From 46b3fb454275d7431e8ea894c887179c1704c84c Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Wed, 11 Oct 2023 15:17:46 +0200
Subject: Removing useless private attributes fro ArUcoDetector class.

---
 src/argaze/ArUcoMarkers/ArUcoDetector.py | 46 +++++++++++++++-----------------
 1 file changed, 21 insertions(+), 25 deletions(-)

diff --git a/src/argaze/ArUcoMarkers/ArUcoDetector.py b/src/argaze/ArUcoMarkers/ArUcoDetector.py
index 490b75b..3ef7fa6 100644
--- a/src/argaze/ArUcoMarkers/ArUcoDetector.py
+++ b/src/argaze/ArUcoMarkers/ArUcoDetector.py
@@ -149,8 +149,6 @@ class ArUcoDetector():
 
         # Init detected markers data
         self.__detected_markers = {}
-        self.__detected_markers_corners = []
-        self.__detected_markers_ids = []
 
         # Init detected board data
         self.__board = None
@@ -267,31 +265,31 @@ class ArUcoDetector():
         """
 
         # Reset detected markers data
-        self.__detected_markers, self.__detected_markers_corners, self.__detected_markers_ids = {}, [], []
+        self.__detected_markers, detected_markers_corners, detected_markers_ids = {}, [], []
 
         # Store marker detection start date
         detection_start = time.perf_counter()
 
         # Detect markers into gray picture
-        self.__detected_markers_corners, self.__detected_markers_ids, _ = aruco.detectMarkers(cv.cvtColor(image, cv.COLOR_BGR2GRAY), self.dictionary.markers, parameters = self.parameters.internal)
+        detected_markers_corners, detected_markers_ids, _ = aruco.detectMarkers(cv.cvtColor(image, cv.COLOR_BGR2GRAY), self.dictionary.markers, parameters = self.parameters.internal)
         
         # Assess marker detection time in ms
         detection_time = (time.perf_counter() - detection_start) * 1e3
 
         # Is there detected markers ?
-        if len(self.__detected_markers_corners) > 0:
+        if len(detected_markers_corners) > 0:
 
             # Transform markers ids array into list
-            self.__detected_markers_ids = self.__detected_markers_ids.T[0]
+            detected_markers_ids = detected_markers_ids.T[0]
 
             # Gather detected markers data and update metrics
             self.__detection_count += 1
 
-            for i, marker_id in enumerate(self.__detected_markers_ids):
+            for i, marker_id in enumerate(detected_markers_ids):
 
                 marker = ArUcoMarker.ArUcoMarker(self.dictionary, marker_id, self.marker_size)
 
-                marker.corners = self.__detected_markers_corners[i]
+                marker.corners = detected_markers_corners[i]
 
                 # No pose estimation: call estimate_markers_pose to get one
                 marker.translation = numpy.empty([0])
@@ -300,6 +298,7 @@ class ArUcoDetector():
 
                 self.__detected_markers[marker_id] = marker
 
+                # Update metrics
                 self.__detected_ids.append(marker_id)
 
         return detection_time
@@ -308,26 +307,23 @@ class ArUcoDetector():
         """Estimate pose of current detected markers or of given markers id list."""
 
         # Is there detected markers ?
-        if len(self.__detected_markers_corners) > 0:
+        if len(self.__detected_markers) > 0:
 
-            # Is there a marker selection ?
-            if len(markers_ids) > 0:
+            # Select all markers by default
+            if len(markers_ids) == 0:
 
-                selected_markers_corners = tuple()
-                selected_markers_ids = []
+                markers_ids = self.__detected_markers.keys()
 
-                for i, marker_id in enumerate(self.__detected_markers_ids):
+            # Prepare data for aruco.estimatePoseSingleMarkers function
+            selected_markers_corners = tuple()
+            selected_markers_ids = []
 
-                    if marker_id in markers_ids:
-
-                        selected_markers_corners += (self.__detected_markers_corners[i],)
-                        selected_markers_ids.append(marker_id)
+            for marker_id, marker in self.__detected_markers.items():
 
-            # Otherwise, estimate pose of all markers
-            else:
+                if marker_id in markers_ids:
 
-                selected_markers_corners = self.__detected_markers_corners
-                selected_markers_ids = self.__detected_markers_ids
+                    selected_markers_corners += (marker.corners,)
+                    selected_markers_ids.append(marker_id)
 
             # Estimate pose of selected markers
             if len(selected_markers_corners) > 0:
@@ -377,13 +373,13 @@ class ArUcoDetector():
         
         # detect markers from gray picture
         gray = cv.cvtColor(image, cv.COLOR_BGR2GRAY)
-        self.__detected_markers_corners, self.__detected_markers_ids, _ = aruco.detectMarkers(gray, self.dictionary.markers, parameters = self.parameters.internal)
+        detected_markers_corners, detected_markers_ids, _ = aruco.detectMarkers(gray, self.dictionary.markers, parameters = self.parameters.internal)
 
          # if all board markers are detected
-        if len(self.__detected_markers_corners) == expected_markers_number:
+        if len(detected_markers_corners) == expected_markers_number:
 
             self.__board = board
-            self.__board_corners_number, self.__board_corners, self.__board_corners_ids = aruco.interpolateCornersCharuco(self.__detected_markers_corners, self.__detected_markers_ids, gray, self.__board.model)
+            self.__board_corners_number, self.__board_corners, self.__board_corners_ids = aruco.interpolateCornersCharuco(detected_markers_corners, detected_markers_ids, gray, self.__board.model)
 
         else:
 
-- 
cgit v1.1