[ar_tag_pose]

- refactored calibrateload/save into ar_tag_pose

ar_tag_pose.py

@@ -28,6 +28,20 @@ class ArTagPose(abc.ABC):
 	def is_calibrated(self):
 		return self.mtx is not None and self.dist is not None
 
+	def calibrate_save(self):
+		filename =  f"results/calib_{self.get_name()}.npz"
+		np.savez(f"{filename}", mtx=self.mtx, dist=self.dist, rvecs=self.r_vecs, tvecs=self.t_vecs)
+
+	def calibrate_load(self):
+		filename =  f"results/calib_{self.get_name()}.npz"
+		try:
+			with np.load(filename) as X:
+				self.mtx, self.dist, _, _ = [X[i] for i in ('mtx', 'dist', 'rvecs', 'tvecs')]
+		except FileNotFoundError:
+			pass
+		except KeyError:
+			pass
+
 	def calibrate_camera(self, cal_img_size: tuple[int,int], r_vecs=None, t_vecs=None, flags=0):
 		success = False
 		if len(self.obj_points_list) > 0 and len(self.img_points_list) > 0:
@@ -47,18 +61,6 @@ class ArTagPose(abc.ABC):
 
 		return success
 
-	@abc.abstractmethod
-	def calibrate_points(self, image: cv.typing.MatLike):
-		pass
-
-	@abc.abstractmethod
-	def calibrate_save(self):
-		pass
-
-	@abc.abstractmethod
-	def calibrate_load(self):
-		pass
-
 	def process(self):
 
 		# Open camera
@@ -110,6 +112,14 @@ class ArTagPose(abc.ABC):
 			cv.imshow('img', img)
 		cv.destroyAllWindows()
 
+	@abc.abstractmethod
+	def get_name(self):
+		pass
+
+	@abc.abstractmethod
+	def calibrate_points(self, image: cv.typing.MatLike):
+		pass
+
 	@abc.abstractmethod
 	def _process(self, image, draw_marker_box=True, draw_marker_id=False, draw_marker_axis=True) -> (bool, np.ndarray, np.ndarray):
 		pass

ar_tag_pose_aruco_board.py

@@ -14,27 +14,18 @@ def factory(dict_type: int, board_size: cv.typing.Size, marker_length: float=100
 	im_h = int(board_size[1] * (marker_length + marker_sep) - marker_sep + 2 * margins)
 	image = board.generateImage((im_w, im_h), None, margins, 1)
 	keyname = [key for key, val in ARUCO_DICT.items() if val == dict_type][0]
-	cv.imwrite(f"results/aruco_board_w{board_size[0]}_h{board_size[1]}_{keyname}.png", image)
+	name = f"aruco_board_w{board_size[0]}_h{board_size[1]}_{keyname}"
+	cv.imwrite(f"results/{name}.png", image)
 
-	return detector, board
+	return detector, board, name
 
 class ArTagPoseArucoBoard(ArTagPose):
 	def __init__(self, dict_type: int, board_size: tuple[int, int]):
 		self.board_size = board_size
-		self.calib_filename = f"results/cam_calib_aruco_board_w{board_size[0]}_h{board_size[1]}.npz"
+		self.detector, self.board, self.name = factory(dict_type, board_size)
-		self.detector, self.board = factory(dict_type, board_size)
 
-	def calibrate_save(self):
+	def get_name(self):
-		np.savez(f"{self.calib_filename}", mtx=self.mtx, dist=self.dist, rvecs=self.r_vecs, tvecs=self.t_vecs)
+		return self.name
-
-	def calibrate_load(self):
-		try:
-			with np.load(self.calib_filename) as X:
-				self.mtx, self.dist, _, _ = [X[i] for i in ('mtx', 'dist', 'rvecs', 'tvecs')]
-		except FileNotFoundError:
-			pass
-		except KeyError:
-			pass
 
 	def calibrate_points(self, image: cv.typing.MatLike):
 		success = False

ar_tag_pose_charuco_board.py

@@ -14,28 +14,19 @@ def factory(dict_type: int, board_size: cv.typing.Size, square_length: float = 5
 	detector = cv.aruco.CharucoDetector(board, params)
 	image = board.generateImage((im_w, im_h), None, margin_length, 1)
 	keyname = [key for key, val in ARUCO_DICT.items() if val == dict_type][0]
-	cv.imwrite(f"results/charuco_board_w{board_size[0]}_h{board_size[1]}_{keyname}.png", image)
+	name = f"aruco_board_w{board_size[0]}_h{board_size[1]}_{keyname}"
+	cv.imwrite(f"results/{name}.png", image)
 
-	return detector, board
+	return detector, board, name
 
 class ArTagPoseCharucoBoard(ArTagPose):
 	def __init__(self, dict_type: int, board_size: tuple[int, int]):
 		ArTagPose.__init__(self)
 		self.board_size = board_size
-		self.calib_filename = f"results/cam_calib_charuco_board_w{board_size[0]}_h{board_size[1]}.npz"
+		self.detector, self.board, self.name = factory(dict_type, board_size)
-		self.detector, self.board = factory(dict_type, board_size)
 
-	def calibrate_save(self):
+	def get_name(self):
-		np.savez(f"{self.calib_filename}", mtx=self.mtx, dist=self.dist, rvecs=self.r_vecs, tvecs=self.t_vecs)
+		return self.name
-
-	def calibrate_load(self):
-		try:
-			with np.load(self.calib_filename) as X:
-				self.mtx, self.dist, _, _ = [X[i] for i in ('mtx', 'dist', 'rvecs', 'tvecs')]
-		except FileNotFoundError:
-			pass
-		except KeyError:
-			pass
 
 	def calibrate_points(self, image: cv.typing.MatLike):
 		success = False