- use simpler id matching

- multiple boards at the same time working

ar_tag_pose/detector_board.py

@@ -1,7 +1,6 @@
 import abc
 import cv2 as cv
 import numpy as np
-from reedsolo import RSCodec, ReedSolomonError
 
 RESULTS_FOLDER = "results"
 
@@ -14,7 +13,6 @@ class BoardDetector(abc.ABC):
 	t_vecs = None
 	obj_points_list = []
 	img_points_list = []
-	rs = None
 	board_id = None
 	def __repr__(self):
 		return self.name
@@ -22,22 +20,22 @@ class BoardDetector(abc.ABC):
 	def __init__(self, name: str, board_id: str, n_syms: int):
 		self.name = name
 		self.board_id = board_id
-		msg_size = len(board_id)
-		n_rs = n_syms - msg_size
-		self.rs = RSCodec(n_rs, c_exp=7)
+		offset = int(board_id)*n_syms
+		self.ids = np.array([x + offset for x in range(n_syms)])
+		print(f"{self.name}: markers: {self.ids}")
 
-		msg = bytes(f"{board_id}", 'utf-8')
-		byte_string = self.rs.encode(msg)
-		self.ids = np.array([x for x in byte_string])
-		print(f"{name}: markers: {self.ids}")
+	def match_ids(self, ids: np.array):
+		offset = int(self.board_id) * len(self.ids)
+		if ids is None:
+			return False
 
-	def decode(self, ids: np.array):
-		print(ids)
-		try:
-			msg = self.rs.decode(ids)
-			return msg[0:len(self.board_id)]
-		except ReedSolomonError:
-			return None
+		for n in range(len(ids)):
+			if (ids[n] - offset) < 0:
+				return False
+			if (ids[n] - offset) > len(self.ids):
+				return False
+
+		return True
 
 	@abc.abstractmethod
 	def get_board_name(self) -> str:

ar_tag_pose/detector_board_aruco.py

@@ -36,6 +36,9 @@ class BoardDetectorAruco(BoardDetector):
 		obj_points = None
 		img_points = None
 		corners, ids, _ = self.detector.detectMarkers(image)
+		if not self.match_ids(ids):
+			return False, None, None
+
 		if corners is not None:
 			if len(ids) >= len(self.board.getIds()):
 				_obj_points, _img_points = self.board.matchImagePoints(corners, ids)
@@ -65,6 +68,9 @@ class BoardDetectorAruco(BoardDetector):
 		if not self.is_calibrated():
 			return pose, None, None
 
+		if not self.match_ids(ids):
+			return pose, None, None
+
 		# Draw marker axis
 		if draw_marker_axis:
 			_r_vecs, _t_vecs, _ = cv.aruco.estimatePoseSingleMarkers(corners, markerLength=0.1, cameraMatrix=self.mtx, distCoeffs=self.dist)

ar_tag_pose/detector_board_main.py

@@ -154,12 +154,6 @@ class Detector(abc.ABC):
 
 		cv.destroyAllWindows()
 
-def gen_marker_list():
-	msg = bytes(f"{n:0{msg_size}d}", 'utf-8')
-	byte_string = rs.encode(msg)
-	marker_list = [x for x in byte_string]
-	print(marker_list)
-
 
 def main():
 	# construct the argument parser and parse the arguments