Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Improve default AprilTag config #5896

Closed
wants to merge 6 commits into from
Closed

Improve default AprilTag config #5896

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
6 commits
Select commit Hold shift + click to select a range
44a5d80
Improve Apriltags default config
Gold856 Nov 8, 2023
f0710e8
Force the use of our own QTP
Gold856 Nov 8, 2023
6f9d4f9
Update comments
Gold856 Nov 8, 2023
f8000f2
Remove submodule
Gold856 Nov 8, 2023
8fc824b
Increase minimum pixels required
Gold856 Nov 16, 2023
ff6a3d1
Decrease minimum required pixels to 300
Gold856 Nov 28, 2023
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
9 changes: 5 additions & 4 deletions apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagDetector.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -103,8 +103,8 @@ public boolean equals(Object obj) {
/** Quad threshold parameters. */
@SuppressWarnings("MemberName")
public static class QuadThresholdParameters {
/** Threshold used to reject quads containing too few pixels. Default is 5 pixels. */
public int minClusterPixels = 5;
/** Threshold used to reject quads containing too few pixels. Default is 300 pixels. */
public int minClusterPixels = 300;

/**
* How many corner candidates to consider when segmenting a group of pixels into a quad. Default
Expand All @@ -115,9 +115,9 @@ public static class QuadThresholdParameters {
/**
* 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.
* Default is 45 degrees.
*/
public double criticalAngle = 10 * Math.PI / 180.0;
public double criticalAngle = 45 * Math.PI / 180.0;

/**
* When fitting lines to the contours, the maximum mean squared error allowed. This is useful in
Expand Down Expand Up @@ -184,6 +184,7 @@ public boolean equals(Object obj) {

public AprilTagDetector() {
m_native = AprilTagJNI.createDetector();
setQuadThresholdParameters(new QuadThresholdParameters());
}

@Override
Expand Down
4 changes: 3 additions & 1 deletion apriltag/src/main/native/cpp/AprilTagDetector.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -46,7 +46,9 @@ void AprilTagDetector::Results::Destroy() {
}
}

AprilTagDetector::AprilTagDetector() : m_impl{apriltag_detector_create()} {}
AprilTagDetector::AprilTagDetector() : m_impl{apriltag_detector_create()} {
SetQuadThresholdParameters({});
}

AprilTagDetector& AprilTagDetector::operator=(AprilTagDetector&& rhs) {
Destroy();
Expand Down
8 changes: 4 additions & 4 deletions apriltag/src/main/native/include/frc/apriltag/AprilTagDetector.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -83,10 +83,10 @@ class WPILIB_DLLEXPORT AprilTagDetector {
bool operator==(const QuadThresholdParameters&) const = default;

/**
* Threshold used to reject quads containing too few pixels. Default is 5
* Threshold used to reject quads containing too few pixels. Default is 300
* pixels.
*/
int minClusterPixels = 5;
int minClusterPixels = 300;

/**
* How many corner candidates to consider when segmenting a group of pixels
Expand All @@ -97,9 +97,9 @@ class WPILIB_DLLEXPORT AprilTagDetector {
/**
* 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.
* that no quads are rejected. Default is 45 degrees.
*/
units::radian_t criticalAngle = 10_deg;
units::radian_t criticalAngle = 45_deg;

/**
* When fitting lines to the contours, the maximum mean squared error
Expand Down
Loading