Fixing ArEnvironment loading.

4 files changed, 47 insertions, 18 deletions

diff --git a/src/argaze/ArFeatures.py b/src/argaze/ArFeatures.py
index a684fc6..6247482 100644
--- a/src/argaze/ArFeatures.py
+++ b/src/argaze/ArFeatures.py
@@ -35,6 +35,13 @@ class ArEnvironment():
 	scenes: dict = field(default_factory=dict)
 	"""All environment scenes"""
 
+	def __post_init__(self):
+
+		# Setup scenes environment after environment creation
+		for name, scene in self.scenes.items():
+			
+			scene.environment = self
+
 	@classmethod
 	def from_json(self, json_filepath: str) -> ArSceneType:
 		"""Load ArEnvironment from .json file."""
@@ -49,9 +56,22 @@ class ArEnvironment():
 
 			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'))
 
+			# Check aruco_camera value type
+			aruco_camera_value = new_detector_data.pop('camera')
+
+			# str: relative path to .json file
+			if type(aruco_camera_value) == str:
+
+				aruco_camera_value = os.path.join(new_working_directory, aruco_camera_value)
+				new_aruco_camera = ArUcoCamera.ArUcoCamera.from_json(aruco_camera_value)
+
+			# dict:
+			else:
+
+				new_aruco_camera = ArUcoCamera.ArUcoCamera(**aruco_camera_value)
+
+			new_aruco_detecor_parameters = ArUcoDetector.DetectorParameters(**new_detector_data.pop('parameters'))
 			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():
@@ -88,16 +108,17 @@ class ArEnvironment():
 
 					new_aoi_scene = AOI3DScene.AOI3DScene(aoi_scene_value)
 
-				new_scenes[scene_name] = ArScene(self, new_aruco_scene, new_aoi_scene, **scene_data)
+				new_scenes[scene_name] = ArScene(new_aruco_scene, new_aoi_scene, **scene_data)
 
 			return ArEnvironment(new_name, new_working_directory, new_aruco_detector, new_scenes)
 
 	def __str__(self) -> str:
 		"""String display"""
 
-		output = f'ArUcoDetector:\n{self.aruco_detector}\n'
+		output = f'Name:\n{self.name}\n'
+		output += f'ArUcoDetector:\n{self.aruco_detector}\n'
 
-		for name, scene in self.__scenes.items():
+		for name, scene in self.scenes.items():
 			output += f'\"{name}\" ArScene:\n{scene}\n'
 
 		return output
@@ -122,9 +143,6 @@ class SceneProjectionFailed(Exception):
 class ArScene():
 	"""Define an Augmented Reality scene with ArUco markers and AOI scenes."""
 
-	ar_environment: ArEnvironment = field(default_factory=ArEnvironment)
-	"""AR Environment to which the scene belongs."""
-
 	aruco_scene: ArUcoScene.ArUcoScene = field(default_factory=ArUcoScene.ArUcoScene)
 	"""ArUco markers 3D scene description used to estimate scene pose from detected markers: see `estimate_pose` function below."""
 
@@ -146,13 +164,17 @@ class ArScene():
 
 	def __post_init__(self):
 
+		# Define environment attribute: it will be setup by parent environment later
+		self.environment = None
+
 		# Preprocess orthogonal projection to speed up further aruco aoi processings
 		self.__orthogonal_projection_cache = self.orthogonal_projection
 
 	def __str__(self) -> str:
 		"""String display"""
 
-		output = f'ArUcoScene:\n{self.aruco_scene}\n'
+		output = f'ArEnvironment:\n{self.environment.name}\n'
+		output += f'ArUcoScene:\n{self.aruco_scene}\n'
 		output += f'AOIScene:\n{self.aoi_scene}\n'
 
 		return output
@@ -262,7 +284,7 @@ class ArScene():
 
 			aoi_scene_copy = self.aoi_scene.copy()
 
-		aoi_scene_projection = aoi_scene_copy.project(tvec, rvec, self.ar_environment.aruco_detector.camera.K)
+		aoi_scene_projection = aoi_scene_copy.project(tvec, rvec, self.environment.aruco_detector.camera.K)
 
 		# Warn user when the projected scene is empty
 		if len(aoi_scene_projection) == 0:
@@ -312,11 +334,11 @@ class ArScene():
 	def draw_axis(self, frame):
 		"""Draw scene axis into frame."""
 
-		self.aruco_scene.draw_axis(frame, self.ar_environment.aruco_detector.camera.K, self.ar_environment.aruco_detector.camera.D)
+		self.aruco_scene.draw_axis(frame, self.environment.aruco_detector.camera.K, self.environment.aruco_detector.camera.D)
 
 	def draw_places(self, frame):
 		"""Draw scene places into frame."""
 
-		self.aruco_scene.draw_places(frame, self.ar_environment.aruco_detector.camera.K, self.ar_environment.aruco_detector.camera.D)
+		self.aruco_scene.draw_places(frame, self.environment.aruco_detector.camera.K, self.environment.aruco_detector.camera.D)
 
 		
diff --git a/src/argaze/ArUcoMarkers/ArUcoDetector.py b/src/argaze/ArUcoMarkers/ArUcoDetector.py
index d96a472..333df7b 100644
--- a/src/argaze/ArUcoMarkers/ArUcoDetector.py
+++ b/src/argaze/ArUcoMarkers/ArUcoDetector.py
@@ -161,10 +161,10 @@ class ArUcoDetector():
     def __str__(self) -> str:
         """String display"""
 
-        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'
+        output = f'\n\tDictionary: {self.dictionary}\n'
+        output += f'\tMarker size: {self.marker_size} cm\n\n'
+        output += f'\tCamera:\n{self.camera}\n'
+        output += f'\tParameters:\n{self.parameters}'
 
         return output
 
diff --git a/src/argaze/ArUcoMarkers/ArUcoMarkersDictionary.py b/src/argaze/ArUcoMarkers/ArUcoMarkersDictionary.py
index 8599293..8c43844 100644
--- a/src/argaze/ArUcoMarkers/ArUcoMarkersDictionary.py
+++ b/src/argaze/ArUcoMarkers/ArUcoMarkersDictionary.py
@@ -85,6 +85,13 @@ class ArUcoMarkersDictionary():
             self.__number = int(dict_name_split[2])
 
         self.__aruco_dict = aruco.getPredefinedDictionary(all_aruco_markers_dictionaries[self.__name])
+
+    def __str__(self) -> str:
+        """String display"""
+
+        output = f'{self.__name}\n'
+
+        return output
     
     @property
     def name(self)-> str:
diff --git a/src/argaze/ArUcoMarkers/ArUcoScene.py b/src/argaze/ArUcoMarkers/ArUcoScene.py
index 19fcf07..06faa41 100644
--- a/src/argaze/ArUcoMarkers/ArUcoScene.py
+++ b/src/argaze/ArUcoMarkers/ArUcoScene.py
@@ -316,9 +316,9 @@ class ArUcoScene():
     def __str__(self) -> str:
         """String display"""
 
-        output = f'\n\n\tDictionary: {self.dictionary.name}'
+        output = f'\n\tDictionary: {self.dictionary}'
 
-        output = f'\n\n\tMarker size: {self.marker_size} cm'
+        output += f'\n\tMarker size: {self.marker_size} cm'
 
         output += '\n\n\tPlaces:'
         for identifier, place in self.places.items():