Charuco: fixed multidetection

ar_tag_pose/detector_board_charuco.py

@@ -15,7 +15,7 @@ class BoardDetectorCharuco(BoardDetector):
 	board: cv.aruco.CharucoBoard = None
 	dict_type = None
 	def __init__(self, name: str, dict_type: int, board_id: str, board_size: tuple[int, int]):
-		self.detector, self.board = factory(dict_type, board_size, ids=self.ids)
+		self.detector, self.board = factory(dict_type, board_size)
 		self.dict_type = dict_type
 		self.board_size = board_size
 		self.detector, self.board = factory(dict_type, board_size)
@@ -36,14 +36,16 @@ class BoardDetectorCharuco(BoardDetector):
 		success = False
 		obj_points = None
 		img_points = None
+
 		corners, ids, _, _ = self.detector.detectBoard(image)
-		if corners is not None:
-			if len(ids) >= len(self.board.getIds()):
-				_obj_points, _img_points = self.board.matchImagePoints(corners, ids)
-				if len(_obj_points) > 0 and len(_img_points) > 0:
-					success = True
-					obj_points = _obj_points
-					img_points = _img_points
+		corners, ids = self.match_ids(corners, ids)
+
+		if len(ids) >= len(self.board.getIds()):
+			_obj_points, _img_points = self.board.matchImagePoints(corners, ids)
+			if len(_obj_points) > 0 and len(_img_points) > 0:
+				success = True
+				obj_points = _obj_points
+				img_points = _img_points
 
 		return success, obj_points, img_points
 
@@ -54,9 +56,9 @@ class BoardDetectorCharuco(BoardDetector):
 
 		gray = cv.cvtColor(image, cv.COLOR_BGR2GRAY)
 		charuco_corners, charuco_ids, marker_corners, marker_ids = self.detector.detectBoard(gray)
+		corners, ids = self.match_ids(charuco_corners, charuco_ids)
 
-		if charuco_corners is not None:
-
+		if len(ids) > 0:
 			# Draw marker box
 			if draw_marker_box:
 				cv.aruco.drawDetectedMarkers(image, marker_corners)