Changing and testing ArFeatures interface.

5 files changed, 142 insertions, 132 deletions

diff --git a/src/argaze.test/ArFeatures.py b/src/argaze.test/ArFeatures.py
new file mode 100644
index 0000000..8e7ff49
--- /dev/null
+++ b/src/argaze.test/ArFeatures.py
@@ -0,0 +1,67 @@
+#!/usr/bin/env python
+
+import unittest
+import os
+
+from argaze import ArFeatures
+
+import numpy
+
+class TestArEnvironmentClass(unittest.TestCase):
+    """Test ArEnvironment class."""
+
+    def test_from_json(self):
+        """Test ArEnvironment creation from json file."""
+        
+        # Edit test environment file path
+        current_directory = os.path.dirname(os.path.abspath(__file__))
+        json_filepath = os.path.join(current_directory, 'utils/environment.json')
+
+        # Load test environment
+        ar_environment = ArFeatures.ArEnvironment.from_json(json_filepath)
+
+        # Check environment meta data
+        self.assertEqual(ar_environment.name, "TestEnvironment")
+
+        # Check ArUco detector
+        self.assertEqual(ar_environment.aruco_detector.dictionary.name, "DICT_ARUCO_ORIGINAL")
+        self.assertEqual(ar_environment.aruco_detector.marker_size, 3.0)
+        self.assertEqual(ar_environment.aruco_detector.parameters.cornerRefinementMethod, 3)
+        self.assertEqual(ar_environment.aruco_detector.parameters.aprilTagQuadSigma, 2)
+        self.assertEqual(ar_environment.aruco_detector.parameters.aprilTagDeglitch, 1)
+
+        # Check ArUco detector camera
+        self.assertEqual(ar_environment.aruco_detector.camera.rms, 1.0)
+        self.assertIsNone(numpy.testing.assert_array_equal(ar_environment.aruco_detector.camera.dimensions, [1920, 1080]))
+        self.assertIsNone(numpy.testing.assert_array_equal(ar_environment.aruco_detector.camera.K, [[1.0, 0.0, 1.0], [0.0, 1.0, 1.0], [0.0, 0.0, 1.0]]))
+        self.assertIsNone(numpy.testing.assert_array_equal(ar_environment.aruco_detector.camera.D, [-1.0, -0.5, 0.0, 0.5, 1.0]))
+
+        # Check environment scenes
+        self.assertEqual(len(ar_environment.scenes), 1)
+        self.assertIsNone(numpy.testing.assert_array_equal(list(ar_environment.scenes.keys()), ["TestScene"]))
+
+        # Load test scene
+        ar_scene = ar_environment.scenes["TestScene"]
+
+        # Check Aruco scene
+        self.assertEqual(len(ar_scene.aruco_scene.places), 2)
+        self.assertIsNone(numpy.testing.assert_array_equal(ar_scene.aruco_scene.places['A'].translation, [1, 0, 0]))
+        self.assertIsNone(numpy.testing.assert_array_equal(ar_scene.aruco_scene.places['A'].rotation, [[1.,0.,0.],[0.,1.,0.],[0.,0.,1.]]))
+        self.assertEqual(ar_scene.aruco_scene.places['A'].marker.identifier, 0)
+
+        self.assertIsNone(numpy.testing.assert_array_equal(ar_scene.aruco_scene.places['B'].translation, [0, 1, 0]))
+        self.assertIsNone(numpy.testing.assert_array_almost_equal(ar_scene.aruco_scene.places['B'].rotation, [[0.,0.,1.],[0., 1.,0.],[-1.,0.,0.]]))
+        self.assertEqual(ar_scene.aruco_scene.places['B'].marker.identifier, 1)
+
+        # Check AOI scene 
+        self.assertEqual(len(ar_scene.aoi_scene.items()), 1)
+        self.assertEqual(ar_scene.aoi_scene['Test'].size, 4)
+
+        # Check ArScene
+        self.assertEqual(ar_scene.angle_tolerance, 1.0)
+        self.assertEqual(ar_scene.distance_tolerance, 2.0)
+        
+
+if __name__ == '__main__':
+
+    unittest.main()
\ No newline at end of file
diff --git a/src/argaze.test/ArScene.py b/src/argaze.test/ArScene.py
deleted file mode 100644
index 5180c12..0000000
--- a/src/argaze.test/ArScene.py
+++ /dev/null
@@ -1,59 +0,0 @@
-#!/usr/bin/env python
-
-import unittest
-import os
-
-from argaze import ArScene
-
-import numpy
-
-class TestArSceneClass(unittest.TestCase):
-    """Test ArScene class."""
-
-    def test_from_json(self):
-        """Test ArScene creation from json file."""
-        
-        # Edit scene file path
-        current_directory = os.path.dirname(os.path.abspath(__file__))
-        json_filepath = os.path.join(current_directory, 'utils/scene.json')
-
-        # Load scene
-        ar_scene = ArScene.ArScene.from_json(json_filepath)
-
-        # Check scene meta data
-        self.assertEqual(ar_scene.name, "TestScene")
-        self.assertEqual(ar_scene.aruco_dictionary.name, "DICT_ARUCO_ORIGINAL")
-        self.assertEqual(ar_scene.aruco_marker_size, 3.0)
-
-        # Check ArUco camera
-        self.assertEqual(ar_scene.aruco_camera.rms, 1.0)
-        self.assertIsNone(numpy.testing.assert_array_equal(ar_scene.aruco_camera.dimensions, [1920, 1080]))
-        self.assertIsNone(numpy.testing.assert_array_equal(ar_scene.aruco_camera.K, [[1.0, 0.0, 1.0], [0.0, 1.0, 1.0], [0.0, 0.0, 1.0]]))
-        self.assertIsNone(numpy.testing.assert_array_equal(ar_scene.aruco_camera.D, [-1.0, -0.5, 0.0, 0.5, 1.0]))
-
-        # Check ArUco detecter
-        self.assertEqual(ar_scene.aruco_detector.detection_parameters.cornerRefinementMethod, 3)
-        self.assertEqual(ar_scene.aruco_detector.detection_parameters.aprilTagQuadSigma, 2)
-        self.assertEqual(ar_scene.aruco_detector.detection_parameters.aprilTagDeglitch, 1)
-
-        # Check ArUco scene
-        self.assertEqual(ar_scene.angle_tolerance, 1.0)
-        self.assertEqual(ar_scene.distance_tolerance, 2.0)
-        self.assertEqual(len(ar_scene.aruco_scene.places), 2)
-
-        # Check ArUco scene places
-        self.assertIsNone(numpy.testing.assert_array_equal(ar_scene.aruco_scene.places['A'].translation, [1, 0, 0]))
-        self.assertIsNone(numpy.testing.assert_array_equal(ar_scene.aruco_scene.places['A'].rotation, [[1.,0.,0.],[0.,1.,0.],[0.,0.,1.]]))
-        self.assertEqual(ar_scene.aruco_scene.places['A'].marker.identifier, 0)
-
-        self.assertIsNone(numpy.testing.assert_array_equal(ar_scene.aruco_scene.places['B'].translation, [0, 1, 0]))
-        self.assertIsNone(numpy.testing.assert_array_almost_equal(ar_scene.aruco_scene.places['B'].rotation, [[0.,0.,1.],[0., 1.,0.],[-1.,0.,0.]]))
-        self.assertEqual(ar_scene.aruco_scene.places['B'].marker.identifier, 1)
-
-        # Check AOI scene
-        self.assertEqual(len(ar_scene.aoi_scene.items()), 1)
-        self.assertEqual(ar_scene.aoi_scene['Test'].size, 4)
-
-if __name__ == '__main__':
-
-    unittest.main()
\ No newline at end of file
diff --git a/src/argaze.test/utils/environment.json b/src/argaze.test/utils/environment.json
new file mode 100644
index 0000000..d5f8639
--- /dev/null
+++ b/src/argaze.test/utils/environment.json
@@ -0,0 +1,60 @@
+{
+	"name": "TestEnvironment",
+    "aruco_detector": {
+    	"dictionary": "DICT_ARUCO_ORIGINAL",
+    	"marker_size": 3.0,
+    	"camera": {
+            "rms": 1.0,
+            "dimensions": [
+                1920,
+                1080
+            ],
+            "K": [
+                [
+                    1.0,
+                    0.0,
+                    1.0
+                ],
+                [
+                    0.0,
+                    1.0,
+                    1.0
+                ],
+                [
+                    0.0,
+                    0.0,
+                    1.0
+                ]
+            ],
+            "D": [
+    	        -1.0,
+    	        -0.5,
+    	        0.0,
+    	        0.5,
+    	        1.0
+    	    ]
+        },
+        "parameters": {
+            "cornerRefinementMethod": 3,
+            "aprilTagQuadSigma": 2,
+            "aprilTagDeglitch": 1
+        }
+    },
+    "TestScene" : {
+        "aruco_scene": {
+            "A": {
+                "translation": [1, 0, 0],
+                "rotation": [0, 0, 0],
+                "marker": 0
+            },
+            "B": {
+                "translation": [0, 1, 0],
+                "rotation": [0, 90, 0],
+                "marker": 1
+            }
+        },
+        "aoi_scene": "aoi.obj",
+        "angle_tolerance": 1.0,
+        "distance_tolerance": 2.0
+    }
+}
\ No newline at end of file
diff --git a/src/argaze.test/utils/scene.json b/src/argaze.test/utils/scene.json
deleted file mode 100644
index 25aacc8..0000000
--- a/src/argaze.test/utils/scene.json
+++ /dev/null
@@ -1,56 +0,0 @@
-{
-	"name": "TestScene",
-	"aruco_dictionary": "DICT_ARUCO_ORIGINAL",
-	"aruco_marker_size": 3.0,
-	"aruco_camera": {
-        "rms": 1.0,
-        "dimensions": [
-            1920,
-            1080
-        ],
-        "K": [
-            [
-                1.0,
-                0.0,
-                1.0
-            ],
-            [
-                0.0,
-                1.0,
-                1.0
-            ],
-            [
-                0.0,
-                0.0,
-                1.0
-            ]
-        ],
-        "D": [
-	        -1.0,
-	        -0.5,
-	        0.0,
-	        0.5,
-	        1.0
-	    ]
-    },
-    "aruco_detector": {
-        "cornerRefinementMethod": 3,
-        "aprilTagQuadSigma": 2,
-        "aprilTagDeglitch": 1
-    },
-    "aruco_scene": {
-        "A": {
-            "translation": [1, 0, 0],
-            "rotation": [0, 0, 0],
-            "marker": 0
-        },
-        "B": {
-            "translation": [0, 1, 0],
-            "rotation": [0, 90, 0],
-            "marker": 1
-        }
-    },
-    "aoi_scene": "aoi.obj",
-    "angle_tolerance": 1.0,
-    "distance_tolerance": 2.0
-}
\ No newline at end of file
diff --git a/src/argaze/ArFeatures.py b/src/argaze/ArFeatures.py
index 25fd10d..e66b1ac 100644
--- a/src/argaze/ArFeatures.py
+++ b/src/argaze/ArFeatures.py
@@ -24,10 +24,10 @@ class ArEnvironment():
 	"""Define an Augmented Reality environment based ArUco marker detection."""
 
 	name: str 
-	"""Environement name."""
+	"""Environement name"""
 
 	aruco_detector: ArUcoDetector.ArUcoDetector = field(init=False, default_factory=ArUcoDetector.ArUcoDetector)
-	"""ArUco detecor."""
+	"""ArUco detector"""
 
 	def __init__(self, **kwargs):
 
@@ -40,17 +40,14 @@ class ArEnvironment():
 
 			self.__scenes[name] = ArScene(self, **scene_kwargs)
 
-	def __getitem__(self, name) -> ArSceneType:
-		"""Get an ArScene of the environment."""
-
-		return self.__scenes[name]
-
 	@classmethod
 	def from_json(self, json_filepath: str) -> ArSceneType:
 		"""Load ArEnvironment from .json file."""
 
 		with open(json_filepath) as configuration_file:
 
+			self.__working_directory = os.path.dirname(json_filepath)
+
 			return ArEnvironment(**json.load(configuration_file))
 
 	def __str__(self) -> str:
@@ -63,15 +60,16 @@ class ArEnvironment():
 
 		return output
 
-	def items(self) -> Tuple[str, ArSceneType]:
-		"""Iterate over scenes."""
-
-		return self.__scenes.items()
-
-	def keys(self) -> list[str]:
-		"""Get scenes name."""
+	@property
+	def working_directory(self):
+		"""Working directory path."""
+		return self.__working_directory
+	
+	@property
+	def scenes(self) -> Tuple[str, ArSceneType]:
+		"""Access to scenes dictionary."""
 
-		return self.__scenes.keys()
+		return self.__scenes
 
 class PoseEstimationFailed(Exception):
 	"""Exception raised by ArScene project method when the pose can't be estimated due to unconsistencies."""
@@ -121,7 +119,7 @@ class ArScene():
 		# str: relative path to .obj file
 		if type(aruco_scene_value) == str:
 
-			aruco_scene_value = os.path.join(os.getcwd(), aruco_scene_value)
+			aruco_scene_value = os.path.join(self.__ar_environment.working_directory, aruco_scene_value)
 
 		self.aruco_scene = ArUcoScene.ArUcoScene(self.__ar_environment.aruco_detector.dictionary, self.__ar_environment.aruco_detector.marker_size, aruco_scene_value)
 
@@ -131,7 +129,7 @@ class ArScene():
 		# str: relative path to .obj file
 		if type(aoi_scene_value) == str:
 
-			obj_filepath = os.path.join(os.getcwd(), aoi_scene_value)
+			obj_filepath = os.path.join(self.__ar_environment.working_directory, aoi_scene_value)
 			self.aoi_scene = AOI3DScene.AOI3DScene.from_obj(obj_filepath)
 
 		# dict: all AOI