From de29a208b48084948863605f286e579263062d6a Mon Sep 17 00:00:00 2001
From: Jens Ahrensfeld <jens@jayfield.org>
Date: Fri, 28 Nov 2025 20:06:16 +0100
Subject: [PATCH] added device id as CLI argument

---
 ar_tag_pose/board_pose.py         |  5 +++--
 ar_tag_pose/board_pose_aruco.py   | 14 +++++++++++---
 ar_tag_pose/board_pose_charuco.py | 14 +++++++++++---
 3 files changed, 25 insertions(+), 8 deletions(-)

diff --git a/ar_tag_pose/board_pose.py b/ar_tag_pose/board_pose.py
index 50254e4..b4cfa29 100644
--- a/ar_tag_pose/board_pose.py
+++ b/ar_tag_pose/board_pose.py
@@ -18,7 +18,8 @@ class BoardPose(abc.ABC):
 	obj_points_list = []
 	img_points_list = []
 
-	def __init__(self):
+	def __init__(self, device_id: int):
+		self.device_id = device_id
 		Path.mkdir(Path(RESULTS_FOLDER), exist_ok=True)
 
 	@staticmethod
@@ -76,7 +77,7 @@ class BoardPose(abc.ABC):
 	def process(self):
 
 		# Open camera
-		cap = cv.VideoCapture(0)
+		cap = cv.VideoCapture(self.device_id)
 		BoardPose.cap_init(cap)
 
 		if not cap.isOpened():
diff --git a/ar_tag_pose/board_pose_aruco.py b/ar_tag_pose/board_pose_aruco.py
index edc7507..dee2fb0 100644
--- a/ar_tag_pose/board_pose_aruco.py
+++ b/ar_tag_pose/board_pose_aruco.py
@@ -1,5 +1,6 @@
 import cv2 as cv
 import numpy as np
+import argparse
 from ar_tag_pose.board_pose import BoardPose
 from ar_tag_pose.aruco_types import ARUCO_DICT
 
@@ -14,8 +15,8 @@ def factory(dict_type: int, board_size: cv.typing.Size, marker_length: float=100
 	return detector, board, name
 
 class BoardPoseAruco(BoardPose):
-	def __init__(self, dict_type: int, board_size: tuple[int, int]):
-		BoardPose.__init__(self)
+	def __init__(self, device_id: int, dict_type: int, board_size: tuple[int, int]):
+		BoardPose.__init__(self, device_id)
 		self.board_size = board_size
 		self.detector, self.board, self.name = factory(dict_type, board_size)
 
@@ -84,7 +85,14 @@ class BoardPoseAruco(BoardPose):
 		return pose, r_vec, t_vec
 
 def main():
-	pose = BoardPoseAruco(10, (5, 5))
+	# construct the argument parser and parse the arguments
+	ap = argparse.ArgumentParser()
+	ap.add_argument("-i", "--device_id", type=int,
+		default=0,
+		help="Camera device index ")
+	args = vars(ap.parse_args())
+
+	pose = BoardPoseAruco(args["device_id"], 10, (5, 5))
 	pose.board_image_generate(margin_length=10)
 	pose.calibrate_load()
 	pose.process()
diff --git a/ar_tag_pose/board_pose_charuco.py b/ar_tag_pose/board_pose_charuco.py
index 95c1e17..ea391b6 100644
--- a/ar_tag_pose/board_pose_charuco.py
+++ b/ar_tag_pose/board_pose_charuco.py
@@ -1,5 +1,6 @@
 import cv2 as cv
 import numpy as np
+import argparse
 from ar_tag_pose.board_pose import BoardPose
 from ar_tag_pose.aruco_types import ARUCO_DICT
 
@@ -14,8 +15,8 @@ def factory(dict_type: int, board_size: cv.typing.Size, square_length: float = 5
 	return detector, board, name
 
 class BoardPoseCharuco(BoardPose):
-	def __init__(self, dict_type: int, board_size: tuple[int, int]):
-		BoardPose.__init__(self)
+	def __init__(self, device_id: int, dict_type: int, board_size: tuple[int, int]):
+		BoardPose.__init__(self, device_id)
 		self.board_size = board_size
 		self.detector, self.board, self.name = factory(dict_type, board_size)
 
@@ -82,7 +83,14 @@ class BoardPoseCharuco(BoardPose):
 		return pose, r_vec, t_vec
 
 def main():
-	pose = BoardPoseCharuco(10, (6, 7))
+	# construct the argument parser and parse the arguments
+	ap = argparse.ArgumentParser()
+	ap.add_argument("-i", "--device_id", type=int,
+		default=0,
+		help="Camera device index ")
+	args = vars(ap.parse_args())
+
+	pose = BoardPoseCharuco(args["device_id"], 10, (6, 7))
 	pose.board_image_generate()
 	pose.calibrate_load()
 	pose.process()