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Fix Detector to correctly handle multiple tag families #8

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Fix Detector to correctly handle multiple tag families #8

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69 changes: 35 additions & 34 deletions apriltags3.py
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Original file line number Diff line number Diff line change
Expand Up @@ -249,40 +249,41 @@ def __init__(self,
# create the family
self.libc.apriltag_detector_add_family_bits.restype = None
self.tag_families = dict()
if 'tag16h5' in self.params['families']:
self.libc.tag16h5_create.restype = ctypes.POINTER(_ApriltagFamily)
self.tag_families['tag16h5']=self.libc.tag16h5_create()
self.libc.apriltag_detector_add_family_bits(self.tag_detector_ptr, self.tag_families['tag16h5'], 2)
elif 'tag25h9' in self.params['families']:
self.libc.tag25h9_create.restype = ctypes.POINTER(_ApriltagFamily)
self.tag_families['tag25h9']=self.libc.tag25h9_create()
self.libc.apriltag_detector_add_family_bits(self.tag_detector_ptr, self.tag_families['tag25h9'], 2)
elif 'tag36h11' in self.params['families']:
self.libc.tag36h11_create.restype = ctypes.POINTER(_ApriltagFamily)
self.tag_families['tag36h11']=self.libc.tag36h11_create()
self.libc.apriltag_detector_add_family_bits(self.tag_detector_ptr, self.tag_families['tag36h11'], 2)
elif 'tagCircle21h7' in self.params['families']:
self.libc.tagCircle21h7_create.restype = ctypes.POINTER(_ApriltagFamily)
self.tag_families['tagCircle21h7']=self.libc.tagCircle21h7_create()
self.libc.apriltag_detector_add_family_bits(self.tag_detector_ptr, self.tag_families['tagCircle21h7'], 2)
elif 'tagCircle49h12' in self.params['families']:
self.libc.tagCircle49h12_create.restype = ctypes.POINTER(_ApriltagFamily)
self.tag_families['tagCircle49h12']=self.libc.tagCircle49h12_create()
self.libc.apriltag_detector_add_family_bits(self.tag_detector_ptr, self.tag_families['tagCircle49h12'], 2)
elif 'tagCustom48h12' in self.params['families']:
self.libc.tagCustom48h12_create.restype = ctypes.POINTER(_ApriltagFamily)
self.tag_families['tagCustom48h12']=self.libc.tagCustom48h12_create()
self.libc.apriltag_detector_add_family_bits(self.tag_detector_ptr, self.tag_families['tagCustom48h12'], 2)
elif 'tagStandard41h12' in self.params['families']:
self.libc.tagStandard41h12_create.restype = ctypes.POINTER(_ApriltagFamily)
self.tag_families['tagStandard41h12']=self.libc.tagStandard41h12_create()
self.libc.apriltag_detector_add_family_bits(self.tag_detector_ptr, self.tag_families['tagStandard41h12'], 2)
elif 'tagStandard52h13' in self.params['families']:
self.libc.tagStandard52h13_create.restype = ctypes.POINTER(_ApriltagFamily)
self.tag_families['tagStandard52h13']=self.libc.tagStandard52h13_create()
self.libc.apriltag_detector_add_family_bits(self.tag_detector_ptr, self.tag_families['tagStandard52h13'], 2)
else:
raise Exception('Unrecognized tag family name. Use e.g. \'tag36h11\'.\n')
for family in self.params['families']:
if family == 'tag16h5':
self.libc.tag16h5_create.restype = ctypes.POINTER(_ApriltagFamily)
self.tag_families['tag16h5']=self.libc.tag16h5_create()
self.libc.apriltag_detector_add_family_bits(self.tag_detector_ptr, self.tag_families['tag16h5'], 2)
elif family == 'tag25h9':
self.libc.tag25h9_create.restype = ctypes.POINTER(_ApriltagFamily)
self.tag_families['tag25h9']=self.libc.tag25h9_create()
self.libc.apriltag_detector_add_family_bits(self.tag_detector_ptr, self.tag_families['tag25h9'], 2)
elif family == 'tag36h11':
self.libc.tag36h11_create.restype = ctypes.POINTER(_ApriltagFamily)
self.tag_families['tag36h11']=self.libc.tag36h11_create()
self.libc.apriltag_detector_add_family_bits(self.tag_detector_ptr, self.tag_families['tag36h11'], 2)
elif family == 'tagCircle21h7':
self.libc.tagCircle21h7_create.restype = ctypes.POINTER(_ApriltagFamily)
self.tag_families['tagCircle21h7']=self.libc.tagCircle21h7_create()
self.libc.apriltag_detector_add_family_bits(self.tag_detector_ptr, self.tag_families['tagCircle21h7'], 2)
elif family == 'tagCircle49h12':
self.libc.tagCircle49h12_create.restype = ctypes.POINTER(_ApriltagFamily)
self.tag_families['tagCircle49h12']=self.libc.tagCircle49h12_create()
self.libc.apriltag_detector_add_family_bits(self.tag_detector_ptr, self.tag_families['tagCircle49h12'], 2)
elif family == 'tagCustom48h12':
self.libc.tagCustom48h12_create.restype = ctypes.POINTER(_ApriltagFamily)
self.tag_families['tagCustom48h12']=self.libc.tagCustom48h12_create()
self.libc.apriltag_detector_add_family_bits(self.tag_detector_ptr, self.tag_families['tagCustom48h12'], 2)
elif family == 'tagStandard41h12':
self.libc.tagStandard41h12_create.restype = ctypes.POINTER(_ApriltagFamily)
self.tag_families['tagStandard41h12']=self.libc.tagStandard41h12_create()
self.libc.apriltag_detector_add_family_bits(self.tag_detector_ptr, self.tag_families['tagStandard41h12'], 2)
elif family == 'tagStandard52h13':
self.libc.tagStandard52h13_create.restype = ctypes.POINTER(_ApriltagFamily)
self.tag_families['tagStandard52h13']=self.libc.tagStandard52h13_create()
self.libc.apriltag_detector_add_family_bits(self.tag_detector_ptr, self.tag_families['tagStandard52h13'], 2)
else:
raise Exception('Unrecognized tag family name. Use e.g. \'tag36h11\'.\n')

# configure the parameters of the detector
self.tag_detector_ptr.contents.nthreads = int(self.params['nthreads'])
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