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.

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()	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

minClusterPixels

public int minClusterPixels

Threshold used to reject quads containing too few pixels. Default is 5 pixels.

maxNumMaxima

public int maxNumMaxima

How many corner candidates to consider when segmenting a group of pixels into a quad. Default is 10.

criticalAngle

public double 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

public float 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

public int 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

public boolean deglitch

Whether the thresholded image be should be deglitched. Only useful for very noisy images. Default is disabled (false).

Constructor Details

QuadThresholdParameters

public QuadThresholdParameters()

Default constructor.

Method Details

hashCode

public int hashCode()

Overrides:

hashCode in class Object

equals

public boolean equals(Object obj)

Overrides:

equals in class Object