From 356895bc012b85f399cd6d5929fbab09a4348ee7 Mon Sep 17 00:00:00 2001 From: Jens Ahrensfeld Date: Fri, 12 Dec 2025 21:00:36 +0100 Subject: [PATCH] - put board id into detector name - temporarely disable filtering due buggy behavior with multiple detectors --- ar_tag_pose/detector_board_main.py | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/ar_tag_pose/detector_board_main.py b/ar_tag_pose/detector_board_main.py index f9a2aa9..d471f12 100644 --- a/ar_tag_pose/detector_board_main.py +++ b/ar_tag_pose/detector_board_main.py @@ -172,7 +172,8 @@ class Detector(abc.ABC): out = None pose_center = True rot = np.array([0,0,0]) - alpha_rot = 0.3 + # ToDo: fixed filter with multiple detectors + alpha_rot = 1.0 scale_target_width = 800 show_undistorted_image = False read_key = ReadKey() @@ -329,12 +330,12 @@ def main(): if "Aruco" in var_args["type"]: for n in range(var_args["num_boards"]): board_id = f"{bid_start+n:0{msg_size}d}" - det = BoardDetectorAruco(f"{var_args["name"]}-{n}", var_args["dict_type"], board_id, (var_args["board_width"], var_args["board_height"])) + det = BoardDetectorAruco(f"{var_args["name"]}-{board_id}", var_args["dict_type"], board_id, (var_args["board_width"], var_args["board_height"])) board_detector.append(det) elif "Charuco" in var_args["type"]: for n in range(var_args["num_boards"]): board_id = f"{bid_start+n:0{msg_size}d}" - det = BoardDetectorCharuco(f"{var_args["name"]}-{n}", var_args["dict_type"], board_id, (var_args["board_width"], var_args["board_height"])) + det = BoardDetectorCharuco(f"{var_args["name"]}-{board_id}", var_args["dict_type"], board_id, (var_args["board_width"], var_args["board_height"])) board_detector.append(det) # Create output