Package edu.wpi.first.apriltag
Class AprilTagDetector.QuadThresholdParameters
java.lang.Object
edu.wpi.first.apriltag.AprilTagDetector.QuadThresholdParameters
- Enclosing class:
- AprilTagDetector
public static class AprilTagDetector.QuadThresholdParameters extends Object
Quad threshold parameters.
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Field Summary
Fields Modifier and Type Field Description double
criticalAngle
Critical angle, in radians.boolean
deglitch
Whether the thresholded image be should be deglitched.float
maxLineFitMSE
When fitting lines to the contours, the maximum mean squared error allowed.int
maxNumMaxima
How many corner candidates to consider when segmenting a group of pixels into a quad.int
minClusterPixels
Threshold used to reject quads containing too few pixels.int
minWhiteBlackDiff
Minimum brightness offset. -
Constructor Summary
Constructors Constructor Description QuadThresholdParameters()
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Method Summary
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Field Details
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minClusterPixels
Threshold used to reject quads containing too few pixels. Default is 5 pixels. -
maxNumMaxima
How many corner candidates to consider when segmenting a group of pixels into a quad. Default is 10. -
criticalAngle
Critical angle, in radians. The detector will reject quads where pairs of edges have angles that are close to straight or close to 180 degrees. Zero means that no quads are rejected. Default is 10 degrees. -
maxLineFitMSE
When fitting lines to the contours, the maximum mean squared error allowed. This is useful in rejecting contours that are far from being quad shaped; rejecting these quads "early" saves expensive decoding processing. Default is 10.0. -
minWhiteBlackDiff
Minimum brightness offset. When we build our model of black & white pixels, we add an extra check that the white model must be (overall) brighter than the black model. How much brighter? (in pixel values, [0,255]). Default is 5. -
deglitch
Whether the thresholded image be should be deglitched. Only useful for very noisy images. Default is disabled (false).
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Constructor Details
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Method Details