refactored

ar_tag_pose/board_pose.py

@@ -3,11 +3,11 @@ import math
 import cv2 as cv
 import numpy as np
 from pathlib import Path
-from utils import to_board_pose_euler
+from .utils import to_board_pose_euler
 
 RESULTS_FOLDER = "results"
 
-class ArTagPose(abc.ABC):
+class BoardPose(abc.ABC):
 	detector: cv.aruco.ArucoDetector | cv.aruco.CharucoDetector = None
 	board: cv.aruco.GridBoard | cv.aruco.CharucoBoard = None
 	mtx = None
@@ -77,7 +77,7 @@ class ArTagPose(abc.ABC):
 
 		# Open camera
 		cap = cv.VideoCapture(0)
-		ArTagPose.cap_init(cap)
+		BoardPose.cap_init(cap)
 
 		if not cap.isOpened():
 			print("Cannot open camera")

ar_tag_pose/board_pose_aruco.py

@@ -1,7 +1,7 @@
 import cv2 as cv
 import numpy as np
-from ar_tag_pose import ArTagPose
-from aruco_types import ARUCO_DICT
+from .board_pose import BoardPose
+from .types import ARUCO_DICT
 
 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)
@@ -13,9 +13,9 @@ def factory(dict_type: int, board_size: cv.typing.Size, marker_length: float=100
 
 	return detector, board, name
 
-class ArTagPoseArucoBoard(ArTagPose):
+class BoardPoseAruco(BoardPose):
 	def __init__(self, dict_type: int, board_size: tuple[int, int]):
-		ArTagPose.__init__(self)
+		BoardPose.__init__(self)
 		self.board_size = board_size
 		self.detector, self.board, self.name = factory(dict_type, board_size)
 
@@ -84,7 +84,7 @@ class ArTagPoseArucoBoard(ArTagPose):
 		return pose, r_vec, t_vec
 
 def main():
-	pose = ArTagPoseArucoBoard(10, (5,5))
+	pose = BoardPoseAruco(10, (5, 5))
 	pose.board_image_generate(margin_length=10)
 	pose.calibrate_load()
 	pose.process()

ar_tag_pose/board_pose_charuco.py

@@ -1,7 +1,7 @@
 import cv2 as cv
 import numpy as np
-from ar_tag_pose import ArTagPose
-from aruco_types import ARUCO_DICT
+from .board_pose import BoardPose
+from .types import ARUCO_DICT
 
 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)
@@ -13,9 +13,9 @@ def factory(dict_type: int, board_size: cv.typing.Size, square_length: float = 5
 
 	return detector, board, name
 
-class ArTagPoseCharucoBoard(ArTagPose):
+class BoardPoseCharuco(BoardPose):
 	def __init__(self, dict_type: int, board_size: tuple[int, int]):
-		ArTagPose.__init__(self)
+		BoardPose.__init__(self)
 		self.board_size = board_size
 		self.detector, self.board, self.name = factory(dict_type, board_size)
 
@@ -82,7 +82,7 @@ class ArTagPoseCharucoBoard(ArTagPose):
 		return pose, r_vec, t_vec
 
 def main():
-	pose = ArTagPoseCharucoBoard(10, (6,7))
+	pose = BoardPoseCharuco(10, (6, 7))
 	pose.board_image_generate()
 	pose.calibrate_load()
 	pose.process()