Quad threshold parameters. More...

#include <frc/apriltag/AprilTagDetector.h>

Public Member Functions
bool	operator== (const QuadThresholdParameters &) const =default

Public Attributes
int	minClusterPixels = 5
	Threshold used to reject quads containing too few pixels. More...

int	maxNumMaxima = 10
	How many corner candidates to consider when segmenting a group of pixels into a quad. More...

units::radian_t	criticalAngle = 10_deg
	Critical angle. More...

float	maxLineFitMSE = 10.0f
	When fitting lines to the contours, the maximum mean squared error allowed. More...

int	minWhiteBlackDiff = 5
	Minimum brightness offset. More...

bool	deglitch = false
	Whether the thresholded image be should be deglitched. More...

Detailed Description

Quad threshold parameters.

Member Function Documentation

◆ operator==()

bool frc::AprilTagDetector::QuadThresholdParameters::operator== ( const QuadThresholdParameters & ) const

default

Member Data Documentation

◆ criticalAngle

units::radian_t frc::AprilTagDetector::QuadThresholdParameters::criticalAngle = 10_deg

Critical angle.

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.

◆ deglitch

bool frc::AprilTagDetector::QuadThresholdParameters::deglitch = false

Whether the thresholded image be should be deglitched.

Only useful for very noisy images. Default is disabled (false).

◆ maxLineFitMSE

float frc::AprilTagDetector::QuadThresholdParameters::maxLineFitMSE = 10.0f

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.

◆ maxNumMaxima

int frc::AprilTagDetector::QuadThresholdParameters::maxNumMaxima = 10

How many corner candidates to consider when segmenting a group of pixels into a quad.

Default is 10.

◆ minClusterPixels

int frc::AprilTagDetector::QuadThresholdParameters::minClusterPixels = 5

Threshold used to reject quads containing too few pixels.

Default is 5 pixels.

◆ minWhiteBlackDiff

int frc::AprilTagDetector::QuadThresholdParameters::minWhiteBlackDiff = 5

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.

The documentation for this struct was generated from the following file:

frc/apriltag/AprilTagDetector.h

Public Member Functions

Public Attributes