Renaming ArUcoCamera into ArUcoOpticCalibrator. Using OpticParameters class to handle K and D parameters.

7 files changed, 33 insertions, 25 deletions

diff --git a/docs/user_guide/ar_environment/environment_setup.md b/docs/user_guide/ar_environment/environment_setup.md
index 367030c..bbfdbd6 100644
--- a/docs/user_guide/ar_environment/environment_setup.md
+++ b/docs/user_guide/ar_environment/environment_setup.md
@@ -15,7 +15,7 @@ Here is JSON environment file example where it is assumed that mentioned .obj fi
             "name": "DICT_APRILTAG_16h5"
     	}
     	"marker_size": 5,
-    	"camera": {
+    	"optic_parameters": {
             "rms": 0.6,
             "dimensions": [
                 1920,
diff --git a/docs/user_guide/areas_of_interest/aoi_scene_projection.md b/docs/user_guide/areas_of_interest/aoi_scene_projection.md
index a23d069..4d06e87 100644
--- a/docs/user_guide/areas_of_interest/aoi_scene_projection.md
+++ b/docs/user_guide/areas_of_interest/aoi_scene_projection.md
@@ -14,8 +14,8 @@ An [AOI3DScene](/argaze/#argaze.AreaOfInterest.AOI3DScene) can be rotated and tr
 
 # Assuming pose estimation is done (tvec and rmat)
 
-# Project AOI 3D scene according pose estimation and camera intrinsic parameters
-aoi2D_scene = aoi3D_scene.project(tvec, rmat, aruco_camera.K)
+# Project AOI 3D scene according pose estimation and optic parameters
+aoi2D_scene = aoi3D_scene.project(tvec, rmat, optic_parameters.K)
 
 # Draw AOI 2D scene
 aoi2D_scene.draw(frame)
diff --git a/docs/user_guide/aruco_markers/camera_calibration.md b/docs/user_guide/aruco_markers/camera_calibration.md
index c8a0be9..ea2c51a 100644
--- a/docs/user_guide/aruco_markers/camera_calibration.md
+++ b/docs/user_guide/aruco_markers/camera_calibration.md
@@ -5,7 +5,7 @@ Any camera device have to be calibrated to compensate its optical distorsion.
 
 ![Camera calibration](../../img/camera_calibration.png)
 
-The first step to calibrate a [ArUcoCamera](/argaze/#argaze.ArUcoMarkers.ArUcoCamera) is to create an [ArUcoBoard](/argaze/#argaze.ArUcoMarkers.ArUcoBoard) like in the code below:
+The first step to calibrate a camera is to create an [ArUcoBoard](/argaze/#argaze.ArUcoMarkers.ArUcoBoard) like in the code below:
 
 ``` python
 from argaze.ArUcoMarkers import ArUcoMarkersDictionary, ArUcoBoard
@@ -20,20 +20,20 @@ aruco_board = ArUcoBoard.ArUcoBoard(7, 5, 5, 3, aruco_dictionary)
 aruco_board.save('./calibration_board.png', 300)
 ```
 
-Then, the calibration process needs to make many different captures of an [ArUcoBoard](/argaze/#argaze.ArUcoMarkers.ArUcoBoard) through the camera and then, pass them to an [ArUcoDetector](/argaze/#argaze.ArUcoMarkers.ArUcoDetector.ArUcoDetector) instance.
+Then, the calibration process needs to make many different captures of an [ArUcoBoard](/argaze/#argaze.ArUcoMarkers.ArUcoBoard) through the camera and then, pass them to an [ArUcoDetector](/argaze/#argaze.ArUcoMarkers.ArUcoDetector.ArUcoDetector) instance to detect board corners and store them as calibration data to an [ArUcoOpticCalibrator](/argaze/#argaze.ArUcoMarkers.ArUcoOpticCalibrator) for final calibration process.
 
 ![Calibration step](../../img/camera_calibration_step.png)
 
 The sample of code below shows how to detect board corners into camera frames, store detected corners then process them to build calibration data and, finally, save it into a JSON file:
 
 ``` python
-from argaze.ArUcoMarkers import ArUcoMarkersDictionary, ArUcoCamera, ArUcoBoard, ArUcoDetector
+from argaze.ArUcoMarkers import ArUcoMarkersDictionary, ArUcoOpticCalibrator, ArUcoBoard, ArUcoDetector
 
 # Create ArUco dictionary
 aruco_dictionary = ArUcoMarkersDictionary.ArUcoMarkersDictionary('DICT_APRILTAG_16h5')
 
-# Create ArUco camera
-aruco_camera = ArUcoCamera.ArUcoCamera(dimensions=(1920, 1080))
+# Create ArUco optic calibrator
+aruco_optic_calibrator = ArUcoOpticCalibrator.ArUcoOpticCalibrator()
 
 # Create ArUco board of 7 columns and 5 rows with 5 cm squares with 3cm aruco markers inside
 # Note: This board is the one expected during further board tracking
@@ -57,27 +57,35 @@ while video_stream.is_alive():
         aruco_detector.draw_board(frame)
 
         # Append tracked board data for further calibration processing 
-        aruco_camera.store_calibration_data(aruco_detector.board_corners, aruco_detector.board_corners_identifier)
+        aruco_optic_calibrator.store_calibration_data(aruco_detector.board_corners, aruco_detector.board_corners_identifier)
 
 # Start camera calibration processing for Full HD image resolution
 print('Calibrating camera...')
-aruco_camera.calibrate(expected_aruco_board)
+optic_parameters = aruco_optic_calibrator.calibrate(aruco_board, dimensions=(1920, 1080))
 
-# Print camera calibration data
-print('Calibration succeeded!')
-print(f'RMS:{aruco_camera.rms}')
-print(f'Camera matrix:{aruco_camera.K}')
-print(f'Distortion coefficients:{aruco_camera.D}')
+if optic_parameters:
 
-# Save camera calibration data
-aruco_camera.to_json('calibration.json')
+    print('\nCalibration succeeded!')
+
+    print(f'\nRMS:\n{optic_parameters.rms}')
+    print(f'\nDimensions:\n{optic_parameters.dimensions[0]}x{optic_parameters.dimensions[1]}')
+    print(f'\nCamera matrix:\n{optic_parameters.K}')
+    print(f'\nDistortion coefficients:\n{optic_parameters.D}')
+
+    optic_parameters.to_json(f'{args.output}/calibration.json')
+
+    print(f'\ncalibration.json file exported into {args.output} folder')
+
+else:
+
+    print('\nCalibration error.')
 ```
 
 Then, the camera calibration data are loaded to compensate optical distorsion during [ArUcoMarkers](/argaze/#argaze.ArUcoMarkers.ArUcoMarker) detection:
 
 ``` python
-from argaze.ArUcoMarkers import ArUcoCamera
+from argaze.ArUcoMarkers import ArUcoOpticCalibrator
 
-# Load camera calibration data
-aruco_camera = ArUcoCamera.ArUcoCamera.from_json('./calibration.json')
+# Load camera optic parameters
+optic_parameters = ArUcoOpticCalibrator.OpticParameters.from_json('./calibration.json')
 ```
diff --git a/docs/user_guide/aruco_markers/introduction.md b/docs/user_guide/aruco_markers/introduction.md
index fbf01cf..7da045c 100644
--- a/docs/user_guide/aruco_markers/introduction.md
+++ b/docs/user_guide/aruco_markers/introduction.md
@@ -10,6 +10,6 @@ The ArGaze [ArUcoMarkers submodule](/argaze/#argaze.ArUcoMarkers) eases markers
 * [ArUcoMarkersDictionary](/argaze/#argaze.ArUcoMarkers.ArUcoMarkersDictionary)
 * [ArUcoMarkers](/argaze/#argaze.ArUcoMarkers.ArUcoMarker)
 * [ArUcoBoard](/argaze/#argaze.ArUcoMarkers.ArUcoBoard)
-* [ArUcoCamera](/argaze/#argaze.ArUcoMarkers.ArUcoCamera)
+* [ArUcoOpticCalibrator](/argaze/#argaze.ArUcoMarkers.ArUcoOpticCalibrator)
 * [ArUcoDetector](/argaze/#argaze.ArUcoMarkers.ArUcoDetector)
 * [ArUcoScene](/argaze/#argaze.ArUcoMarkers.ArUcoScene)
\ No newline at end of file
diff --git a/docs/user_guide/aruco_markers/markers_detection.md b/docs/user_guide/aruco_markers/markers_detection.md
index d962b7b..f8a23f9 100644
--- a/docs/user_guide/aruco_markers/markers_detection.md
+++ b/docs/user_guide/aruco_markers/markers_detection.md
@@ -8,7 +8,7 @@ Firstly, the [ArUcoDetector](/argaze/#argaze.ArUcoMarkers.ArUcoDetector.ArUcoDet
 Notice that extra parameters are passed to detector: see [OpenCV ArUco markers detection parameters documentation](https://docs.opencv.org/4.x/d1/dcd/structcv_1_1aruco_1_1DetectorParameters.html) to know more.
 
 ``` python
-from argaze.ArUcoMarkers import ArUcoDetector, ArUcoCamera
+from argaze.ArUcoMarkers import ArUcoDetector, ArUcoOpticCalibrator
 
 # Assuming camera calibration data are loaded
 
@@ -16,7 +16,7 @@ from argaze.ArUcoMarkers import ArUcoDetector, ArUcoCamera
 extra_parameters = ArUcoDetector.DetectorParameters.from_json('./detector_parameters.json')
 
 # Create ArUco detector to track DICT_APRILTAG_16h5 5cm length markers 
-aruco_detector = ArUcoDetector.ArUcoDetector(camera=aruco_camera, dictionary='DICT_APRILTAG_16h5', marker_size=5, parameters=extra_parameters)
+aruco_detector = ArUcoDetector.ArUcoDetector(optic_parameters=optic_parameters, dictionary='DICT_APRILTAG_16h5', marker_size=5, parameters=extra_parameters)
 ```
 
 Here is [DetectorParameters](/argaze/#argaze.ArUcoMarkers.ArUcoDetector.DetectorParameters) JSON file example:
diff --git a/docs/user_guide/utils/demonstrations_scripts.md b/docs/user_guide/utils/demonstrations_scripts.md
index 5c4ef2b..adcc8b3 100644
--- a/docs/user_guide/utils/demonstrations_scripts.md
+++ b/docs/user_guide/utils/demonstrations_scripts.md
@@ -18,7 +18,7 @@ python ./src/argaze/utils/demo_ar_features_run.py -d DEVICE
 ```
 
 !!! warning
-      This demonstration assumes that camera calibration step is done and a **calibration.json** has been exported into *./src/argaze/utils/demo_environment/* folder.
+      This demonstration assumes that camera calibration step is done and a **optic_parameters.json** has been exported into *./src/argaze/utils/demo_environment/* folder.
 
 !!! note
       Use **A3_demo.pdf** file located in *./src/argaze/utils/demo_environment/* folder ready to be printed on A3 paper sheet.
diff --git a/docs/user_guide/utils/ready-made_scripts.md b/docs/user_guide/utils/ready-made_scripts.md
index 82039c5..4ab8b52 100644
--- a/docs/user_guide/utils/ready-made_scripts.md
+++ b/docs/user_guide/utils/ready-made_scripts.md
@@ -25,7 +25,7 @@ python ./src/argaze/utils/aruco_calibration_board_export.py 7 5 5 3 DICT_APRILTA
 
 ## Camera calibration
 
-Calibrate a camera device (-d DEVICE) using a 7 columns and 5 rows calibration board made of 5cm squares with 3cm markers from *DICT_APRILTAG_16h5* dictionary. Then, export its optical parameters into an *calibration.json* file into *./src/argaze/utils/demo_environment/* folder:
+Calibrate a camera device (-d DEVICE) using a 7 columns and 5 rows calibration board made of 5cm squares with 3cm markers from *DICT_APRILTAG_16h5* dictionary. Then, export its optical parameters into an *optic_parameters.json* file into *./src/argaze/utils/demo_environment/* folder:
 
 ```shell
 python ./src/argaze/utils/camera_calibrate.py 7 5 5 3 DICT_APRILTAG_16h5 -d DEVICE -o ./src/argaze/utils/demo_environment