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

7 files changed, 63 insertions, 63 deletions

diff --git a/src/argaze.test/ArFeatures.py b/src/argaze.test/ArFeatures.py
index 3f7972d..5da63d1 100644
--- a/src/argaze.test/ArFeatures.py
+++ b/src/argaze.test/ArFeatures.py
@@ -37,11 +37,11 @@ class TestArEnvironmentClass(unittest.TestCase):
         self.assertEqual(ar_environment.aruco_detector.parameters.aprilTagQuadSigma, 2)
         self.assertEqual(ar_environment.aruco_detector.parameters.aprilTagDeglitch, 1)
 
-        # Check ArUco detector camera
-        self.assertEqual(ar_environment.aruco_detector.camera.rms, 1.0)
-        self.assertIsNone(numpy.testing.assert_array_equal(ar_environment.aruco_detector.camera.dimensions, [1920, 1080]))
-        self.assertIsNone(numpy.testing.assert_array_equal(ar_environment.aruco_detector.camera.K, [[1.0, 0.0, 1.0], [0.0, 1.0, 1.0], [0.0, 0.0, 1.0]]))
-        self.assertIsNone(numpy.testing.assert_array_equal(ar_environment.aruco_detector.camera.D, [-1.0, -0.5, 0.0, 0.5, 1.0]))
+        # Check ArUco detector optic parameters
+        self.assertEqual(ar_environment.aruco_detector.optic_parameters.rms, 1.0)
+        self.assertIsNone(numpy.testing.assert_array_equal(ar_environment.aruco_detector.optic_parameters.dimensions, [1920, 1080]))
+        self.assertIsNone(numpy.testing.assert_array_equal(ar_environment.aruco_detector.optic_parameters.K, [[1.0, 0.0, 1.0], [0.0, 1.0, 1.0], [0.0, 0.0, 1.0]]))
+        self.assertIsNone(numpy.testing.assert_array_equal(ar_environment.aruco_detector.optic_parameters.D, [-1.0, -0.5, 0.0, 0.5, 1.0]))
 
         # Check environment scenes
         self.assertEqual(len(ar_environment.scenes), 2)
diff --git a/src/argaze.test/ArUcoMarkers/ArUcoCamera.py b/src/argaze.test/ArUcoMarkers/ArUcoCamera.py
deleted file mode 100644
index 7a53070..0000000
--- a/src/argaze.test/ArUcoMarkers/ArUcoCamera.py
+++ /dev/null
@@ -1,52 +0,0 @@
-#!/usr/bin/env python
-
-""" """
-
-__author__ = "Théo de la Hogue"
-__credits__ = []
-__copyright__ = "Copyright 2023, Ecole Nationale de l'Aviation Civile (ENAC)"
-__license__ = "BSD"
-
-import unittest
-import os
-
-from argaze.ArUcoMarkers import ArUcoCamera
-
-import numpy
-
-class TestArUcoCameraClass(unittest.TestCase):
-    """Test ArUcoCamera class."""
-
-    def test_new(self):
-        """Test ArUcoCamera creation."""
-
-        # Check defaut camera creation
-        aruco_camera = ArUcoCamera.ArUcoCamera()
-
-        # Check ArUco camera
-        self.assertEqual(aruco_camera.rms, 0.0)
-
-        #self.assertEqual(type(aruco_camera.K), numpy.array)
-
-        self.assertIsNone(numpy.testing.assert_array_equal(aruco_camera.dimensions, [0, 0]))
-        self.assertIsNone(numpy.testing.assert_array_equal(aruco_camera.K, ArUcoCamera.K0))
-        self.assertIsNone(numpy.testing.assert_array_equal(aruco_camera.D, ArUcoCamera.D0))
-
-    def test_from_json(self):
-
-        # Edit camera file path
-        current_directory = os.path.dirname(os.path.abspath(__file__))
-        json_filepath = os.path.join(current_directory, 'utils/camera.json')
-
-        # Load camera calibration
-        aruco_camera = ArUcoCamera.ArUcoCamera.from_json(json_filepath)
-
-        # Check ArUco camera
-        self.assertEqual(aruco_camera.rms, 1.0)
-        self.assertIsNone(numpy.testing.assert_array_equal(aruco_camera.dimensions, [1920, 1080]))
-        self.assertIsNone(numpy.testing.assert_array_equal(aruco_camera.K, [[1.0, 0.0, 1.0], [0.0, 1.0, 1.0], [0.0, 0.0, 1.0]]))
-        self.assertIsNone(numpy.testing.assert_array_equal(aruco_camera.D, [-1.0, -0.5, 0.0, 0.5, 1.0]))
-
-if __name__ == '__main__':
-
-    unittest.main() 
\ No newline at end of file
diff --git a/src/argaze.test/ArUcoMarkers/ArUcoDetector.py b/src/argaze.test/ArUcoMarkers/ArUcoDetector.py
index cd7c90c..750aaa5 100644
--- a/src/argaze.test/ArUcoMarkers/ArUcoDetector.py
+++ b/src/argaze.test/ArUcoMarkers/ArUcoDetector.py
@@ -11,7 +11,7 @@ import unittest
 import os
 import math
 
-from argaze.ArUcoMarkers import ArUcoMarkersDictionary, ArUcoCamera, ArUcoDetector, ArUcoBoard
+from argaze.ArUcoMarkers import ArUcoMarkersDictionary, ArUcoOpticCalibrator, ArUcoDetector, ArUcoBoard
 
 import cv2 as cv
 import numpy
@@ -50,7 +50,7 @@ class TestArUcoDetectorClass(unittest.TestCase):
          # Check ArUcoDetector creation
         self.assertEqual(aruco_detector.dictionary.name, 'DICT_ARUCO_ORIGINAL')
         self.assertEqual(aruco_detector.marker_size, 3)
-        self.assertIsNone(numpy.testing.assert_array_equal(aruco_detector.camera.dimensions, [0, 0]))
+        self.assertIsNone(numpy.testing.assert_array_equal(aruco_detector.optic_parameters.dimensions, [0, 0]))
         self.assertEqual(aruco_detector.detected_markers_number, 0)
         self.assertEqual(aruco_detector.detected_markers, {})
 
@@ -60,7 +60,7 @@ class TestArUcoDetectorClass(unittest.TestCase):
          # Check ArUcoDetector creation
         self.assertEqual(aruco_detector.dictionary.name, 'DICT_APRILTAG_16h5')
         self.assertEqual(aruco_detector.marker_size, 5.2)
-        self.assertIsNone(numpy.testing.assert_array_equal(aruco_detector.camera.dimensions, [0, 0]))
+        self.assertIsNone(numpy.testing.assert_array_equal(aruco_detector.optic_parameters.dimensions, [0, 0]))
         self.assertEqual(aruco_detector.detected_markers_number, 0)
         self.assertEqual(aruco_detector.detected_markers, {})
 
@@ -77,7 +77,7 @@ class TestArUcoDetectorClass(unittest.TestCase):
          # Check ArUcoDetector creation
         self.assertEqual(aruco_detector.dictionary.name, 'DICT_ARUCO_ORIGINAL')
         self.assertEqual(aruco_detector.marker_size, 3)
-        self.assertIsNone(numpy.testing.assert_array_equal(aruco_detector.camera.dimensions, [1920, 1080]))
+        self.assertIsNone(numpy.testing.assert_array_equal(aruco_detector.optic_parameters.dimensions, [1920, 1080]))
         self.assertEqual(aruco_detector.parameters.cornerRefinementMethod, 3)
         self.assertEqual(aruco_detector.parameters.aprilTagQuadSigma, 2)
         self.assertEqual(aruco_detector.parameters.aprilTagDeglitch, 1)
diff --git a/src/argaze.test/ArUcoMarkers/ArUcoOpticCalibrator.py b/src/argaze.test/ArUcoMarkers/ArUcoOpticCalibrator.py
new file mode 100644
index 0000000..45b7669
--- /dev/null
+++ b/src/argaze.test/ArUcoMarkers/ArUcoOpticCalibrator.py
@@ -0,0 +1,52 @@
+#!/usr/bin/env python
+
+""" """
+
+__author__ = "Théo de la Hogue"
+__credits__ = []
+__copyright__ = "Copyright 2023, Ecole Nationale de l'Aviation Civile (ENAC)"
+__license__ = "BSD"
+
+import unittest
+import os
+
+from argaze.ArUcoMarkers import ArUcoOpticCalibrator
+
+import numpy
+
+class TestOpticParametersClass(unittest.TestCase):
+    """Test OpticParameters class."""
+
+    def test_new(self):
+        """Test OpticParameters creation."""
+
+        # Check defaut optic parameters creation
+        optic_parameters = ArUcoOpticCalibrator.OpticParameters()
+
+        # Check ArUco optic parameters
+        self.assertEqual(optic_parameters.rms, 0.0)
+
+        #self.assertEqual(type(optic_parameters.K), numpy.array)
+
+        self.assertIsNone(numpy.testing.assert_array_equal(optic_parameters.dimensions, [0, 0]))
+        self.assertIsNone(numpy.testing.assert_array_equal(optic_parameters.K, ArUcoOpticCalibrator.K0))
+        self.assertIsNone(numpy.testing.assert_array_equal(optic_parameters.D, ArUcoOpticCalibrator.D0))
+
+    def test_from_json(self):
+
+        # Edit optic parameters file path
+        current_directory = os.path.dirname(os.path.abspath(__file__))
+        json_filepath = os.path.join(current_directory, 'utils/optic_parameters.json')
+
+        # Load optic parameters
+        optic_parameters = ArUcoOpticCalibrator.OpticParameters.from_json(json_filepath)
+
+        # Check ArUco camera
+        self.assertEqual(optic_parameters.rms, 1.0)
+        self.assertIsNone(numpy.testing.assert_array_equal(optic_parameters.dimensions, [1920, 1080]))
+        self.assertIsNone(numpy.testing.assert_array_equal(optic_parameters.K, [[1.0, 0.0, 1.0], [0.0, 1.0, 1.0], [0.0, 0.0, 1.0]]))
+        self.assertIsNone(numpy.testing.assert_array_equal(optic_parameters.D, [-1.0, -0.5, 0.0, 0.5, 1.0]))
+
+if __name__ == '__main__':
+
+    unittest.main() 
\ No newline at end of file
diff --git a/src/argaze.test/ArUcoMarkers/utils/detector.json b/src/argaze.test/ArUcoMarkers/utils/detector.json
index a239bf8..8aada6d 100644
--- a/src/argaze.test/ArUcoMarkers/utils/detector.json
+++ b/src/argaze.test/ArUcoMarkers/utils/detector.json
@@ -3,7 +3,7 @@
         "name": "DICT_ARUCO_ORIGINAL"
     },
     "marker_size": 3.0,
-    "camera": {
+    "optic_parameters": {
         "rms": 1.0,
         "dimensions": [
             1920,
diff --git a/src/argaze.test/ArUcoMarkers/utils/camera.json b/src/argaze.test/ArUcoMarkers/utils/optic_parameters.json
index 988731c..988731c 100644
--- a/src/argaze.test/ArUcoMarkers/utils/camera.json
+++ b/src/argaze.test/ArUcoMarkers/utils/optic_parameters.json
diff --git a/src/argaze.test/utils/environment.json b/src/argaze.test/utils/environment.json
index 57d04cf..df1c771 100644
--- a/src/argaze.test/utils/environment.json
+++ b/src/argaze.test/utils/environment.json
@@ -5,7 +5,7 @@
             "name": "DICT_ARUCO_ORIGINAL"
         },
     	"marker_size": 3.0,
-    	"camera": {
+    	"optic_parameters": {
             "rms": 1.0,
             "dimensions": [
                 1920,