Fixing camera calibration.

4 files changed, 19 insertions, 16 deletions

diff --git a/src/argaze/ArUcoMarkers/ArUcoBoard.py b/src/argaze/ArUcoMarkers/ArUcoBoard.py
index f51a238..2fa3da7 100644
--- a/src/argaze/ArUcoMarkers/ArUcoBoard.py
+++ b/src/argaze/ArUcoMarkers/ArUcoBoard.py
@@ -22,7 +22,7 @@ class ArUcoBoard():
         self.__marker_size = marker_size  # in cm
 
         # Create board model
-        self.__board = aruco.CharucoBoard_create(self.__columns, self.__rows, self.__square_size/100., self.__marker_size/100., self.__aruco_dict.markers)
+        self.__board = aruco.CharucoBoard((self.__columns, self.__rows), self.__square_size/100., self.__marker_size/100., self.__aruco_dict.markers)
 
     def __del__(self):
         pass
@@ -37,7 +37,7 @@ class ArUcoBoard():
     def identifiers(self) -> list[int]:
         """Get board markers identifiers."""
 
-        return self.__board.ids
+        return self.__board.getIds()
 
     @property
     def size(self)-> int:
@@ -49,7 +49,7 @@ class ArUcoBoard():
     def markers_number(self) -> int:
         """Get number of markers."""
 
-        return len(self.__board.ids)
+        return len(self.__board.getIds())
 
     @property
     def corners_number(self) -> int:
@@ -64,5 +64,5 @@ class ArUcoBoard():
 
         dimension = [round(d * self.__board.getSquareLength() * 100 * dpi / 2.54) for d in self.__board.getChessboardSize()]  # 1 cm = 2.54 inches
 
-        cv.imwrite(f'{destination_folder}/{output_filename}', self.__board.draw(dimension))
+        cv.imwrite(f'{destination_folder}/{output_filename}', self.__board.generateImage(dimension))
 
diff --git a/src/argaze/ArUcoMarkers/ArUcoCamera.py b/src/argaze/ArUcoMarkers/ArUcoCamera.py
index b2e4614..97436e9 100644
--- a/src/argaze/ArUcoMarkers/ArUcoCamera.py
+++ b/src/argaze/ArUcoMarkers/ArUcoCamera.py
@@ -2,6 +2,8 @@
 
 from dataclasses import dataclass, field
 
+from argaze import DataStructures
+
 import json
 import numpy
 import cv2.aruco as aruco
@@ -12,20 +14,20 @@ K0 = numpy.array([[1., 0., 0.], [0., 1., 0.], [0., 0., 0.]])
 D0 = numpy.array([0.0, 0.0, 0.0, 0.0, 0.0])
 """Define default camera distorsion coefficients vector."""
 
-@dataclass(frozen=True)
+@dataclass
 class CalibrationData():
     """Define optical camera calibration data."""
 
     rms: float = field(default=0)
     """Root Mean Square error of calibration."""
 
-    dimensions: numpy.array = field(default_factory=numpy.array([0, 0]))
+    dimensions: numpy.array = field(default_factory=lambda : numpy.array([0, 0]))
     """Frame dimensions in pixels from which the calibration have been done."""
 
-    K: numpy.array = field(default_factory=K0)
+    K: numpy.array = field(default_factory=lambda : K0)
     """Intrinsic parameters matrix (focal lengths and principal point)."""
 
-    D: numpy.array = field(default_factory=D0)
+    D: numpy.array = field(default_factory=lambda : D0)
     """Distorsion coefficients vector."""
 
     @classmethod
@@ -41,7 +43,7 @@ class CalibrationData():
 
         with open(json_filepath, 'w', encoding='utf-8') as calibration_file:
 
-            json.dump(self, calibration_file, ensure_ascii=False, indent=4)
+            json.dump(self, calibration_file, ensure_ascii=False, indent=4, cls=DataStructures.JsonEncoder)
 
     def __str__(self) -> str:
         """String display"""
@@ -65,13 +67,12 @@ class ArUcoCamera(CalibrationData):
         self.__corners_set = []
         self.__corners_set_ids = []
 
-    def calibrate(self, board, frame_width, frame_height):
+    def calibrate(self, board):
         """Retrieve camera K and D from stored calibration data."""
 
         if self.__corners_set_number > 0:
 
-            self.__dimensions = [frame_width, frame_height]
-            self.__rms, self.__K, self.__D, r, t = aruco.calibrateCameraCharuco(self.__corners_set, self.__corners_set_ids, board.model, self.__dimensions, None, None)
+            self.rms, self.K, self.D, r, t = aruco.calibrateCameraCharuco(self.__corners_set, self.__corners_set_ids, board.model, self.dimensions, None, None)
 
     def reset_calibration_data(self):
         """Clear all calibration data."""
diff --git a/src/argaze/ArUcoMarkers/ArUcoMarker.py b/src/argaze/ArUcoMarkers/ArUcoMarker.py
index df82523..8f7538d 100644
--- a/src/argaze/ArUcoMarkers/ArUcoMarker.py
+++ b/src/argaze/ArUcoMarkers/ArUcoMarker.py
@@ -45,7 +45,7 @@ class ArUcoMarker():
         dimension = round(self.size * dpi / 2.54) # 1 cm = 2.54 inches
         matrix = numpy.zeros((dimension, dimension, 1), dtype="uint8")
 
-        aruco.drawMarker(self.dictionary.markers, self.identifier, dimension, matrix, 1)
+        aruco.generateImageMarker(self.dictionary.markers, self.identifier, dimension, matrix, 1)
 
         return numpy.repeat(matrix, 3).reshape(dimension, dimension, 3)
 
diff --git a/src/argaze/utils/tobii_camera_calibrate.py b/src/argaze/utils/tobii_camera_calibrate.py
index f19cb8b..6d682ed 100644
--- a/src/argaze/utils/tobii_camera_calibrate.py
+++ b/src/argaze/utils/tobii_camera_calibrate.py
@@ -53,7 +53,7 @@ def main():
     video_width = tobii_controller.get_configuration()['sys_sc_width']
     video_height = tobii_controller.get_configuration()['sys_sc_height']
 
-    # Print current confirugration
+    # Print current confirguration
     print(f'Tobii Glasses Pro 2 configuration:')
     for key, value in tobii_controller.get_configuration().items():
         print(f'\t{key}: {value}')
@@ -62,7 +62,9 @@ def main():
     tobii_video_stream = tobii_controller.enable_video_stream()
 
     # Create aruco camera
-    aruco_camera = ArUcoCamera.ArUcoCamera()
+    aruco_camera = ArUcoCamera.ArUcoCamera(dimensions=(video_width, video_height))
+
+    print('aruco_camera.dimensions: ', aruco_camera.dimensions)
 
     # Create aruco board
     aruco_board = ArUcoBoard.ArUcoBoard(args.dictionary, args.columns, args.rows, args.square_size, args.marker_size)
@@ -124,7 +126,7 @@ def main():
     tobii_controller.stop_streaming()
 
     print('\nCalibrating camera...')
-    aruco_camera.calibrate(aruco_board, video_width, video_height)
+    aruco_camera.calibrate(aruco_board)
 
     print('\nCalibration succeeded!')
     print(f'\nRMS:\n{aruco_camera.rms}')