diff options
| -rw-r--r-- | src/argaze/ArUcoMarkers/ArUcoCamera.py | 83 |
1 files changed, 32 insertions, 51 deletions
diff --git a/src/argaze/ArUcoMarkers/ArUcoCamera.py b/src/argaze/ArUcoMarkers/ArUcoCamera.py index 06438ac..dd254d2 100644 --- a/src/argaze/ArUcoMarkers/ArUcoCamera.py +++ b/src/argaze/ArUcoMarkers/ArUcoCamera.py @@ -1,5 +1,7 @@ #!/usr/bin/env python +from dataclasses import dataclass, field + import json import numpy import cv2.aruco as aruco @@ -10,73 +12,52 @@ 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.""" -class ArUcoCamera(): - """Handle optical calibration data with: - - camera intrinsic parameters matrix as K (focal lengths and principal point), - - camera distorsion coefficients vector as D.""" - - def __init__(self): - """Define optical parameters.""" +@dataclass(frozen=True) +class CalibrationData(): + """Define optical camera calibration data.""" - self.__rms = 0 + rms: float = field(default=0) + """Root Mean Square error of calibration.""" - self.__dimensions = [0, 0] + dimensions: numpy.ndarray = field(default=numpy.array([0, 0])) + """Frame dimensions in pixels from which the calibration have been done.""" - self.__K = K0 - self.__D = D0 + K: numpy.array = field(default=K0) + """Intrinsic parameters matrix (focal lengths and principal point).""" - # define calibration data - self.__corners_set_number = 0 - self.__corners_set = [] - self.__corners_set_ids = [] + D: numpy.array = field(default=D0) + """Distorsion coefficients vector.""" - def __del__(self): - pass + def __init__(self, **kwargs): + + self.__dict__.update(kwargs) - def load_calibration_file(self, camera_calibration_filepath): + @classmethod + def from_json(self, json_filepath): """Load optical parameters from .json file.""" - with open(camera_calibration_filepath) as calibration_file: + with open(json_filepath) as calibration_file: - calibration_data = json.load(calibration_file) + return CalibrationData(**json.load(calibration_file)) - self.__rms = calibration_data['rms'] - self.__dimensions = calibration_data['dimensions'] - self.__K = numpy.array(calibration_data['camera matrix']) - self.__D = numpy.array(calibration_data['distortion coefficients']) - - def save_calibration_file(self, camera_calibration_filepath): + def to_json(self, json_filepath): """Save optical parameters into .json file.""" - calibration_data = {'rms': self.__rms, 'dimensions': self.__dimensions, 'camera matrix': self.__K.tolist(), 'distortion coefficients': self.__D.tolist()} - - with open(camera_calibration_filepath, 'w', encoding='utf-8') as calibration_file: + with open(json_filepath, 'w', encoding='utf-8') as calibration_file: - json.dump(calibration_data, calibration_file, ensure_ascii=False, indent=4) + json.dump(self, calibration_file, ensure_ascii=False, indent=4) - @property - def rms(self) -> float: - """Get Root Mean Square (rms) error.""" +class ArUcoCamera(CalibrationData): + """Handle camera calibration process.""" - return self.__rms - - @property - def dimensions(self) -> list: - """Get camera frame dimensions in pixels from which the calibration have been done.""" + def __init__(self, **kwargs): + + super().__init__(**kwargs) - return self.__dimensions - - @property - def K(self) -> numpy.array: - """Get camera intrinsic parameters matrix.""" - - return self.__K - - @property - def D(self) -> numpy.array: - """Get camera distorsion coefficients vector.""" - - return self.__D + # Calibration data + self.__corners_set_number = 0 + self.__corners_set = [] + self.__corners_set_ids = [] def calibrate(self, board, frame_width, frame_height): """Retrieve camera K and D from stored calibration data.""" |