From 49dd1690115cbd4fe87304bbf2e9d274354e19dd Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Mon, 21 Nov 2022 19:33:06 +0100
Subject: Improving camera calibration data comments.

---
 src/argaze/ArUcoMarkers/ArUcoCamera.py | 26 +++++++++++++++++++-------
 1 file changed, 19 insertions(+), 7 deletions(-)

diff --git a/src/argaze/ArUcoMarkers/ArUcoCamera.py b/src/argaze/ArUcoMarkers/ArUcoCamera.py
index 92cde9f..06438ac 100644
--- a/src/argaze/ArUcoMarkers/ArUcoCamera.py
+++ b/src/argaze/ArUcoMarkers/ArUcoCamera.py
@@ -4,20 +4,26 @@ import json
 import numpy
 import cv2.aruco as aruco
 
+K0 = numpy.array([[1., 0., 0.], [0., 1., 0.], [0., 0., 0.]])
+"""Define default camera intrinsic parameters matrix."""
+
+D0 = numpy.array([0.0, 0.0, 0.0, 0.0, 0.0])
+"""Define default camera distorsion coefficients vector."""
+
 class ArUcoCamera():
-    """Handle optical parameters with:
-        - camera matrix as K,
-        - camera distorsion coefficients as D."""
+    """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."""
 
-        self.__rms = 0              # root mean square error
+        self.__rms = 0
 
-        self.__dimensions = [0, 0]  # dimensions of frame where to apply optical parameters (in pixel)
+        self.__dimensions = [0, 0] 
 
-        self.__K = []               # intrinsic parameters matrix (focal lengths and principal point)
-        self.__D = []               # distortion coefficients vector
+        self.__K = K0
+        self.__D = D0
 
         # define calibration data
         self.__corners_set_number = 0
@@ -55,6 +61,12 @@ class ArUcoCamera():
         return self.__rms
 
     @property
+    def dimensions(self) -> list:
+        """Get camera frame dimensions in pixels from which the calibration have been done."""
+
+        return self.__dimensions
+
+    @property
     def K(self) -> numpy.array:
         """Get camera intrinsic parameters matrix."""
 
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