Package edu.wpi.first.apriltag

Class AprilTagDetector.Config

java.lang.Object
edu.wpi.first.apriltag.AprilTagDetector.Config
Enclosing class:
AprilTagDetector
public static class AprilTagDetector.Config extends Object
Detector configuration.

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    boolean
    debug
    Debug mode.
    double
    decodeSharpening
    How much sharpening should be done to decoded images.
    int
    numThreads
    How many threads should be used for computation.
    float
    quadDecimate
    Quad decimation.
    float
    quadSigma
    What Gaussian blur should be applied to the segmented image (used for quad detection).
    boolean
    refineEdges
    When true, the edges of the each quad are adjusted to "snap to" strong gradients nearby.

  • Constructor Summary

    Constructors
    Constructor
    Description
    Config()
    Default constructor.

  • Method Summary

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

    Methods inherited from class java.lang.Object

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

  • Field Details

    • numThreads

      public int numThreads
      How many threads should be used for computation. Default is single-threaded operation (1 thread).

    • quadDecimate

      public float quadDecimate
      Quad decimation. Detection of quads can be done on a lower-resolution image, improving speed at a cost of pose accuracy and a slight decrease in detection rate. Decoding the binary payload is still done at full resolution. Default is 2.0.

    • quadSigma

      public float quadSigma
      What Gaussian blur should be applied to the segmented image (used for quad detection). Very noisy images benefit from non-zero values (e.g. 0.8). Default is 0.0.

    • refineEdges

      public boolean refineEdges
      When true, the edges of the each quad are adjusted to "snap to" strong gradients nearby. This is useful when decimation is employed, as it can increase the quality of the initial quad estimate substantially. Generally recommended to be on (true). Default is true.

      Very computationally inexpensive. Option is ignored if quad_decimate = 1.

    • decodeSharpening

      public double decodeSharpening
      How much sharpening should be done to decoded images. This can help decode small tags but may or may not help in odd lighting conditions or low light conditions. Default is 0.25.

    • debug

      public boolean debug
      Debug mode. When true, the decoder writes a variety of debugging images to the current working directory at various stages through the detection process. This is slow and should *not* be used on space-limited systems such as the RoboRIO. Default is disabled (false).

  • Constructor Details

    • Config

      public Config()
      Default constructor.

  • Method Details