- workaround number of Ids must be known prior board generation

ar_tag_pose/detector_board.py

@@ -14,20 +14,31 @@ class BoardDetector(abc.ABC):
 	t_vecs = None
 	obj_points_list = []
 	img_points_list = []
-
+	rs = None
+	board_id = None
 	def __repr__(self):
 		return self.name
 
 	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
-		rs = RSCodec(n_rs, c_exp=7)
+		self.rs = RSCodec(n_rs, c_exp=7)
+
 		msg = bytes(f"{board_id}", 'utf-8')
-		byte_string = rs.encode(msg)
+		byte_string = self.rs.encode(msg)
 		self.ids = np.array([x for x in byte_string])
 		print(f"{name}: markers: {self.ids}")
 
+	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
+
 	@abc.abstractmethod
 	def get_board_name(self) -> str:
 		pass