Remvoving working directory attribute. Updating ArUcoMarkerDictionary loading. Removing useless print.

1 files changed, 20 insertions, 18 deletions

diff --git a/src/argaze/ArFeatures.py b/src/argaze/ArFeatures.py
index 2d5b62d..467aa03 100644
--- a/src/argaze/ArFeatures.py
+++ b/src/argaze/ArFeatures.py
@@ -5,6 +5,7 @@ from dataclasses import dataclass, field
 import json
 import os
 
+from argaze import DataStructures
 from argaze.ArUcoMarkers import *
 from argaze.AreaOfInterest import *
 
@@ -26,9 +27,6 @@ class ArEnvironment():
 	name: str 
 	"""Environment name"""
 
-	working_directory: str
-	"""Environment working directory"""
-
 	aruco_detector: ArUcoDetector.ArUcoDetector = field(default_factory=ArUcoDetector.ArUcoDetector)
 	"""ArUco detector"""
 
@@ -39,10 +37,7 @@ class ArEnvironment():
 
 		# Setup scenes environment after environment creation
 		for name, scene in self.scenes.items():
-
-			print(name)
-			
-			scene.environment = self
+			scene._environment = self
 
 	@classmethod
 	def from_json(self, json_filepath: str) -> ArSceneType:
@@ -51,12 +46,12 @@ class ArEnvironment():
 		with open(json_filepath) as configuration_file:
 
 			data = json.load(configuration_file)
+			working_directory = os.path.dirname(json_filepath)
 
 			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_aruco_dictionary = ArUcoMarkersDictionary.ArUcoMarkersDictionary(**new_detector_data.pop('dictionary'))
 			new_marker_size = new_detector_data.pop('marker_size')
 
 			# Check aruco_camera value type
@@ -65,7 +60,7 @@ class ArEnvironment():
 			# str: relative path to .json file
 			if type(aruco_camera_value) == str:
 
-				aruco_camera_value = os.path.join(new_working_directory, aruco_camera_value)
+				aruco_camera_value = os.path.join(working_directory, aruco_camera_value)
 				new_aruco_camera = ArUcoCamera.ArUcoCamera.from_json(aruco_camera_value)
 
 			# dict:
@@ -88,7 +83,7 @@ class ArEnvironment():
 				# str: relative path to .obj file
 				if type(aruco_scene_value) == str:
 
-					aruco_scene_value = os.path.join(new_working_directory, aruco_scene_value)
+					aruco_scene_value = os.path.join(working_directory, aruco_scene_value)
 					new_aruco_scene = ArUcoScene.ArUcoScene.from_obj(aruco_scene_value)
 
 				# dict:
@@ -102,7 +97,7 @@ class ArEnvironment():
 				# str: relative path to .obj file
 				if type(aoi_scene_value) == str:
 
-					obj_filepath = os.path.join(new_working_directory, aoi_scene_value)
+					obj_filepath = os.path.join(working_directory, aoi_scene_value)
 					new_aoi_scene = AOI3DScene.AOI3DScene.from_obj(obj_filepath)
 
 				# dict:
@@ -112,7 +107,7 @@ class ArEnvironment():
 
 				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)
+			return ArEnvironment(new_name, new_aruco_detector, new_scenes)
 
 	def __str__(self) -> str:
 		"""String display"""
@@ -125,6 +120,13 @@ class ArEnvironment():
 
 		return output
 
+	def to_json(self, json_filepath):
+		"""Save environment to .json file."""
+
+		with open(json_filepath, 'w', encoding='utf-8') as file:
+
+			json.dump(self, file, ensure_ascii=False, indent=4, cls=DataStructures.JsonEncoder)
+
 class PoseEstimationFailed(Exception):
 	"""Exception raised by ArScene estimate_pose method when the pose can't be estimated due to unconsistencies."""
 
@@ -167,7 +169,7 @@ class ArScene():
 	def __post_init__(self):
 
 		# Define environment attribute: it will be setup by parent environment later
-		self.environment = None
+		self._environment = None
 
 		# Preprocess orthogonal projection to speed up further aruco aoi processings
 		self.__orthogonal_projection_cache = self.orthogonal_projection
@@ -175,7 +177,7 @@ class ArScene():
 	def __str__(self) -> str:
 		"""String display"""
 
-		output = f'ArEnvironment:\n{self.environment.name}\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'
 
@@ -286,7 +288,7 @@ class ArScene():
 
 			aoi_scene_copy = self.aoi_scene.copy()
 
-		aoi_scene_projection = aoi_scene_copy.project(tvec, rvec, self.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:
@@ -336,11 +338,11 @@ class ArScene():
 	def draw_axis(self, frame):
 		"""Draw scene axis into frame."""
 
-		self.aruco_scene.draw_axis(frame, self.environment.aruco_detector.camera.K, self.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.environment.aruco_detector.camera.K, self.environment.aruco_detector.camera.D)
+		self.aruco_scene.draw_places(frame, self._environment.aruco_detector.camera.K, self._environment.aruco_detector.camera.D)