From a1c5bf80dbf15358470fa63a0121d00c13571e7d Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Mon, 18 Sep 2023 11:10:35 +0200
Subject: Defining K0 as a function to make default optic intrinsic parameters
 matrix.

---
 src/argaze/ArUcoMarkers/ArUcoOpticCalibrator.py | 13 ++++++++++---
 1 file changed, 10 insertions(+), 3 deletions(-)

diff --git a/src/argaze/ArUcoMarkers/ArUcoOpticCalibrator.py b/src/argaze/ArUcoMarkers/ArUcoOpticCalibrator.py
index 257b877..f206c11 100644
--- a/src/argaze/ArUcoMarkers/ArUcoOpticCalibrator.py
+++ b/src/argaze/ArUcoMarkers/ArUcoOpticCalibrator.py
@@ -16,8 +16,15 @@ import numpy
 import cv2
 import cv2.aruco as aruco
 
-K0 = numpy.array([[1., 0., 0.], [0., 1., 0.], [0., 0., 0.]])
-"""Define default optic intrinsic parameters matrix."""
+def K0(focal_length: tuple, width: int, height: int) -> numpy.array:
+    """Define default optic intrinsic parameters matrix.
+
+    Parameters:
+        width: in pixel.
+        height: in pixel.
+    """
+
+    return numpy.array([[focal_length[0], 0., width/2], [0., focal_length[1], height/2], [0., 0., 1.]])
 
 D0 = numpy.array([0.0, 0.0, 0.0, 0.0, 0.0])
 """Define default optic distorsion coefficients vector."""
@@ -32,7 +39,7 @@ class OpticParameters():
     dimensions: numpy.array = field(default_factory=lambda : numpy.array([0, 0]))
     """Image dimensions in pixels from which the calibration have been done."""
 
-    K: numpy.array = field(default_factory=lambda : K0)
+    K: numpy.array = field(default_factory=lambda : K0((0, 0), 0, 0))
     """Intrinsic parameters matrix (focal lengths and principal point)."""
 
     D: numpy.array = field(default_factory=lambda : D0)
-- 
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