refactored

ar_tag_pose.py

@@ -25,6 +25,12 @@ class ArTagPose(abc.ABC):
 		cap.set(cv.CAP_PROP_EXPOSURE, 30)
 		cap.set(cv.CAP_PROP_AUTO_EXPOSURE, 1)
 
+	def board_image_generate(self, margin_length: int=0):
+		image_size = self.get_board_image_size(margin_length)
+		image = self.board.generateImage(image_size, None, margin_length, 1)
+		name = self.get_name()
+		cv.imwrite(f"results/{name}.png", image)
+
 	def is_calibrated(self):
 		return self.mtx is not None and self.dist is not None
 
@@ -112,8 +118,13 @@ class ArTagPose(abc.ABC):
 			cv.imshow('img', img)
 		cv.destroyAllWindows()
 
+
 	@abc.abstractmethod
-	def get_name(self):
+	def get_name(self) -> str:
+		pass
+
+	@abc.abstractmethod
+	def get_board_image_size(self, margin_length: int) -> tuple[int,int]:
 		pass
 
 	@abc.abstractmethod

ar_tag_pose_aruco_board.py

@@ -3,17 +3,13 @@ import numpy as np
 from ar_tag_pose import ArTagPose
 from aruco_types import ARUCO_DICT
 
-def factory(dict_type: int, board_size: cv.typing.Size, marker_length: float=100.0, marker_sep=10, margins=10):
+def factory(dict_type: int, board_size: cv.typing.Size, marker_length: float=100.0, marker_sep=10):
 	aruco_dict = cv.aruco.getPredefinedDictionary(dict_type)
 	params = cv.aruco.DetectorParameters()
+	board = cv.aruco.GridBoard(size=board_size, markerLength=marker_length, markerSeparation=marker_sep, dictionary=aruco_dict)
 	detector = cv.aruco.ArucoDetector(aruco_dict, params)
-	board = cv.aruco.GridBoard(board_size, markerLength=marker_length, markerSeparation=marker_sep, dictionary=aruco_dict)
-	im_w = int(board_size[0] * (marker_length + marker_sep) - marker_sep + 2 * margins)
-	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]
 	name = f"aruco_board_w{board_size[0]}_h{board_size[1]}_{keyname}"
-	cv.imwrite(f"results/{name}.png", image)
 
 	return detector, board, name
 
@@ -25,6 +21,14 @@ class ArTagPoseArucoBoard(ArTagPose):
 	def get_name(self):
 		return self.name
 
+	def get_board_image_size(self, margin_length=10):
+		grid_size = self.board.getGridSize()
+		marker_length = self.board.getMarkerLength()
+		marker_sep = self.board.getMarkerSeparation()
+		w = int(grid_size[0] * (marker_length + marker_sep) - marker_sep + 2 * margin_length)
+		h = int(grid_size[1] * (marker_length + marker_sep) - marker_sep + 2 * margin_length)
+		return w, h
+
 	def calibrate_points(self, image: cv.typing.MatLike):
 		success = False
 		img_size = (0,0)
@@ -80,6 +84,7 @@ class ArTagPoseArucoBoard(ArTagPose):
 
 def main():
 	pose = ArTagPoseArucoBoard(10, (5,5))
+	pose.board_image_generate()
 	pose.calibrate_load()
 	pose.process()
 

ar_tag_pose_charuco_board.py

@@ -3,29 +3,27 @@ import numpy as np
 from ar_tag_pose import ArTagPose
 from aruco_types import ARUCO_DICT
 
-def factory(dict_type: int, board_size: cv.typing.Size, square_length: float = 5.0, marker_length: float = 3.0,	margin_length=0):
-	im_w = 800
-	im_h = 600
+def factory(dict_type: int, board_size: cv.typing.Size, square_length: float = 5.0, marker_length: float = 3.0):
 	aruco_dict = cv.aruco.getPredefinedDictionary(dict_type)
-	board = cv.aruco.CharucoBoard(board_size, square_length, marker_length, aruco_dict)
 	params = cv.aruco.CharucoParameters()
+	board = cv.aruco.CharucoBoard(size=board_size, squareLength=square_length, markerLength=marker_length, dictionary=aruco_dict)
 	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]
 	name = f"aruco_board_w{board_size[0]}_h{board_size[1]}_{keyname}"
-	cv.imwrite(f"results/{name}.png", image)
 
 	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.detector, self.board, self.name = factory(dict_type, board_size)
 
 	def get_name(self):
 		return self.name
 
+	def get_board_image_size(self, margin_length=0):
+		return 800, 600
+
 	def calibrate_points(self, image: cv.typing.MatLike):
 		success = False
 		img_size = (0,0)
@@ -84,6 +82,7 @@ class ArTagPoseCharucoBoard(ArTagPose):
 
 def main():
 	pose = ArTagPoseCharucoBoard(10, (6,7))
+	pose.board_image_generate()
 	pose.calibrate_load()
 	pose.process()