diff options
| -rw-r--r-- | src/argaze/ArFeatures.py | 38 |
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) |