Removing default None value for working_directory argument in from_dict classmethod. Refactoring estimate_markers_pose method.

1 files changed, 12 insertions, 7 deletions

diff --git a/src/argaze/ArUcoMarkers/ArUcoDetector.py b/src/argaze/ArUcoMarkers/ArUcoDetector.py
index 9f51490..2f05098 100644
--- a/src/argaze/ArUcoMarkers/ArUcoDetector.py
+++ b/src/argaze/ArUcoMarkers/ArUcoDetector.py
@@ -185,7 +185,7 @@ class ArUcoDetector(DataFeatures.PipelineStepObject):
         self.__parameters = value
 
     @classmethod
-    def from_dict(cls, aruco_detector_data: dict, working_directory: str = None) -> ArUcoDetectorType:
+    def from_dict(cls, aruco_detector_data: dict, working_directory: str) -> ArUcoDetectorType:
         """Load ArUcoDetector attributes from dictionary.
 
         Parameters:
@@ -292,16 +292,21 @@ class ArUcoDetector(DataFeatures.PipelineStepObject):
 
                 self.__detected_markers[marker_id] = marker
 
-    def estimate_markers_pose(self, markers_ids: list = []):
-        """Estimate pose of current detected markers or of given markers id list."""
+    def estimate_markers_pose(self, size: float, ids: list = []):
+        """Estimate pose detected markers pose considering a marker size.
+
+        Parameters:
+            size: size of markers in centimeters.
+            ids: markers id list to select detected markers.
+        """
 
         # Is there detected markers ?
         if len(self.__detected_markers) > 0:
 
             # Select all markers by default
-            if len(markers_ids) == 0:
+            if len(ids) == 0:
 
-                markers_ids = self.__detected_markers.keys()
+                ids = self.__detected_markers.keys()
 
             # Prepare data for aruco.estimatePoseSingleMarkers function
             selected_markers_corners = tuple()
@@ -309,7 +314,7 @@ class ArUcoDetector(DataFeatures.PipelineStepObject):
 
             for marker_id, marker in self.__detected_markers.items():
 
-                if marker_id in markers_ids:
+                if marker_id in ids:
 
                     selected_markers_corners += (marker.corners,)
                     selected_markers_ids.append(marker_id)
@@ -317,7 +322,7 @@ class ArUcoDetector(DataFeatures.PipelineStepObject):
             # 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))
+                markers_rvecs, markers_tvecs, markers_points = aruco.estimatePoseSingleMarkers(selected_markers_corners, size, numpy.array(self.__optic_parameters.K), numpy.array(self.__optic_parameters.D))
 
                 for i, marker_id in enumerate(selected_markers_ids):