From 0bc7b7fce2957422a2ffab59d6746a160e8bcc7f Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Tue, 14 Mar 2023 14:50:49 +0100
Subject: Creation of board with default ArUco dictionary.

---
 src/argaze.test/ArUcoMarkers/ArUcoBoard.py | 25 +++++++++++++------------
 src/argaze/ArUcoMarkers/ArUcoBoard.py      | 26 ++++++++++++++++----------
 2 files changed, 29 insertions(+), 22 deletions(-)

diff --git a/src/argaze.test/ArUcoMarkers/ArUcoBoard.py b/src/argaze.test/ArUcoMarkers/ArUcoBoard.py
index 5ca1324..96c38b9 100644
--- a/src/argaze.test/ArUcoMarkers/ArUcoBoard.py
+++ b/src/argaze.test/ArUcoMarkers/ArUcoBoard.py
@@ -19,7 +19,7 @@ class TestArUcoBoardClass(unittest.TestCase):
         square_size = 2 
         marker_size = 1
 
-        aruco_board = ArUcoBoard.ArUcoBoard('DICT_ARUCO_ORIGINAL', columns, rows, square_size, marker_size)
+        aruco_board = ArUcoBoard.ArUcoBoard(columns, rows, square_size, marker_size, 'DICT_ARUCO_ORIGINAL')
 
         # Check ArUco board
         self.assertIsNone(numpy.testing.assert_array_equal(aruco_board.identifiers, [i for i in range(int((columns*rows)/2))]))
@@ -31,19 +31,20 @@ class TestArUcoBoardClass(unittest.TestCase):
         """Test ArUcoBoard creation using a dictionary instance."""
 
         # Check ArUco board creation
-        columns = 4
-        rows = 3
-        square_size = 2 
-        marker_size = 1
-
         aruco_dictionary = ArUcoMarkersDictionary.ArUcoMarkersDictionary('DICT_ARUCO_ORIGINAL')
-        aruco_board = ArUcoBoard.ArUcoBoard(aruco_dictionary, columns, rows, square_size, marker_size)
+        aruco_board = ArUcoBoard.ArUcoBoard(4, 3, 2, 1, aruco_dictionary)
 
-        # Check ArUco board
-        self.assertIsNone(numpy.testing.assert_array_equal(aruco_board.identifiers, [i for i in range(int((columns*rows)/2))]))
-        self.assertIsNone(numpy.testing.assert_array_equal(aruco_board.size, [columns, rows]))
-        self.assertEqual(aruco_board.markers_number, int((columns*rows)/2))
-        self.assertEqual(aruco_board.corners_number, (columns-1)*(rows-1))
+        # Check ArUco board dictionary name
+        self.assertEqual(aruco_board.dictionary.name, 'DICT_ARUCO_ORIGINAL')
+
+    def test_new_with_no_dictionary(self):
+        """Test ArUcoBoard creation using a dictionary instance."""
+
+        # Check ArUco board creation
+        aruco_board = ArUcoBoard.ArUcoBoard(4, 3, 2, 1)
+
+        # Check ArUco board dictionary name
+        self.assertEqual(aruco_board.dictionary.name, 'DICT_ARUCO_ORIGINAL')
 
 if __name__ == '__main__':
 
diff --git a/src/argaze/ArUcoMarkers/ArUcoBoard.py b/src/argaze/ArUcoMarkers/ArUcoBoard.py
index e6772c4..5d2a39d 100644
--- a/src/argaze/ArUcoMarkers/ArUcoBoard.py
+++ b/src/argaze/ArUcoMarkers/ArUcoBoard.py
@@ -9,25 +9,31 @@ import cv2.aruco as aruco
 class ArUcoBoard():
     """Calibration chess board with ArUco markers inside."""
 
-    def __init__(self, dictionary: ArUcoMarkersDictionary.ArUcoMarkersDictionary | str, columns: int, rows: int, square_size: float, marker_size: float):
+    def __init__(self, columns: int, rows: int, square_size: float, marker_size: float, dictionary: ArUcoMarkersDictionary.ArUcoMarkersDictionary | str = None):
         """Create columns x rows chess board with ArUco markers at given size in centimeters."""
 
-        # Handle dictionary str or instance
-        if type(dictionary) == str:
-            self.__dictionary = ArUcoMarkersDictionary.ArUcoMarkersDictionary(dictionary)
-        elif isinstance(dictionary, ArUcoMarkersDictionary.ArUcoMarkersDictionary):
-            self.__dictionary = dictionary
-        else:
-            raise ValueError(f'dictionary: {dictionary}')
-
         # Store properties
         self.__columns = columns
         self.__rows = rows
         self.__square_size = square_size  # in cm
         self.__marker_size = marker_size  # in cm
 
+        # Handle dictionary str or instance
+        if dictionary != None: 
+
+            if type(dictionary) == str:
+                self.dictionary = ArUcoMarkersDictionary.ArUcoMarkersDictionary(dictionary)
+            elif isinstance(dictionary, ArUcoMarkersDictionary.ArUcoMarkersDictionary):
+                self.dictionary = dictionary
+            else:
+                raise ValueError(f'dictionary: {dictionary}')
+
+        else:
+
+            self.dictionary = ArUcoMarkersDictionary.ArUcoMarkersDictionary()
+
         # Create board model
-        self.__board = aruco.CharucoBoard((self.__columns, self.__rows), self.__square_size/100., self.__marker_size/100., self.__dictionary.markers)
+        self.__board = aruco.CharucoBoard((self.__columns, self.__rows), self.__square_size/100., self.__marker_size/100., self.dictionary.markers)
 
     def __del__(self):
         pass
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