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- put board id into detector name

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- temporarely disable filtering due buggy behavior with multiple detectors
This commit is contained in:
jens
2025-12-12 21:00:36 +01:00
parent 352f3f880a
commit 356895bc01
1 changed files with 4 additions and 3 deletions
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ar_tag_pose/detector_board_main.py
+4 -3
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@@ -172,7 +172,8 @@ class Detector(abc.ABC):
out = None out = None
pose_center = True pose_center = True
rot = np.array([0,0,0]) rot = np.array([0,0,0])
alpha_rot = 0.3 # ToDo: fixed filter with multiple detectors
alpha_rot = 1.0
scale_target_width = 800 scale_target_width = 800
show_undistorted_image = False show_undistorted_image = False
read_key = ReadKey() read_key = ReadKey()
@@ -329,12 +330,12 @@ def main():
if "Aruco" in var_args["type"]: if "Aruco" in var_args["type"]:
for n in range(var_args["num_boards"]): for n in range(var_args["num_boards"]):
board_id = f"{bid_start+n:0{msg_size}d}" 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) board_detector.append(det)
elif "Charuco" in var_args["type"]: elif "Charuco" in var_args["type"]:
for n in range(var_args["num_boards"]): for n in range(var_args["num_boards"]):
board_id = f"{bid_start+n:0{msg_size}d}" 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) board_detector.append(det)
# Create output # Create output