From 3e5f5fce72d746bf2a70dd62f80724bc642734c1 Mon Sep 17 00:00:00 2001
From: Jens Ahrensfeld <jens@jayfield.org>
Date: Thu, 11 Dec 2025 08:39:55 +0100
Subject: [PATCH] refactored initialization

---
 ar_tag_pose/detector_board_main.py | 46 ++++++++++++++++++++++--------
 1 file changed, 34 insertions(+), 12 deletions(-)

diff --git a/ar_tag_pose/detector_board_main.py b/ar_tag_pose/detector_board_main.py
index cab1a03..6b4da8e 100644
--- a/ar_tag_pose/detector_board_main.py
+++ b/ar_tag_pose/detector_board_main.py
@@ -17,15 +17,27 @@ RESULTS_FOLDER = "results"
 
 class Detector(abc.ABC):
 	def __init__(self, name: str, params: dict, source: str, detector: list[BoardDetector], out_file: str|None = None, rotation_order: str=''):
+		Path.mkdir(Path(RESULTS_FOLDER), exist_ok=True)
 		self.name = name
 		self.params = params
 		self.detector = detector
 		self.out_file = out_file
 		self.rotation_order = rotation_order
-		self.camera_name = "default"
 		self.device_id = None
 		self.src_video = None
 		self.src_images = None
+		self.camera_name = None
+		try:
+			self.params_load()
+		except Exception:
+			self.params_save()
+
+		self._source_init(source)
+		self.calibration = Calibration()
+		self.calibration.load(self._get_calibration_filename())
+
+	def _source_init(self, source: str):
+		self.cap = None
 		if source.isnumeric():
 			self.device_id = int(source)
 		else:
@@ -40,13 +52,6 @@ class Detector(abc.ABC):
 				suffix = basename.split('_')[-1].split('.')[1]
 				self.src_images = f"{os.path.dirname(source)}/{name}_%0{len(numeric_part)}d.{suffix}"
 
-		Path.mkdir(Path(RESULTS_FOLDER), exist_ok=True)
-		try:
-			self.params_load()
-		except Exception:
-			self.params_save()
-
-		self.cap = None
 		if self.device_id is not None:
 			# Open camera
 			self.cap = cv.VideoCapture(self.device_id)
@@ -59,15 +64,32 @@ class Detector(abc.ABC):
 			self.cap = cv.VideoCapture(self.src_images, cv.CAP_IMAGES)
 			self.camera_name = self.name
 
-		self.calibration = Calibration()
-		self.calibration.load(f"{RESULTS_FOLDER}/{self.camera_name}_cal.npz")
+		self.camera_name = self._get_camera_name()
+
+	def _get_calibration_filename(self):
+		return f"{RESULTS_FOLDER}/{self.camera_name}_cal.npz"
+
+	def _get_params_filename(self):
+		return f"{RESULTS_FOLDER}/{self.params["name"]}.json"
+
+	def _get_camera_name(self):
+		camera_name = "default"
+		if self.cap is not None:
+			backends = {'V4L2': cv.CAP_V4L}
+			cameras = enumerate_cameras(backends[self.cap.getBackendName()])
+
+			for cam in cameras:
+				if cam.index == self.device_id:
+					camera_name = cam.name.split(':')[0]
+
+		return camera_name
 
 	def params_save(self):
-		with open(f"{RESULTS_FOLDER}/{self.params["name"]}.json", 'w') as fp:
+		with open(self._get_params_filename(), 'w') as fp:
 			json.dump(self.params, fp, indent=4)
 
 	def params_load(self):
-		with open(f"{RESULTS_FOLDER}/{self.params["name"]}.json", 'r') as fp:
+		with open(self._get_params_filename(), 'r') as fp:
 			self.params = json.load(fp)
 
 	def cap_init(self):