From 289fab0371cccd97c356a164f9653253671f2e4f Mon Sep 17 00:00:00 2001
From: Zhiying Li <zhiyingli@g.ucla.edu>
Date: Tue, 2 Nov 2021 10:56:03 -0700
Subject: [PATCH] make detector global
---
Code/Control/Laptop_Code/ESP32_AT/imageTread_AT.py | 6 +++---
1 file changed, 3 insertions(+), 3 deletions(-)
diff --git a/Code/Control/Laptop_Code/ESP32_AT/imageTread_AT.py b/Code/Control/Laptop_Code/ESP32_AT/imageTread_AT.py
index ffc43e3..4fdade8 100644
--- a/Code/Control/Laptop_Code/ESP32_AT/imageTread_AT.py
+++ b/Code/Control/Laptop_Code/ESP32_AT/imageTread_AT.py
@@ -11,7 +11,7 @@ def nothing(x):
# detector = apriltag.Detector()
-
+detector = Detector()
def get_AT_6DOF_info(url):
tid,tx,ty,tz= 0,100000,100000,0
@@ -64,8 +64,8 @@ def get_AT_6DOF_info(url):
tagFamily = r.tag_family.decode("utf-8")
-
-
+
+
cv2.putText(frame, tagFamily, (ptA[0], ptA[1] - 15), cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 255, 0), 2)
cv2.putText(frame, "tx: {:.2f} ty: {:.2f} tz:{:.2f}".format(tx[0], ty[0], tz[0]), (ptA[0], ptA[1] + 30),
--
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