001/*
002 * Copyright (C) Photon Vision.
003 *
004 * This program is free software: you can redistribute it and/or modify
005 * it under the terms of the GNU General Public License as published by
006 * the Free Software Foundation, either version 3 of the License, or
007 * (at your option) any later version.
008 *
009 * This program is distributed in the hope that it will be useful,
010 * but WITHOUT ANY WARRANTY; without even the implied warranty of
011 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
012 * GNU General Public License for more details.
013 *
014 * You should have received a copy of the GNU General Public License
015 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
016 */
017
018package org.photonvision.vision.pipeline;
019
020import com.fasterxml.jackson.annotation.JsonTypeName;
021import org.photonvision.common.util.numbers.IntegerCouple;
022import org.photonvision.vision.apriltag.AprilTagFamily;
023import org.photonvision.vision.target.TargetModel;
024
025@JsonTypeName("ArucoPipelineSettings")
026public class ArucoPipelineSettings extends AdvancedPipelineSettings {
027    public AprilTagFamily tagFamily = AprilTagFamily.kTag36h11;
028
029    public IntegerCouple threshWinSizes = new IntegerCouple(11, 91);
030    public int threshStepSize = 40;
031    public double threshConstant = 10;
032    public boolean debugThreshold = false;
033
034    public boolean useCornerRefinement = true;
035    public int refineNumIterations = 30;
036    public double refineMinErrorPx = 0.005;
037
038    public boolean useAruco3 = false;
039    public double aruco3MinMarkerSideRatio = 0.02;
040    public int aruco3MinCanonicalImgSide = 32;
041
042    public boolean doMultiTarget = false;
043    public boolean doSingleTargetAlways = false;
044
045    public ArucoPipelineSettings() {
046        super();
047        pipelineType = PipelineType.Aruco;
048        outputShowMultipleTargets = true;
049        targetModel = TargetModel.kAprilTag6p5in_36h11;
050        cameraExposureRaw = 20;
051        cameraAutoExposure = true;
052        ledMode = false;
053    }
054}