From cbceee1c61c045ec770065aa1a1e30c2fae20ab0 Mon Sep 17 00:00:00 2001
From: Jens Ahrensfeld <jens@jayfield.org>
Date: Fri, 5 Dec 2025 17:12:28 +0100
Subject: [PATCH] improved calib params

---
 ar_tag_pose/detector_board_main.py | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/ar_tag_pose/detector_board_main.py b/ar_tag_pose/detector_board_main.py
index 41121d5..44e451b 100644
--- a/ar_tag_pose/detector_board_main.py
+++ b/ar_tag_pose/detector_board_main.py
@@ -20,7 +20,7 @@ class Detector(abc.ABC):
 		self.detector = detector
 		self.out_file = out_file
 		self.rotation_order = rotation_order
-		self.camera_name = "UnknownCamera"
+		self.camera_name = "default"
 		self.device_id = None
 		self.src_video = None
 		self.src_images = None
@@ -108,13 +108,13 @@ class Detector(abc.ABC):
 		print(f"Saved {filename} successfully!")
 
 	def calibrate_load(self):
-		self.params['calib'] = {}
+		calib = {}
 		for det in self.detector:
 			filename =  f"{RESULTS_FOLDER}/{det.get_board_name()}_cal.npz"
 			try:
 				with np.load(filename) as X:
 					mtx, dist, _, _ = [X[i] for i in ('mtx', 'dist', 'rvecs', 'tvecs')]
-					calib = {self.camera_name: {str(det): {'mtx': mtx.tolist(), 'dist': dist.tolist()}}}
+					calib[str(det)] = {'mtx': mtx.tolist(), 'dist': dist.tolist()}
 					det.calibration_set(mtx, dist, None, None)
 					self.params['calib'] = calib
 					self.params_save()
@@ -124,6 +124,8 @@ class Detector(abc.ABC):
 			except KeyError:
 				pass
 
+		self.params['calib'] = {self.camera_name: calib}
+
 	def process(self):
 		cap = self.cap
 		if cap is None or not cap.isOpened():