Fixing aruco detector parameters loading. Removing useless aoi_frames attribute.

1 files changed, 3 insertions, 7 deletions

diff --git a/src/argaze/ArFeatures.py b/src/argaze/ArFeatures.py
index 033e290..0d2062d 100644
--- a/src/argaze/ArFeatures.py
+++ b/src/argaze/ArFeatures.py
@@ -91,7 +91,7 @@ class ArEnvironment():
 			# dict:
 			else:
 
-				new_aruco_detector_parameters = ArUcoDetector.DetectorParameters(**new_detector_data.pop('parameters'))
+				new_aruco_detector_parameters = ArUcoDetector.DetectorParameters(**detector_parameters_value)
 			
 			new_aruco_detector = ArUcoDetector.ArUcoDetector(new_aruco_dictionary, new_marker_size, new_optic_parameters, new_aruco_detector_parameters)
 
@@ -184,8 +184,6 @@ class ArScene():
 
 		aoi_scene: AOI 3D scene description that will be projected onto estimated scene once its pose will be estimated : see [project][argaze.ArFeatures.ArScene.project] function below.
 
-		aoi_frames: Link sub AOIs to a parent AOI (e.g. AOIFrame). By default all AOIs are linked to orthogonal_projection.
-
 		aruco_axis: Optional dictionary to define orthogonal axis where each axis is defined by list of 3 markers identifier (first is origin). \
 					This pose estimation strategy is used by [estimate_pose][argaze.ArFeatures.ArScene.estimate_pose] function when at least 3 markers are detected.
 
@@ -198,7 +196,6 @@ class ArScene():
 
 	aruco_scene: ArUcoScene.ArUcoScene = field(default_factory=ArUcoScene.ArUcoScene)
 	aoi_scene: AOI3DScene.AOI3DScene = field(default_factory=AOI3DScene.AOI3DScene)
-	aoi_frames: dict = field(default_factory=dict)
 	aruco_axis: dict = field(default_factory=dict)
 	aruco_aoi: dict = field(default_factory=dict)
 	angle_tolerance: float = field(default=0.)
@@ -212,8 +209,6 @@ class ArScene():
 		# Preprocess orthogonal projection to speed up further aruco aoi processings
 		self.__orthogonal_projection_cache = self.orthogonal_projection
 
-		print(self.aoi_frames)
-
 	def __str__(self) -> str:
 		"""
 		Returns:
@@ -236,9 +231,10 @@ class ArScene():
 		"""
 
 		scene_size = self.aoi_scene.size
+		scene_center = self.aoi_scene.center
 
 		# Center, step back and rotate pose to get whole scene into field of view
-		tvec = self.aoi_scene.center*[-1, 1, 0] + [0, 0, scene_size[1]]
+		tvec = scene_center*[-1, 1, 0] + [0, 0, scene_size[1]]
 		rvec = numpy.array([[-numpy.pi, 0.0, 0.0]])
 
 		# Edit optic intrinsic parameter to capture whole scene