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removed r_vecs, t_vcs from calibration

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jens
2025-12-05 23:57:50 +01:00
parent 8ab402f68f
commit e68507ad90
2 changed files with 8 additions and 16 deletions
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ar_tag_pose/detector_board.py
+2 -10
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@@ -11,8 +11,6 @@ class BoardDetector(abc.ABC):
def __init__(self, name: str, board_id: str, n_syms: int): def __init__(self, name: str, board_id: str, n_syms: int):
self.mtx = None self.mtx = None
self.dist = None self.dist = None
self.r_vecs = None
self.t_vecs = None
self.name = name self.name = name
self.obj_points_list = [] self.obj_points_list = []
self.img_points_list = [] self.img_points_list = []
@@ -65,19 +63,15 @@ class BoardDetector(abc.ABC):
def calibration_clear(self): def calibration_clear(self):
self.mtx = None self.mtx = None
self.dist = None self.dist = None
self.r_vecs = None
self.t_vecs = None
self.obj_points_list = [] self.obj_points_list = []
self.img_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.mtx = mtx
self.dist = dist self.dist = dist
self.r_vecs = r_vecs
self.t_vecs = t_vecs
def calibration_get(self): 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): def calibrate_camera(self, image: np.ndarray, r_vecs=None, t_vecs=None, flags=0):
success = False success = False
@@ -89,7 +83,5 @@ class BoardDetector(abc.ABC):
success = True success = True
self.mtx = mtx self.mtx = mtx
self.dist = dist self.dist = dist
self.r_vecs = r_vecs
self.t_vecs = t_vecs
return success return success
ar_tag_pose/detector_board_main.py
+6 -6
View File
@@ -100,10 +100,10 @@ class Detector(abc.ABC):
def calibrate_save(self, det: BoardDetector): def calibrate_save(self, det: BoardDetector):
filename = f"{RESULTS_FOLDER}/{det.get_board_name()}_cal.npz" filename = f"{RESULTS_FOLDER}/{det.get_board_name()}_cal.npz"
mtx, dist, r_vecs, t_vecs = det.calibration_get() mtx, dist = det.calibration_get()
np.savez(f"{filename}", mtx=mtx, dist=dist, rvecs=r_vecs, tvecs=t_vecs) np.savez(f"{filename}", mtx=mtx, dist=dist)
calib = {self.camera_name: {str(det): {'mtx': mtx.tolist(), 'dist': dist.tolist()}}} calib = {'mtx': mtx.tolist(), 'dist': dist.tolist()}
self.params['calib'] = calib self.params['calib'][self.camera_name][str(det)] = calib
self.params_save() self.params_save()
print(f"Saved {filename} successfully!") print(f"Saved {filename} successfully!")
@@ -113,9 +113,9 @@ class Detector(abc.ABC):
filename = f"{RESULTS_FOLDER}/{det.get_board_name()}_cal.npz" filename = f"{RESULTS_FOLDER}/{det.get_board_name()}_cal.npz"
try: try:
with np.load(filename) as X: 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()} 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['calib'] = calib
self.params_save() self.params_save()
print(f"Loaded {filename} successfully!") print(f"Loaded {filename} successfully!")