Making ArUcoDetector as dataclass.

3 files changed, 44 insertions, 66 deletions

diff --git a/src/argaze.test/ArUcoMarkers/ArUcoDetector.py b/src/argaze.test/ArUcoMarkers/ArUcoDetector.py
index 3272f1c..5a45fad 100644
--- a/src/argaze.test/ArUcoMarkers/ArUcoDetector.py
+++ b/src/argaze.test/ArUcoMarkers/ArUcoDetector.py
@@ -42,6 +42,17 @@ class TestArUcoDetectorClass(unittest.TestCase):
 
          # Check ArUcoDetector creation
         self.assertEqual(aruco_detector.dictionary.name, 'DICT_ARUCO_ORIGINAL')
+        self.assertEqual(aruco_detector.marker_size, 3)
+        self.assertIsNone(numpy.testing.assert_array_equal(aruco_detector.camera.dimensions, [0, 0]))
+        self.assertEqual(aruco_detector.detected_markers_number, 0)
+        self.assertEqual(aruco_detector.detected_markers, {})
+
+        aruco_dictionary = ArUcoMarkersDictionary.ArUcoMarkersDictionary('DICT_APRILTAG_16h5')
+        aruco_detector = ArUcoDetector.ArUcoDetector(aruco_dictionary, 5.2)
+
+         # Check ArUcoDetector creation
+        self.assertEqual(aruco_detector.dictionary.name, 'DICT_APRILTAG_16h5')
+        self.assertEqual(aruco_detector.marker_size, 5.2)
         self.assertIsNone(numpy.testing.assert_array_equal(aruco_detector.camera.dimensions, [0, 0]))
         self.assertEqual(aruco_detector.detected_markers_number, 0)
         self.assertEqual(aruco_detector.detected_markers, {})
@@ -58,6 +69,7 @@ class TestArUcoDetectorClass(unittest.TestCase):
 
          # Check ArUcoDetector creation
         self.assertEqual(aruco_detector.dictionary.name, 'DICT_ARUCO_ORIGINAL')
+        self.assertEqual(aruco_detector.marker_size, 3)
         self.assertIsNone(numpy.testing.assert_array_equal(aruco_detector.camera.dimensions, [1920, 1080]))
         self.assertEqual(aruco_detector.parameters.cornerRefinementMethod, 3)
         self.assertEqual(aruco_detector.parameters.aprilTagQuadSigma, 2)
diff --git a/src/argaze/ArFeatures.py b/src/argaze/ArFeatures.py
index 21a7d6a..a684fc6 100644
--- a/src/argaze/ArFeatures.py
+++ b/src/argaze/ArFeatures.py
@@ -39,25 +39,26 @@ class ArEnvironment():
 	def from_json(self, json_filepath: str) -> ArSceneType:
 		"""Load ArEnvironment from .json file."""
 
-		new_name = ''
-		new_working_directory = '.'
-		new_aruco_detector = None
-		new_scenes = {}
-
 		with open(json_filepath) as configuration_file:
 
 			data = json.load(configuration_file)
 
 			new_name = data.pop('name')
-
 			new_working_directory = os.path.dirname(json_filepath)
+			new_detector_data = data.pop('aruco_detector')
+
+			new_aruco_dictionary = ArUcoMarkersDictionary.ArUcoMarkersDictionary(new_detector_data.pop('dictionary'))
+			new_marker_size = new_detector_data.pop('marker_size')
+			new_aruco_camera = ArUcoCamera.ArUcoCamera(**new_detector_data.pop('camera'))
+			new_aruco_detecor_parameters = ArUcoDetector.DetectorParameters(**new_detector_data.pop('parameters'))
 
-			new_aruco_detector = ArUcoDetector.ArUcoDetector(**data.pop('aruco_detector'))
+			new_aruco_detector = ArUcoDetector.ArUcoDetector(new_aruco_dictionary, new_marker_size, new_aruco_camera, new_aruco_detecor_parameters)
 
 			for scene_name, scene_data in data.items():
 
 				new_aruco_scene = None
 				new_aoi_scene = None
+				new_scenes = {}
 
 				# Check aruco_scene value type
 				aruco_scene_value = scene_data.pop('aruco_scene')
@@ -89,7 +90,7 @@ class ArEnvironment():
 
 				new_scenes[scene_name] = ArScene(self, new_aruco_scene, new_aoi_scene, **scene_data)
 
-		return ArEnvironment(new_name, new_working_directory, new_aruco_detector, new_scenes)
+			return ArEnvironment(new_name, new_working_directory, new_aruco_detector, new_scenes)
 
 	def __str__(self) -> str:
 		"""String display"""
diff --git a/src/argaze/ArUcoMarkers/ArUcoDetector.py b/src/argaze/ArUcoMarkers/ArUcoDetector.py
index 3ebd442..d96a472 100644
--- a/src/argaze/ArUcoMarkers/ArUcoDetector.py
+++ b/src/argaze/ArUcoMarkers/ArUcoDetector.py
@@ -27,7 +27,7 @@ ArUcoDetectorType = TypeVar('ArUcoDetector', bound="ArUcoDetector")
 # Type definition for type annotation convenience
 
 class DetectorParameters():
-    """Define ArUco marker detector parameters.  
+    """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)
     """
@@ -110,61 +110,23 @@ class DetectorParameters():
     def internal(self):
         return self.__parameters
 
+@dataclass
 class ArUcoDetector():
     """ArUco markers detector."""
 
-    dictionary: ArUcoMarkersDictionary.ArUcoMarkersDictionary = field(init=False, default_factory=ArUcoMarkersDictionary.ArUcoMarkersDictionary)
+    dictionary: ArUcoMarkersDictionary.ArUcoMarkersDictionary = field(default_factory=ArUcoMarkersDictionary.ArUcoMarkersDictionary)
     """ArUco markers dictionary to detect."""
 
-    marker_size: float = field(init=False)
+    marker_size: float = field(default=0.)
     """Size of ArUco markers to detect in centimeter."""
 
-    camera: ArUcoCamera.ArUcoCamera = field(init=False, default_factory=ArUcoCamera.ArUcoCamera)
-    """ArUco camera ..."""
+    camera: ArUcoCamera.ArUcoCamera = field(default_factory=ArUcoCamera.ArUcoCamera)
+    """ArUco camera to use to setup optical parameters."""
 
-    def __init__(self, **kwargs):
-
-        # Handle dictionary str or instance
-        try:
-            dictionary_value = kwargs.pop('dictionary')
-
-            if type(dictionary_value) == str:
-                self.dictionary = ArUcoMarkersDictionary.ArUcoMarkersDictionary(dictionary_value)
-            elif isinstance(dictionary_value, ArUcoMarkersDictionary.ArUcoMarkersDictionary):
-                self.dictionary = dictionary_value
-            else:
-                raise ValueError(f'dictionary: {dictionary_value}')
-
-        except KeyError:
-
-            self.dictionary = ArUcoMarkersDictionary.ArUcoMarkersDictionary()
-
-        # Handle camera dict or instance
-        try:
-            camera_value = kwargs.pop('camera')
-
-            if type(camera_value) == dict:
-                self.camera = ArUcoCamera.ArUcoCamera(**camera_value)
-            elif isinstance(camera_value, ArUcoCamera.ArUcoCamera):
-                self.camera = camera_value
-            else:
-                raise ValueError(f'camera: {camera_value}')
-
-        except KeyError:
-
-            self.camera = ArUcoCamera.ArUcoCamera()
+    parameters: DetectorParameters = field(default_factory=DetectorParameters)
+    """ArUco detector parameters."""
 
-        # Init marker size
-        self.marker_size = kwargs.pop('marker_size')
-
-        # Init detector parameters
-        try:
-
-            self.__parameters = DetectorParameters(**kwargs.pop('parameters'))
-
-        except KeyError:
-
-            self.__parameters = DetectorParameters()
+    def __post_init__(self):
 
         # Init detected markers data
         self.__detected_markers = {}
@@ -187,22 +149,25 @@ class ArUcoDetector():
 
         with open(json_filepath) as configuration_file:
 
-            return ArUcoDetector(**json.load(configuration_file))
+            data = json.load(configuration_file)
+
+            new_dictionary = ArUcoMarkersDictionary.ArUcoMarkersDictionary(data.pop('dictionary'))
+            new_marker_size = data.pop('marker_size')
+            new_camera = ArUcoCamera.ArUcoCamera(**data.pop('camera'))
+            new_parameters = DetectorParameters(**data.pop('parameters'))
+
+            return ArUcoDetector(new_dictionary, new_marker_size, new_camera, new_parameters)
 
     def __str__(self) -> str:
         """String display"""
 
-        output = f'Camera:\n{self.camera}\n'
-        output += f'Parameters:\n{self.__parameters}\n'
+        output = f'Dictionary:\n{self.dictionary}\n'
+        output += f'Marker size:\n{self.marker_size}\n'
+        output += f'Camera:\n{self.camera}\n'
+        output += f'Parameters:\n{self.parameters}\n'
 
         return output
 
-    @property
-    def parameters(self):
-        """ArUco marker detector parameters."""
-        
-        return self.__parameters
-
     def detect_markers(self, frame):
         """Detect all ArUco markers into a frame.
 
@@ -214,7 +179,7 @@ class ArUcoDetector():
         self.__detected_markers, self.__detected_markers_corners, self.__detected_markers_ids = {}, [], []
 
         # Detect markers into gray picture
-        self.__detected_markers_corners, self.__detected_markers_ids, _ = aruco.detectMarkers(cv.cvtColor(frame, cv.COLOR_BGR2GRAY), self.dictionary.markers, parameters = self.__parameters.internal)
+        self.__detected_markers_corners, self.__detected_markers_ids, _ = aruco.detectMarkers(cv.cvtColor(frame, cv.COLOR_BGR2GRAY), self.dictionary.markers, parameters = self.parameters.internal)
 
         # Is there detected markers ?
         if len(self.__detected_markers_corners) > 0:
@@ -306,7 +271,7 @@ class ArUcoDetector():
         
         # detect markers from gray picture
         gray = cv.cvtColor(frame, cv.COLOR_BGR2GRAY)
-        self.__detected_markers_corners, self.__detected_markers_ids, _ = aruco.detectMarkers(gray, self.dictionary.markers, parameters = self.__parameters.internal)
+        self.__detected_markers_corners, self.__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: