Package org.photonvision.vision.pipe.impl

Class ArucoDetectionPipeParams

java.lang.Object

org.photonvision.vision.pipe.impl.ArucoDetectionPipeParams

public class ArucoDetectionPipeParams
extends Object

Detector parameters. See https://docs.opencv.org/4.x/d5/dae/tutorial_aruco_detection.html.

Field Summary

Fields

Modifier and Type	Field	Description
int	aruco3MinCanonicalImgSide	Minimum side length of the canonical image (marker after undoing perspective distortion).
double	aruco3MinMarkerSideRatio	Minimum side length of markers expressed as a ratio of the largest image dimension.
boolean	debugRefineWindow
double	errorCorrectionRate	Bits allowed to be corrected, expressed as a ratio of the tag families theoretical maximum.
int	refinementMaxIterations	Maximum corner refinement iterations.
double	refinementMinErrorPx	Minimum error (accuracy) for corner refinement in pixels.
int	tagFamily	Tag family.
double	threshConstant
int	threshMaxSize
int	threshMinSize
int	threshStepSize
boolean	useAruco3	If the 'Aruco3' speedup should be used.
boolean	useCornerRefinement	If obtained corners should be iteratively refined.

Constructor Summary

Constructors

Constructor	Description
ArucoDetectionPipeParams()

Method Summary

Modifier and Type	Method	Description
boolean	equals(Object o)
int	hashCode()

Methods inherited from class java.lang.Object

clone, finalize, getClass, notify, notifyAll, toString, wait, wait, wait

Field Details

tagFamily

public int tagFamily

Tag family. Default: Objdetect.DICT_APRILTAG_36h11.

threshMinSize

public int threshMinSize

threshStepSize

public int threshStepSize

threshMaxSize

public int threshMaxSize

threshConstant

public double threshConstant

errorCorrectionRate

public double errorCorrectionRate

Bits allowed to be corrected, expressed as a ratio of the tag families theoretical maximum.

E.g. 36h11 = 11 * errorCorrectionRate = Max error bits

useCornerRefinement

public boolean useCornerRefinement

If obtained corners should be iteratively refined. This should always be on for 3D estimation.

refinementMaxIterations

public int refinementMaxIterations

Maximum corner refinement iterations.

refinementMinErrorPx

public double refinementMinErrorPx

Minimum error (accuracy) for corner refinement in pixels. When a corner refinement iteration moves the corner by less than this value, the refinement is considered finished.

debugRefineWindow

public boolean debugRefineWindow

useAruco3

public boolean useAruco3

If the 'Aruco3' speedup should be used. This is similar to AprilTag's 'decimate' value, but automatically determined with the given parameters.

T_i = aruco3MinMarkerSideRatio, and T_c = aruco3MinCanonicalImgSide

Scale factor = T_c / (T_c + T_i * max(img_width, img_height))

aruco3MinMarkerSideRatio

public double aruco3MinMarkerSideRatio

Minimum side length of markers expressed as a ratio of the largest image dimension.

aruco3MinCanonicalImgSide

public int aruco3MinCanonicalImgSide

Minimum side length of the canonical image (marker after undoing perspective distortion).

Constructor Details

ArucoDetectionPipeParams

public ArucoDetectionPipeParams()

Method Details

equals

public boolean equals(Object o)

Overrides:

equals in class Object

hashCode

public int hashCode()

Overrides:

hashCode in class Object