- fixed filename

- refacored

ar_tag_pose.py

@@ -69,7 +69,6 @@ class ArTagPose(abc.ABC):
 			print("Cannot open camera")
 			exit()
 
-		self.calibrate_load()
 		cal_img_size = None
 		last_rotation = [0, 0, 0]
 		while True:

ar_tag_pose_charuco_board.py

@@ -14,14 +14,15 @@ 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/aruco_board_w{board_size[0]}_h{board_size[1]}_{keyname}.png", image)
+	cv.imwrite(f"results/charuco_board_w{board_size[0]}_h{board_size[1]}_{keyname}.png", image)
 
 	return detector, board
 
 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_aruco_board_w{board_size[0]}_h{board_size[1]}.npz"
+		self.calib_filename = f"results/cam_calib_charuco_board_w{board_size[0]}_h{board_size[1]}.npz"
 		self.detector, self.board = factory(dict_type, board_size)
 
 	def calibrate_save(self):
@@ -58,8 +59,6 @@ class ArTagPoseCharucoBoard(ArTagPose):
 		pose = False
 		r_vec = None
 		t_vec = None
-		if not self.is_calibrated():
-			return pose, None, None
 
 		gray = cv.cvtColor(image, cv.COLOR_BGR2GRAY)
 		charuco_corners, charuco_ids, marker_corners, marker_ids = self.detector.detectBoard(gray)
@@ -75,7 +74,7 @@ class ArTagPoseCharucoBoard(ArTagPose):
 				cv.aruco.drawDetectedCornersCharuco(image, charuco_corners, charuco_ids)
 
 			# Draw marker axis
-			if draw_marker_axis:
+			if draw_marker_axis and self.is_calibrated():
 				_r_vecs, _t_vecs, _ = cv.aruco.estimatePoseSingleMarkers(marker_corners, markerLength=0.1,
 																	   cameraMatrix=self.mtx, distCoeffs=self.dist)
 				for i in range(len(_r_vecs)):
@@ -85,7 +84,7 @@ class ArTagPoseCharucoBoard(ArTagPose):
 				obj_points, img_points = self.board.matchImagePoints(charuco_corners, charuco_ids)
 				offset = int(self.board.getMarkerLength() * self.board.getSquareLength())
 				obj_points -= [offset, offset, 0]
-				if self.mtx is not None and self.dist is not None:
+				if self.is_calibrated():
 					pose, r_vec, t_vec = cv.solvePnP(obj_points, img_points, self.mtx, self.dist, useExtrinsicGuess=False,
 													 rvec=r_vecs, tvec=t_vecs, flags=cv.SOLVEPNP_ITERATIVE)
 					if pose: