fixed scale

ar_tag_pose/detector_board_main.py

@@ -85,12 +85,12 @@ class Detector(abc.ABC):
 		self.params_save()
 
 	@staticmethod
-	def print_angle(img: np.ndarray, title: str, angle: np.array, org: tuple[int, int], rot_order: str = 'XYZ'):
+	def print_angle(img: np.ndarray, title: str, angle: np.array, org: tuple[int, int], rot_order: str = 'XYZ', scale: float = 1.0):
 		indices = {k: n for n, k in enumerate(rot_order)}
 		colors = [(64, 64, 255), (64, 255, 64), (255, 64, 64)]
-		size = draw_text(img, f"{title}:", org, color=(128, 128, 128))
+		size = draw_text(img, f"{title}:", org, scale, color=(128, 128, 128))
 		for axis, color in zip(list("XYZ"), colors):
-			size = draw_text(img, f"{axis}: {angle[indices[axis]]:.1f}", (size[0] + 10, org[1]), color=color)
+			size = draw_text(img, f"{axis}: {angle[indices[axis]]:.1f}", (size[0] + int(10*scale), org[1]), scale, color=color)
 
 	def board_image_generate(self, margin_length: int=0):
 		for det in self.detector:
@@ -177,22 +177,22 @@ class Detector(abc.ABC):
 			elif k == ord('f'):
 				pose_center = not pose_center
 
-			k = 720 / img.shape[1]
-			img_scaled = cv.resize(img, dsize=None, fx=k, fy=k)
+			k = 800 / img.shape[1]
 			y_pos = 30
 			for det in self.detector:
 				success, r_vec, t_vec = det.process(img, True, False, False, pose_center)
 				if success:
 					if len(self.rotation_order) == 3:
 						rot = to_euler(to_tf(r_vec, t_vec), rotation_order=self.rotation_order)
-						self.print_angle(img_scaled, f"{str(det)}-{self.rotation_order}", rot, (30, y_pos), self.rotation_order)
+						self.print_angle(img, f"{str(det)}-{self.rotation_order}", rot, (30, int(y_pos/k)), self.rotation_order, 1./k)
 						y_pos += 30
 					else:
 						for rotation_order in ['XYZ', 'XZY', 'YXZ', 'YZX', 'ZXY', 'ZYX']:
 							rot = to_euler(to_tf(r_vec, t_vec), rotation_order=rotation_order)
-							self.print_angle(img_scaled, f"{str(det)}-{rotation_order}", rot, (30, y_pos), rotation_order)
+							self.print_angle(img,f"{str(det)}-{rotation_order}", rot, (30, int(y_pos/k)), rotation_order, 1./k)
 							y_pos += 30
 
+			img_scaled = cv.resize(img, dsize=None, fx=k, fy=k)
 			cv.imshow('img', img_scaled)
 			if self.out_file is not None:
 				out = out_writer(out, img_scaled, filename=self.out_file)

ar_tag_pose/utils.py

@@ -42,10 +42,10 @@ def to_euler(t1: np.ndarray, t2: np.ndarray | None = None, rotation_order: str=
 
 	return res
 
-def draw_text(img: np.ndarray, text: str, org: tuple[int,int], font: int=cv.FONT_HERSHEY_SIMPLEX,
+def draw_text(img: np.ndarray, text: str, org: tuple[int,int], scale = 1.0, font: int=cv.FONT_HERSHEY_SIMPLEX,
 			  font_scale: float=0.75, color: tuple[float,float,float]=(0, 255, 0), thickness: int=2, line_type: int=0,
 			  bottom_left_origin: bool=False):
 
-	size = cv.getTextSize(text, font, font_scale, thickness)
-	cv.putText(img, text, org, font, font_scale, color, thickness, line_type, bottom_left_origin)
+	size = cv.getTextSize(text, font, font_scale*scale, int(thickness*scale))
+	cv.putText(img, text, org, font, font_scale*scale, color, int(thickness*scale), line_type, bottom_left_origin)
 	return size[0][0] + org[0], size[0][1]