0],
                                         "border_size": 2
@@ -113,6 +109,15 @@
                                 }
                             }
                         }, 
+                        "draw_fixations": {
+                            "deviation_circle_color": [255, 255, 255],
+                            "duration_border_color": [127, 0, 127],
+                            "duration_factor": 1e-2,
+                            "draw_positions": {
+                                "position_color": [0, 255, 255],
+                                "line_color": [0, 0, 0]
+                            }
+                        }, 
                         "draw_gaze_positions": {
                             "color": [0, 255, 255],
                             "size": 2
-- 
cgit v1.1


From 9d3cebdf1e3c780c5e1ec6ccc198bcf79e258ee8 Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Tue, 26 Sep 2023 17:37:05 +0200
Subject: Adding annotations.

---
 src/argaze/ArFeatures.py | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

(limited to 'src')

diff --git a/src/argaze/ArFeatures.py b/src/argaze/ArFeatures.py
index cdb7130..edeac6b 100644
--- a/src/argaze/ArFeatures.py
+++ b/src/argaze/ArFeatures.py
@@ -1410,7 +1410,12 @@ class ArCamera(ArFrame):
 				yield scene_frame
 
 	def watch(self, image: numpy.array) -> Tuple[float, dict]:
-		"""Detect AR features from image and project scenes into camera frame."""
+		"""Detect AR features from image and project scenes into camera frame.
+
+		Returns:
+            - detection_time: AR features detection time in ms
+            - exceptions: dictionary with exception raised per scene
+        """
 
 		raise NotImplementedError('watch() method not implemented')
 
-- 
cgit v1.1


From 5838151f49e2ccfdf5bc2bc153cf5b493178bb09 Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Tue, 26 Sep 2023 17:37:35 +0200
Subject: Adding draw_scenes to aruco markers demo.

---
 src/argaze/utils/demo_data/demo_aruco_markers_setup.json | 14 ++++++++++++++
 1 file changed, 14 insertions(+)

(limited to 'src')

diff --git a/src/argaze/utils/demo_data/demo_aruco_markers_setup.json b/src/argaze/utils/demo_data/demo_aruco_markers_setup.json
index e2edc8c..c881452 100644
--- a/src/argaze/utils/demo_data/demo_aruco_markers_setup.json
+++ b/src/argaze/utils/demo_data/demo_aruco_markers_setup.json
@@ -41,6 +41,20 @@
             "z": 100,
             "point_size": 1,
             "point_color": [0, 0, 255]
+        },
+        "draw_scenes": {
+            "ArScene Demo": {
+                "draw_aruco_markers_group": {
+                    "draw_axes": {
+                        "thickness": 3,
+                        "length": 10
+                    },
+                    "draw_places": {
+                        "color": [0, 0, 0],
+                        "border_size": 1
+                    }
+                }
+            }   
         }
     },
     "scenes": {
-- 
cgit v1.1


From 06548cb7cb807f42fa42e4777288f67f259ae64a Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Tue, 26 Sep 2023 17:43:56 +0200
Subject: Fixing errors returned by mkdocs serve.

---
 src/argaze/GazeAnalysis/DeviationCircleCoverage.py | 1 -
 src/argaze/GazeAnalysis/FocusPointInside.py        | 1 -
 2 files changed, 2 deletions(-)

(limited to 'src')

diff --git a/src/argaze/GazeAnalysis/DeviationCircleCoverage.py b/src/argaze/GazeAnalysis/DeviationCircleCoverage.py
index d55d8c9..f57d432 100644
--- a/src/argaze/GazeAnalysis/DeviationCircleCoverage.py
+++ b/src/argaze/GazeAnalysis/DeviationCircleCoverage.py
@@ -116,7 +116,6 @@ class AOIMatcher(GazeFeatures.AOIMatcher):
             image: where to draw
             aoi_scene: to refresh looked aoi if required
             draw_matched_fixation: Fixation.draw parameters (which depends of the loaded gaze movement identifier module, if None, no fixation is drawn)
-            draw_matched_fixation_positions: GazeMovement.draw_positions parameters (if None, no fixation is drawn)
             draw_matched_region: AOIFeatures.AOI.draw parameters (if None, no matched region is drawn)
             draw_looked_aoi: AOIFeatures.AOI.draw parameters (if None, no looked aoi is drawn)
             looked_aoi_name_color: color of text (if None, no looked aoi name is drawn)
diff --git a/src/argaze/GazeAnalysis/FocusPointInside.py b/src/argaze/GazeAnalysis/FocusPointInside.py
index 24c319e..81a9d20 100644
--- a/src/argaze/GazeAnalysis/FocusPointInside.py
+++ b/src/argaze/GazeAnalysis/FocusPointInside.py
@@ -61,7 +61,6 @@ class AOIMatcher(GazeFeatures.AOIMatcher):
             image: where to draw
             aoi_scene: to refresh looked aoi if required
             draw_matched_fixation: Fixation.draw parameters (which depends of the loaded gaze movement identifier module, if None, no fixation is drawn)
-            draw_matched_fixation_positions: GazeMovement.draw_positions parameters (if None, no fixation is drawn)
             draw_looked_aoi: AOIFeatures.AOI.draw parameters (if None, no looked aoi is drawn)
             looked_aoi_name_color: color of text (if None, no looked aoi name is drawn)
             looked_aoi_name_offset: ofset of text from the upper left aoi bounding box corner
-- 
cgit v1.1


From 3b523bb755d706ce945e3b9d93416909021f8e58 Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Wed, 27 Sep 2023 09:57:42 +0200
Subject: Changing DetectorParameter printing.

---
 src/argaze/ArUcoMarkers/ArUcoDetector.py | 14 +++++++++++---
 1 file changed, 11 insertions(+), 3 deletions(-)

(limited to 'src')

diff --git a/src/argaze/ArUcoMarkers/ArUcoDetector.py b/src/argaze/ArUcoMarkers/ArUcoDetector.py
index 82c9394..3260d00 100644
--- a/src/argaze/ArUcoMarkers/ArUcoDetector.py
+++ b/src/argaze/ArUcoMarkers/ArUcoDetector.py
@@ -98,8 +98,16 @@ class DetectorParameters():
 
             return DetectorParameters(**json.load(configuration_file))
 
-    def __str__(self, print_all=False) -> str:
-        """Detector paremeters string representation."""
+    def __str__(self) -> str:
+        """Detector parameters string representation."""
+
+        return f'{self}'
+
+    def __format__(self, spec) -> str:
+        """Formated detector parameters string representation.
+
+        Parameters:
+            spec: 'modified' to get only modified parameters."""
 
         output = ''
 
@@ -109,7 +117,7 @@ class DetectorParameters():
 
                 output += f'\t*{parameter}: {getattr(self.__parameters, parameter)}\n'
 
-            elif print_all:
+            elif spec == "":
 
                 output += f'\t{parameter}: {getattr(self.__parameters, parameter)}\n'
 
-- 
cgit v1.1


From eddfdc69b27c1b32ba0001ba4f147810eabec549 Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Wed, 27 Sep 2023 18:03:29 +0200
Subject: Adding annotation.

---
 src/argaze/ArUcoMarkers/ArUcoDetector.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

(limited to 'src')

diff --git a/src/argaze/ArUcoMarkers/ArUcoDetector.py b/src/argaze/ArUcoMarkers/ArUcoDetector.py
index 3260d00..305bee2 100644
--- a/src/argaze/ArUcoMarkers/ArUcoDetector.py
+++ b/src/argaze/ArUcoMarkers/ArUcoDetector.py
@@ -103,7 +103,7 @@ class DetectorParameters():
 
         return f'{self}'
 
-    def __format__(self, spec) -> str:
+    def __format__(self, spec: str) -> str:
         """Formated detector parameters string representation.
 
         Parameters:
-- 
cgit v1.1


From 66b84b019fe760a2cb9901a9f17b2d202d935ba4 Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Wed, 27 Sep 2023 18:03:57 +0200
Subject: Allowing to load ellipse from SVG file.

---
 src/argaze/AreaOfInterest/AOI2DScene.py  | 15 +++++++++++++++
 src/argaze/AreaOfInterest/AOIFeatures.py | 11 +++++++++++
 2 files changed, 26 insertions(+)

(limited to 'src')

diff --git a/src/argaze/AreaOfInterest/AOI2DScene.py b/src/argaze/AreaOfInterest/AOI2DScene.py
index f8599c5..062044f 100644
--- a/src/argaze/AreaOfInterest/AOI2DScene.py
+++ b/src/argaze/AreaOfInterest/AOI2DScene.py
@@ -91,6 +91,21 @@ class AOI2DScene(AOIFeatures.AOIScene):
 
 				new_areas[circle.getAttribute('id')] = AOIFeatures.AreaOfInterest.from_dict(circle_dict)
 
+			# Load SVG ellipse
+			for ellipse in description_file.getElementsByTagName('ellipse'):
+
+				# Convert ellipse element into dict
+				ellipse_dict = {
+					"Ellipse": {
+						'cx': float(circle.getAttribute('cx')),
+						'cy': float(circle.getAttribute('cy')),
+						'rx': float(circle.getAttribute('rx')),
+						'ry': float(circle.getAttribute('ry'))
+					}
+				}
+
+				new_areas[ellipse.getAttribute('id')] = AOIFeatures.AreaOfInterest.from_dict(ellipse_dict)
+
 			return AOI2DScene(new_areas)
 
 	def draw(self, image: numpy.array, draw_aoi: dict = None, exclude=[]):
diff --git a/src/argaze/AreaOfInterest/AOIFeatures.py b/src/argaze/AreaOfInterest/AOIFeatures.py
index dfbb165..2d5b9b1 100644
--- a/src/argaze/AreaOfInterest/AOIFeatures.py
+++ b/src/argaze/AreaOfInterest/AOIFeatures.py
@@ -78,6 +78,17 @@ class AreaOfInterest(numpy.ndarray):
 
             return AreaOfInterest(points)
 
+        elif shape == 'Ellipse':
+
+            cx = shape_data.pop('cx')
+            cy = shape_data.pop('cy')
+            rx = shape_data.pop('rx')
+            ry = shape_data.pop('ry')
+
+            # TODO: Use pygeos
+            N = 32
+            points = [(math.cos(2*math.pi / N*x) * rx + cx, math.sin(2*math.pi / N*x) * ry + cy) for x in range(0, N+1)]
+
     @property
     def dimension(self) -> int:
         """Number of axis coding area points positions."""
-- 
cgit v1.1


From 34c69b2370598476cffb4ec063b8cab7f201b143 Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Thu, 28 Sep 2023 23:31:47 +0200
Subject: Fixing code annotations.

---
 src/argaze/ArFeatures.py                     | 17 +++++------
 src/argaze/ArUcoMarkers/ArUcoCamera.py       | 15 +++++-----
 src/argaze/ArUcoMarkers/ArUcoDetector.py     | 22 ++++++++------
 src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py | 43 ++++++++++++++--------------
 4 files changed, 50 insertions(+), 47 deletions(-)

(limited to 'src')

diff --git a/src/argaze/ArFeatures.py b/src/argaze/ArFeatures.py
index edeac6b..84eae12 100644
--- a/src/argaze/ArFeatures.py
+++ b/src/argaze/ArFeatures.py
@@ -478,7 +478,7 @@ class ArLayer():
 
 		Parameters:
 			draw_aoi_scene: AreaOfInterest.AOI2DScene.draw parameters (if None, no aoi scene is drawn)
-            draw_aoi_matching: AOIMatcher.draw parameters (which depends of the loaded aoi matcher module, if None, no aoi matching is drawn)
+			draw_aoi_matching: AOIMatcher.draw parameters (which depends of the loaded aoi matcher module, if None, no aoi matching is drawn)
 		"""
 
 		# Use draw_parameters attribute if no parameters
@@ -1069,15 +1069,10 @@ class ArScene():
 	Define abstract Augmented Reality scene with ArLayers and ArFrames inside.
 
 	Parameters:
-		
 		name: name of the scene
-
 		layers: dictionary of ArLayers to project once the pose is estimated: see [project][argaze.ArFeatures.ArScene.project] function below.
-
 		frames: dictionary to ArFrames to project once the pose is estimated: see [project][argaze.ArFeatures.ArScene.project] function below.
-
 		angle_tolerance: Optional angle error tolerance to validate marker pose in degree used into [estimate_pose][argaze.ArFeatures.ArScene.estimate_pose] function.
-
 		distance_tolerance: Optional distance error tolerance to validate marker pose in centimeter used into [estimate_pose][argaze.ArFeatures.ArScene.estimate_pose] function.
 	"""
 	name: str
@@ -1413,8 +1408,8 @@ class ArCamera(ArFrame):
 		"""Detect AR features from image and project scenes into camera frame.
 
 		Returns:
-            - detection_time: AR features detection time in ms
-            - exceptions: dictionary with exception raised per scene
+			detection time: AR features detection time in ms.
+			exception: dictionary with exception raised per scene.
         """
 
 		raise NotImplementedError('watch() method not implemented')
@@ -1422,7 +1417,8 @@ class ArCamera(ArFrame):
 	def look(self, timestamp: int|float, gaze_position: GazeFeatures.GazePosition):
 		"""Project timestamped gaze position into each scene frames.
 
-		!!! warning watch method needs to be called first.
+		!!! warning 
+			watch method needs to be called first.
 		"""
 
 		# Can't use camera frame when it is locked
@@ -1471,7 +1467,8 @@ class ArCamera(ArFrame):
 	def map(self):
 		"""Project camera frame background into scene frames background.
 
-		.. warning:: watch method needs to be called first.
+		!!! warning
+			watch method needs to be called first.
 		"""
 
 		# Can't use camera frame when it is locked
diff --git a/src/argaze/ArUcoMarkers/ArUcoCamera.py b/src/argaze/ArUcoMarkers/ArUcoCamera.py
index 4c3f042..4f00a3a 100644
--- a/src/argaze/ArUcoMarkers/ArUcoCamera.py
+++ b/src/argaze/ArUcoMarkers/ArUcoCamera.py
@@ -37,6 +37,7 @@ class ArUcoCamera(ArFeatures.ArCamera):
 	"""
 	Define an ArCamera based on ArUco marker detection.
 
+	Parameters:
 		aruco_detector: ArUco marker detector
 	"""
 
@@ -144,9 +145,9 @@ class ArUcoCamera(ArFeatures.ArCamera):
 		"""Detect environment aruco markers from image and project scenes into camera frame.
 
 		Returns:
-            - detection_time: aruco marker detection time in ms
-            - exceptions: dictionary with exception raised per scene
-        """
+			detection time: aruco marker detection time in ms.
+			exception: dictionary with exception raised per scene.
+		"""
 
 		# Detect aruco markers
 		detection_time = self.aruco_detector.detect_markers(image)
@@ -215,10 +216,10 @@ class ArUcoCamera(ArFeatures.ArCamera):
 		"""Get frame image with ArUco detection visualisation.
 
 		Parameters:
-            draw_detected_markers: ArucoMarker.draw parameters (if None, no marker drawn)
-            draw_scenes: ArUcoScene.draw parameters (if None, no scene drawn)
-            draw_optic_parameters_grid: OpticParameter.draw parameters (if None, no grid drawn)
-            kwargs: ArCamera.image parameters
+			draw_detected_markers: ArucoMarker.draw parameters (if None, no marker drawn)
+			draw_scenes: ArUcoScene.draw parameters (if None, no scene drawn)
+			draw_optic_parameters_grid: OpticParameter.draw parameters (if None, no grid drawn)
+			kwargs: ArCamera.image parameters
 		"""
 
 		# Can't use camera frame when it is locked
diff --git a/src/argaze/ArUcoMarkers/ArUcoDetector.py b/src/argaze/ArUcoMarkers/ArUcoDetector.py
index 305bee2..490b75b 100644
--- a/src/argaze/ArUcoMarkers/ArUcoDetector.py
+++ b/src/argaze/ArUcoMarkers/ArUcoDetector.py
@@ -38,7 +38,8 @@ ArUcoDetectorType = TypeVar('ArUcoDetector', bound="ArUcoDetector")
 class DetectorParameters():
     """Wrapper class around ArUco marker detector parameters.
 
-    .. note:: More details on [opencv page](https://docs.opencv.org/4.x/d1/dcd/structcv_1_1aruco_1_1DetectorParameters.html)
+    !!! note
+        More details on [opencv page](https://docs.opencv.org/4.x/d1/dcd/structcv_1_1aruco_1_1DetectorParameters.html)
     """
 
     __parameters = aruco.DetectorParameters()
@@ -107,7 +108,8 @@ class DetectorParameters():
         """Formated detector parameters string representation.
 
         Parameters:
-            spec: 'modified' to get only modified parameters."""
+            spec: 'modified' to get only modified parameters.
+        """
 
         output = ''
 
@@ -257,11 +259,11 @@ class ArUcoDetector():
     def detect_markers(self, image: numpy.array) -> float:
         """Detect all ArUco markers into an image.
 
-        .. danger:: DON'T MIRROR IMAGE
-           It makes the markers detection to fail.
+        !!! danger "DON'T MIRROR IMAGE"
+            It makes the markers detection to fail.
 
         Returns:
-            - detection time: marker detection time in ms
+            detection time: marker detection time in ms.
         """
 
         # Reset detected markers data
@@ -369,8 +371,8 @@ class ArUcoDetector():
     def detect_board(self, image: numpy.array, board, expected_markers_number):
         """Detect ArUco markers board in image setting up the number of detected markers needed to agree detection.
 
-        .. danger:: DON'T MIRROR IMAGE
-           It makes the markers detection to fail.
+        !!! danger "DON'T MIRROR IMAGE"
+            It makes the markers detection to fail.
         """
         
         # detect markers from gray picture
@@ -406,9 +408,11 @@ class ArUcoDetector():
     @property
     def detection_metrics(self) -> Tuple[int, dict]:
         """Get marker detection metrics.
+
         Returns:
-                number of detect function call
-                dict with number of detection for each marker identifier"""
+            number of detect function call
+            dict with number of detection for each marker identifier
+        """
 
         return self.__detection_count, Counter(self.__detected_ids)
 
diff --git a/src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py b/src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py
index 5b6c69d..4a43965 100644
--- a/src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py
+++ b/src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py
@@ -79,29 +79,31 @@ def make_euler_rotation_vector(R):
 
 @dataclass(frozen=True)
 class Place():
-    """Define a place as a pose and a marker."""
+    """Define a place as a pose and a marker.
 
-    translation: numpy.array
-    """Position in group referential."""
+    Parameters:
+        translation: position in group referential.
+        rotation: rotation in group referential.
+        marker: ArUco marker linked to the place.
+    """
 
+    translation: numpy.array
     rotation: numpy.array
-    """Rotation in group referential."""
-
     marker: dict
-    """ArUco marker linked to the place."""
 
 @dataclass
 class ArUcoMarkersGroup():
-    """Handle group of ArUco markers as one unique spatial entity and estimate its pose."""
+    """Handle group of ArUco markers as one unique spatial entity and estimate its pose.
 
-    marker_size: float = field(default=0.)
-    """Expected size of all markers in the group."""
+    Parameters:
+        marker_size: expected size of all markers in the group.
+        dictionary: expected dictionary of all markers in the group.
+        places: expected markers place.
+    """
 
+    marker_size: float = field(default=0.)
     dictionary: ArUcoMarkersDictionary.ArUcoMarkersDictionary = field(default_factory=ArUcoMarkersDictionary.ArUcoMarkersDictionary)
-    """Expected dictionary of all markers in the group."""
-
     places: dict = field(default_factory=dict)
-    """Expected markers place"""
 
     def __post_init__(self):
         """Init group pose and places pose."""
@@ -166,13 +168,13 @@ class ArUcoMarkersGroup():
         """Load ArUco markers group from .obj file.
 
         !!! note
-                Expected object (o) name format: <DICTIONARY>#<IDENTIFIER>_Marker
+            Expected object (o) name format: <DICTIONARY>#<IDENTIFIER>_Marker
 
         !!! note
-                All markers have to belong to the same dictionary.
+            All markers have to belong to the same dictionary.
 
         !!! note
-                Marker normal vectors (vn) expected.
+            Marker normal vectors (vn) expected.
 
         """
 
@@ -360,8 +362,8 @@ class ArUcoMarkersGroup():
         """Sort markers belonging to the group from given detected markers dict (cf ArUcoDetector.detect_markers()).
 
         Returns:
-                dict of markers belonging to this group
-                dict of remaining markers not belonging to this group
+            dict of markers belonging to this group
+            dict of remaining markers not belonging to this group
         """
 
         group_markers = {}
@@ -434,9 +436,9 @@ class ArUcoMarkersGroup():
         """Evaluate if given markers configuration match related places configuration.
 
         Returns:
-                dict of consistent markers
-                dict of unconsistent markers
-                dict of identified distance or angle unconsistencies and out-of-bounds values
+            dict of consistent markers
+            dict of unconsistent markers
+            dict of identified distance or angle unconsistencies and out-of-bounds values
         """
 
         consistent_markers = {}
@@ -684,7 +686,6 @@ class ArUcoMarkersGroup():
         """Draw group axes and places.
     
         Parameters:
-
             draw_axes: draw_axes parameters (if None, no axes drawn)
             draw_places: draw_places parameters  (if None, no places drawn)
             draw_places_axes: draw_places_axes parameters (if None, no places axes drawn)
-- 
cgit v1.1


From 134542a822ea1ff6a7778fcff1cb460ee13cf4a2 Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Tue, 3 Oct 2023 11:23:43 +0200
Subject: Fixing SVG file loading.

---
 src/argaze/ArFeatures.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

(limited to 'src')

diff --git a/src/argaze/ArFeatures.py b/src/argaze/ArFeatures.py
index 84eae12..43acf55 100644
--- a/src/argaze/ArFeatures.py
+++ b/src/argaze/ArFeatures.py
@@ -183,7 +183,7 @@ class ArLayer():
 				# SVG file format for 2D dimension only
 				if file_format == 'svg':
 
-					new_aoi_scene = AOIFeatures.AOI2DScene.from_svg(filepath)
+					new_aoi_scene = AOI2DScene.AOI2DScene.from_svg(filepath)
 
 				# OBJ file format for 3D dimension only
 				elif file_format == 'obj':
-- 
cgit v1.1


From 59d47fa2ea032c5d47812e9b7b5e80cec344f59a Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Wed, 4 Oct 2023 19:37:04 +0200
Subject: minor

---
 src/argaze/GazeFeatures.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

(limited to 'src')

diff --git a/src/argaze/GazeFeatures.py b/src/argaze/GazeFeatures.py
index 523bf2c..bd1a3da 100644
--- a/src/argaze/GazeFeatures.py
+++ b/src/argaze/GazeFeatures.py
@@ -847,8 +847,8 @@ class AOIScanPath(list):
         super().__init__()
 
         self.duration_max = duration_max
-
         self.expected_aoi = expected_aoi
+        
         self.__duration = 0
 
     @property
-- 
cgit v1.1


From c55fccdb1e8c26ea08c1cb36fa9178cfbc89dba8 Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Wed, 4 Oct 2023 19:37:36 +0200
Subject: Adding aoi fixation distribution to Basic module.

---
 src/argaze/GazeAnalysis/Basic.py | 23 ++++++++++++++++++++++-
 1 file changed, 22 insertions(+), 1 deletion(-)

(limited to 'src')

diff --git a/src/argaze/GazeAnalysis/Basic.py b/src/argaze/GazeAnalysis/Basic.py
index 7b41731..dc7b4fd 100644
--- a/src/argaze/GazeAnalysis/Basic.py
+++ b/src/argaze/GazeAnalysis/Basic.py
@@ -79,12 +79,27 @@ class AOIScanPathAnalyzer(GazeFeatures.AOIScanPathAnalyzer):
         self.__steps_number = len(aoi_scan_path)
 
         sum_fixation_durations = 0
+        self.__sum_aoi_fixation_durations = {}
 
         for aoi_scan_step in aoi_scan_path:
 
             sum_fixation_durations += aoi_scan_step.fixation_duration
 
+            try:
+
+                self.__sum_aoi_fixation_durations[aoi_scan_step.aoi] = self.__sum_aoi_fixation_durations[aoi_scan_step.aoi] + aoi_scan_step.fixation_duration
+
+            except KeyError:
+
+                self.__sum_aoi_fixation_durations[aoi_scan_step.aoi] = aoi_scan_step.fixation_duration
+
         self.__step_fixation_durations_average = sum_fixation_durations / self.__steps_number
+
+        self.__aoi_fixation_distribution = {}
+
+        for aoi_name, sum_aoi_fixation_duration in self.__sum_aoi_fixation_durations.items():
+
+            self.__aoi_fixation_distribution[aoi_name] = sum_aoi_fixation_duration / sum_fixation_durations
         
     @property
     def path_duration(self) -> float:
@@ -102,4 +117,10 @@ class AOIScanPathAnalyzer(GazeFeatures.AOIScanPathAnalyzer):
     def step_fixation_durations_average(self) -> float:
         """AOI scan path step fixation durations average."""
 
-        return self.__step_fixation_durations_average
\ No newline at end of file
+        return self.__step_fixation_durations_average
+
+    @property
+    def aoi_fixation_distribution(self) -> dict:
+        """percentage of time spent on each AOI."""
+
+        return self.__aoi_fixation_distribution
\ No newline at end of file
-- 
cgit v1.1


From ff2c7b8db71755576048e5c0ee9ec59a581c07fa Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Wed, 4 Oct 2023 19:41:01 +0200
Subject: Excluding AOI frame from aoi matching and from expected aoi.

---
 src/argaze/ArFeatures.py | 23 ++++++++++++++++++++---
 1 file changed, 20 insertions(+), 3 deletions(-)

(limited to 'src')

diff --git a/src/argaze/ArFeatures.py b/src/argaze/ArFeatures.py
index 43acf55..545bc8b 100644
--- a/src/argaze/ArFeatures.py
+++ b/src/argaze/ArFeatures.py
@@ -1330,25 +1330,42 @@ class ArCamera(ArFrame):
 			scene.parent = self
 
 		# Setup expected aoi of each layer aoi scan path with the aoi of corresponding scene layer
+		# Edit aoi matcher exclude attribute to ignore frame aoi
 		for layer_name, layer in self.layers.items():
 
 			if layer.aoi_scan_path is not None:
 
-				all_aoi_list = []
+				expected_aoi_list = []
+				exclude_aoi_list = []
 
 				for scene_name, scene in self.scenes.items():
 
+					# Append scene layer aoi to corresponding expected camera layer aoi
 					try:
 
 						scene_layer = scene.layers[layer_name]
 
-						all_aoi_list.extend(list(scene_layer.aoi_scene.keys()))
+						expected_aoi_list.extend(list(scene_layer.aoi_scene.keys()))
 
 					except KeyError:
 
 						continue
 
-				layer.aoi_scan_path.expected_aoi = all_aoi_list
+					# Remove scene frame from expected camera layer aoi
+					# Exclude scene frame from camera layer aoi matching
+					for frame_name, frame in scene.frames.items():
+
+						try:
+							
+							expected_aoi_list.remove(frame_name)
+							exclude_aoi_list.append(frame_name)
+
+						except ValueError:
+
+							continue
+
+				layer.aoi_scan_path.expected_aoi = expected_aoi_list
+				layer.aoi_matcher.exclude = exclude_aoi_list
 
 		# Init a lock to share scene projections into camera frame between multiple threads
 		self._frame_lock = threading.Lock()
-- 
cgit v1.1


From cdf4e23d2876b7a43b5a3712467d503723fa7a52 Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Thu, 5 Oct 2023 11:38:13 +0200
Subject: removing ignored gaze position table.

---
 src/argaze/ArFeatures.py | 14 ++++----------
 1 file changed, 4 insertions(+), 10 deletions(-)

(limited to 'src')

diff --git a/src/argaze/ArFeatures.py b/src/argaze/ArFeatures.py
index 545bc8b..b9b51d0 100644
--- a/src/argaze/ArFeatures.py
+++ b/src/argaze/ArFeatures.py
@@ -1369,9 +1369,6 @@ class ArCamera(ArFrame):
 
 		# Init a lock to share scene projections into camera frame between multiple threads
 		self._frame_lock = threading.Lock()
-
-		# Define public timestamp buffer to store ignored gaze positions
-		self.ignored_gaze_positions = GazeFeatures.TimeStampedGazePositions()
 	
 	def __str__(self) -> str:
 		"""
@@ -1438,14 +1435,11 @@ class ArCamera(ArFrame):
 			watch method needs to be called first.
 		"""
 
-		# Can't use camera frame when it is locked
-		if self._frame_lock.locked():
-
-			# TODO: Store ignored timestamped gaze positions for further projections
-			# PB: This would imply to also store frame projections !!!
-			self.ignored_gaze_positions[timestamp] = gaze_position
+		# Can't use camera frame while it is locked
+		# TODO? Do we need a timeout parameter here?
+		while self._frame_lock.locked():
 
-			return None, None
+			time.sleep(1e-6)
 
 		# Lock camera frame exploitation
 		self._frame_lock.acquire()
-- 
cgit v1.1


From 64df8beaf90d9f0bbaf0b1b51dae225f86c6a4c4 Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Thu, 5 Oct 2023 13:48:33 +0200
Subject: Working on gaze processing time assessment.

---
 src/argaze/ArFeatures.py | 68 +++++++++++++++++++++++-------------------------
 1 file changed, 32 insertions(+), 36 deletions(-)

(limited to 'src')

diff --git a/src/argaze/ArFeatures.py b/src/argaze/ArFeatures.py
index b9b51d0..02da0fe 100644
--- a/src/argaze/ArFeatures.py
+++ b/src/argaze/ArFeatures.py
@@ -374,6 +374,9 @@ class ArLayer():
 		# Lock layer exploitation
 		self.__look_lock.acquire()
 
+		# Store look execution start date
+		look_start = time.perf_counter()
+
 		# Update current gaze movement
 		self.__gaze_movement = gaze_movement
 
@@ -452,23 +455,13 @@ class ArLayer():
 			looked_aoi = None
 			aoi_scan_path_analysis = {}
 			exception = e
+
+		# Assess total execution time in ms
+		execution_times['total'] = (time.perf_counter() - look_start) * 1e3
 		
 		# Unlock layer exploitation
 		self.__look_lock.release()
 
-		# Sum all execution times
-		total_execution_time = 0
-
-		if execution_times['aoi_matcher']:
-
-			total_execution_time += execution_times['aoi_matcher']
-
-		for _, aoi_scan_path_analysis_time in execution_times['aoi_scan_step_analyzers'].items():
-
-			total_execution_time += aoi_scan_path_analysis_time
-
-		execution_times['total'] = total_execution_time
-
 		# Return look data
 		return looked_aoi, aoi_scan_path_analysis, execution_times, exception
 
@@ -832,6 +825,9 @@ class ArFrame():
 		# Lock frame exploitation
 		self.__look_lock.acquire()
 
+		# Store look execution start date
+		look_start = time.perf_counter()
+
 		# Update current gaze position
 		self.__gaze_position = gaze_position
 
@@ -950,30 +946,12 @@ class ArFrame():
 			scan_step_analysis = {}
 			layer_analysis = {}
 			exception = e
-		
-		# Unlock frame exploitation
-		self.__look_lock.release()
-
-		# Sum all execution times
-		total_execution_time = 0
-
-		if execution_times['gaze_movement_identifier']:
 
-			total_execution_time += execution_times['gaze_movement_identifier']
+		# Assess total execution time in ms
+		execution_times['total'] = (time.perf_counter() - look_start) * 1e3
 
-		for _, scan_step_analysis_time in execution_times['scan_step_analyzers'].items():
-
-			total_execution_time += scan_step_analysis_time
-
-		if execution_times['heatmap']:
-
-			total_execution_time += execution_times['heatmap']
-
-		for _, layer_execution_times in execution_times['layers'].items():
-
-			total_execution_time += layer_execution_times['total']
-
-		execution_times['total'] = total_execution_time
+		# Unlock frame exploitation
+		self.__look_lock.release()
 
 		# Return look data
 		return identified_gaze_movement, scan_step_analysis, layer_analysis, execution_times, exception
@@ -1431,15 +1409,33 @@ class ArCamera(ArFrame):
 	def look(self, timestamp: int|float, gaze_position: GazeFeatures.GazePosition):
 		"""Project timestamped gaze position into each scene frames.
 
+		Parameters:
+			timestamp: gaze position time stamp (unit does'nt matter)
+			gaze_position: GazePosition object
+			timeout: maximal waiting time in ms
+
 		!!! warning 
 			watch method needs to be called first.
 		"""
 
 		# Can't use camera frame while it is locked
-		# TODO? Do we need a timeout parameter here?
+		wait_start = time.perf_counter()
+		waiting_time = 0
+
 		while self._frame_lock.locked():
 
 			time.sleep(1e-6)
+			waiting_time = (time.perf_counter() - wait_start) * 1e3
+
+			# TODO? return waiting time?
+
+			# TODO? add timeout parameter?
+			#if waiting_time > timeout:
+			#	return None, None
+
+		# DEBUG
+		if waiting_time > 0:
+			print(f'ArCamera: waiting {waiting_time:.3f} ms before to process gaze position at {timestamp} time.')
 
 		# Lock camera frame exploitation
 		self._frame_lock.acquire()
-- 
cgit v1.1


From 8bb3cec466ace640c27b41106cac7f6a09dfcdbd Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Thu, 5 Oct 2023 22:07:12 +0200
Subject: Returning proejction time.

---
 src/argaze/ArUcoMarkers/ArUcoCamera.py | 12 ++++++++++--
 1 file changed, 10 insertions(+), 2 deletions(-)

(limited to 'src')

diff --git a/src/argaze/ArUcoMarkers/ArUcoCamera.py b/src/argaze/ArUcoMarkers/ArUcoCamera.py
index 4f00a3a..33f5b37 100644
--- a/src/argaze/ArUcoMarkers/ArUcoCamera.py
+++ b/src/argaze/ArUcoMarkers/ArUcoCamera.py
@@ -11,6 +11,7 @@ from typing import TypeVar, Tuple
 from dataclasses import dataclass, field
 import json
 import os
+import time
 
 from argaze import ArFeatures, DataStructures
 from argaze.ArUcoMarkers import ArUcoMarkersDictionary, ArUcoDetector, ArUcoOpticCalibrator, ArUcoScene
@@ -146,6 +147,7 @@ class ArUcoCamera(ArFeatures.ArCamera):
 
 		Returns:
 			detection time: aruco marker detection time in ms.
+			projection time: scenes projection time in ms.
 			exception: dictionary with exception raised per scene.
 		"""
 
@@ -155,6 +157,9 @@ class ArUcoCamera(ArFeatures.ArCamera):
 		# Lock camera frame exploitation
 		self._frame_lock.acquire()
 
+		# Store projection execution start date
+		projection_start = time.perf_counter()
+
 		# Fill camera frame background with image
 		self.background = image
 
@@ -206,11 +211,14 @@ class ArUcoCamera(ArFeatures.ArCamera):
 
 				exceptions[scene_name] = e
 
+		# Assess projection time in ms
+		projection_time = (time.perf_counter() - projection_start) * 1e3
+
 		# Unlock camera frame exploitation
 		self._frame_lock.release()
 
-		# Return dection time and exceptions
-		return detection_time, exceptions
+		# Return detection time, projection time and exceptions
+		return detection_time, projection_time, exceptions
 
 	def __image(self, draw_detected_markers: dict = None, draw_scenes: dict = None, draw_optic_parameters_grid: dict = None, **kwargs: dict) -> numpy.array:
 		"""Get frame image with ArUco detection visualisation.
-- 
cgit v1.1


From 8640b63b5b607ed0e197cb63428ae94b0baa98a7 Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Thu, 5 Oct 2023 22:07:49 +0200
Subject: Using better detection parameters. Changing grid color.

---
 src/argaze/utils/demo_data/demo_aruco_markers_setup.json | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

(limited to 'src')

diff --git a/src/argaze/utils/demo_data/demo_aruco_markers_setup.json b/src/argaze/utils/demo_data/demo_aruco_markers_setup.json
index c881452..7a4f6d1 100644
--- a/src/argaze/utils/demo_data/demo_aruco_markers_setup.json
+++ b/src/argaze/utils/demo_data/demo_aruco_markers_setup.json
@@ -5,9 +5,10 @@
         "dictionary": "DICT_APRILTAG_16h5",
         "marker_size": 5,
         "parameters": {
-            "cornerRefinementMethod": 1,
+            "cornerRefinementMethod": 3,
             "aprilTagQuadSigma": 2,
-            "aprilTagDeglitch": 1
+            "aprilTagDeglitch": 1,
+            "useAruco3Detection": 1
         }
     },
     "layers": {
@@ -40,7 +41,7 @@
             "height": 72,
             "z": 100,
             "point_size": 1,
-            "point_color": [0, 0, 255]
+            "point_color": [127, 127, 127]
         },
         "draw_scenes": {
             "ArScene Demo": {
-- 
cgit v1.1


From 1e39f54a7222ed53c7c514be555e06aa5e7372b7 Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Thu, 5 Oct 2023 22:08:18 +0200
Subject: Improving time assessment.

---
 src/argaze/utils/demo_aruco_markers_run.py | 71 +++++++++++++++++++++++++-----
 1 file changed, 61 insertions(+), 10 deletions(-)

(limited to 'src')

diff --git a/src/argaze/utils/demo_aruco_markers_run.py b/src/argaze/utils/demo_aruco_markers_run.py
index 6dc081d..6c22695 100644
--- a/src/argaze/utils/demo_aruco_markers_run.py
+++ b/src/argaze/utils/demo_aruco_markers_run.py
@@ -14,6 +14,7 @@ import time
 
 from argaze import ArFeatures, GazeFeatures
 from argaze.ArUcoMarkers import ArUcoCamera
+from argaze.utils import UtilsFeatures
 
 import cv2
 import numpy
@@ -40,9 +41,29 @@ def main():
     # Init timestamp
     start_time = time.time()
 
+    # Prepare gaze analysis assessment
+    call_chrono = UtilsFeatures.TimeProbe()
+    call_chrono.start()
+
+    gaze_positions_frequency = 0
+    gaze_analysis_time = 0
+
     # Fake gaze position with mouse pointer
     def on_mouse_event(event, x, y, flags, param):
 
+        nonlocal gaze_positions_frequency
+        nonlocal gaze_analysis_time
+
+        # Assess gaze analysis
+        lap_time, nb_laps, elapsed_time = call_chrono.lap()
+
+        if elapsed_time > 1e3:
+
+            gaze_positions_frequency = nb_laps
+            call_chrono.restart()
+
+        gaze_analysis_time = 0
+
         # Edit millisecond timestamp
         timestamp = int((time.time() - start_time) * 1e3)
 
@@ -54,12 +75,20 @@ def main():
 
                 gaze_movement, scan_step_analysis, layer_analysis, execution_times, exception = look_data
 
-                # Do something with look data
-                # ...
+                # Assess gaze analysis
+                gaze_analysis_time += execution_times['total']
 
     # Attach mouse callback to window
     cv2.setMouseCallback(aruco_camera.name, on_mouse_event)
 
+    # Prepare video fps assessment
+    video_fps = 0
+    video_chrono = UtilsFeatures.TimeProbe()
+    video_chrono.start()
+
+    # Prepare visualisation time assessment
+    visualisation_time = 0
+
     # Enable camera video capture into separate thread
     video_capture = cv2.VideoCapture(int(args.source) if args.source.isdecimal() else args.source)
 
@@ -69,30 +98,48 @@ def main():
         # Capture images
         while video_capture.isOpened():
 
+            # Assess capture time
+            capture_start = time.time()
+
             # Read video image
             success, video_image = video_capture.read()
 
+            # Assess capture time
+            capture_time = int((time.time() - capture_start) * 1e3)
+
             if success:
 
+                # Assess video fps
+                lap_time, nb_laps, elapsed_time = video_chrono.lap()
+
+                if elapsed_time > 1e3:
+
+                    video_fps = nb_laps
+                    video_chrono.restart()
+
                 # Detect and project AR features
-                detection_time, exceptions = aruco_camera.watch(video_image)
+                detection_time, projection_time, exceptions = aruco_camera.watch(video_image)
+
+                # Assess visualisation time
+                visualisation_start = time.time()
 
                 # Get ArUcoCamera frame image
                 aruco_camera_image = aruco_camera.image()
 
-                # Write detection fps
-                cv2.rectangle(aruco_camera_image, (0, 0), (420, 50), (63, 63, 63), -1)
-                cv2.putText(aruco_camera_image, f'Detection fps: {1e3/detection_time:.1f}', (20, 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
+                # Write time info
+                cv2.rectangle(aruco_camera_image, (0, 0), (aruco_camera.size[0], 100), (63, 63, 63), -1)
+                cv2.putText(aruco_camera_image, f'{video_fps} FPS | Capture {capture_time}ms | Detection {int(detection_time)}ms | Projection {int(projection_time)}ms | Visualisation {visualisation_time}ms', (20, 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
+                cv2.putText(aruco_camera_image, f'{gaze_positions_frequency} gaze positions/s | Gaze analysis {gaze_analysis_time:.2f}ms', (20, 80), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
 
                 # Handle exceptions
                 for i, (scene_name, e) in enumerate(exceptions.items()):
 
                      # Write errors
-                    cv2.rectangle(aruco_camera_image, (0, (i+1)*50), (720, (i+2)*50), (127, 127, 127), -1)
-                    cv2.putText(aruco_camera_image, f'{scene_name} error: {e}', (20, (i+1)*90), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
+                    cv2.rectangle(aruco_camera_image, (0, (i+1)*100), (aruco_camera.size[0], (i+2)*80), (127, 127, 127), -1)
+                    cv2.putText(aruco_camera_image, f'{scene_name} error: {e}', (20, (i+1)*140), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
 
                 # Write hint
-                cv2.putText(aruco_camera_image, 'Mouve mouse pointer over gray rectangle area', (450, 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
+                cv2.putText(aruco_camera_image, 'Mouve mouse pointer over gray rectangle area', (20, aruco_camera.size[1]-40), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
 
                 # Display ArUcoCamera frame image
                 cv2.imshow(aruco_camera.name, aruco_camera_image)
@@ -104,11 +151,15 @@ def main():
                     cv2.imshow(f'{scene_frame.parent.name}:{scene_frame.name}', scene_frame.image())
 
             # Stop by pressing 'Esc' key
-            if cv2.waitKey(10) == 27:
+            # NOTE: on MacOS, cv2.waitKey(1) waits ~40ms
+            if cv2.waitKey(1) == 27:
 
                 # Close camera video capture
                 video_capture.release()
 
+            # Assess visualisation time
+            visualisation_time = int((time.time() - visualisation_start) * 1e3)
+
     # Stop image display
     cv2.destroyAllWindows()
 
-- 
cgit v1.1


From 07d8e2535a8d902d5cb731d8343ebc349c198d65 Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Fri, 6 Oct 2023 00:15:42 +0200
Subject: Assessing visualisation time even when no image is read.

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

(limited to 'src')

diff --git a/src/argaze/utils/demo_aruco_markers_run.py b/src/argaze/utils/demo_aruco_markers_run.py
index 6c22695..5e1ac2e 100644
--- a/src/argaze/utils/demo_aruco_markers_run.py
+++ b/src/argaze/utils/demo_aruco_markers_run.py
@@ -150,6 +150,11 @@ def main():
                     # Display scene frame
                     cv2.imshow(f'{scene_frame.parent.name}:{scene_frame.name}', scene_frame.image())
 
+            else:
+
+                # Assess visualisation time
+                visualisation_start = time.time()
+
             # Stop by pressing 'Esc' key
             # NOTE: on MacOS, cv2.waitKey(1) waits ~40ms
             if cv2.waitKey(1) == 27:
-- 
cgit v1.1


From 992b84ea72e1d20b395ab8d3d50abbd494c1a749 Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Tue, 10 Oct 2023 13:51:11 +0200
Subject: Fixing KCoefficient formula.

---
 src/argaze/GazeAnalysis/KCoefficient.py | 29 ++++++++++++++++++++---------
 1 file changed, 20 insertions(+), 9 deletions(-)

(limited to 'src')

diff --git a/src/argaze/GazeAnalysis/KCoefficient.py b/src/argaze/GazeAnalysis/KCoefficient.py
index 80fe1fd..c50bc3a 100644
--- a/src/argaze/GazeAnalysis/KCoefficient.py
+++ b/src/argaze/GazeAnalysis/KCoefficient.py
@@ -52,19 +52,24 @@ class ScanPathAnalyzer(GazeFeatures.ScanPathAnalyzer):
         duration_std = numpy.std(durations)
         amplitude_std = numpy.std(amplitudes)
 
-        Ks = []
-        for scan_step in scan_path:
+        if duration_std > 0. and amplitude_std > 0.:
+
+            Ks = []
+            for scan_step in scan_path:
+
+                Ks.append((abs(scan_step.duration - duration_mean) / duration_std) - (abs(scan_step.last_saccade.amplitude - amplitude_mean) / amplitude_std))
+
+            self.__K = numpy.array(Ks).mean()
 
-            Ks.append(((scan_step.duration - duration_mean) / duration_std) - ((scan_step.last_saccade.amplitude - amplitude_mean) / amplitude_std))
+        else:
 
-        self.__K = numpy.array(Ks).mean()
+            self.__K = 0.
 
     @property
     def K(self) -> float:
         """K coefficient."""
 
         return self.__K
-    
 
 @dataclass
 class AOIScanPathAnalyzer(GazeFeatures.AOIScanPathAnalyzer):
@@ -104,12 +109,18 @@ class AOIScanPathAnalyzer(GazeFeatures.AOIScanPathAnalyzer):
         duration_std = numpy.std(durations)
         amplitude_std = numpy.std(amplitudes)
 
-        Ks = []
-        for aoi_scan_step in aoi_scan_path:
+        if duration_std > 0. and amplitude_std > 0.:
+
+            Ks = []
+            for aoi_scan_step in aoi_scan_path:
+
+                Ks.append((abs(aoi_scan_step.duration - duration_mean) / duration_std) - (abs(aoi_scan_step.last_saccade.amplitude - amplitude_mean) / amplitude_std))
+
+            self.__K = numpy.array(Ks).mean()
 
-            Ks.append(((aoi_scan_step.duration - duration_mean) / duration_std) - ((aoi_scan_step.last_saccade.amplitude - amplitude_mean) / amplitude_std))
+        else:
 
-        self.__K = numpy.array(Ks).mean()
+            self.__K = 0.
 
     @property
     def K(self) -> float:
-- 
cgit v1.1


From d7107ed868229b9665ee7432dcdc1da90c97c75a Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Tue, 10 Oct 2023 16:25:56 +0200
Subject: Replacing ExploitExplore by ExploreExploit.

---
 .../GazeAnalysis/ExploitExploreRatio.py            |  6 +-
 src/argaze/GazeAnalysis/ExploitExploreRatio.py     | 75 ----------------------
 src/argaze/GazeAnalysis/ExploreExploitRatio.py     | 70 ++++++++++++++++++++
 src/argaze/GazeAnalysis/__init__.py                |  2 +-
 .../utils/demo_data/demo_gaze_analysis_setup.json  |  2 +-
 src/argaze/utils/demo_gaze_analysis_run.py         |  6 +-
 6 files changed, 78 insertions(+), 83 deletions(-)
 delete mode 100644 src/argaze/GazeAnalysis/ExploitExploreRatio.py
 create mode 100644 src/argaze/GazeAnalysis/ExploreExploitRatio.py

(limited to 'src')

diff --git a/src/argaze.test/GazeAnalysis/ExploitExploreRatio.py b/src/argaze.test/GazeAnalysis/ExploitExploreRatio.py
index 0e6b74a..7b323d4 100644
--- a/src/argaze.test/GazeAnalysis/ExploitExploreRatio.py
+++ b/src/argaze.test/GazeAnalysis/ExploitExploreRatio.py
@@ -10,7 +10,7 @@ __license__ = "BSD"
 import unittest
 
 from argaze import GazeFeatures
-from argaze.GazeAnalysis import ExploitExploreRatio
+from argaze.GazeAnalysis import ExploreExploitRatio
 from argaze.utils import UtilsFeatures
 
 GazeFeaturesTest = UtilsFeatures.importFromTestPackage('GazeFeatures')
@@ -21,7 +21,7 @@ class TestScanPathAnalyzer(unittest.TestCase):
     def test_analyze(self):
         """Test analyze method."""
 
-        xxr_analyzer = ExploitExploreRatio.ScanPathAnalyzer()
+        xxr_analyzer = ExploreExploitRatio.ScanPathAnalyzer()
         
         scan_path = GazeFeaturesTest.build_scan_path(10)
 
@@ -31,7 +31,7 @@ class TestScanPathAnalyzer(unittest.TestCase):
         xxr_analyzer.analyze(scan_path)
 
         # Check exploit explore ratio: it should greater than 1 because of build_scan_path
-        self.assertGreaterEqual(xxr_analyzer.exploit_explore_ratio, 1.)
+        self.assertGreaterEqual(xxr_analyzer.explore_exploit_ratio, 1.)
 
 if __name__ == '__main__':
 
diff --git a/src/argaze/GazeAnalysis/ExploitExploreRatio.py b/src/argaze/GazeAnalysis/ExploitExploreRatio.py
deleted file mode 100644
index f35561f..0000000
--- a/src/argaze/GazeAnalysis/ExploitExploreRatio.py
+++ /dev/null
@@ -1,75 +0,0 @@
-#!/usr/bin/env python
-
-"""Exploit/Explore ratio module.
-"""
-
-__author__ = "Théo de la Hogue"
-__credits__ = []
-__copyright__ = "Copyright 2023, Ecole Nationale de l'Aviation Civile (ENAC)"
-__license__ = "BSD"
-
-from dataclasses import dataclass, field
-
-from argaze import GazeFeatures
-
-import numpy
-
-@dataclass
-class ScanPathAnalyzer(GazeFeatures.ScanPathAnalyzer):
-    """Implementation of exploit vs explore ratio algorithm as described in:
-
-        **Goldberg J. H., Kotval X. P. (1999).**  
-        *Computer interface evaluation using eye movements: methods and constructs.*   
-        International Journal of Industrial Ergonomics (631–645).  
-        [https://doi.org/10.1016/S0169-8141(98)00068-7](https://doi.org/10.1016/S0169-8141\\(98\\)00068-7)  
-            
-        **Dehais F., Peysakhovich V., Scannella S., Fongue J., Gateau T. (2015).**  
-        *Automation surprise in aviation: Real-time solutions.*  
-        Proceedings of the 33rd annual ACM conference on Human Factors in Computing Systems (2525–2534).  
-        [https://doi.org/10.1145/2702123.2702521](https://doi.org/10.1145/2702123.2702521)
-    """
-
-    short_fixation_duration_threshold: float = field(default=0.)
-    """Time below which a fixation is considered to be short and so as exploratory."""
-    
-    def __post_init__(self):
-
-        super().__init__()
-
-        self.__exploit_explore_ratio = 0.
-
-    def analyze(self, scan_path: GazeFeatures.ScanPathType):
-        """Analyze scan path."""
-
-        assert(len(scan_path) > 1)
-
-        short_fixations_durations = []
-        long_fixations_durations = []
-        saccades_durations = []
-
-        for scan_step in scan_path:
-
-            if scan_step.first_fixation.duration > self.short_fixation_duration_threshold:
-
-                long_fixations_durations.append(scan_step.first_fixation.duration)
-
-            else:
-
-                short_fixations_durations.append(scan_step.first_fixation.duration)
-
-            saccades_durations.append(scan_step.last_saccade.duration)
-
-        short_fixations_duration = numpy.array(short_fixations_durations).sum()
-        long_fixations_duration = numpy.array(long_fixations_durations).sum()
-        saccades_duration = numpy.array(saccades_durations).sum()
-
-        assert(saccades_duration + short_fixations_duration > 0)
-
-        self.__exploit_explore_ratio = long_fixations_duration / (saccades_duration + short_fixations_duration)
-
-    @property
-    def exploit_explore_ratio(self) -> float:
-        """Exploit/Explore ratio."""
-        
-        return self.__exploit_explore_ratio
-        
\ No newline at end of file
diff --git a/src/argaze/GazeAnalysis/ExploreExploitRatio.py b/src/argaze/GazeAnalysis/ExploreExploitRatio.py
new file mode 100644
index 0000000..b4550e7
--- /dev/null
+++ b/src/argaze/GazeAnalysis/ExploreExploitRatio.py
@@ -0,0 +1,70 @@
+#!/usr/bin/env python
+
+"""Explore/Explore ratio module.
+"""
+
+__author__ = "Théo de la Hogue"
+__credits__ = []
+__copyright__ = "Copyright 2023, Ecole Nationale de l'Aviation Civile (ENAC)"
+__license__ = "BSD"
+
+from dataclasses import dataclass, field
+
+from argaze import GazeFeatures
+
+import numpy
+
+@dataclass
+class ScanPathAnalyzer(GazeFeatures.ScanPathAnalyzer):
+    """Implementation of explore vs exploit ratio algorithm as described in:
+
+        **Dehais F., Peysakhovich V., Scannella S., Fongue J., Gateau T. (2015).**  
+        *Automation surprise in aviation: Real-time solutions.*  
+        Proceedings of the 33rd annual ACM conference on Human Factors in Computing Systems (2525–2534).  
+        [https://doi.org/10.1145/2702123.2702521](https://doi.org/10.1145/2702123.2702521)
+    """
+
+    short_fixation_duration_threshold: float = field(default=0.)
+    """Time below which a fixation is considered to be short and so as exploratory."""
+    
+    def __post_init__(self):
+
+        super().__init__()
+
+        self.__explore_exploit_ratio = 0.
+
+    def analyze(self, scan_path: GazeFeatures.ScanPathType):
+        """Analyze scan path."""
+
+        assert(len(scan_path) > 1)
+
+        short_fixations_durations = []
+        long_fixations_durations = []
+        saccades_durations = []
+
+        for scan_step in scan_path:
+
+            if scan_step.first_fixation.duration > self.short_fixation_duration_threshold:
+
+                long_fixations_durations.append(scan_step.first_fixation.duration)
+
+            else:
+
+                short_fixations_durations.append(scan_step.first_fixation.duration)
+
+            saccades_durations.append(scan_step.last_saccade.duration)
+
+        short_fixations_duration = numpy.array(short_fixations_durations).sum()
+        long_fixations_duration = numpy.array(long_fixations_durations).sum()
+        saccades_duration = numpy.array(saccades_durations).sum()
+
+        assert(long_fixations_duration > 0)
+
+        self.__explore_exploit_ratio =  (saccades_duration + short_fixations_duration) / long_fixations_duration
+
+    @property
+    def explore_exploit_ratio(self) -> float:
+        """Explore/Exploit ratio."""
+        
+        return self.__explore_exploit_ratio
+        
\ No newline at end of file
diff --git a/src/argaze/GazeAnalysis/__init__.py b/src/argaze/GazeAnalysis/__init__.py
index 164de74..62e0823 100644
--- a/src/argaze/GazeAnalysis/__init__.py
+++ b/src/argaze/GazeAnalysis/__init__.py
@@ -1,4 +1,4 @@
 """
 Various gaze movement identification, AOI matching and scan path analysis algorithms.
 """
-__all__ = ['Basic', 'DispersionThresholdIdentification', 'VelocityThresholdIdentification', 'TransitionMatrix', 'KCoefficient', 'LempelZivComplexity', 'NGram', 'Entropy', 'NearestNeighborIndex', 'ExploitExploreRatio']
\ No newline at end of file
+__all__ = ['Basic', 'DispersionThresholdIdentification', 'VelocityThresholdIdentification', 'TransitionMatrix', 'KCoefficient', 'LempelZivComplexity', 'NGram', 'Entropy', 'NearestNeighborIndex', 'ExploreExploitRatio']
\ No newline at end of file
diff --git a/src/argaze/utils/demo_data/demo_gaze_analysis_setup.json b/src/argaze/utils/demo_data/demo_gaze_analysis_setup.json
index fe5d197..f921662 100644
--- a/src/argaze/utils/demo_data/demo_gaze_analysis_setup.json
+++ b/src/argaze/utils/demo_data/demo_gaze_analysis_setup.json
@@ -18,7 +18,7 @@
         "NearestNeighborIndex": {
             "size": [1920, 1149]
         },
-        "ExploitExploreRatio": {
+        "ExploreExploitRatio": {
             "short_fixation_duration_threshold": 0
         }
     },
diff --git a/src/argaze/utils/demo_gaze_analysis_run.py b/src/argaze/utils/demo_gaze_analysis_run.py
index 789657b..9856d90 100644
--- a/src/argaze/utils/demo_gaze_analysis_run.py
+++ b/src/argaze/utils/demo_gaze_analysis_run.py
@@ -206,12 +206,12 @@ def main():
             except KeyError:
                 pass
 
-            # Display Exploit/Explore ratio analysis if loaded
+            # Display Explore/Exploit ratio analysis if loaded
             try:
 
-                xxr_analyser = ar_frame.scan_path_analyzers["argaze.GazeAnalysis.ExploitExploreRatio"]
+                xxr_analyser = ar_frame.scan_path_analyzers["argaze.GazeAnalysis.ExploreExploitRatio"]
 
-                cv2.putText(frame_image, f'Exploit explore ratio: {xxr_analyser.exploit_explore_ratio:.3f}', (20, ar_frame.size[1]-360), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
+                cv2.putText(frame_image, f'Explore/Exploit ratio: {xxr_analyser.explore_exploit_ratio:.3f}', (20, ar_frame.size[1]-360), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
 
             except KeyError:
 
-- 
cgit v1.1


From b8ea27be0fdaba40c49b93a2e84756fb00c6cde5 Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Tue, 10 Oct 2023 18:09:02 +0200
Subject: Adding visual HFOV and VFOV parameter to ArCamera. Using them into
 ArScene project method and ArUcoCamera class.

---
 src/argaze/ArFeatures.py               | 10 ++++++++--
 src/argaze/ArUcoMarkers/ArUcoCamera.py |  2 +-
 2 files changed, 9 insertions(+), 3 deletions(-)

(limited to 'src')

diff --git a/src/argaze/ArFeatures.py b/src/argaze/ArFeatures.py
index 02da0fe..1b24957 100644
--- a/src/argaze/ArFeatures.py
+++ b/src/argaze/ArFeatures.py
@@ -1239,13 +1239,14 @@ class ArScene():
 
 		raise NotImplementedError('estimate_pose() method not implemented')
 
-	def project(self, tvec: numpy.array, rvec: numpy.array, visual_hfov: float = 0.) -> Tuple[str, AOI2DScene.AOI2DScene]:
-		"""Project layers according estimated pose and optional horizontal field of view clipping angle.	
+	def project(self, tvec: numpy.array, rvec: numpy.array, visual_hfov: float = 0., visual_vfov: float = 0.) -> Tuple[str, AOI2DScene.AOI2DScene]:
+		"""Project layers according estimated pose and optional field of view clipping angles.	
 
 		Parameters:
 			tvec: translation vector
 			rvec: rotation vector
 			visual_hfov: horizontal field of view clipping angle
+			visual_vfov: vertical field of view clipping angle
 
 		Returns:
 			layer_name: name of projected layer
@@ -1255,6 +1256,7 @@ class ArScene():
 		for name, layer in self.layers.items():
 
 			# Clip AOI out of the visual horizontal field of view (optional)
+			# TODO: use HFOV and VFOV and don't use vision_cone method
 			if visual_hfov > 0:
 
 				# Transform layer aoi scene into camera referential
@@ -1293,9 +1295,13 @@ class ArCamera(ArFrame):
 
 	Parameters:
 		scenes: all scenes to project into camera frame
+		visual_hfov: Optional angle in degree to clip scenes projection according visual horizontal field of view (HFOV).
+		visual_vfov: Optional angle in degree to clip scenes projection according visual vertical field of view (VFOV).
 	"""
 
 	scenes: dict = field(default_factory=dict)
+	visual_hfov: float = field(default=0.)
+	visual_vfov: float = field(default=0.)
 
 	def __post_init__(self):
 
diff --git a/src/argaze/ArUcoMarkers/ArUcoCamera.py b/src/argaze/ArUcoMarkers/ArUcoCamera.py
index 33f5b37..f39c516 100644
--- a/src/argaze/ArUcoMarkers/ArUcoCamera.py
+++ b/src/argaze/ArUcoMarkers/ArUcoCamera.py
@@ -196,7 +196,7 @@ class ArUcoCamera(ArFeatures.ArCamera):
 				tvec, rmat, _, _ = scene.estimate_pose(self.aruco_detector.detected_markers)
 
 				# Project scene into camera frame according estimated pose
-				for layer_name, layer_projection in scene.project(tvec, rmat):
+				for layer_name, layer_projection in scene.project(tvec, rmat, self.visual_hfov, self.visual_vfov):
 
 					try:
 
-- 
cgit v1.1


From 46b2ac7ea7fb83d520d3fe5deee46d629d6dc9d0 Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Wed, 11 Oct 2023 07:34:33 +0200
Subject: renaming test file.

---
 .../GazeAnalysis/ExploitExploreRatio.py            | 38 ----------------------
 .../GazeAnalysis/ExploreExploitRatio.py            | 38 ++++++++++++++++++++++
 2 files changed, 38 insertions(+), 38 deletions(-)
 delete mode 100644 src/argaze.test/GazeAnalysis/ExploitExploreRatio.py
 create mode 100644 src/argaze.test/GazeAnalysis/ExploreExploitRatio.py

(limited to 'src')

diff --git a/src/argaze.test/GazeAnalysis/ExploitExploreRatio.py b/src/argaze.test/GazeAnalysis/ExploitExploreRatio.py
deleted file mode 100644
index 7b323d4..0000000
--- a/src/argaze.test/GazeAnalysis/ExploitExploreRatio.py
+++ /dev/null
@@ -1,38 +0,0 @@
-#!/usr/bin/env python
-
-""" """
-
-__author__ = "Théo de la Hogue"
-__credits__ = []
-__copyright__ = "Copyright 2023, Ecole Nationale de l'Aviation Civile (ENAC)"
-__license__ = "BSD"
-
-import unittest
-
-from argaze import GazeFeatures
-from argaze.GazeAnalysis import ExploreExploitRatio
-from argaze.utils import UtilsFeatures
-
-GazeFeaturesTest = UtilsFeatures.importFromTestPackage('GazeFeatures')
-
-class TestScanPathAnalyzer(unittest.TestCase):
-    """Test ScanPathAnalyzer class."""
-
-    def test_analyze(self):
-        """Test analyze method."""
-
-        xxr_analyzer = ExploreExploitRatio.ScanPathAnalyzer()
-        
-        scan_path = GazeFeaturesTest.build_scan_path(10)
-
-        # Check scan path
-        self.assertEqual(len(scan_path), 10)
-
-        xxr_analyzer.analyze(scan_path)
-
-        # Check exploit explore ratio: it should greater than 1 because of build_scan_path
-        self.assertGreaterEqual(xxr_analyzer.explore_exploit_ratio, 1.)
-
-if __name__ == '__main__':
-
-    unittest.main()
\ No newline at end of file
diff --git a/src/argaze.test/GazeAnalysis/ExploreExploitRatio.py b/src/argaze.test/GazeAnalysis/ExploreExploitRatio.py
new file mode 100644
index 0000000..7b323d4
--- /dev/null
+++ b/src/argaze.test/GazeAnalysis/ExploreExploitRatio.py
@@ -0,0 +1,38 @@
+#!/usr/bin/env python
+
+""" """
+
+__author__ = "Théo de la Hogue"
+__credits__ = []
+__copyright__ = "Copyright 2023, Ecole Nationale de l'Aviation Civile (ENAC)"
+__license__ = "BSD"
+
+import unittest
+
+from argaze import GazeFeatures
+from argaze.GazeAnalysis import ExploreExploitRatio
+from argaze.utils import UtilsFeatures
+
+GazeFeaturesTest = UtilsFeatures.importFromTestPackage('GazeFeatures')
+
+class TestScanPathAnalyzer(unittest.TestCase):
+    """Test ScanPathAnalyzer class."""
+
+    def test_analyze(self):
+        """Test analyze method."""
+
+        xxr_analyzer = ExploreExploitRatio.ScanPathAnalyzer()
+        
+        scan_path = GazeFeaturesTest.build_scan_path(10)
+
+        # Check scan path
+        self.assertEqual(len(scan_path), 10)
+
+        xxr_analyzer.analyze(scan_path)
+
+        # Check exploit explore ratio: it should greater than 1 because of build_scan_path
+        self.assertGreaterEqual(xxr_analyzer.explore_exploit_ratio, 1.)
+
+if __name__ == '__main__':
+
+    unittest.main()
\ No newline at end of file
-- 
cgit v1.1


From 0d75c4adcb98426a2bc60b019bced9ae78dcf811 Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Wed, 11 Oct 2023 07:35:12 +0200
Subject: Removing annotation.

---
 src/argaze/ArFeatures.py | 1 -
 1 file changed, 1 deletion(-)

(limited to 'src')

diff --git a/src/argaze/ArFeatures.py b/src/argaze/ArFeatures.py
index 1b24957..b4c2658 100644
--- a/src/argaze/ArFeatures.py
+++ b/src/argaze/ArFeatures.py
@@ -1418,7 +1418,6 @@ class ArCamera(ArFrame):
 		Parameters:
 			timestamp: gaze position time stamp (unit does'nt matter)
 			gaze_position: GazePosition object
-			timeout: maximal waiting time in ms
 
 		!!! warning 
 			watch method needs to be called first.
-- 
cgit v1.1


From f849add84404d6cfa3be5b5d29b62ceb67622f89 Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Wed, 11 Oct 2023 07:35:48 +0200
Subject: Fixing bad output annotation.

---
 src/argaze/ArUcoMarkers/ArUcoCamera.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

(limited to 'src')

diff --git a/src/argaze/ArUcoMarkers/ArUcoCamera.py b/src/argaze/ArUcoMarkers/ArUcoCamera.py
index f39c516..b850dde 100644
--- a/src/argaze/ArUcoMarkers/ArUcoCamera.py
+++ b/src/argaze/ArUcoMarkers/ArUcoCamera.py
@@ -142,7 +142,7 @@ class ArUcoCamera(ArFeatures.ArCamera):
 
 			return ArUcoCamera.from_dict(aruco_camera_data, working_directory)
 
-	def watch(self, image: numpy.array) -> Tuple[float, dict]:
+	def watch(self, image: numpy.array) -> Tuple[float, float, dict]:
 		"""Detect environment aruco markers from image and project scenes into camera frame.
 
 		Returns:
-- 
cgit v1.1


From 749adde269420ae7e84849bf72aa087256d10ee7 Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Wed, 11 Oct 2023 11:46:38 +0200
Subject: Commenting debug print.

---
 src/argaze/ArFeatures.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

(limited to 'src')

diff --git a/src/argaze/ArFeatures.py b/src/argaze/ArFeatures.py
index b4c2658..a1c7349 100644
--- a/src/argaze/ArFeatures.py
+++ b/src/argaze/ArFeatures.py
@@ -1439,8 +1439,8 @@ class ArCamera(ArFrame):
 			#	return None, None
 
 		# DEBUG
-		if waiting_time > 0:
-			print(f'ArCamera: waiting {waiting_time:.3f} ms before to process gaze position at {timestamp} time.')
+		#if waiting_time > 0:
+		#	print(f'ArCamera: waiting {waiting_time:.3f} ms before to process gaze position at {timestamp} time.')
 
 		# Lock camera frame exploitation
 		self._frame_lock.acquire()
-- 
cgit v1.1


From 46b3fb454275d7431e8ea894c887179c1704c84c Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Wed, 11 Oct 2023 15:17:46 +0200
Subject: Removing useless private attributes fro ArUcoDetector class.

---
 src/argaze/ArUcoMarkers/ArUcoDetector.py | 46 +++++++++++++++-----------------
 1 file changed, 21 insertions(+), 25 deletions(-)

(limited to 'src')

diff --git a/src/argaze/ArUcoMarkers/ArUcoDetector.py b/src/argaze/ArUcoMarkers/ArUcoDetector.py
index 490b75b..3ef7fa6 100644
--- a/src/argaze/ArUcoMarkers/ArUcoDetector.py
+++ b/src/argaze/ArUcoMarkers/ArUcoDetector.py
@@ -149,8 +149,6 @@ class ArUcoDetector():
 
         # Init detected markers data
         self.__detected_markers = {}
-        self.__detected_markers_corners = []
-        self.__detected_markers_ids = []
 
         # Init detected board data
         self.__board = None
@@ -267,31 +265,31 @@ class ArUcoDetector():
         """
 
         # Reset detected markers data
-        self.__detected_markers, self.__detected_markers_corners, self.__detected_markers_ids = {}, [], []
+        self.__detected_markers, detected_markers_corners, detected_markers_ids = {}, [], []
 
         # Store marker detection start date
         detection_start = time.perf_counter()
 
         # Detect markers into gray picture
-        self.__detected_markers_corners, self.__detected_markers_ids, _ = aruco.detectMarkers(cv.cvtColor(image, cv.COLOR_BGR2GRAY), self.dictionary.markers, parameters = self.parameters.internal)
+        detected_markers_corners, detected_markers_ids, _ = aruco.detectMarkers(cv.cvtColor(image, cv.COLOR_BGR2GRAY), self.dictionary.markers, parameters = self.parameters.internal)
         
         # Assess marker detection time in ms
         detection_time = (time.perf_counter() - detection_start) * 1e3
 
         # Is there detected markers ?
-        if len(self.__detected_markers_corners) > 0:
+        if len(detected_markers_corners) > 0:
 
             # Transform markers ids array into list
-            self.__detected_markers_ids = self.__detected_markers_ids.T[0]
+            detected_markers_ids = detected_markers_ids.T[0]
 
             # Gather detected markers data and update metrics
             self.__detection_count += 1
 
-            for i, marker_id in enumerate(self.__detected_markers_ids):
+            for i, marker_id in enumerate(detected_markers_ids):
 
                 marker = ArUcoMarker.ArUcoMarker(self.dictionary, marker_id, self.marker_size)
 
-                marker.corners = self.__detected_markers_corners[i]
+                marker.corners = detected_markers_corners[i]
 
                 # No pose estimation: call estimate_markers_pose to get one
                 marker.translation = numpy.empty([0])
@@ -300,6 +298,7 @@ class ArUcoDetector():
 
                 self.__detected_markers[marker_id] = marker
 
+                # Update metrics
                 self.__detected_ids.append(marker_id)
 
         return detection_time
@@ -308,26 +307,23 @@ class ArUcoDetector():
         """Estimate pose of current detected markers or of given markers id list."""
 
         # Is there detected markers ?
-        if len(self.__detected_markers_corners) > 0:
+        if len(self.__detected_markers) > 0:
 
-            # Is there a marker selection ?
-            if len(markers_ids) > 0:
+            # Select all markers by default
+            if len(markers_ids) == 0:
 
-                selected_markers_corners = tuple()
-                selected_markers_ids = []
+                markers_ids = self.__detected_markers.keys()
 
-                for i, marker_id in enumerate(self.__detected_markers_ids):
+            # Prepare data for aruco.estimatePoseSingleMarkers function
+            selected_markers_corners = tuple()
+            selected_markers_ids = []
 
-                    if marker_id in markers_ids:
-
-                        selected_markers_corners += (self.__detected_markers_corners[i],)
-                        selected_markers_ids.append(marker_id)
+            for marker_id, marker in self.__detected_markers.items():
 
-            # Otherwise, estimate pose of all markers
-            else:
+                if marker_id in markers_ids:
 
-                selected_markers_corners = self.__detected_markers_corners
-                selected_markers_ids = self.__detected_markers_ids
+                    selected_markers_corners += (marker.corners,)
+                    selected_markers_ids.append(marker_id)
 
             # Estimate pose of selected markers
             if len(selected_markers_corners) > 0:
@@ -377,13 +373,13 @@ class ArUcoDetector():
         
         # detect markers from gray picture
         gray = cv.cvtColor(image, cv.COLOR_BGR2GRAY)
-        self.__detected_markers_corners, self.__detected_markers_ids, _ = aruco.detectMarkers(gray, self.dictionary.markers, parameters = self.parameters.internal)
+        detected_markers_corners, detected_markers_ids, _ = aruco.detectMarkers(gray, self.dictionary.markers, parameters = self.parameters.internal)
 
          # if all board markers are detected
-        if len(self.__detected_markers_corners) == expected_markers_number:
+        if len(detected_markers_corners) == expected_markers_number:
 
             self.__board = board
-            self.__board_corners_number, self.__board_corners, self.__board_corners_ids = aruco.interpolateCornersCharuco(self.__detected_markers_corners, self.__detected_markers_ids, gray, self.__board.model)
+            self.__board_corners_number, self.__board_corners, self.__board_corners_ids = aruco.interpolateCornersCharuco(detected_markers_corners, detected_markers_ids, gray, self.__board.model)
 
         else:
 
-- 
cgit v1.1


From 9e3a8e45e11a508817ae553604932171378678b2 Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Wed, 11 Oct 2023 16:06:54 +0200
Subject: Smoothing marker corners if required to stabilize pose estimation.

---
 src/argaze/ArUcoMarkers/ArUcoDetector.py | 44 +++++++++++++++++++++++++-------
 1 file changed, 35 insertions(+), 9 deletions(-)

(limited to 'src')

diff --git a/src/argaze/ArUcoMarkers/ArUcoDetector.py b/src/argaze/ArUcoMarkers/ArUcoDetector.py
index 3ef7fa6..9e40561 100644
--- a/src/argaze/ArUcoMarkers/ArUcoDetector.py
+++ b/src/argaze/ArUcoMarkers/ArUcoDetector.py
@@ -131,24 +131,27 @@ class DetectorParameters():
 
 @dataclass
 class ArUcoDetector():
-    """ArUco markers detector."""
+    """ArUco markers detector.
+
+    Parameters:
+        dictionary: ArUco markers dictionary to detect.
+        marker_size: Size of ArUco markers to detect in centimeter.
+        optic_parameters: Optic parameters to use for ArUco detection into image.
+        parameters: ArUco detector parameters.
+        smooth_marker_corners: Enable marker corners smoothing to stabilize pose estimation.
+    """
 
     dictionary: ArUcoMarkersDictionary.ArUcoMarkersDictionary = field(default_factory=ArUcoMarkersDictionary.ArUcoMarkersDictionary)
-    """ArUco markers dictionary to detect."""
-
     marker_size: float = field(default=0.)
-    """Size of ArUco markers to detect in centimeter."""
-
     optic_parameters: ArUcoOpticCalibrator.OpticParameters = field(default_factory=ArUcoOpticCalibrator.OpticParameters)
-    """Optic parameters to use for ArUco detection into image."""
-
     parameters: DetectorParameters = field(default_factory=DetectorParameters)
-    """ArUco detector parameters."""
+    smooth_marker_corners: bool = field(default=False)
 
     def __post_init__(self):
 
         # Init detected markers data
         self.__detected_markers = {}
+        self.__last_detected_markers = {}
 
         # Init detected board data
         self.__board = None
@@ -264,6 +267,9 @@ class ArUcoDetector():
             detection time: marker detection time in ms.
         """
 
+        # Copy last detected markers
+        self.__last_detected_markers = self.__detected_markers
+
         # Reset detected markers data
         self.__detected_markers, detected_markers_corners, detected_markers_ids = {}, [], []
 
@@ -289,7 +295,27 @@ class ArUcoDetector():
 
                 marker = ArUcoMarker.ArUcoMarker(self.dictionary, marker_id, self.marker_size)
 
-                marker.corners = detected_markers_corners[i]
+                # Smooth marker corners if required
+                if self.smooth_marker_corners:
+
+                    # Try to smooth corners with last detected markers corners
+                    try:
+
+                        # Smooth corners positions if the distance between new marker and last marker is lower than half marker size
+                        half_marker_size_px = numpy.linalg.norm(detected_markers_corners[i][0][1] - detected_markers_corners[i][0][0]) / 2
+                        distance_to_last = numpy.linalg.norm(detected_markers_corners[i] - self.__last_detected_markers[marker_id].corners)
+                        smooth_factor = 0. if distance_to_last > half_marker_size_px else (half_marker_size_px - distance_to_last) / half_marker_size_px
+
+                        marker.corners = numpy.rint(self.__last_detected_markers[marker_id].corners * smooth_factor + detected_markers_corners[i] * (1 - smooth_factor))
+
+                    # Avoid smoothing if the marker was not part of last detection
+                    except KeyError:
+
+                        marker.corners = detected_markers_corners[i]
+
+                else:
+
+                    marker.corners = detected_markers_corners[i]
 
                 # No pose estimation: call estimate_markers_pose to get one
                 marker.translation = numpy.empty([0])
-- 
cgit v1.1


From 5f902cd2f41aa84267e2e27e53229268d8e4d579 Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Wed, 11 Oct 2023 22:57:50 +0200
Subject: Major pose estimation improvement using SolvePnP algorithm.

---
 src/argaze/ArUcoMarkers/ArUcoCamera.py       |   5 +-
 src/argaze/ArUcoMarkers/ArUcoDetector.py     |  64 +-----
 src/argaze/ArUcoMarkers/ArUcoMarker.py       |   2 +-
 src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py | 327 +++++----------------------
 src/argaze/ArUcoMarkers/ArUcoScene.py        |  31 +--
 5 files changed, 66 insertions(+), 363 deletions(-)

(limited to 'src')

diff --git a/src/argaze/ArUcoMarkers/ArUcoCamera.py b/src/argaze/ArUcoMarkers/ArUcoCamera.py
index b850dde..ed6c619 100644
--- a/src/argaze/ArUcoMarkers/ArUcoCamera.py
+++ b/src/argaze/ArUcoMarkers/ArUcoCamera.py
@@ -189,11 +189,8 @@ class ArUcoCamera(ArFeatures.ArCamera):
 
 			try:
 
-				# Estimate scene markers poses
-				self.aruco_detector.estimate_markers_pose(scene.aruco_markers_group.identifiers)
-
 				# Estimate scene pose from detected scene markers
-				tvec, rmat, _, _ = scene.estimate_pose(self.aruco_detector.detected_markers)
+				tvec, rmat, _ = scene.estimate_pose(self.aruco_detector.detected_markers)
 
 				# Project scene into camera frame according estimated pose
 				for layer_name, layer_projection in scene.project(tvec, rmat, self.visual_hfov, self.visual_vfov):
diff --git a/src/argaze/ArUcoMarkers/ArUcoDetector.py b/src/argaze/ArUcoMarkers/ArUcoDetector.py
index 9e40561..f178a20 100644
--- a/src/argaze/ArUcoMarkers/ArUcoDetector.py
+++ b/src/argaze/ArUcoMarkers/ArUcoDetector.py
@@ -138,20 +138,17 @@ class ArUcoDetector():
         marker_size: Size of ArUco markers to detect in centimeter.
         optic_parameters: Optic parameters to use for ArUco detection into image.
         parameters: ArUco detector parameters.
-        smooth_marker_corners: Enable marker corners smoothing to stabilize pose estimation.
     """
 
     dictionary: ArUcoMarkersDictionary.ArUcoMarkersDictionary = field(default_factory=ArUcoMarkersDictionary.ArUcoMarkersDictionary)
     marker_size: float = field(default=0.)
     optic_parameters: ArUcoOpticCalibrator.OpticParameters = field(default_factory=ArUcoOpticCalibrator.OpticParameters)
     parameters: DetectorParameters = field(default_factory=DetectorParameters)
-    smooth_marker_corners: bool = field(default=False)
 
     def __post_init__(self):
 
         # Init detected markers data
         self.__detected_markers = {}
-        self.__last_detected_markers = {}
 
         # Init detected board data
         self.__board = None
@@ -267,9 +264,6 @@ class ArUcoDetector():
             detection time: marker detection time in ms.
         """
 
-        # Copy last detected markers
-        self.__last_detected_markers = self.__detected_markers
-
         # Reset detected markers data
         self.__detected_markers, detected_markers_corners, detected_markers_ids = {}, [], []
 
@@ -294,28 +288,7 @@ class ArUcoDetector():
             for i, marker_id in enumerate(detected_markers_ids):
 
                 marker = ArUcoMarker.ArUcoMarker(self.dictionary, marker_id, self.marker_size)
-
-                # Smooth marker corners if required
-                if self.smooth_marker_corners:
-
-                    # Try to smooth corners with last detected markers corners
-                    try:
-
-                        # Smooth corners positions if the distance between new marker and last marker is lower than half marker size
-                        half_marker_size_px = numpy.linalg.norm(detected_markers_corners[i][0][1] - detected_markers_corners[i][0][0]) / 2
-                        distance_to_last = numpy.linalg.norm(detected_markers_corners[i] - self.__last_detected_markers[marker_id].corners)
-                        smooth_factor = 0. if distance_to_last > half_marker_size_px else (half_marker_size_px - distance_to_last) / half_marker_size_px
-
-                        marker.corners = numpy.rint(self.__last_detected_markers[marker_id].corners * smooth_factor + detected_markers_corners[i] * (1 - smooth_factor))
-
-                    # Avoid smoothing if the marker was not part of last detection
-                    except KeyError:
-
-                        marker.corners = detected_markers_corners[i]
-
-                else:
-
-                    marker.corners = detected_markers_corners[i]
+                marker.corners = detected_markers_corners[i][0]
 
                 # No pose estimation: call estimate_markers_pose to get one
                 marker.translation = numpy.empty([0])
@@ -329,41 +302,6 @@ class ArUcoDetector():
 
         return detection_time
 
-    def estimate_markers_pose(self, markers_ids: list = []):
-        """Estimate pose of current detected markers or of given markers id list."""
-
-        # Is there detected markers ?
-        if len(self.__detected_markers) > 0:
-
-            # Select all markers by default
-            if len(markers_ids) == 0:
-
-                markers_ids = self.__detected_markers.keys()
-
-            # Prepare data for aruco.estimatePoseSingleMarkers function
-            selected_markers_corners = tuple()
-            selected_markers_ids = []
-
-            for marker_id, marker in self.__detected_markers.items():
-
-                if marker_id in markers_ids:
-
-                    selected_markers_corners += (marker.corners,)
-                    selected_markers_ids.append(marker_id)
-
-            # Estimate pose of selected markers
-            if len(selected_markers_corners) > 0:
-
-                markers_rvecs, markers_tvecs, markers_points = aruco.estimatePoseSingleMarkers(selected_markers_corners, self.marker_size, numpy.array(self.optic_parameters.K), numpy.array(self.optic_parameters.D)) 
-
-                for i, marker_id in enumerate(selected_markers_ids):
-
-                    marker = self.__detected_markers[marker_id]
-
-                    marker.translation = markers_tvecs[i][0]
-                    marker.rotation, _ = cv.Rodrigues(markers_rvecs[i][0])
-                    marker.points = markers_points.reshape(4, 3)
-
     @property
     def detected_markers(self) -> dict[ArUcoMarkerType]:
         """Access to detected markers dictionary."""
diff --git a/src/argaze/ArUcoMarkers/ArUcoMarker.py b/src/argaze/ArUcoMarkers/ArUcoMarker.py
index 57bd8bd..f088dae 100644
--- a/src/argaze/ArUcoMarkers/ArUcoMarker.py
+++ b/src/argaze/ArUcoMarkers/ArUcoMarker.py
@@ -68,7 +68,7 @@ class ArUcoMarker():
         # Draw marker if required
         if color is not None:
 
-            aruco.drawDetectedMarkers(image, [self.corners], numpy.array([self.identifier]), color)
+            aruco.drawDetectedMarkers(image, [numpy.array([list(self.corners)])], numpy.array([self.identifier]), color)
 
         # Draw marker axes if pose has been estimated and if required
         if self.translation.size == 3 and self.rotation.size == 9 and draw_axes is not None:
diff --git a/src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py b/src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py
index 4a43965..df390b4 100644
--- a/src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py
+++ b/src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py
@@ -17,8 +17,7 @@ import re
 from argaze.ArUcoMarkers import ArUcoMarkersDictionary, ArUcoMarker, ArUcoOpticCalibrator
 
 import numpy
-import cv2 as cv
-import cv2.aruco as aruco
+import cv2
 
 T0 = numpy.array([0., 0., 0.])
 """Define no translation vector."""
@@ -58,37 +57,16 @@ def is_rotation_matrix(R):
 
     return n < 1e-3
 
-def make_euler_rotation_vector(R):
- 
-    assert(is_rotation_matrix(R))
- 
-    sy = math.sqrt(R[0,0] * R[0,0] +  R[1,0] * R[1,0])
- 
-    singular = sy < 1e-6
- 
-    if  not singular :
-        x = math.atan2(R[2,1] , R[2,2])
-        y = math.atan2(-R[2,0], sy)
-        z = math.atan2(R[1,0], R[0,0])
-    else :
-        x = math.atan2(-R[1,2], R[1,1])
-        y = math.atan2(-R[2,0], sy)
-        z = 0
- 
-    return numpy.array([numpy.rad2deg(x), numpy.rad2deg(y), numpy.rad2deg(z)])
-
 @dataclass(frozen=True)
 class Place():
-    """Define a place as a pose and a marker.
+    """Define a place as list of corners position and a marker.
 
     Parameters:
-        translation: position in group referential.
-        rotation: rotation in group referential.
+        corners: 3D corners position in group referential.
         marker: ArUco marker linked to the place.
     """
 
-    translation: numpy.array
-    rotation: numpy.array
+    corners: numpy.array
     marker: dict
 
 @dataclass
@@ -146,12 +124,16 @@ class ArUcoMarkersGroup():
 
                 new_marker = ArUcoMarker.ArUcoMarker(self.dictionary, identifier, self.marker_size)
 
-                new_places[identifier] = Place(tvec, rmat, new_marker)
+                # Build marker corners thanks to translation vector and rotation matrix
+                place_corners = numpy.array([[-self.marker_size/2, self.marker_size/2, 0], [self.marker_size/2, self.marker_size/2, 0], [self.marker_size/2, -self.marker_size/2, 0], [-self.marker_size/2, -self.marker_size/2, 0]])
+                place_corners = place_corners.dot(rmat) + tvec
+
+                new_places[identifier] = Place(place_corners, new_marker)
 
-            # else places are configured using detected markers
+            # else places are configured using detected markers estimated points
             elif isinstance(data, ArUcoMarker.ArUcoMarker):
 
-                new_places[identifier] = Place(data.translation, data.rotation, data)
+                new_places[identifier] = Place(data.points, data)
 
             # else places are already at expected format
             elif (type(identifier) == int) and isinstance(data, Place):
@@ -160,9 +142,6 @@ class ArUcoMarkersGroup():
 
         self.places = new_places
 
-        # Init place consistency
-        self.init_places_consistency()
-
     @classmethod
     def from_obj(self, obj_filepath: str) -> ArUcoMarkersGroupType:
         """Load ArUco markers group from .obj file.
@@ -264,28 +243,16 @@ class ArUcoMarkersGroup():
                 # Retreive marker vertices thanks to face vertice ids
                 for identifier, face in faces.items():
 
-                    # Gather place corners from counter clockwise ordered face vertices
-                    corners = numpy.array([ vertices[i-1] for i in face ])
-
-                    # Edit translation (Tp) allowing to move world axis (W) at place axis (P)
-                    Tp = corners.mean(axis=0)
+                    # Gather place corners in clockwise order
+                    cw_corners = numpy.array([ vertices[i-1] for i in reversed(face) ])
 
                     # Edit place axis from corners positions
-                    place_x_axis = corners[1:3].mean(axis=0) - Tp
+                    place_x_axis = cw_corners[1:3].mean(axis=0)
                     place_x_axis_norm = numpy.linalg.norm(place_x_axis)
-                    place_x_axis = place_x_axis / place_x_axis_norm
-
-                    place_y_axis = corners[2:4].mean(axis=0) - Tp
+  
+                    place_y_axis = cw_corners[2:4].mean(axis=0)
                     place_y_axis_norm = numpy.linalg.norm(place_y_axis)
-                    place_y_axis = place_y_axis / place_y_axis_norm
 
-                    place_z_axis = normals[identifier]
-
-                    # Edit rotation (Rp) allowing to transform world axis (W) into place axis (P)
-                    W = numpy.array([[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]])
-                    P = numpy.array([place_x_axis, place_y_axis, place_z_axis])
-                    Rp = W.dot(P.T)
-                    
                     # Check axis size: they should be almost equal
                     if math.isclose(place_x_axis_norm, place_y_axis_norm, rel_tol=1e-3):
 
@@ -302,7 +269,7 @@ class ArUcoMarkersGroup():
 
                     # Create a new place related to a new marker 
                     new_marker = ArUcoMarker.ArUcoMarker(new_dictionary, identifier, new_marker_size)
-                    new_places[identifier] = Place(Tp, Rp, new_marker)
+                    new_places[identifier] = Place(cw_corners, new_marker)
 
         except IOError:
             raise IOError(f'File not found: {obj_filepath}')
@@ -337,18 +304,7 @@ class ArUcoMarkersGroup():
         output += '\n\n\tPlaces:'
         for identifier, place in self.places.items():
             output += f'\n\t\t- {identifier}:'
-            output += f'\n{place.translation}'
-            output += f'\n{place.rotation}'
-
-        output += '\n\n\tAngle cache:'
-        for A_identifier, A_angle_cache in self.__rotation_cache.items():
-            for B_identifier, angle in A_angle_cache.items():
-                output += f'\n\t\t- {A_identifier}/{B_identifier}: [{angle[0]:3f} {angle[1]:3f} {angle[2]:3f}]'
-
-        output += '\n\n\tDistance cache:'
-        for A_identifier, A_distance_cache in self.__translation_cache.items():
-            for B_identifier, distance in A_distance_cache.items():
-                output += f'\n\t\t- {A_identifier}/{B_identifier}: {distance:3f}'
+            output += f'\n{place.corners}'
 
         return output
 
@@ -381,148 +337,22 @@ class ArUcoMarkersGroup():
 
         return group_markers, remaining_markers
 
-    def init_places_consistency(self):
-        """Initialize places consistency to speed up further markers consistency checking."""
-
-        # Process expected rotation between places combinations to speed up further calculations
-        self.__rotation_cache = {}
-        for (A_identifier, A_place), (B_identifier, B_place) in itertools.combinations(self.places.items(), 2):
-
-            A = self.places[A_identifier].rotation
-            B = self.places[B_identifier].rotation
-
-            if numpy.array_equal(A, B):
-
-                AB_rvec = [0., 0., 0.]
-                BA_rvec = [0., 0., 0.]
-
-            else:
-
-                # Calculate euler angle representation of AB and BA rotation matrix
-                AB_rvec = make_euler_rotation_vector(B.dot(A.T))
-                BA_rvec = make_euler_rotation_vector(A.dot(B.T))
-
-            try:
-                self.__rotation_cache[A_identifier][B_identifier] = AB_rvec
-            except:
-                self.__rotation_cache[A_identifier] = {B_identifier: AB_rvec}
-
-            try:
-                self.__rotation_cache[B_identifier][A_identifier] = BA_rvec
-            except:
-                self.__rotation_cache[B_identifier] = {A_identifier: BA_rvec}
-
-        # Process translation between each places combinations to speed up further calculations
-        self.__translation_cache = {}
-        for (A_identifier, A_place), (B_identifier, B_place) in itertools.combinations(self.places.items(), 2):
-
-            A = self.places[A_identifier].translation
-            B = self.places[B_identifier].translation
-
-            # Calculate translation between A and B position
-            AB_tvec = numpy.linalg.norm(B - A)
-
-            try:
-                self.__translation_cache[A_identifier][B_identifier] = AB_tvec
-            except:
-                self.__translation_cache[A_identifier] = {B_identifier: AB_tvec}
-
-            try:
-                self.__translation_cache[B_identifier][A_identifier] = AB_tvec
-            except:
-                self.__translation_cache[B_identifier] = {A_identifier: AB_tvec}
+    def estimate_pose_from_markers_corners(self, markers: dict, K: numpy.array, D: numpy.array) -> Tuple[bool, numpy.array, numpy.array]:
+        """Estimate pose from markers corners and places corners.
 
-    def check_markers_consistency(self, group_markers: dict, angle_tolerance: float, distance_tolerance: float) -> Tuple[dict, dict, dict]:
-        """Evaluate if given markers configuration match related places configuration.
+        Parameters:
+            markers: detected markers to use for pose estimation.
+            K: intrinsic camera parameters
+            D: camera distorsion matrix
 
         Returns:
-            dict of consistent markers
-            dict of unconsistent markers
-            dict of identified distance or angle unconsistencies and out-of-bounds values
+            success: True if the pose estimation succeeded
+            tvec: scene translation vector
+            rvec: scene rotation vector
         """
 
-        consistent_markers = {}
-        unconsistencies = {'rotation': {}, 'translation': {}}
-
-        for (A_identifier, A_marker), (B_identifier, B_marker) in itertools.combinations(group_markers.items(), 2):
-
-            try:
-
-                # Rotation matrix from A marker to B marker
-                AB = B_marker.rotation.dot(A_marker.rotation.T)
-
-                # Calculate euler angle representation of AB rotation matrix
-                AB_rvec = make_euler_rotation_vector(AB)
-                expected_rvec= self.__rotation_cache[A_identifier][B_identifier]
-
-                # Calculate distance between A marker center and B marker center
-                AB_tvec = numpy.linalg.norm(A_marker.translation - B_marker.translation)
-                expected_tvec = self.__translation_cache[A_identifier][B_identifier]
-
-                # Check angle and distance according given tolerance then normalise marker pose
-                consistent_rotation = numpy.allclose(AB_rvec, expected_rvec, atol=angle_tolerance)
-                consistent_translation = math.isclose(AB_tvec, expected_tvec, abs_tol=distance_tolerance)
-
-                if consistent_rotation and consistent_translation:
-
-                    if A_identifier not in consistent_markers.keys():
-
-                        # Remember this marker is already validated
-                        consistent_markers[A_identifier] = A_marker
-
-                    if B_identifier not in consistent_markers.keys():
-
-                        # Remember this marker is already validated
-                        consistent_markers[B_identifier] = B_marker
-
-                else:
-
-                    if not consistent_rotation:
-                        unconsistencies['rotation'][f'{A_identifier}/{B_identifier}'] = {'current': AB_rvec, 'expected': expected_rvec}
-                    
-                    if not consistent_translation:
-                        unconsistencies['translation'][f'{A_identifier}/{B_identifier}'] = {'current': AB_tvec, 'expected': expected_tvec}
-
-            except KeyError:
-
-                raise ValueError(f'Marker {A_identifier} or {B_identifier} don\'t belong to the group.')
-
-        # Gather unconsistent markers
-        unconsistent_markers = {}
-
-        for identifier, marker in group_markers.items():
-
-            if identifier not in consistent_markers.keys():
-
-                unconsistent_markers[identifier] = marker
-
-        return consistent_markers, unconsistent_markers, unconsistencies
-
-    def estimate_pose_from_single_marker(self, marker: ArUcoMarker.ArUcoMarker) -> Tuple[numpy.array, numpy.array]:
-        """Calculate rotation and translation that move a marker to its place."""
-
-        # Get the place related to the given marker
-        try:
-
-            place = self.places[marker.identifier]
-
-            # Rotation matrix that transform marker to related place
-            self._rotation = marker.rotation.dot(place.rotation.T)
-
-            # Translation vector that transform marker to related place
-            self._translation = marker.translation - place.translation.dot(place.rotation).dot(marker.rotation.T)
-
-            return self._translation, self._rotation
-
-        except KeyError:
-
-            raise ValueError(f'Marker {marker.identifier} doesn\'t belong to the group.')
-
-    def estimate_pose_from_markers(self, markers: dict) -> Tuple[numpy.array, numpy.array]:
-        """Calculate average rotation and translation that move markers to their related places."""
-
-        rotations = []
-        translations = []
+        markers_corners_2d = []
+        places_corners_3d = []
 
         for identifier, marker in markers.items():
 
@@ -530,72 +360,23 @@ class ArUcoMarkersGroup():
 
                 place = self.places[identifier]
 
-                # Rotation matrix that transform marker to related place
-                R = marker.rotation.dot(place.rotation.T)
-
-                # Translation vector that transform marker to related place
-                T = marker.translation - place.translation.dot(place.rotation).dot(marker.rotation.T)
+                for marker_corner in marker.corners:
+                    markers_corners_2d.append(list(marker_corner))
 
-                rotations.append(R)
-                translations.append(T)
+                for place_corner in place.corners:
+                    places_corners_3d.append(list(place_corner))
 
             except KeyError:
 
                 raise ValueError(f'Marker {marker.identifier} doesn\'t belong to the group.')
 
-        # Consider ArUcoMarkersGroup rotation as the mean of all marker rotations
-        # !!! WARNING !!! This is a bad hack : processing rotations average is a very complex problem that needs to well define the distance calculation method before.
-        self._rotation = numpy.mean(numpy.array(rotations), axis=0)
-
-        # Consider ArUcoMarkersGroup translation as the mean of all marker translations
-        self._translation = numpy.mean(numpy.array(translations), axis=0)
-
-        return self._translation, self._rotation
-
-    def estimate_pose_from_axis_markers(self, origin_marker: ArUcoMarker.ArUcoMarker, horizontal_axis_marker: ArUcoMarker.ArUcoMarker, vertical_axis_marker: ArUcoMarker.ArUcoMarker) -> Tuple[numpy.array, numpy.array]:
-        """Calculate rotation and translation from 3 markers defining an orthogonal axis."""
-
-        O_marker = origin_marker
-        A_marker = horizontal_axis_marker
-        B_marker = vertical_axis_marker
-
-        O_place = self.places[O_marker.identifier]
-        A_place = self.places[A_marker.identifier]
-        B_place = self.places[B_marker.identifier]
-
-        # Place axis
-        OA = A_place.translation - O_place.translation
-        OA = OA / numpy.linalg.norm(OA)
-
-        OB = B_place.translation - O_place.translation
-        OB = OB / numpy.linalg.norm(OB)
-
-        # Detect and correct bad place axis orientation
-        X_sign = numpy.sign(OA)[0]
-        Y_sign = numpy.sign(OB)[1]
-
-        P = numpy.array([OA*X_sign, OB*Y_sign, numpy.cross(OA*X_sign, OB*Y_sign)])
-
-        # Marker axis
-        OA = A_marker.translation - O_marker.translation
-        OA = OA / numpy.linalg.norm(OA)
-
-        OB = B_marker.translation - O_marker.translation
-        OB = OB / numpy.linalg.norm(OB)
-
-        # Detect and correct bad place axis orientation
-        X_sign = numpy.sign(OA)[0]
-        Y_sign = -numpy.sign(OB)[1]
-
-        M = numpy.array([OA*X_sign, OB*Y_sign, numpy.cross(OA*X_sign, OB*Y_sign)])
-
-        # Then estimate ArUcoMarkersGroup rotation
-        self._rotation = P.dot(M.T)
+        # Solve
+        success, rvec, tvec = cv2.solvePnP(numpy.array(places_corners_3d), numpy.array(markers_corners_2d), numpy.array(K), numpy.array(D), flags=0)
 
-        # Consider ArUcoMarkersGroup translation as the translation of the marker at axis origin
-        self._translation = O_marker.translation - O_place.translation.dot(O_place.rotation).dot(M.T)
+        self._translation = tvec.T
+        self._rotation = rvec.T
 
-        return self._translation, self._rotation
+        return success, self._translation, self._rotation
 
     @property
     def translation(self) -> numpy.array:
@@ -624,15 +405,15 @@ class ArUcoMarkersGroup():
 
         try:
             axisPoints = numpy.float32([[length, 0, 0], [0, length, 0], [0, 0, length], [0, 0, 0]]).reshape(-1, 3)
-            axisPoints, _ = cv.projectPoints(axisPoints, self._rotation, self._translation, numpy.array(K), numpy.array(D))
+            axisPoints, _ = cv2.projectPoints(axisPoints, self._rotation, self._translation, numpy.array(K), numpy.array(D))
             axisPoints = axisPoints.astype(int)
 
-            cv.line(image, tuple(axisPoints[3].ravel()), tuple(axisPoints[0].ravel()), (0, 0, 255), thickness) # X (red)
-            cv.line(image, tuple(axisPoints[3].ravel()), tuple(axisPoints[1].ravel()), (0, 255, 0), thickness) # Y (green)
-            cv.line(image, tuple(axisPoints[3].ravel()), tuple(axisPoints[2].ravel()), (255, 0, 0), thickness) # Z (blue)
+            cv2.line(image, tuple(axisPoints[3].ravel()), tuple(axisPoints[0].ravel()), (0, 0, 255), thickness) # X (red)
+            cv2.line(image, tuple(axisPoints[3].ravel()), tuple(axisPoints[1].ravel()), (0, 255, 0), thickness) # Y (green)
+            cv2.line(image, tuple(axisPoints[3].ravel()), tuple(axisPoints[2].ravel()), (255, 0, 0), thickness) # Z (blue)
 
         # Ignore errors due to out of field axis: their coordinate are larger than int32 limitations.
-        except cv.error:
+        except cv2.error:
             pass
 
     def draw_places(self, image: numpy.array, K, D, color: tuple = None, border_size: int = 0):
@@ -648,16 +429,16 @@ class ArUcoMarkersGroup():
                 R = self.places[identifier].rotation
 
                 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))
+                placePoints, _ = cv2.projectPoints(placePoints, self._rotation, self._translation, numpy.array(K), numpy.array(D))
                 placePoints = placePoints.astype(int)
                 
-                cv.line(image, tuple(placePoints[0].ravel()), tuple(placePoints[1].ravel()), color, border_size)
-                cv.line(image, tuple(placePoints[1].ravel()), tuple(placePoints[2].ravel()), color, border_size)
-                cv.line(image, tuple(placePoints[2].ravel()), tuple(placePoints[3].ravel()), color, border_size)
-                cv.line(image, tuple(placePoints[3].ravel()), tuple(placePoints[0].ravel()), color, border_size)
+                cv2.line(image, tuple(placePoints[0].ravel()), tuple(placePoints[1].ravel()), color, border_size)
+                cv2.line(image, tuple(placePoints[1].ravel()), tuple(placePoints[2].ravel()), color, border_size)
+                cv2.line(image, tuple(placePoints[2].ravel()), tuple(placePoints[3].ravel()), color, border_size)
+                cv2.line(image, tuple(placePoints[3].ravel()), tuple(placePoints[0].ravel()), color, border_size)
 
             # Ignore errors due to out of field places: their coordinate are larger than int32 limitations.
-            except cv.error:
+            except cv2.error:
                 pass
 
     def draw_places_axes(self, image: numpy.array, K, D, thickness: int = 0, length: float = 0):
@@ -671,15 +452,15 @@ class ArUcoMarkersGroup():
                 R = self.places[identifier].rotation
 
                 axisPoints = (T + numpy.float32([R.dot([length, 0, 0]), R.dot([0, length, 0]), R.dot([0, 0, length]), R.dot([0, 0, 0])])).reshape(-1, 3)
-                axisPoints, _ = cv.projectPoints(axisPoints, self._rotation, self._translation, numpy.array(K), numpy.array(D))
+                axisPoints, _ = cv2.projectPoints(axisPoints, self._rotation, self._translation, numpy.array(K), numpy.array(D))
                 axisPoints = axisPoints.astype(int)
 
-                cv.line(image, tuple(axisPoints[3].ravel()), tuple(axisPoints[0].ravel()), (0, 0, 255), thickness) # X (red)
-                cv.line(image, tuple(axisPoints[3].ravel()), tuple(axisPoints[1].ravel()), (0, 255, 0), thickness) # Y (green)
-                cv.line(image, tuple(axisPoints[3].ravel()), tuple(axisPoints[2].ravel()), (255, 0, 0), thickness) # Z (blue)
+                cv2.line(image, tuple(axisPoints[3].ravel()), tuple(axisPoints[0].ravel()), (0, 0, 255), thickness) # X (red)
+                cv2.line(image, tuple(axisPoints[3].ravel()), tuple(axisPoints[1].ravel()), (0, 255, 0), thickness) # Y (green)
+                cv2.line(image, tuple(axisPoints[3].ravel()), tuple(axisPoints[2].ravel()), (255, 0, 0), thickness) # Z (blue)
                 
             # Ignore errors due to out of field places: their coordinate are larger than int32 limitations.
-            except cv.error:
+            except cv2.error:
                 pass
 
     def draw(self, image: numpy.array, K, D, draw_axes: dict = None, draw_places: dict = None, draw_places_axes: dict = None):
diff --git a/src/argaze/ArUcoMarkers/ArUcoScene.py b/src/argaze/ArUcoMarkers/ArUcoScene.py
index f6b303a..b8b9cfd 100644
--- a/src/argaze/ArUcoMarkers/ArUcoScene.py
+++ b/src/argaze/ArUcoMarkers/ArUcoScene.py
@@ -96,14 +96,13 @@ class ArUcoScene(ArFeatures.ArScene):
 		# Create new aruco scene using temporary ar scene values
 		return ArUcoScene(aruco_markers_group=new_aruco_markers_group, **temp_ar_scene_values)
 	
-	def estimate_pose(self, detected_markers) -> Tuple[numpy.array, numpy.array, str, dict]:
+	def estimate_pose(self, detected_markers) -> Tuple[numpy.array, numpy.array, dict]:
 		"""Estimate scene pose from detected ArUco markers.
 
 		Returns:
-				scene translation vector
-				scene rotation matrix
-				pose estimation strategy
-				dict of markers used to estimate the pose
+			scene translation vector
+			scene rotation matrix
+			dict of markers used to estimate the pose
 		"""
 
 		# Pose estimation fails when no marker is detected
@@ -118,26 +117,14 @@ class ArUcoScene(ArFeatures.ArScene):
 
 			raise ArFeatures.PoseEstimationFailed('No marker belongs to the scene')
 
-		# Estimate scene pose from unique marker transformations
-		elif len(scene_markers) == 1:
+		# 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)
 
-			marker_id, marker = scene_markers.popitem()
-			tvec, rmat = self.aruco_markers_group.estimate_pose_from_single_marker(marker)
-			
-			return tvec, rmat, 'estimate_pose_from_single_marker', {marker_id: marker}
+		if not success:
 
-		# Otherwise, check markers consistency
-		consistent_markers, unconsistent_markers, unconsistencies = self.aruco_markers_group.check_markers_consistency(scene_markers, self.angle_tolerance, self.distance_tolerance)
+			raise ArFeatures.PoseEstimationFailed('Can\'t estimate pose from markers corners positions')
 
-		# Pose estimation fails when no marker passes consistency checking
-		if len(consistent_markers) == 0:
-
-			raise ArFeatures.PoseEstimationFailed('Unconsistent marker poses', unconsistencies)
-
-		# Otherwise, estimate scene pose from all consistent markers pose
-		tvec, rmat = self.aruco_markers_group.estimate_pose_from_markers(consistent_markers)
-
-		return tvec, rmat, 'estimate_pose_from_markers', consistent_markers
+		return tvec, rmat, scene_markers
 
 	def draw(self, image: numpy.array, draw_aruco_markers_group: dict = None):
 		"""
-- 
cgit v1.1


From a1ee2b893cce70ba03fbba1c12d9d0829e3e9632 Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Thu, 12 Oct 2023 21:26:27 +0200
Subject: Adding estimate_markers_pose method to ArUcoDetector.

---
 src/argaze/ArUcoMarkers/ArUcoDetector.py | 36 ++++++++++++++++++++++++++++++++
 1 file changed, 36 insertions(+)

(limited to 'src')

diff --git a/src/argaze/ArUcoMarkers/ArUcoDetector.py b/src/argaze/ArUcoMarkers/ArUcoDetector.py
index f178a20..01527a1 100644
--- a/src/argaze/ArUcoMarkers/ArUcoDetector.py
+++ b/src/argaze/ArUcoMarkers/ArUcoDetector.py
@@ -302,6 +302,42 @@ class ArUcoDetector():
 
         return detection_time
 
+    def estimate_markers_pose(self, markers_ids: list = []):
+        """Estimate pose of current detected markers or of given markers id list."""
+
+        # Is there detected markers ?
+        if len(self.__detected_markers) > 0:
+
+            # Select all markers by default
+            if len(markers_ids) == 0:
+
+                markers_ids = self.__detected_markers.keys()
+
+            # Prepare data for aruco.estimatePoseSingleMarkers function
+            selected_markers_corners = tuple()
+            selected_markers_ids = []
+
+            for marker_id, marker in self.__detected_markers.items():
+
+                if marker_id in markers_ids:
+
+                    selected_markers_corners += (marker.corners,)
+                    selected_markers_ids.append(marker_id)
+
+            # Estimate pose of selected markers
+            if len(selected_markers_corners) > 0:
+
+                markers_rvecs, markers_tvecs, markers_points = aruco.estimatePoseSingleMarkers(selected_markers_corners, self.marker_size, numpy.array(self.optic_parameters.K), numpy.array(self.optic_parameters.D))
+
+                for i, marker_id in enumerate(selected_markers_ids):
+
+                    marker = self.__detected_markers[marker_id]
+
+                    marker.translation = markers_tvecs[i][0]
+                    marker.rotation, _ = cv.Rodrigues(markers_rvecs[i][0])
+
+                    marker.points = markers_points.reshape(4, 3).dot(marker.rotation) + marker.translation
+
     @property
     def detected_markers(self) -> dict[ArUcoMarkerType]:
         """Access to detected markers dictionary."""
-- 
cgit v1.1


From 673c21df7f231f5acd05311445686d0e521d5e7a Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Thu, 12 Oct 2023 21:26:59 +0200
Subject: minor annotation change.

---
 src/argaze/ArUcoMarkers/ArUcoMarker.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

(limited to 'src')

diff --git a/src/argaze/ArUcoMarkers/ArUcoMarker.py b/src/argaze/ArUcoMarkers/ArUcoMarker.py
index f088dae..0f368f6 100644
--- a/src/argaze/ArUcoMarkers/ArUcoMarker.py
+++ b/src/argaze/ArUcoMarkers/ArUcoMarker.py
@@ -29,7 +29,7 @@ class ArUcoMarker():
     """Size of marker in centimeters."""
 
     corners: numpy.array = field(init=False, repr=False)
-    """Estimated 2D corner positions in camera image referential."""
+    """Estimated 2D corners position in camera image referential."""
 
     translation: numpy.array = field(init=False, repr=False)
     """Estimated 3D center position in camera world referential."""
-- 
cgit v1.1


From f26058148061f80eb4bb3fe16d6a24c910bf8bd5 Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Thu, 12 Oct 2023 21:27:31 +0200
Subject: Fixing ArUcoMarkersGroup.to_obj method.

---
 src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py | 22 ++++++++++------------
 1 file changed, 10 insertions(+), 12 deletions(-)

(limited to 'src')

diff --git a/src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py b/src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py
index df390b4..bedd408 100644
--- a/src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py
+++ b/src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py
@@ -497,26 +497,24 @@ class ArUcoMarkersGroup():
 
             v_count = 0
 
-            for identifier, place in self.places.items():
+            for p, (identifier, place) in enumerate(self.places.items()):
 
                 file.write(f'o {self.dictionary.name}#{identifier}_Marker\n')
 
                 vertices = ''
 
-                T = place.translation
-                R = place.rotation
-
-                points = (T + numpy.float32([R.dot(place.marker.points[0]), R.dot(place.marker.points[1]), R.dot(place.marker.points[2]), R.dot(place.marker.points[3])])).reshape(-1, 3)
-
-                print(points)
-
                 # Write vertices in reverse order
-                for i in [3, 2, 1, 0]:
+                for v in [3, 2, 1, 0]:
 
-                    file.write(f'v {" ".join(map(str, points[i]))}\n')
+                    file.write(f'v {" ".join(map(str, place.corners[v]))}\n')
                     v_count += 1
 
-                    vertices += f' {v_count}'
+                    vertices += f' {v_count}//{p+1}'
+
+                # Write normal vector
+                nvec = numpy.cross(place.corners[-1] - place.corners[0], place.corners[1] - place.corners[0])
+                nvec = nvec / numpy.linalg.norm(nvec)
+                file.write(f'vn {nvec[0]} {nvec[1]} {nvec[2]}\n')
 
-                file.write('s off\n')
+                #file.write('s off\n')
                 file.write(f'f{vertices}\n')
-- 
cgit v1.1


From a2960562b3a66f610d8d7d8e80faedc2fff024b8 Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Mon, 16 Oct 2023 12:19:05 +0200
Subject: Improving DeviationcircleCoverage module. Outputting probabilities
 instead of coverages values.

---
 src/argaze/GazeAnalysis/DeviationCircleCoverage.py | 27 +++++++++++-----------
 1 file changed, 14 insertions(+), 13 deletions(-)

(limited to 'src')

diff --git a/src/argaze/GazeAnalysis/DeviationCircleCoverage.py b/src/argaze/GazeAnalysis/DeviationCircleCoverage.py
index f57d432..acc0665 100644
--- a/src/argaze/GazeAnalysis/DeviationCircleCoverage.py
+++ b/src/argaze/GazeAnalysis/DeviationCircleCoverage.py
@@ -33,8 +33,8 @@ class AOIMatcher(GazeFeatures.AOIMatcher):
 
         self.__look_count = 0
         self.__looked_aoi_data = (None, None)
+        self.__looked_probabilities = {}
         self.__circle_ratio_sum = {}
-        self.__aoi_coverages = {}
         self.__matched_gaze_movement = None
         self.__matched_region = None
 
@@ -54,7 +54,7 @@ class AOIMatcher(GazeFeatures.AOIMatcher):
                 # BAD: we use deviation_max attribute which is an attribute of DispersionThresholdIdentification.Fixation class
                 region, _, circle_ratio = aoi.circle_intersection(gaze_movement.focus, gaze_movement.deviation_max)
 
-                if name not in self.exclude and circle_ratio > 0:
+                if name not in self.exclude and circle_ratio > self.coverage_threshold:
 
                     # Sum circle ratio to update aoi coverage
                     try:
@@ -78,15 +78,15 @@ class AOIMatcher(GazeFeatures.AOIMatcher):
                 # Update looked aoi data
                 self.__looked_aoi_data = most_likely_looked_aoi_data
 
-                # Calculate looked aoi circle ratio means
-                self.__aoi_coverages = {}
+                # Calculate circle ratio means as looked probabilities
+                self.__looked_probabilities = {}
 
                 for aoi_name, circle_ratio_sum in self.__circle_ratio_sum.items():
 
                     circle_ratio_mean = circle_ratio_sum / self.__look_count
 
-                    # filter circle ration mean greater than 1
-                    self.__aoi_coverages[aoi_name] = circle_ratio_mean if circle_ratio_mean < 1 else 1
+                    # Avoid probability greater than 1
+                    self.__looked_probabilities[aoi_name] = circle_ratio_mean if circle_ratio_mean < 1 else 1
 
                 # Update matched gaze movement
                 self.__matched_gaze_movement = gaze_movement
@@ -95,9 +95,7 @@ class AOIMatcher(GazeFeatures.AOIMatcher):
                 self.__matched_region = matched_region
 
                 # Return
-                if self.__aoi_coverages[most_likely_looked_aoi_data[0]] > self.coverage_threshold:
-
-                    return self.__looked_aoi_data
+                return self.__looked_aoi_data
 
         elif GazeFeatures.is_saccade(gaze_movement):
 
@@ -173,8 +171,11 @@ class AOIMatcher(GazeFeatures.AOIMatcher):
         return self.__looked_aoi_data[0]
 
     @property
-    def aoi_coverages(self) -> dict:
-        """Get all aoi coverage means for current fixation. 
-        It represents the ratio of fixation deviation circle surface that used to cover the aoi."""
+    def looked_probabilities(self) -> dict:
+        """Get probabilities to be looked by current fixation for each aoi.
+
+        !!! note 
+            aoi where fixation deviation circle never passed the coverage threshold will be missing.
+        """
 
-        return self.__aoi_coverages
\ No newline at end of file
+        return self.__looked_probabilities
\ No newline at end of file
-- 
cgit v1.1


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(+)

(limited to 'src')

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)
 
-- 
cgit v1.1


From 0835382b4b12652e23dcebe2456431c3e625dc3a Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Mon, 16 Oct 2023 19:32:15 +0200
Subject: Fixing marker size guessing.

---
 src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

(limited to 'src')

diff --git a/src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py b/src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py
index bedd408..d30a730 100644
--- a/src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py
+++ b/src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py
@@ -247,16 +247,16 @@ class ArUcoMarkersGroup():
                     cw_corners = numpy.array([ vertices[i-1] for i in reversed(face) ])
 
                     # Edit place axis from corners positions
-                    place_x_axis = cw_corners[1:3].mean(axis=0)
+                    place_x_axis = cw_corners[2] - cw_corners[3]
                     place_x_axis_norm = numpy.linalg.norm(place_x_axis)
   
-                    place_y_axis = cw_corners[2:4].mean(axis=0)
+                    place_y_axis = cw_corners[0] - cw_corners[3]
                     place_y_axis_norm = numpy.linalg.norm(place_y_axis)
 
                     # Check axis size: they should be almost equal
                     if math.isclose(place_x_axis_norm, place_y_axis_norm, rel_tol=1e-3):
 
-                        current_marker_size = place_x_axis_norm*2
+                        current_marker_size = place_x_axis_norm
 
                         # Check that all markers size are almost equal
                         if new_marker_size > 0:
-- 
cgit v1.1


From 4c9abeb88568d3725f47ecd1a47ddf74767157e2 Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Mon, 16 Oct 2023 22:37:03 +0200
Subject: Using SolvePnP with flag 3.

---
 src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

(limited to 'src')

diff --git a/src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py b/src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py
index d30a730..dddead4 100644
--- a/src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py
+++ b/src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py
@@ -371,7 +371,7 @@ class ArUcoMarkersGroup():
                 raise ValueError(f'Marker {marker.identifier} doesn\'t belong to the group.')
 
         # Solve
-        success, rvec, tvec = cv2.solvePnP(numpy.array(places_corners_3d), numpy.array(markers_corners_2d), numpy.array(K), numpy.array(D), flags=0)
+        success, rvec, tvec = cv2.solvePnP(numpy.array(places_corners_3d), numpy.array(markers_corners_2d), numpy.array(K), numpy.array(D), flags=3)
 
         self._translation = tvec.T
         self._rotation = rvec.T
-- 
cgit v1.1


From 9c6f43140bbe9a387e74a725843914439bd5c1fc Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Tue, 17 Oct 2023 08:47:41 +0200
Subject: Adding annotation.

---
 src/argaze/ArUcoMarkers/ArUcoDetector.py | 3 +++
 1 file changed, 3 insertions(+)

(limited to 'src')

diff --git a/src/argaze/ArUcoMarkers/ArUcoDetector.py b/src/argaze/ArUcoMarkers/ArUcoDetector.py
index 01527a1..51f8366 100644
--- a/src/argaze/ArUcoMarkers/ArUcoDetector.py
+++ b/src/argaze/ArUcoMarkers/ArUcoDetector.py
@@ -260,6 +260,9 @@ class ArUcoDetector():
         !!! danger "DON'T MIRROR IMAGE"
             It makes the markers detection to fail.
 
+        !!! danger "DON'T UNDISTORED IMAGE"
+            Camera intrisic parameters and distorsion coefficients are used later during pose estimation.
+
         Returns:
             detection time: marker detection time in ms.
         """
-- 
cgit v1.1


From 3934f14dbab4206d091f07dd29bf3ad3dfb9b787 Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Tue, 17 Oct 2023 09:14:11 +0200
Subject: Adding useAruco3Detection as possible parameters.

---
 src/argaze/ArUcoMarkers/ArUcoDetector.py     |  3 ++-
 src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py | 11 +++++++++--
 2 files changed, 11 insertions(+), 3 deletions(-)

(limited to 'src')

diff --git a/src/argaze/ArUcoMarkers/ArUcoDetector.py b/src/argaze/ArUcoMarkers/ArUcoDetector.py
index 51f8366..e62a42e 100644
--- a/src/argaze/ArUcoMarkers/ArUcoDetector.py
+++ b/src/argaze/ArUcoMarkers/ArUcoDetector.py
@@ -72,7 +72,8 @@ class DetectorParameters():
         'minOtsuStdDev',
         'perspectiveRemoveIgnoredMarginPerCell',
         'perspectiveRemovePixelPerCell',
-        'polygonalApproxAccuracyRate'
+        'polygonalApproxAccuracyRate',
+        'useAruco3Detection'
     ]
 
     def __init__(self, **kwargs):
diff --git a/src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py b/src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py
index dddead4..8600690 100644
--- a/src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py
+++ b/src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py
@@ -370,8 +370,15 @@ class ArUcoMarkersGroup():
 
                 raise ValueError(f'Marker {marker.identifier} doesn\'t belong to the group.')
 
-        # Solve
-        success, rvec, tvec = cv2.solvePnP(numpy.array(places_corners_3d), numpy.array(markers_corners_2d), numpy.array(K), numpy.array(D), flags=3)
+        # SolvPnP using cv2.SOLVEPNP_SQPNP flag
+        # TODO: it works also with cv2.SOLVEPNP_EPNP flag so we need to test which is the faster.
+        # About SolvPnP flags: https://docs.opencv.org/4.x/d5/d1f/calib3d_solvePnP.html
+        success, rvec, tvec = cv2.solvePnP(numpy.array(places_corners_3d), numpy.array(markers_corners_2d), numpy.array(K), numpy.array(D), flags=cv2.SOLVEPNP_SQPNP)
+
+        # Refine pose estimation using Gauss-Newton optimisation
+        #if success :
+
+            #rvec, tvec = cv2.solvePnPRefineVVS(numpy.array(places_corners_3d), numpy.array(markers_corners_2d), numpy.array(K), numpy.array(D), rvec, tvec)
 
         self._translation = tvec.T
         self._rotation = rvec.T
-- 
cgit v1.1


From 77914e2aa25623a237a58b7c80f712129cbb2b55 Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Tue, 17 Oct 2023 09:15:51 +0200
Subject: Uncommenting pose estimation optimisation

---
 src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

(limited to 'src')

diff --git a/src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py b/src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py
index 8600690..edae927 100644
--- a/src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py
+++ b/src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py
@@ -376,9 +376,9 @@ class ArUcoMarkersGroup():
         success, rvec, tvec = cv2.solvePnP(numpy.array(places_corners_3d), numpy.array(markers_corners_2d), numpy.array(K), numpy.array(D), flags=cv2.SOLVEPNP_SQPNP)
 
         # Refine pose estimation using Gauss-Newton optimisation
-        #if success :
+        if success :
 
-            #rvec, tvec = cv2.solvePnPRefineVVS(numpy.array(places_corners_3d), numpy.array(markers_corners_2d), numpy.array(K), numpy.array(D), rvec, tvec)
+            rvec, tvec = cv2.solvePnPRefineVVS(numpy.array(places_corners_3d), numpy.array(markers_corners_2d), numpy.array(K), numpy.array(D), rvec, tvec)
 
         self._translation = tvec.T
         self._rotation = rvec.T
-- 
cgit v1.1


From 1d46c5816ba603105dfaa1b5a79f3a167fdc99d8 Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Tue, 17 Oct 2023 12:56:41 +0200
Subject: Adding GazePositionCalibrator class. Adding LinearRegression module.

---
 src/argaze/GazeAnalysis/LinearRegression.py | 80 +++++++++++++++++++++++++++++
 src/argaze/GazeAnalysis/__init__.py         |  2 +-
 src/argaze/GazeFeatures.py                  | 56 ++++++++++++++++++++
 3 files changed, 137 insertions(+), 1 deletion(-)
 create mode 100644 src/argaze/GazeAnalysis/LinearRegression.py

(limited to 'src')

diff --git a/src/argaze/GazeAnalysis/LinearRegression.py b/src/argaze/GazeAnalysis/LinearRegression.py
new file mode 100644
index 0000000..5a92048
--- /dev/null
+++ b/src/argaze/GazeAnalysis/LinearRegression.py
@@ -0,0 +1,80 @@
+#!/usr/bin/env python
+
+"""Module for gaze position calibration based on linear regression.
+"""
+
+__author__ = "Théo de la Hogue"
+__credits__ = []
+__copyright__ = "Copyright 2023, Ecole Nationale de l'Aviation Civile (ENAC)"
+__license__ = "BSD"
+
+from typing import TypeVar, Tuple
+from dataclasses import dataclass, field
+
+from argaze import GazeFeatures
+
+from sklearn.linear_model import LinearRegression
+import numpy
+import cv2
+
+GazePositionType = TypeVar('GazePositionType', bound="GazePositionType")
+# Type definition for type annotation convenience
+
+@dataclass
+class GazePositionCalibrator(GazeFeatures.GazePositionCalibrator):
+    """Calibration algorithm based on linear regression."""
+
+    coefficients: numpy.array = field(default_factory=lambda : numpy.array([[1., 0.], [0., 1.]]))
+    """Linear regression coefficients"""
+
+    intercept: numpy.array = field(default_factory=lambda : numpy.array([0., 0.]))
+    """Linear regression intercept value"""
+
+    def __post_init__(self):
+        """Init calibration data."""
+
+        self.reset()
+
+    def store(self, timestamp: int|float, observed_gaze_position: GazeFeatures.GazePosition, expected_gaze_position: GazeFeatures.GazePosition):
+        """Store observed and expected gaze positions."""
+
+        self.__observed_positions.append(observed_gaze_position.value)
+        self.__expected_positions.append(expected_gaze_position.value)
+
+    def reset(self):
+        """Reset observed and expected gaze positions."""
+
+        self.__observed_positions = []
+        self.__expected_positions = []
+        self.__linear_regression = None
+
+    def calibrate(self) -> float:
+        """Process calibration from observed and expected gaze positions.
+
+        Returns:
+            score: the score of linear regression
+        """
+
+        self.__linear_regression = LinearRegression().fit(self.__observed_positions, self.__expected_positions)
+
+        return self.__linear_regression.score(self.__observed_positions, self.__expected_positions)
+
+    def apply(self, gaze_position: GazeFeatures.GazePosition) -> GazePositionType:
+        """Apply calibration onto observed gaze position."""
+
+        return GazeFeatures.GazePosition(self.__linear_regression.predict(numpy.array([gaze_position.value]))[0], precision=gaze_position.precision)
+
+    def draw(self, image: numpy.array):
+        """Draw calibration into image.
+        
+        Parameters:
+            image: where to draw
+        """
+
+        raise NotImplementedError('draw() method not implemented')
+
+    @property
+    def ready(self) -> bool:
+        """Is the calibrator ready?"""
+
+        return self.__linear_regression is not None
\ No newline at end of file
diff --git a/src/argaze/GazeAnalysis/__init__.py b/src/argaze/GazeAnalysis/__init__.py
index 62e0823..c110eb1 100644
--- a/src/argaze/GazeAnalysis/__init__.py
+++ b/src/argaze/GazeAnalysis/__init__.py
@@ -1,4 +1,4 @@
 """
 Various gaze movement identification, AOI matching and scan path analysis algorithms.
 """
-__all__ = ['Basic', 'DispersionThresholdIdentification', 'VelocityThresholdIdentification', 'TransitionMatrix', 'KCoefficient', 'LempelZivComplexity', 'NGram', 'Entropy', 'NearestNeighborIndex', 'ExploreExploitRatio']
\ No newline at end of file
+__all__ = ['Basic', 'DispersionThresholdIdentification', 'VelocityThresholdIdentification', 'TransitionMatrix', 'KCoefficient', 'LempelZivComplexity', 'NGram', 'Entropy', 'NearestNeighborIndex', 'ExploreExploitRatio', 'LinearRegression']
\ No newline at end of file
diff --git a/src/argaze/GazeFeatures.py b/src/argaze/GazeFeatures.py
index bd1a3da..b918256 100644
--- a/src/argaze/GazeFeatures.py
+++ b/src/argaze/GazeFeatures.py
@@ -201,6 +201,62 @@ class TimeStampedGazePositions(DataStructures.TimeStampedBuffer):
 
         return TimeStampedGazePositions(df.to_dict('index'))
 
+@dataclass
+class GazePositionCalibrator():
+    """Abstract class to define what should provide a gaze position calibrator algorithm."""
+
+    def store(self, timestamp: int|float, observed_gaze_position: GazePosition, expected_gaze_position: GazePosition):
+        """Store observed and expected gaze positions.
+
+        Parameters:
+            timestamp: time of observed gaze position
+            observed_gaze_position: where gaze position actually is
+            expected_gaze_position: where gaze position should be
+        """
+
+        raise NotImplementedError('calibrate() method not implemented')
+
+    def reset(self):
+        """Reset observed and expected gaze positions."""
+
+        raise NotImplementedError('reset() method not implemented')
+
+    def calibrate(self) -> Any:
+        """Process calibration from observed and expected gaze positions.
+
+        Returns:
+            calibration outputs: any data returned to assess calibration
+        """
+
+        raise NotImplementedError('terminate() method not implemented')
+
+    def apply(self, observed_gaze_position: GazePosition) -> GazePositionType:
+        """Apply calibration onto observed gaze position.
+
+        Parameters:
+            observed_gaze_position: where gaze position actually is
+
+        Returns:
+            expected_gaze_position: where gaze position should be
+        """
+
+        raise NotImplementedError('process() method not implemented')
+
+    def draw(self, image: numpy.array):
+        """Draw calibration into image.
+        
+        Parameters:
+            image: where to draw
+        """
+
+        raise NotImplementedError('draw() method not implemented')
+
+    @property
+    def ready(self) -> bool:
+        """Is the calibrator ready?"""
+
+        raise NotImplementedError('ready getter not implemented')
+
 GazeMovementType = TypeVar('GazeMovement', bound="GazeMovement")
 # Type definition for type annotation convenience
 
-- 
cgit v1.1


From 322fa8af22f8880d58506fc18f4205ac4d3f937a Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Tue, 17 Oct 2023 15:58:55 +0200
Subject: adding gaze_position_calibrator to ArFrame.

---
 src/argaze/ArFeatures.py                    | 40 +++++++++++++++++++++++++----
 src/argaze/GazeAnalysis/LinearRegression.py | 27 ++++++++++++++-----
 src/argaze/GazeFeatures.py                  | 19 +++++++++-----
 3 files changed, 69 insertions(+), 17 deletions(-)

(limited to 'src')

diff --git a/src/argaze/ArFeatures.py b/src/argaze/ArFeatures.py
index a1c7349..cb1b2f6 100644
--- a/src/argaze/ArFeatures.py
+++ b/src/argaze/ArFeatures.py
@@ -523,7 +523,8 @@ class ArFrame():
 
 	Parameters:
 		name: name of the frame
-		size: defines the dimension of the rectangular area where gaze positions are projected.
+		size: defines the dimension of the rectangular area where gaze positions are projected
+		gaze_position_calibrator: gaze position calibration algoritm
 		gaze_movement_identifier: gaze movement identification algorithm
 		filter_in_progress_identification: ignore in progress gaze movement identification
 		scan_path: scan path object
@@ -537,6 +538,7 @@ class ArFrame():
 
 	name: str
 	size: tuple[int] = field(default=(1, 1))
+	gaze_position_calibrator: GazeFeatures.GazePositionCalibrator = field(default_factory=GazeFeatures.GazePositionCalibrator)
 	gaze_movement_identifier: GazeFeatures.GazeMovementIdentifier = field(default_factory=GazeFeatures.GazeMovementIdentifier)
 	filter_in_progress_identification: bool = field(default=True)
 	scan_path: GazeFeatures.ScanPath = field(default_factory=GazeFeatures.ScanPath)
@@ -600,6 +602,24 @@ class ArFrame():
 
 			new_frame_size = (0, 0)
 
+		# Load gaze position calibrator
+		try:
+
+			gaze_position_calibrator_value = frame_data.pop('gaze_position_calibrator')
+
+			gaze_position_calibrator_module_path, gaze_position_calibrator_parameters = gaze_position_calibrator_value.popitem()
+
+			# Prepend argaze.GazeAnalysis path when a single name is provided
+			if len(gaze_position_calibrator_module_path.split('.')) == 1:
+				gaze_position_calibrator_module_path = f'argaze.GazeAnalysis.{gaze_position_calibrator_module_path}'
+
+			gaze_position_calibrator_module = importlib.import_module(gaze_position_calibrator_module_path)
+			new_gaze_position_calibrator = gaze_position_calibrator_module.GazePositionCalibrator(**gaze_position_calibrator_parameters)
+
+		except KeyError:
+
+			new_gaze_position_calibrator = None
+
 		# Load gaze movement identifier
 		try:
 
@@ -756,6 +776,7 @@ class ArFrame():
 		# Create frame
 		return ArFrame(new_frame_name, \
 						new_frame_size, \
+						new_gaze_position_calibrator, \
 						new_gaze_movement_identifier, \
 						filter_in_progress_identification, \
 						new_scan_path, \
@@ -815,6 +836,7 @@ class ArFrame():
 			gaze_position: gaze position to project
 
 		Returns:
+			current_gaze_position: calibrated gaze position if gaze_position_calibrator is instanciated else, given gaze position.
 			identified_gaze_movement: identified gaze movement from incoming consecutive timestamped gaze positions if gaze_movement_identifier is instanciated. Current gaze movement if filter_in_progress_identification is False.
 			scan_path_analysis: scan path analysis at each new scan step if scan_path is instanciated.
 			layers_analysis: aoi scan path analysis at each new aoi scan step for each instanciated layers aoi scan path.
@@ -828,9 +850,6 @@ class ArFrame():
 		# Store look execution start date
 		look_start = time.perf_counter()
 
-		# Update current gaze position
-		self.__gaze_position = gaze_position
-
 		# No gaze movement identified by default
 		identified_gaze_movement = GazeFeatures.UnvalidGazeMovement()
 
@@ -853,6 +872,16 @@ class ArFrame():
 
 		try:
 
+			# Apply gaze position calibration
+			if self.gaze_position_calibrator is not None:
+
+				self.__gaze_position = self.gaze_position_calibrator.apply(gaze_position)
+
+			# Or update gaze position at least
+			else:
+
+				self.__gaze_position = gaze_position
+
 			# Identify gaze movement
 			if self.gaze_movement_identifier is not None:
 
@@ -942,6 +971,7 @@ class ArFrame():
 
 			print('Warning: the following error occurs in ArFrame.look method:', e)
 
+			self.__gaze_position = GazeFeatures.UnvalidGazePosition()
 			identified_gaze_movement = GazeFeatures.UnvalidGazeMovement()
 			scan_step_analysis = {}
 			layer_analysis = {}
@@ -954,7 +984,7 @@ class ArFrame():
 		self.__look_lock.release()
 
 		# Return look data
-		return identified_gaze_movement, scan_step_analysis, layer_analysis, execution_times, exception
+		return self.__gaze_position, identified_gaze_movement, scan_step_analysis, layer_analysis, execution_times, exception
 
 	def __image(self, background_weight: float = None, heatmap_weight: float = None, draw_scan_path: dict = None, draw_layers: dict = None, draw_gaze_positions: dict = None, draw_fixations: dict = None, draw_saccades: dict = None) -> numpy.array:
 		"""
diff --git a/src/argaze/GazeAnalysis/LinearRegression.py b/src/argaze/GazeAnalysis/LinearRegression.py
index 5a92048..de7725d 100644
--- a/src/argaze/GazeAnalysis/LinearRegression.py
+++ b/src/argaze/GazeAnalysis/LinearRegression.py
@@ -31,9 +31,11 @@ class GazePositionCalibrator(GazeFeatures.GazePositionCalibrator):
     """Linear regression intercept value"""
 
     def __post_init__(self):
-        """Init calibration data."""
+        """Init calibration."""
 
-        self.reset()
+        self.__linear_regression = LinearRegression()
+        self.__linear_regression.coef_ = numpy.array(self.coefficients)
+        self.__linear_regression.intercept_ = numpy.array(self.intercept)
 
     def store(self, timestamp: int|float, observed_gaze_position: GazeFeatures.GazePosition, expected_gaze_position: GazeFeatures.GazePosition):
         """Store observed and expected gaze positions."""
@@ -57,12 +59,25 @@ class GazePositionCalibrator(GazeFeatures.GazePositionCalibrator):
 
         self.__linear_regression = LinearRegression().fit(self.__observed_positions, self.__expected_positions)
 
+        # Update frozen coefficients attribute
+        object.__setattr__(self, 'coefficients', self.__linear_regression.coef_)
+
+        # Update frozen intercept attribute
+        object.__setattr__(self, 'intercept', self.__linear_regression.intercept_)
+
+        # Return calibrated gaze position
         return self.__linear_regression.score(self.__observed_positions, self.__expected_positions)
 
     def apply(self, gaze_position: GazeFeatures.GazePosition) -> GazePositionType:
         """Apply calibration onto observed gaze position."""
 
-        return GazeFeatures.GazePosition(self.__linear_regression.predict(numpy.array([gaze_position.value]))[0], precision=gaze_position.precision)
+        if not self.calibrating:
+
+            return GazeFeatures.GazePosition(self.__linear_regression.predict(numpy.array([gaze_position.value]))[0], precision=gaze_position.precision)
+
+        else:
+
+            return gaze_position
 
     def draw(self, image: numpy.array):
         """Draw calibration into image.
@@ -74,7 +89,7 @@ class GazePositionCalibrator(GazeFeatures.GazePositionCalibrator):
         raise NotImplementedError('draw() method not implemented')
 
     @property
-    def ready(self) -> bool:
-        """Is the calibrator ready?"""
+    def calibrating(self) -> bool:
+        """Is the calibration running?"""
 
-        return self.__linear_regression is not None
\ No newline at end of file
+        return self.__linear_regression is None
\ No newline at end of file
diff --git a/src/argaze/GazeFeatures.py b/src/argaze/GazeFeatures.py
index b918256..eddd01d 100644
--- a/src/argaze/GazeFeatures.py
+++ b/src/argaze/GazeFeatures.py
@@ -201,6 +201,13 @@ class TimeStampedGazePositions(DataStructures.TimeStampedBuffer):
 
         return TimeStampedGazePositions(df.to_dict('index'))
 
+class GazePositionCalibrationFailed(Exception):
+    """Exception raised by GazePositionCalibrator."""
+
+    def __init__(self, message):  
+
+        super().__init__(message)
+
 @dataclass
 class GazePositionCalibrator():
     """Abstract class to define what should provide a gaze position calibrator algorithm."""
@@ -237,10 +244,10 @@ class GazePositionCalibrator():
             observed_gaze_position: where gaze position actually is
 
         Returns:
-            expected_gaze_position: where gaze position should be
+            expected_gaze_position: where gaze position should be if the calibrator is ready else, observed gaze position
         """
 
-        raise NotImplementedError('process() method not implemented')
+        raise NotImplementedError('apply() method not implemented')
 
     def draw(self, image: numpy.array):
         """Draw calibration into image.
@@ -252,8 +259,8 @@ class GazePositionCalibrator():
         raise NotImplementedError('draw() method not implemented')
 
     @property
-    def ready(self) -> bool:
-        """Is the calibrator ready?"""
+    def calibrating(self) -> bool:
+        """Is the calibration running?"""
 
         raise NotImplementedError('ready getter not implemented')
 
@@ -601,7 +608,7 @@ ScanStepType = TypeVar('ScanStep', bound="ScanStep")
 # Type definition for type annotation convenience
 
 class ScanStepError(Exception):
-    """Exception raised at ScanStepError creation if a aoi scan step doesn't start by a fixation or doesn't end by a saccade."""
+    """Exception raised at ScanStep creation if a aoi scan step doesn't start by a fixation or doesn't end by a saccade."""
 
     def __init__(self, message):  
 
@@ -811,7 +818,7 @@ AOIScanStepType = TypeVar('AOIScanStep', bound="AOIScanStep")
 # Type definition for type annotation convenience
 
 class AOIScanStepError(Exception):
-    """Exception raised at AOIScanStepError creation if a aoi scan step doesn't start by a fixation or doesn't end by a saccade."""
+    """Exception raised at AOIScanStep creation if a aoi scan step doesn't start by a fixation or doesn't end by a saccade."""
 
     def __init__(self, message, aoi=''):  
 
-- 
cgit v1.1


From 86264748b88700ae7a197bfee7004c5114b17225 Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Tue, 17 Oct 2023 17:55:03 +0200
Subject: Fixing JsonEncoder to handle class with numpy attributes.

---
 src/argaze/DataStructures.py | 25 +++++++++++++++++++++++--
 1 file changed, 23 insertions(+), 2 deletions(-)

(limited to 'src')

diff --git a/src/argaze/DataStructures.py b/src/argaze/DataStructures.py
index 08a7d2c..b5101b2 100644
--- a/src/argaze/DataStructures.py
+++ b/src/argaze/DataStructures.py
@@ -45,6 +45,15 @@ def as_dict(dataclass_object) -> dict:
     # Copy fields values
     return {name: vars(dataclass_object)[name] for name in fields_names}
 
+def module_path(obj):
+    """
+    Get object module path.
+
+    Returns:
+        module path
+    """
+    return obj.__class__.__module__
+
 class JsonEncoder(json.JSONEncoder):
     """Specific ArGaze JSON Encoder."""
 
@@ -55,10 +64,10 @@ class JsonEncoder(json.JSONEncoder):
         if isinstance(obj, numpy.integer):
             return int(obj)
 
-        if isinstance(obj, numpy.floating):
+        elif isinstance(obj, numpy.floating):
             return float(obj)
 
-        if isinstance(obj, numpy.ndarray):
+        elif isinstance(obj, numpy.ndarray):
             return obj.tolist()
 
         # default case
@@ -73,7 +82,19 @@ class JsonEncoder(json.JSONEncoder):
             public_dict = {}
 
             for k, v in vars(obj).items():
+                
                 if not k.startswith('_'):
+                    
+                    # numpy cases
+                    if isinstance(v, numpy.integer):
+                        v = int(v)
+
+                    elif isinstance(v, numpy.floating):
+                        v = float(v)
+
+                    elif isinstance(v, numpy.ndarray):
+                        v = v.tolist()
+
                     public_dict[k] = v
 
             return public_dict
-- 
cgit v1.1


From 45af88fcb056ca0d5fd1be49972cef9b0f275fad Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Tue, 17 Oct 2023 17:57:08 +0200
Subject: Loading and saving GazePositionCalibrator instance from JSON file.

---
 src/argaze/ArFeatures.py   | 19 +++++++++++++------
 src/argaze/GazeFeatures.py | 45 +++++++++++++++++++++++++++++++++++++++++++++
 2 files changed, 58 insertions(+), 6 deletions(-)

(limited to 'src')

diff --git a/src/argaze/ArFeatures.py b/src/argaze/ArFeatures.py
index cb1b2f6..2e278ea 100644
--- a/src/argaze/ArFeatures.py
+++ b/src/argaze/ArFeatures.py
@@ -607,14 +607,21 @@ class ArFrame():
 
 			gaze_position_calibrator_value = frame_data.pop('gaze_position_calibrator')
 
-			gaze_position_calibrator_module_path, gaze_position_calibrator_parameters = gaze_position_calibrator_value.popitem()
+			# str: relative path to file
+			if type(gaze_position_calibrator_value) == str:
 
-			# Prepend argaze.GazeAnalysis path when a single name is provided
-			if len(gaze_position_calibrator_module_path.split('.')) == 1:
-				gaze_position_calibrator_module_path = f'argaze.GazeAnalysis.{gaze_position_calibrator_module_path}'
+				filepath = os.path.join(working_directory, gaze_position_calibrator_value)
+				file_format = filepath.split('.')[-1]
+
+				# JSON file format
+				if file_format == 'json':
+
+					new_gaze_position_calibrator = GazeFeatures.GazePositionCalibrator.from_json(filepath)
+
+			# dict:
+			else:
 
-			gaze_position_calibrator_module = importlib.import_module(gaze_position_calibrator_module_path)
-			new_gaze_position_calibrator = gaze_position_calibrator_module.GazePositionCalibrator(**gaze_position_calibrator_parameters)
+				new_gaze_position_calibrator = GazePositionCalibrator.from_dict(gaze_position_calibrator_value)
 
 		except KeyError:
 
diff --git a/src/argaze/GazeFeatures.py b/src/argaze/GazeFeatures.py
index eddd01d..46e9f17 100644
--- a/src/argaze/GazeFeatures.py
+++ b/src/argaze/GazeFeatures.py
@@ -12,6 +12,7 @@ from dataclasses import dataclass, field
 import math
 import ast
 import json
+import importlib
 from inspect import getmembers
 
 from argaze import DataStructures
@@ -208,10 +209,54 @@ class GazePositionCalibrationFailed(Exception):
 
         super().__init__(message)
 
+GazePositionCalibratorType = TypeVar('GazePositionCalibrator', bound="GazePositionCalibrator")
+# Type definition for type annotation convenience
+
 @dataclass
 class GazePositionCalibrator():
     """Abstract class to define what should provide a gaze position calibrator algorithm."""
 
+    @classmethod
+    def from_dict(self, calibrator_data: dict) -> GazePositionCalibratorType:
+        """Load gaze position calibrator from dictionary.
+
+        Parameters:
+            calibrator_data: dictionary with class name and attributes to load
+        """
+        gaze_position_calibrator_module_path, gaze_position_calibrator_parameters = calibrator_data.popitem()
+
+        # Prepend argaze.GazeAnalysis path when a single name is provided
+        if len(gaze_position_calibrator_module_path.split('.')) == 1:
+            gaze_position_calibrator_module_path = f'argaze.GazeAnalysis.{gaze_position_calibrator_module_path}'
+
+        gaze_position_calibrator_module = importlib.import_module(gaze_position_calibrator_module_path)
+        return gaze_position_calibrator_module.GazePositionCalibrator(**gaze_position_calibrator_parameters)
+
+    @classmethod
+    def from_json(self, json_filepath: str) -> GazePositionCalibratorType:
+        """Load calibrator from .json file."""
+
+        # Remember file path to ease rewriting
+        self.__json_filepath = json_filepath
+
+        # Open file
+        with open(self.__json_filepath) as calibration_file:
+
+            return GazePositionCalibrator.from_dict(json.load(calibration_file))
+
+    def to_json(self, json_filepath: str = None):
+        """Save calibrator into .json file."""
+
+        # Remember file path to ease rewriting
+        if json_filepath is not None:
+
+            self.__json_filepath = json_filepath
+
+        # Open file
+        with open(self.__json_filepath, 'w', encoding='utf-8') as calibration_file:
+
+            json.dump({DataStructures.module_path(self):DataStructures.JsonEncoder().default(self)}, calibration_file, ensure_ascii=False, indent=4)
+
     def store(self, timestamp: int|float, observed_gaze_position: GazePosition, expected_gaze_position: GazePosition):
         """Store observed and expected gaze positions.
 
-- 
cgit v1.1


From 07fb4ce51650e9b0edaf1b9ebc01c1b9589c9a54 Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Tue, 17 Oct 2023 18:40:18 +0200
Subject: Implementing LinearRegression drawing function.

---
 src/argaze/GazeAnalysis/LinearRegression.py | 24 ++++++++++++++++++------
 1 file changed, 18 insertions(+), 6 deletions(-)

(limited to 'src')

diff --git a/src/argaze/GazeAnalysis/LinearRegression.py b/src/argaze/GazeAnalysis/LinearRegression.py
index de7725d..0e10b87 100644
--- a/src/argaze/GazeAnalysis/LinearRegression.py
+++ b/src/argaze/GazeAnalysis/LinearRegression.py
@@ -79,14 +79,26 @@ class GazePositionCalibrator(GazeFeatures.GazePositionCalibrator):
 
             return gaze_position
 
-    def draw(self, image: numpy.array):
-        """Draw calibration into image.
+    def draw(self, image: numpy.array, size: tuple, resolution: tuple, line_color: tuple = (0, 0, 0), thickness: int = 1):
+        """Draw calibration field."""
+
+        width, height = size
         
-        Parameters:
-            image: where to draw
-        """
+        if width * height > 0:
+
+            rx, ry = resolution
+            lx = numpy.linspace(0, width, rx)
+            ly = numpy.linspace(0, height, ry)
+            xv, yv = numpy.meshgrid(lx, ly, indexing='ij')
+
+            for i in range(rx):
+
+                for j in range(ry):
+
+                    start = (xv[i][j], yv[i][j])
+                    end = self.apply(GazeFeatures.GazePosition(start)).value
 
-        raise NotImplementedError('draw() method not implemented')
+                    cv2.line(image, (int(start[0]), int(start[1])), (int(end[0]), int(end[1])), line_color, thickness)
 
     @property
     def calibrating(self) -> bool:
-- 
cgit v1.1


From 4575911ec8a04d7d228109acbcb58b448b72fb3b Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Tue, 17 Oct 2023 18:49:34 +0200
Subject: Adding draw_gaze_position_calibrator as image_parameters ArFrame
 option.

---
 src/argaze/ArFeatures.py | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

(limited to 'src')

diff --git a/src/argaze/ArFeatures.py b/src/argaze/ArFeatures.py
index 2e278ea..13b952d 100644
--- a/src/argaze/ArFeatures.py
+++ b/src/argaze/ArFeatures.py
@@ -993,13 +993,14 @@ class ArFrame():
 		# Return look data
 		return self.__gaze_position, identified_gaze_movement, scan_step_analysis, layer_analysis, execution_times, exception
 
-	def __image(self, background_weight: float = None, heatmap_weight: float = None, draw_scan_path: dict = None, draw_layers: dict = None, draw_gaze_positions: dict = None, draw_fixations: dict = None, draw_saccades: dict = None) -> numpy.array:
+	def __image(self, background_weight: float = None, heatmap_weight: float = None, draw_gaze_position_calibrator: dict = None, draw_scan_path: dict = None, draw_layers: dict = None, draw_gaze_positions: dict = None, draw_fixations: dict = None, draw_saccades: dict = None) -> numpy.array:
 		"""
 		Get background image with overlaid visualisations.
 
 		Parameters:
 			background_weight: weight of background overlay
 			heatmap_weight: weight of heatmap overlay
+			draw_gaze_position_calibrator: [GazeFeatures.GazePositionCalibrator.draw](argaze.md/#argaze.GazeFeatures.GazePositionCalibrator.draw) parameters (if None, nothing is drawn)
 			draw_scan_path: [GazeFeatures.ScanPath.draw](argaze.md/#argaze.GazeFeatures.ScanPath.draw) parameters (if None, no scan path is drawn)
 			draw_layers: dictionary of [ArLayer.draw](argaze.md/#argaze.ArFeatures.ArLayer.draw) parameters per layer  (if None, no layer is drawn)
 			draw_gaze_positions: [GazeFeatures.GazePosition.draw](argaze.md/#argaze.GazeFeatures.GazePosition.draw) parameters (if None, no gaze position is drawn)
@@ -1032,6 +1033,11 @@ class ArFrame():
 
 			image = numpy.full((self.size[1], self.size[0], 3), 0).astype(numpy.uint8)
 
+		# Draw gaze position calibrator
+		if draw_gaze_position_calibrator is not None:
+
+			self.gaze_position_calibrator.draw(image, size=self.size, **draw_gaze_position_calibrator)
+
 		# Draw scan path if required
 		if draw_scan_path is not None and self.scan_path is not None:
 
-- 
cgit v1.1


From 531775bd115c49fc15674fa9b53cb157b29ffaa8 Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Wed, 18 Oct 2023 12:24:32 +0200
Subject: Fixing GazePositionCalibrator dict loading.

---
 src/argaze/ArFeatures.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

(limited to 'src')

diff --git a/src/argaze/ArFeatures.py b/src/argaze/ArFeatures.py
index 13b952d..5b5d418 100644
--- a/src/argaze/ArFeatures.py
+++ b/src/argaze/ArFeatures.py
@@ -621,7 +621,7 @@ class ArFrame():
 			# dict:
 			else:
 
-				new_gaze_position_calibrator = GazePositionCalibrator.from_dict(gaze_position_calibrator_value)
+				new_gaze_position_calibrator = GazeFeatures.GazePositionCalibrator.from_dict(gaze_position_calibrator_value)
 
 		except KeyError:
 
-- 
cgit v1.1


From d9dc8fc6f542c1ba46cba9d66a741890f946474a Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Mon, 23 Oct 2023 14:34:10 +0200
Subject: Removing draw_places_axes image parameter. Fixing aruco markers group
 drawing.

---
 src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py | 35 ++--------------------------
 1 file changed, 2 insertions(+), 33 deletions(-)

(limited to 'src')

diff --git a/src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py b/src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py
index edae927..b4aedbd 100644
--- a/src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py
+++ b/src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py
@@ -432,11 +432,7 @@ class ArUcoMarkersGroup():
 
             try:
 
-                T = self.places[identifier].translation
-                R = self.places[identifier].rotation
-
-                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, _ = cv2.projectPoints(placePoints, self._rotation, self._translation, numpy.array(K), numpy.array(D))
+                placePoints, _ = cv2.projectPoints(place.corners, self._rotation, self._translation, numpy.array(K), numpy.array(D))
                 placePoints = placePoints.astype(int)
                 
                 cv2.line(image, tuple(placePoints[0].ravel()), tuple(placePoints[1].ravel()), color, border_size)
@@ -448,29 +444,7 @@ class ArUcoMarkersGroup():
             except cv2.error:
                 pass
 
-    def draw_places_axes(self, image: numpy.array, K, D, thickness: int = 0, length: float = 0):
-        """Draw group place axes."""
-
-        for identifier, place in self.places.items():
-
-            try:
-
-                T = self.places[identifier].translation
-                R = self.places[identifier].rotation
-
-                axisPoints = (T + numpy.float32([R.dot([length, 0, 0]), R.dot([0, length, 0]), R.dot([0, 0, length]), R.dot([0, 0, 0])])).reshape(-1, 3)
-                axisPoints, _ = cv2.projectPoints(axisPoints, self._rotation, self._translation, numpy.array(K), numpy.array(D))
-                axisPoints = axisPoints.astype(int)
-
-                cv2.line(image, tuple(axisPoints[3].ravel()), tuple(axisPoints[0].ravel()), (0, 0, 255), thickness) # X (red)
-                cv2.line(image, tuple(axisPoints[3].ravel()), tuple(axisPoints[1].ravel()), (0, 255, 0), thickness) # Y (green)
-                cv2.line(image, tuple(axisPoints[3].ravel()), tuple(axisPoints[2].ravel()), (255, 0, 0), thickness) # Z (blue)
-                
-            # Ignore errors due to out of field places: their coordinate are larger than int32 limitations.
-            except cv2.error:
-                pass
-
-    def draw(self, image: numpy.array, K, D, draw_axes: dict = None, draw_places: dict = None, draw_places_axes: dict = None):
+    def draw(self, image: numpy.array, K, D, draw_axes: dict = None, draw_places: dict = None):
         """Draw group axes and places.
     
         Parameters:
@@ -489,11 +463,6 @@ class ArUcoMarkersGroup():
 
             self.draw_places(image, K, D, **draw_places)
 
-        # Draw places axes if required
-        if draw_places_axes is not None:
-
-            self.draw_places_axes(image, K, D, **draw_places_axes)
-
     def to_obj(self, obj_filepath):
         """Save group to .obj file."""
 
-- 
cgit v1.1


From ecfbc519e518948078b0831ccd0fa8bb18e439cb Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Mon, 23 Oct 2023 15:00:17 +0200
Subject: Removing parsing of normals for ArUcoMarkersGroup.

---
 src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py | 19 ++-----------------
 1 file changed, 2 insertions(+), 17 deletions(-)

(limited to 'src')

diff --git a/src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py b/src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py
index b4aedbd..5cacf09 100644
--- a/src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py
+++ b/src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py
@@ -152,9 +152,6 @@ class ArUcoMarkersGroup():
         !!! note
             All markers have to belong to the same dictionary.
 
-        !!! note
-            Marker normal vectors (vn) expected.
-
         """
 
         new_marker_size = 0
@@ -165,8 +162,7 @@ class ArUcoMarkersGroup():
         OBJ_RX_DICT = {
             'object': re.compile(r'o (.*)#([0-9]+)_(.*)\n'),
             'vertice': re.compile(r'v ([+-]?[0-9]*[.]?[0-9]+) ([+-]?[0-9]*[.]?[0-9]+) ([+-]?[0-9]*[.]?[0-9]+)\n'),
-            'normal': re.compile(r'vn ([+-]?[0-9]*[.]?[0-9]+) ([+-]?[0-9]*[.]?[0-9]+) ([+-]?[0-9]*[.]?[0-9]+)\n'),
-            'face': re.compile(r'f ([0-9]+)//([0-9]+) ([0-9]+)//([0-9]+) ([0-9]+)//([0-9]+) ([0-9]+)//([0-9]+)\n'),
+            'face': re.compile(r'f ([0-9]+) ([0-9]+) ([0-9]+) ([0-9]+)\n'),
             'comment': re.compile(r'#(.*)\n') # keep comment regex after object regex because the # is used in object string too
         }
 
@@ -186,7 +182,6 @@ class ArUcoMarkersGroup():
 
             identifier = None
             vertices = []
-            normals = {}
             faces = {}
 
             # Open the file and read through it line by line
@@ -225,15 +220,10 @@ class ArUcoMarkersGroup():
 
                         vertices.append(tuple([float(match.group(1)), float(match.group(2)), float(match.group(3))]))
 
-                    # Extract normal to calculate rotation matrix
-                    elif key == 'normal':
-
-                        normals[identifier] = tuple([float(match.group(1)), float(match.group(2)), float(match.group(3))])
-
                     # Extract vertice ids
                     elif key == 'face':
 
-                        faces[identifier] = [int(match.group(1)), int(match.group(3)), int(match.group(5)), int(match.group(7))]
+                        faces[identifier] = [int(match.group(1)), int(match.group(2)), int(match.group(3)), int(match.group(4))]
 
                     # Go to next line
                     line = file.readline()
@@ -487,10 +477,5 @@ class ArUcoMarkersGroup():
 
                     vertices += f' {v_count}//{p+1}'
 
-                # Write normal vector
-                nvec = numpy.cross(place.corners[-1] - place.corners[0], place.corners[1] - place.corners[0])
-                nvec = nvec / numpy.linalg.norm(nvec)
-                file.write(f'vn {nvec[0]} {nvec[1]} {nvec[2]}\n')
-
                 #file.write('s off\n')
                 file.write(f'f{vertices}\n')
-- 
cgit v1.1


From 3a83442c2da865b6307748a2f26c48fa1bb3fbc8 Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Mon, 23 Oct 2023 15:06:20 +0200
Subject: Fixing documentation annotation.

---
 src/argaze/ArFeatures.py                     | 2 +-
 src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py | 1 -
 src/argaze/DataStructures.py                 | 2 +-
 3 files changed, 2 insertions(+), 3 deletions(-)

(limited to 'src')

diff --git a/src/argaze/ArFeatures.py b/src/argaze/ArFeatures.py
index 5b5d418..5ec6b7e 100644
--- a/src/argaze/ArFeatures.py
+++ b/src/argaze/ArFeatures.py
@@ -831,7 +831,7 @@ class ArFrame():
 
 		return self.__ts_logs
 
-	def look(self, timestamp: int|float, gaze_position: GazeFeatures.GazePosition = GazeFeatures.UnvalidGazePosition()) -> Tuple[GazeFeatures.GazeMovement, dict, dict, dict, Exception]:
+	def look(self, timestamp: int|float, gaze_position: GazeFeatures.GazePosition = GazeFeatures.UnvalidGazePosition()) -> Tuple[GazeFeatures.GazePosition, GazeFeatures.GazeMovement, dict, dict, dict, Exception]:
 		"""
 		Project gaze position into frame.
 
diff --git a/src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py b/src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py
index 5cacf09..6ffdae2 100644
--- a/src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py
+++ b/src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py
@@ -440,7 +440,6 @@ class ArUcoMarkersGroup():
         Parameters:
             draw_axes: draw_axes parameters (if None, no axes drawn)
             draw_places: draw_places parameters  (if None, no places drawn)
-            draw_places_axes: draw_places_axes parameters (if None, no places axes drawn)
         """
 
         # Draw axes if required
diff --git a/src/argaze/DataStructures.py b/src/argaze/DataStructures.py
index b5101b2..9e35dea 100644
--- a/src/argaze/DataStructures.py
+++ b/src/argaze/DataStructures.py
@@ -45,7 +45,7 @@ def as_dict(dataclass_object) -> dict:
     # Copy fields values
     return {name: vars(dataclass_object)[name] for name in fields_names}
 
-def module_path(obj):
+def module_path(obj) -> str:
     """
     Get object module path.
 
-- 
cgit v1.1


From f8b1a36c9e486ef19f62159475b9bf19a5b90a03 Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Mon, 23 Oct 2023 22:43:24 +0200
Subject: Fixing aruco markers group exportation. Renaming ready made script.
 Updating documentation.

---
 src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py   |   2 +-
 src/argaze/utils/aruco_markers_group_export.py | 160 ++++++++++++++++++++++
 src/argaze/utils/aruco_markers_scene_export.py | 176 -------------------------
 3 files changed, 161 insertions(+), 177 deletions(-)
 create mode 100644 src/argaze/utils/aruco_markers_group_export.py
 delete mode 100644 src/argaze/utils/aruco_markers_scene_export.py

(limited to 'src')

diff --git a/src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py b/src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py
index 6ffdae2..37bceec 100644
--- a/src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py
+++ b/src/argaze/ArUcoMarkers/ArUcoMarkersGroup.py
@@ -474,7 +474,7 @@ class ArUcoMarkersGroup():
                     file.write(f'v {" ".join(map(str, place.corners[v]))}\n')
                     v_count += 1
 
-                    vertices += f' {v_count}//{p+1}'
+                    vertices += f' {v_count}'
 
                 #file.write('s off\n')
                 file.write(f'f{vertices}\n')
diff --git a/src/argaze/utils/aruco_markers_group_export.py b/src/argaze/utils/aruco_markers_group_export.py
new file mode 100644
index 0000000..d948105
--- /dev/null
+++ b/src/argaze/utils/aruco_markers_group_export.py
@@ -0,0 +1,160 @@
+#!/usr/bin/env python
+
+""" """
+
+__author__ = "Théo de la Hogue"
+__credits__ = []
+__copyright__ = "Copyright 2023, Ecole Nationale de l'Aviation Civile (ENAC)"
+__license__ = "BSD"
+
+import argparse
+import time
+import itertools
+
+from argaze.ArUcoMarkers import ArUcoCamera, ArUcoMarkersGroup
+from argaze.utils import UtilsFeatures
+
+import cv2
+import numpy
+
+def main():
+    """
+    Load a MOVIE and an ArUcoCamera CONFIGURATION to detect ArUco markers inside a selected movie frame then, export detected ArUco markers group as .obj file into an OUTPUT folder.
+    """
+
+    # Manage arguments
+    parser = argparse.ArgumentParser(description=main.__doc__.split('-')[0])
+    parser.add_argument('movie', metavar='MOVIE', type=str, default=None, help='movie path')
+    parser.add_argument('configuration', metavar='CONFIGURATION', type=str, default=None, help='ArUco camera configuration')
+
+    parser.add_argument('-s','--start', metavar='START', type=float, default=0., help='start time in second')
+    parser.add_argument('-o', '--output', metavar='OUTPUT', type=str, default='.', help='export folder path')
+    args = parser.parse_args()
+
+    # Load movie
+    video_capture = cv2.VideoCapture(args.movie)
+
+    video_fps = video_capture.get(cv2.CAP_PROP_FPS)
+    image_width = int(video_capture.get(cv2.CAP_PROP_FRAME_WIDTH))
+    image_height = int(video_capture.get(cv2.CAP_PROP_FRAME_HEIGHT))
+
+    # Load ArUco camera
+    aruco_camera = ArUcoCamera.ArUcoCamera.from_json(args.configuration)
+
+    # Create empty ArUco scene
+    aruco_markers_group = None
+
+    # Create a window
+    cv2.namedWindow(aruco_camera.name, cv2.WINDOW_AUTOSIZE)
+
+    # Enable exit signal handler
+    exit = UtilsFeatures.ExitSignalHandler()
+
+    # Init image selection
+    current_image_index = -1
+    _, current_image = video_capture.read()
+    next_image_index = int(args.start * video_fps)
+    refresh = False
+
+    while not exit.status():
+
+        # Select a new image and detect markers once
+        if next_image_index != current_image_index or refresh:
+
+            video_capture.set(cv2.CAP_PROP_POS_FRAMES, next_image_index)
+
+            success, video_image = video_capture.read()
+
+            if success:
+
+                # Refresh once
+                refresh = False
+
+                current_image_index = video_capture.get(cv2.CAP_PROP_POS_FRAMES) - 1
+                current_image_time = video_capture.get(cv2.CAP_PROP_POS_MSEC)
+
+                # Detect markers
+                detection_time, projection_time, exceptions = aruco_camera.watch(video_image)
+
+                # Estimate each markers pose
+                aruco_camera.aruco_detector.estimate_markers_pose(aruco_camera.aruco_detector.detected_markers)
+
+                # Build aruco scene from detected markers
+                aruco_markers_group = ArUcoMarkersGroup.ArUcoMarkersGroup(aruco_camera.aruco_detector.marker_size, aruco_camera.aruco_detector.dictionary, aruco_camera.aruco_detector.detected_markers)
+
+                # Get camera image
+                camera_image = aruco_camera.image()
+
+                # Write detected markers
+                cv2.putText(camera_image, f'Detecting markers {list(aruco_camera.aruco_detector.detected_markers.keys())}', (20, aruco_camera.size[1]-40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
+                
+                # Write timing
+                cv2.putText(camera_image, f'Frame at {int(current_image_time)}ms', (20, 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
+                cv2.putText(camera_image, f'Detection {int(detection_time)}ms', (20, 80), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
+                cv2.putText(camera_image, f'Projection {int(projection_time)}ms', (20, 120), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
+        
+                # Write documentation
+                cv2.putText(camera_image, f'<- previous image', (aruco_camera.size[0]-500, aruco_camera.size[1]-120), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
+                cv2.putText(camera_image, f'-> next image', (aruco_camera.size[0]-500, aruco_camera.size[1]-80), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
+                cv2.putText(camera_image, f'Ctrl+s: export ArUco markers', (aruco_camera.size[0]-500, aruco_camera.size[1]-40), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
+
+                # Copy image
+                current_image = camera_image.copy()
+
+        # Keep last image
+        else:
+
+            video_image = current_image.copy()
+
+        key_pressed = cv2.waitKey(10)
+
+        #if key_pressed != -1:
+        #    print(key_pressed)
+
+        # Select previous image with left arrow
+        if key_pressed == 2:
+            next_image_index -= 1
+
+        # Select next image with right arrow
+        if key_pressed == 3:
+            next_image_index += 1
+
+        # Clip image index
+        if next_image_index < 0:
+            next_image_index = 0
+
+        # r: reload configuration
+        if key_pressed == 114:
+            
+            aruco_camera = ArUcoCamera.ArUcoCamera.from_json(args.configuration)
+            refresh = True
+            print('Configuration reloaded')
+
+        # Save selected marker edition using 'Ctrl + s'
+        if key_pressed == 19:
+
+            if aruco_markers_group:
+
+                aruco_markers_group.to_obj(f'{args.output}/{int(current_image_time)}-aruco_markers_group.obj')
+                print(f'ArUco markers saved into {args.output}')
+
+            else:
+
+                print(f'No ArUco markers to export')
+
+        # Close window using 'Esc' key
+        if key_pressed == 27:
+            break
+
+        # Display video
+        cv2.imshow(aruco_camera.name, video_image)
+
+    # Close movie capture
+    video_capture.release()
+
+    # Stop image display
+    cv2.destroyAllWindows()
+
+if __name__ == '__main__':
+
+    main()
\ No newline at end of file
diff --git a/src/argaze/utils/aruco_markers_scene_export.py b/src/argaze/utils/aruco_markers_scene_export.py
deleted file mode 100644
index f618342..0000000
--- a/src/argaze/utils/aruco_markers_scene_export.py
+++ /dev/null
@@ -1,176 +0,0 @@
-#!/usr/bin/env python
-
-""" """
-
-__author__ = "Théo de la Hogue"
-__credits__ = []
-__copyright__ = "Copyright 2023, Ecole Nationale de l'Aviation Civile (ENAC)"
-__license__ = "BSD"
-
-import argparse
-import time
-import itertools
-
-from argaze.ArUcoMarkers import ArUcoMarkersDictionary, ArUcoOpticCalibrator, ArUcoDetector, ArUcoMarkersGroup
-from argaze.utils import UtilsFeatures
-
-import cv2
-import numpy
-
-def main():
-    """
-    Load a movie with ArUco markers inside and select image into it, detect ArUco markers belonging to a given dictionary and size into the selected image thanks to given optic parameters and detector parameters then, export detected ArUco scene as .obj file.
-    """
-
-    # Manage arguments
-    parser = argparse.ArgumentParser(description=main.__doc__.split('-')[0])
-    parser.add_argument('movie', metavar='MOVIE', type=str, default=None, help='movie path')
-    parser.add_argument('dictionary', metavar='DICTIONARY', type=str, default=None, help='ArUco dictionary to detect')
-    parser.add_argument('marker_size', metavar='MARKER_SIZE', type=int, default=3, help='marker size in cm')
-    parser.add_argument('optic_parameters', metavar='OPTIC_PARAMETERS', type=str, default=None, help='Optic parameters from camera calibration process')
-    parser.add_argument('detector_parameters', metavar='DETECTOR_PARAMETERS', type=str, default=None, help='ArUco detector parameters')
-    
-    parser.add_argument('-s','--start', metavar='START', type=float, default=0., help='start time in second')
-    parser.add_argument('-o', '--output', metavar='OUT', type=str, default='.', help='export scene folder path')
-    args = parser.parse_args()
-
-    # Load movie
-    video_capture = cv2.VideoCapture(args.movie)
-
-    video_fps = video_capture.get(cv2.CAP_PROP_FPS)
-    image_width = int(video_capture.get(cv2.CAP_PROP_FRAME_WIDTH))
-    image_height = int(video_capture.get(cv2.CAP_PROP_FRAME_HEIGHT))
-
-    # Load ArUco dictionary
-    aruco_dictionary = ArUcoMarkersDictionary.ArUcoMarkersDictionary(args.dictionary)
-
-    # Load optic parameters
-    optic_parameters = ArUcoOpticCalibrator.OpticParameters.from_json(args.optic_parameters)
-
-    # Load detector parameters
-    detector_parameters = ArUcoDetector.DetectorParameters.from_json(args.detector_parameters)
-
-    # Create ArUco detector
-    aruco_detector = ArUcoDetector.ArUcoDetector(dictionary=aruco_dictionary, marker_size=args.marker_size, optic_parameters=optic_parameters, parameters=detector_parameters)
-
-    # Create empty ArUco scene
-    aruco_markers_group = None
-
-    # Create a window to display AR environment
-    window_name = "Export ArUco scene"
-    cv2.namedWindow(window_name, cv2.WINDOW_AUTOSIZE)
-
-    # Enable exit signal handler
-    exit = UtilsFeatures.ExitSignalHandler()
-
-    # Init image selection
-    current_image_index = -1
-    _, current_image = video_capture.read()
-    next_image_index = int(args.start * video_fps)
-    refresh = False
-
-    # Hide help
-    draw_help = False
-
-    while not exit.status():
-
-        # Select a new image and detect markers once
-        if next_image_index != current_image_index or refresh:
-
-            video_capture.set(cv2.CAP_PROP_POS_FRAMES, next_image_index)
-
-            success, video_image = video_capture.read()
-
-            if success:
-
-                # Refresh once
-                refresh = False
-
-                current_image_index = video_capture.get(cv2.CAP_PROP_POS_FRAMES) - 1
-                current_image_time = video_capture.get(cv2.CAP_PROP_POS_MSEC)
-
-                # Detect markers
-                aruco_detector.detect_markers(video_image)
-
-                # Estimate markers pose
-                aruco_detector.estimate_markers_pose()
-
-                # Build aruco scene from detected markers
-                aruco_markers_group = ArUcoMarkersGroup.ArUcoMarkersGroup(args.marker_size, aruco_dictionary, aruco_detector.detected_markers)
-
-                # Write scene detected markers
-                cv2.putText(video_image, f'{list(aruco_detector.detected_markers.keys())}', (20, image_height-80), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
-                
-                # Write timing
-                cv2.putText(video_image, f'Time: {int(current_image_time)} ms', (20, 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 1, cv2.LINE_AA)
-                
-                # Copy image
-                current_image = video_image.copy()
-
-        # Keep last image
-        else:
-
-            video_image = current_image.copy()
-
-        # Draw detected markers
-        aruco_detector.draw_detected_markers(video_image, {"color": [0, 255, 0], "draw_axes": {"thickness": 4}})
-
-        # Write documentation
-        cv2.putText(video_image, f'Press \'h\' for help', (950, 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
-
-        if draw_help:
-
-            cv2.rectangle(video_image, (0, 50), (500, 300), (127, 127, 127), -1)
-            cv2.putText(video_image, f'> Left arrow: previous image', (20, 80), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
-            cv2.putText(video_image, f'> Right arrow: next image', (20, 120), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
-            cv2.putText(video_image, f'> Ctrl+s: export ArUco scene', (20, 160), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 1, cv2.LINE_AA)
-
-        key_pressed = cv2.waitKey(10)
-
-        #if key_pressed != -1:
-        #    print(key_pressed)
-
-        # Select previous image with left arrow
-        if key_pressed == 2:
-            next_image_index -= 1
-
-        # Select next image with right arrow
-        if key_pressed == 3:
-            next_image_index += 1
-
-        # Clip image index
-        if next_image_index < 0:
-            next_image_index = 0
-
-        # Switch help mode with h key
-        if key_pressed == 104:
-            draw_help = not draw_help
-
-        # Save selected marker edition using 'Ctrl + s'
-        if key_pressed == 19:
-
-            if aruco_markers_group:
-
-                aruco_markers_group.to_obj(f'{args.output}/{int(current_image_time)}-aruco_markers_group.obj')
-                print(f'ArUco scene saved into {args.output}')
-
-            else:
-
-                print(f'No ArUco scene to export')
-
-        # Close window using 'Esc' key
-        if key_pressed == 27:
-            break
-
-        # Display video
-        cv2.imshow(window_name, video_image)
-
-    # Close movie capture
-    video_capture.release()
-
-    # Stop image display
-    cv2.destroyAllWindows()
-
-if __name__ == '__main__':
-
-    main()
\ No newline at end of file
-- 
cgit v1.1