- introduced board_id

- board_id is encoded as Reed Solomon bytes array into marker

ar_tag_pose/detector_board.py

@@ -1,16 +1,13 @@
-import os
 import abc
-import math
 import cv2 as cv
 import numpy as np
-from pathlib import Path
-from ar_tag_pose.utils import to_board_pose_euler
-import mimetypes
+from reedsolo import RSCodec, ReedSolomonError
 
 RESULTS_FOLDER = "results"
 
 class BoardDetector(abc.ABC):
 	name = None
+	ids = None
 	mtx = None
 	dist = None
 	r_vecs = None
@@ -21,8 +18,15 @@ class BoardDetector(abc.ABC):
 	def __repr__(self):
 		return self.name
 
-	def __init__(self, name):
+	def __init__(self, name: str, board_id: str, n_syms: int):
 		self.name = name
+		msg_size = len(board_id)
+		n_rs = n_syms - msg_size
+		rs = RSCodec(n_rs, c_exp=7)
+		msg = bytes(f"{board_id}", 'utf-8')
+		byte_string = rs.encode(msg)
+		self.ids = np.array([x for x in byte_string])
+		print(f"{name}: markers: {self.ids}")
 
 	@abc.abstractmethod
 	def get_board_name(self) -> str:

ar_tag_pose/detector_board_aruco.py

@@ -3,10 +3,10 @@ import numpy as np
 from ar_tag_pose.detector_board import BoardDetector
 from ar_tag_pose.aruco_types import ARUCO_DICT
 
-def factory(dict_type: int, board_size: cv.typing.Size, marker_length: float=100.0, marker_sep=10):
+def factory(dict_type: int, board_size: cv.typing.Size, marker_length: float=100.0, marker_sep=10, ids: np.array=None):
 	aruco_dict = cv.aruco.getPredefinedDictionary(dict_type)
 	params = cv.aruco.DetectorParameters()
-	board = cv.aruco.GridBoard(size=board_size, markerLength=marker_length, markerSeparation=marker_sep, dictionary=aruco_dict)
+	board = cv.aruco.GridBoard(size=board_size, markerLength=marker_length, markerSeparation=marker_sep, dictionary=aruco_dict, ids=ids)
 	detector = cv.aruco.ArucoDetector(aruco_dict, params)
 	return detector, board
 
@@ -14,11 +14,11 @@ class BoardDetectorAruco(BoardDetector):
 	detector: cv.aruco.ArucoDetector = None
 	board: cv.aruco.GridBoard = None
 	dict_type = None
-	def __init__(self, name: str, dict_type: int, board_size: tuple[int, int], marker_ids: list[int]=None):
-		BoardDetector.__init__(self, name)
+	def __init__(self, name: str, dict_type: int, board_id: str, board_size: tuple[int, int]):
 		self.dict_type = dict_type
 		self.board_size = board_size
-		self.detector, self.board = factory(dict_type, board_size)
+		self.detector, self.board = factory(dict_type, board_size, ids=self.ids)
+		BoardDetector.__init__(self, name, board_id, len(self.board.getIds()))
 
 	def get_board_name(self):
 		grid_size = self.board.getGridSize()

ar_tag_pose/detector_board_charuco.py

@@ -3,10 +3,10 @@ import numpy as np
 from ar_tag_pose.detector_board import BoardDetector
 from ar_tag_pose.aruco_types import ARUCO_DICT
 
-def factory(dict_type: int, board_size: cv.typing.Size, square_length: float = 5.0, marker_length: float = 3.0):
+def factory(dict_type: int, board_size: cv.typing.Size, square_length: float = 5.0, marker_length: float = 3.0, ids: np.array=None):
 	aruco_dict = cv.aruco.getPredefinedDictionary(dict_type)
 	params = cv.aruco.CharucoParameters()
-	board = cv.aruco.CharucoBoard(size=board_size, squareLength=square_length, markerLength=marker_length, dictionary=aruco_dict)
+	board = cv.aruco.CharucoBoard(size=board_size, squareLength=square_length, markerLength=marker_length, dictionary=aruco_dict, ids=ids)
 	detector = cv.aruco.CharucoDetector(board, params)
 	return detector, board
 
@@ -14,11 +14,11 @@ class BoardDetectorCharuco(BoardDetector):
 	detector: cv.aruco.CharucoDetector = None
 	board: cv.aruco.CharucoBoard = None
 	dict_type = None
-	def __init__(self, name: str, dict_type: int, board_size: tuple[int, int], marker_ids: list[int]=None):
-		BoardDetector.__init__(self, name)
+	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.dict_type = dict_type
 		self.board_size = board_size
-		self.detector, self.board = factory(dict_type, board_size)
+		BoardDetector.__init__(self, name, board_id, len(self.board.getIds()))
 
 	def get_board_name(self):
 		grid_size = self.board.getChessboardSize()

ar_tag_pose/detector_board_main.py

@@ -154,6 +154,13 @@ 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
 	ap = argparse.ArgumentParser()
@@ -175,16 +182,22 @@ def main():
 	ap.add_argument("-m", "--margin_length", type=int,
 		default=10,
 		help="Margin length of board [Pixels]")
+	ap.add_argument("-n", "--num_boards", type=int,
+		default=1,
+		help="Number of boards")
 	args = vars(ap.parse_args())
 
+	msg_size = 3
 	board_detector = []
 	if "Aruco" in args["type"]:
-		for n in range(2):
-			det = BoardDetectorAruco(f"Aruco_det-{n}", args["dict_type"], (args["board_width"], args["board_height"]))
+		for n in range(args["num_boards"]):
+			board_id = f"{n:0{msg_size}d}"
+			det = BoardDetectorAruco(f"Aruco_det-{n}", args["dict_type"], board_id, (args["board_width"], args["board_height"]))
 			board_detector.append(det)
 	elif "Charuco" in args["type"]:
-		for n in range(2):
-			det = BoardDetectorCharuco(f"Charuco_det-{n}", args["dict_type"], (args["board_width"], args["board_height"]))
+		for n in range(args["num_boards"]):
+			board_id = f"{n:0{msg_size}d}"
+			det = BoardDetectorCharuco(f"Charuco_det-{n}", args["dict_type"], board_id, (args["board_width"], args["board_height"]))
 			board_detector.append(det)
 
 	detector = Detector(args["source"], board_detector)

pyproject.toml

@@ -14,7 +14,8 @@ authors = [
 dependencies = [
     "opencv-python",
     "opencv-contrib-python",
-    "scipy"
+    "scipy",
+    "reedsolo"
 ]
 readme = "README.md"