Confuse about commands running multiple cameras with multiple patterns

[oliver-batchelor]

Confuse about commands running multiple cameras with multiple patterns

[zhaozhongch]

For the first problem, after checking the code I found the correct format for multiple cameras is --cameras cam1 cam2 instead of --cameras cam1,cam2, there is no ,. Please modify the Readme a little bit.

For the second problem, to be more specific, assume now I have two images from two cameras, each image can see two patterns like the following

The patternA in image0 should match the patternA in image1 instead of pattern B in image1. How do I specify that or the code can automatically do this matching. If it is automatically matching, is there any chance the matching is wrong? I am not 100 percent sure how Apriltag matching works but from my intuition, there might be a pattern matching problem.

[zhaozhongch]

The way to distinguish the pattern is to use the id of the April tag. Each pattern's April id should be different. For example, pattern is a 6x6 pattern with id 0 to 35 then another one is a 6x6 pattern with id 36 to 71.
In the reference paper, it includes the transformation between patterns into the least square optimization.