1 files changed, 44 insertions, 31 deletions

diff --git a/src/argaze/ArUcoMarkers/ArUcoCamera.py b/src/argaze/ArUcoMarkers/ArUcoCamera.py
index 775ab40..ca58c20 100644
--- a/src/argaze/ArUcoMarkers/ArUcoCamera.py
+++ b/src/argaze/ArUcoMarkers/ArUcoCamera.py
@@ -8,7 +8,6 @@ __copyright__ = "Copyright 2023, Ecole Nationale de l'Aviation Civile (ENAC)"
 __license__ = "BSD"
 
 from typing import TypeVar, Tuple
-from dataclasses import dataclass, field
 import json
 import os
 import time
@@ -33,26 +32,32 @@ DEFAULT_ARUCOCAMERA_IMAGE_PARAMETERS = {
 	}
 }
 
-@dataclass
 class ArUcoCamera(ArFeatures.ArCamera):
 	"""
 	Define an ArCamera based on ArUco marker detection.
-
-	Parameters:
-		aruco_detector: ArUco marker detector
 	"""
 
-	aruco_detector: ArUcoDetector.ArUcoDetector = field(default_factory=ArUcoDetector.ArUcoDetector)
+	def __init__(self, aruco_detector: ArUcoDetector.ArUcoDetector, **kwargs):
+		""" Initialize ArUcoCamera
+
+		Parameters:
+			aruco_detector: ArUco marker detector
+		"""
 
-	def __post_init__(self):
+		# DEBUG
+		print('ArUcoCamera.__init__ kwargs', kwargs)
 
-		super().__post_init__()
+		# Init parent class
+		super().__init__(**kwargs)
+
+		# Init private attribute
+		self.__aruco_detector = aruco_detector
 
 		# Check optic parameters
-		if self.aruco_detector.optic_parameters is not None:
+		if self.__aruco_detector.optic_parameters is not None:
 
 			# Optic parameters dimensions should be equal to camera frame size 
-			if self.aruco_detector.optic_parameters.dimensions != self.size:
+			if self.__aruco_detector.optic_parameters.dimensions != self.size:
 
 				raise ArFeatures.LoadingFailed('ArUcoCamera: aruco_detector.optic_parameters.dimensions have to be equal to size.')
 
@@ -61,18 +66,12 @@ class ArUcoCamera(ArFeatures.ArCamera):
 
 			# Create default optic parameters adapted to frame size
 			# Note: The choice of 1000 for default focal length should be discussed...
-			self.aruco_detector.optic_parameters = ArUcoOpticCalibrator.OpticParameters(rms=-1, dimensions=self.size, K=ArUcoOpticCalibrator.K0(focal_length=(1000., 1000.), width=self.size[0], height=self.size[1]))
+			self.__aruco_detector.optic_parameters = ArUcoOpticCalibrator.OpticParameters(rms=-1, dimensions=self.size, K=ArUcoOpticCalibrator.K0(focal_length=(1000., 1000.), width=self.size[0], height=self.size[1]))
 
-	def __str__(self) -> str:
-		"""
-		Returns:
-			String representation
-		"""
-
-		output = super().__str__()
-		output += f'ArUcoDetector:\n{self.aruco_detector}\n'
-
-		return output
+	@property
+	def aruco_detector(self) -> ArUcoDetector.ArUcoDetector:
+		"""Get ArUco detector object."""
+		return self.__aruco_detector
 
 	@classmethod
 	def from_dict(self, aruco_camera_data: dict, working_directory: str = None) -> ArUcoCameraType:
@@ -120,11 +119,14 @@ class ArUcoCamera(ArFeatures.ArCamera):
 				for layer_name, layer_data in aruco_camera_data['layers'].items():
 					aruco_camera_data['image_parameters']['draw_layers'][layer_name] = ArFeatures.DEFAULT_ARLAYER_DRAW_PARAMETERS
 
-		# Get values of temporary ar frame created from aruco_camera_data
-		temp_ar_frame_values = DataFeatures.as_dict(ArFeatures.ArFrame.from_dict(aruco_camera_data, working_directory))
+		# Load temporary camera from aruco_camera_data then export it as dict
+		temp_camera_data = ArFeatures.ArCamera.from_dict(aruco_camera_data, working_directory).as_dict()
+
+		# DEBUG
+		print('ArUcoCamera.from_dict: temp_camera_data=', temp_camera_data)
 
 		# Create new aruco camera using temporary ar frame values
-		return ArUcoCamera(aruco_detector=new_aruco_detector, scenes=new_scenes, **temp_ar_frame_values)
+		return ArUcoCamera(aruco_detector = new_aruco_detector, scenes = new_scenes, **temp_camera_data)
 
 	@classmethod
 	def from_json(self, json_filepath: str) -> ArUcoCameraType:
@@ -142,6 +144,17 @@ class ArUcoCamera(ArFeatures.ArCamera):
 
 			return ArUcoCamera.from_dict(aruco_camera_data, working_directory)
 
+	def __str__(self) -> str:
+		"""
+		Returns:
+			String representation
+		"""
+
+		output = super().__str__()
+		output += f'ArUcoDetector:\n{self.__aruco_detector}\n'
+
+		return output
+
 	@DataFeatures.PipelineStepMethod
 	def watch(self, timestamp: int|float, image: numpy.array):
 		"""Detect environment aruco markers from image and project scenes into camera frame.
@@ -151,10 +164,10 @@ class ArUcoCamera(ArFeatures.ArCamera):
 		"""
 
 		# Use camera frame locker feature
-		with self.locker:
+		with self._lock:
 
 			# Detect aruco markers
-			self.aruco_detector.detect_markers(timestamp, image)
+			self.__aruco_detector.detect_markers(timestamp, image)
 
 			# Fill camera frame background with image
 			self.background = image
@@ -173,7 +186,7 @@ class ArUcoCamera(ArFeatures.ArCamera):
 					try:
 
 						# Build AOI scene directly from detected ArUco marker corners
-						self.layers[??].aoi_2d_scene |= scene.build_aruco_aoi_scene(self.aruco_detector.detected_markers)
+						self.layers[??].aoi_2d_scene |= scene.build_aruco_aoi_scene(self.__aruco_detector.detected_markers)
 
 					except ArFeatures.PoseEstimationFailed:
 
@@ -181,7 +194,7 @@ class ArUcoCamera(ArFeatures.ArCamera):
 				'''
 
 				# Estimate scene pose from detected scene markers
-				tvec, rmat, _ = scene.estimate_pose(self.aruco_detector.detected_markers)
+				tvec, rmat, _ = scene.estimate_pose(self.__aruco_detector.detected_markers)
 
 				# Project scene into camera frame according estimated pose
 				for layer_name, layer_projection in scene.project(tvec, rmat, self.visual_hfov, self.visual_vfov):
@@ -216,12 +229,12 @@ class ArUcoCamera(ArFeatures.ArCamera):
 		image = super().image(**kwargs)
 
 		# Use frame locker feature
-		with self.locker:
+		with self._lock:
 
 			# Draw optic parameters grid if required
 			if draw_optic_parameters_grid is not None:
 
-				self.aruco_detector.optic_parameters.draw(image, **draw_optic_parameters_grid)
+				self.__aruco_detector.optic_parameters.draw(image, **draw_optic_parameters_grid)
 
 			# Draw scenes if required
 			if draw_scenes is not None:
@@ -233,7 +246,7 @@ class ArUcoCamera(ArFeatures.ArCamera):
 			# Draw detected markers if required
 			if draw_detected_markers is not None:
 
-				self.aruco_detector.draw_detected_markers(image, draw_detected_markers)
+				self.__aruco_detector.draw_detected_markers(image, draw_detected_markers)
 
 		return image