Merge pull request #572 from mprib/569-reinitialize-grid-tracker-hist…

…ory-whenever-charuco-is-revised Grid history getting reinitialized when charuco is updated
mprib · Dec 7, 2023 · 4d43761 · 4d43761
2 parents 2922641 + 2b408f3
commit 4d43761
Show file tree

Hide file tree

Showing 2 changed files with 6 additions and 1 deletion.
diff --git a/pyxy3d/controller.py b/pyxy3d/controller.py
@@ -116,8 +116,11 @@ def update_charuco(self, charuco: Charuco):
         self.config.save_charuco(self.charuco)
         self.charuco_tracker = CharucoTracker(self.charuco)
 
+
         if hasattr(self, "intrinsic_stream_manager"):
+            logger.info("Updating charuco within the intrinsic stream manager")
             self.intrinsic_stream_manager.update_charuco(self.charuco_tracker)
+
 
     def load_extrinsic_stream_manager(self):
         logger.info(f"Loading manager for streams saved to {self.workspace_guide.extrinsic_dir}")

diff --git a/pyxy3d/intrinsic_stream_manager.py b/pyxy3d/intrinsic_stream_manager.py
@@ -82,7 +82,9 @@ def get_frame_count(self,port):
     def update_charuco(self,charuco_tracker:CharucoTracker):
         for stream in self.streams.values():
             stream.tracker = charuco_tracker
-
+
+        for emitter in self.frame_emitters.values():
+            emitter.initialize_grid_capture_history()
 
     def play_stream(self,port):
         logger.info(f"Begin playing stream at port {port}")