From 7c04745f1f4303af4b478f73ac549efac2fb7d84 Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Wed, 17 Apr 2024 11:20:25 +0200
Subject: Adding required_markers_number attribute.

---
 src/argaze/ArUcoMarkers/ArUcoScene.py | 25 ++++++++++++++++++++++---
 1 file changed, 22 insertions(+), 3 deletions(-)

(limited to 'src')

diff --git a/src/argaze/ArUcoMarkers/ArUcoScene.py b/src/argaze/ArUcoMarkers/ArUcoScene.py
index 8acedb1..0edb253 100644
--- a/src/argaze/ArUcoMarkers/ArUcoScene.py
+++ b/src/argaze/ArUcoMarkers/ArUcoScene.py
@@ -36,6 +36,7 @@ class ArUcoScene(ArFeatures.ArScene):
 
 		# Init private attribute
 		self.__aruco_markers_group = None
+		self.__required_markers_number = 2
 
 	@property
 	def aruco_markers_group(self) -> ArUcoMarkersGroup.ArUcoMarkersGroup:
@@ -53,6 +54,24 @@ class ArUcoScene(ArFeatures.ArScene):
 
 			self.__aruco_markers_group.parent = self
 
+	@property
+	def required_markers_number(self) -> int:
+		"""Numbers of markers that have to be detected to allow pose estimation (default: 2)."""
+
+		return self.__required_markers_number
+
+	@required_markers_number.setter
+	def required_markers_number(self, n: int):
+
+		# Constrain number to 1 at least
+		if n < 1:
+
+			self.__required_markers_number = 1
+			
+		else:
+
+			self.__required_markers_number = n
+
 	@DataFeatures.PipelineStepMethod
 	def estimate_pose(self, detected_markers: dict) -> tuple[numpy.array, numpy.array, dict]:
 		"""Estimate scene pose from detected ArUco markers.
@@ -78,10 +97,10 @@ 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:
+		# Pose estimation fails when not enough marker belongs to the scene
+		if len(scene_markers) < self.required_markers_number:
 
-			raise ArFeatures.PoseEstimationFailed('Only one marker belongs to the scene')
+			raise ArFeatures.PoseEstimationFailed(f'Not enough marker belongs to the scene')
 
 		# Estimate pose from markers corners
 		success, tvec, rmat = self.__aruco_markers_group.estimate_pose_from_markers_corners(scene_markers, self.parent.aruco_detector.optic_parameters.K, self.parent.aruco_detector.optic_parameters.D)
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