From e68507ad906b836a2841d042404c62f82117b209 Mon Sep 17 00:00:00 2001
From: Jens Ahrensfeld <jens@jayfield.org>
Date: Fri, 5 Dec 2025 23:57:50 +0100
Subject: [PATCH] removed r_vecs, t_vcs from calibration

---
 ar_tag_pose/detector_board.py      | 12 ++----------
 ar_tag_pose/detector_board_main.py | 12 ++++++------
 2 files changed, 8 insertions(+), 16 deletions(-)

diff --git a/ar_tag_pose/detector_board.py b/ar_tag_pose/detector_board.py
index fa1d36c..b5b6aff 100644
--- a/ar_tag_pose/detector_board.py
+++ b/ar_tag_pose/detector_board.py
@@ -11,8 +11,6 @@ class BoardDetector(abc.ABC):
 	def __init__(self, name: str, board_id: str, n_syms: int):
 		self.mtx = None
 		self.dist = None
-		self.r_vecs = None
-		self.t_vecs = None
 		self.name = name
 		self.obj_points_list = []
 		self.img_points_list = []
@@ -65,19 +63,15 @@ class BoardDetector(abc.ABC):
 	def calibration_clear(self):
 		self.mtx = None
 		self.dist = None
-		self.r_vecs = None
-		self.t_vecs = None
 		self.obj_points_list = []
 		self.img_points_list = []
 
-	def calibration_set(self, mtx, dist, r_vecs, t_vecs):
+	def calibration_set(self, mtx, dist):
 		self.mtx = mtx
 		self.dist = dist
-		self.r_vecs = r_vecs
-		self.t_vecs = t_vecs
 
 	def calibration_get(self):
-		return self.mtx, self.dist, self.r_vecs, self.t_vecs
+		return self.mtx, self.dist
 
 	def calibrate_camera(self, image: np.ndarray, r_vecs=None, t_vecs=None, flags=0):
 		success = False
@@ -89,7 +83,5 @@ class BoardDetector(abc.ABC):
 				success = True
 				self.mtx = mtx
 				self.dist = dist
-				self.r_vecs = r_vecs
-				self.t_vecs = t_vecs
 
 		return success
diff --git a/ar_tag_pose/detector_board_main.py b/ar_tag_pose/detector_board_main.py
index 40bb158..fc38043 100644
--- a/ar_tag_pose/detector_board_main.py
+++ b/ar_tag_pose/detector_board_main.py
@@ -100,10 +100,10 @@ class Detector(abc.ABC):
 
 	def calibrate_save(self, det: BoardDetector):
 		filename =  f"{RESULTS_FOLDER}/{det.get_board_name()}_cal.npz"
-		mtx, dist, r_vecs, t_vecs = det.calibration_get()
-		np.savez(f"{filename}", mtx=mtx, dist=dist, rvecs=r_vecs, tvecs=t_vecs)
-		calib = {self.camera_name: {str(det): {'mtx': mtx.tolist(), 'dist': dist.tolist()}}}
-		self.params['calib'] = calib
+		mtx, dist = det.calibration_get()
+		np.savez(f"{filename}", mtx=mtx, dist=dist)
+		calib = {'mtx': mtx.tolist(), 'dist': dist.tolist()}
+		self.params['calib'][self.camera_name][str(det)] = calib
 		self.params_save()
 		print(f"Saved {filename} successfully!")
 
@@ -113,9 +113,9 @@ class Detector(abc.ABC):
 			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')]
+					mtx, dist = [X[i] for i in ('mtx', 'dist')]
 					calib[str(det)] = {'mtx': mtx.tolist(), 'dist': dist.tolist()}
-					det.calibration_set(mtx, dist, None, None)
+					det.calibration_set(mtx, dist)
 					self.params['calib'] = calib
 					self.params_save()
 					print(f"Loaded {filename} successfully!")