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Apply Hamming and Multi-family Detector #69

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35 changes: 19 additions & 16 deletions src/pupil_apriltags/bindings.py
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Original file line number Diff line number Diff line change
Expand Up @@ -292,6 +292,7 @@ def __init__(
Path(__file__).parent / "lib",
Path(__file__).parent / "lib64",
),
max_hamming: int = 2
):

# Parse the parameters
Expand All @@ -303,6 +304,7 @@ def __init__(
self.params["refine_edges"] = refine_edges
self.params["decode_sharpening"] = decode_sharpening
self.params["debug"] = debug
self.params["max_hamming"] = max_hamming

# detect OS to get extension for DLL
filename_patterns_by_platform = {
Expand Down Expand Up @@ -357,51 +359,52 @@ def __init__(
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
self.tag_detector_ptr, self.tag_families["tag16h5"], max_hamming
)
elif "tag25h9" in self.params["families"]:
if "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
self.tag_detector_ptr, self.tag_families["tag25h9"], max_hamming
)
elif "tag36h11" in self.params["families"]:
if "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
self.tag_detector_ptr, self.tag_families["tag36h11"], max_hamming
)
elif "tagCircle21h7" in self.params["families"]:
if "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
self.tag_detector_ptr, self.tag_families["tagCircle21h7"], max_hamming
)
elif "tagCircle49h12" in self.params["families"]:
if "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
self.tag_detector_ptr, self.tag_families["tagCircle49h12"], max_hamming
)
elif "tagCustom48h12" in self.params["families"]:
if "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
self.tag_detector_ptr, self.tag_families["tagCustom48h12"], max_hamming
)
elif "tagStandard41h12" in self.params["families"]:
if "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
self.tag_detector_ptr, self.tag_families["tagStandard41h12"], max_hamming
)
elif "tagStandard52h13" in self.params["families"]:
if "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
self.tag_detector_ptr, self.tag_families["tagStandard52h13"], max_hamming
)
else:

if len(self.tag_families.keys()) == 0:
raise Exception("Unrecognized tag family name. Use e.g. 'tag36h11'.\n")

# configure the parameters of the detector
Expand Down