From 9343cf9917983b9617d948b96b1a6ced24a6dab8 Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Tue, 29 Mar 2022 17:32:53 +0200
Subject: Fixing camera calibration bugs introduced by new ArUco markers
 dictionary managment

---
 src/argaze/ArUcoMarkers/ArUcoBoard.py      | 2 +-
 src/argaze/ArUcoMarkers/ArUcoTracker.py    | 4 ++--
 src/argaze/utils/README.md                 | 2 +-
 src/argaze/utils/calibrate_tobii_camera.py | 4 ++--
 4 files changed, 6 insertions(+), 6 deletions(-)

(limited to 'src')

diff --git a/src/argaze/ArUcoMarkers/ArUcoBoard.py b/src/argaze/ArUcoMarkers/ArUcoBoard.py
index de50363..d2eea50 100644
--- a/src/argaze/ArUcoMarkers/ArUcoBoard.py
+++ b/src/argaze/ArUcoMarkers/ArUcoBoard.py
@@ -45,7 +45,7 @@ class ArUcoBoard():
 
     def get_corners_number(self):
         """Get number of corners."""
-        return (self.__board.getChessboardSize()[0] - 1 ) * (self.__board.getChessboardSize()()[1] - 1)
+        return (self.__board.getChessboardSize()[0] - 1 ) * (self.__board.getChessboardSize()[1] - 1)
 
     def export(self, destination_folder: str, dpi: int):
         """Save a picture of the calibration board."""
diff --git a/src/argaze/ArUcoMarkers/ArUcoTracker.py b/src/argaze/ArUcoMarkers/ArUcoTracker.py
index 29e862f..1d67221 100644
--- a/src/argaze/ArUcoMarkers/ArUcoTracker.py
+++ b/src/argaze/ArUcoMarkers/ArUcoTracker.py
@@ -48,7 +48,7 @@ class ArUcoTracker():
         
         # detect markers from gray picture
         gray = cv.cvtColor(frame, cv.COLOR_BGR2GRAY)
-        self.__markers_corners, self.__markers_ids, rejectedPoints = aruco.detectMarkers(gray, self.__aruco_dict, parameters = self.__aruco_param)
+        self.__markers_corners, self.__markers_ids, rejectedPoints = aruco.detectMarkers(gray, self.__aruco_dict.get_markers(), parameters = self.__aruco_param)
 
         if len(self.__markers_corners) > 0 and estimate_pose:
 
@@ -68,7 +68,7 @@ class ArUcoTracker():
         
         # detect markers from gray picture
         gray = cv.cvtColor(frame, cv.COLOR_BGR2GRAY)
-        self.__markers_corners, self.__markers_ids, rejectedPoints = aruco.detectMarkers(gray, self.__aruco_dict, parameters = self.__aruco_param)
+        self.__markers_corners, self.__markers_ids, rejectedPoints = aruco.detectMarkers(gray, self.__aruco_dict.get_markers(), parameters = self.__aruco_param)
 
          # if all board markers are detected
         if self.get_markers_number() == expected_markers_number:
diff --git a/src/argaze/utils/README.md b/src/argaze/utils/README.md
index 0bc3216..461d82d 100644
--- a/src/argaze/utils/README.md
+++ b/src/argaze/utils/README.md
@@ -27,7 +27,7 @@ python ./src/argaze/utils/export_calibration_board.py 7 5 5 3 -o export
 - Calibrate Tobii Glasses Pro 2 camera (replace IP_ADDRESS) using a 7 columns and 5 rows calibration board with 5cm squares and 3cm markers inside. Then, export its optical parameters into an tobii_camera.json file:
 
 ```
-python ./src/argaze/utils/tobii_camera_calibration.py 7 5 5 3 -t IP_ADDRESS -o export/tobii_camera.json
+python ./src/argaze/utils/calibrate_tobii_camera.py 7 5 5 3 -t IP_ADDRESS -o export/tobii_camera.json
 ```
 
 - Display Tobii Glasses Pro 2 gaze and camera video stream (replace IP_ADDRESS)
diff --git a/src/argaze/utils/calibrate_tobii_camera.py b/src/argaze/utils/calibrate_tobii_camera.py
index 553632f..93751ba 100644
--- a/src/argaze/utils/calibrate_tobii_camera.py
+++ b/src/argaze/utils/calibrate_tobii_camera.py
@@ -58,8 +58,8 @@ def main():
     frame_width = 0
     frame_height = 0
 
-    expected_markers_number = len(aruco_board.get_ids())
-    expected_corners_number = (aruco_board.get_size()[0] - 1 ) * (aruco_board.get_size()[1] - 1)
+    expected_markers_number = aruco_board.get_markers_number()
+    expected_corners_number = aruco_board.get_corners_number()
 
     # capture loop
     try:
-- 
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