dai::RawAprilTagConfig Struct Reference

RawAprilTags configuration structure. More...

#include <RawAprilTagConfig.hpp>

Inheritance diagram for dai::RawAprilTagConfig:

Classes
struct	QuadThresholds

Public Types
enum	Family : std::int32_t {   Family::TAG_36H11 = 0, Family::TAG_36H10, Family::TAG_25H9, Family::TAG_16H5,   Family::TAG_CIR21H7, Family::TAG_STAND41H12 }

Public Member Functions
	DEPTHAI_SERIALIZE (RawAprilTagConfig, family, quadDecimate, quadSigma, refineEdges, decodeSharpening, maxHammingDistance, quadThresholds)
DatatypeEnum	getType () const override
void	serialize (std::vector< std::uint8_t > &metadata, DatatypeEnum &datatype) const override
Public Member Functions inherited from dai::RawBuffer
	DEPTHAI_SERIALIZE (RawBuffer, sequenceNum, ts, tsDevice)
virtual	~RawBuffer ()=default

Public Attributes
float	decodeSharpening = 0.25f
Family	family = Family::TAG_36H11
std::int32_t	maxHammingDistance = 1
std::int32_t	quadDecimate = 4
float	quadSigma = 0.0f
QuadThresholds	quadThresholds
bool	refineEdges = true
Public Attributes inherited from dai::RawBuffer
std::vector< std::uint8_t >	data
int64_t	sequenceNum = 0
Timestamp	ts = {}
Timestamp	tsDevice = {}

Detailed Description

RawAprilTags configuration structure.

Definition at line 13 of file RawAprilTagConfig.hpp.

Member Enumeration Documentation

Family

enum dai::RawAprilTagConfig::Family : std::int32_t

strong

Supported AprilTag families.

Enumerator
TAG_36H11
TAG_36H10
TAG_25H9
TAG_16H5
TAG_CIR21H7
TAG_STAND41H12

Definition at line 17 of file RawAprilTagConfig.hpp.

Member Function Documentation

DEPTHAI_SERIALIZE()

dai::RawAprilTagConfig::DEPTHAI_SERIALIZE	(	RawAprilTagConfig	,
		family	,
		quadDecimate	,
		quadSigma	,
		refineEdges	,
		decodeSharpening	,
		maxHammingDistance	,
		quadThresholds
	)

getType()

DatatypeEnum dai::RawAprilTagConfig::getType ( ) const

inlineoverridevirtual

Reimplemented from dai::RawBuffer.

Definition at line 118 of file RawAprilTagConfig.hpp.

serialize()

void dai::RawAprilTagConfig::serialize ( std::vector< std::uint8_t > &  metadata, DatatypeEnum &  datatype  ) const

inlineoverridevirtual

Reimplemented from dai::RawBuffer.

Definition at line 113 of file RawAprilTagConfig.hpp.

Member Data Documentation

decodeSharpening

float dai::RawAprilTagConfig::decodeSharpening = 0.25f

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. The default value is 0.25.

Definition at line 54 of file RawAprilTagConfig.hpp.

family

Family dai::RawAprilTagConfig::family = Family::TAG_36H11

AprilTag family.

Definition at line 22 of file RawAprilTagConfig.hpp.

maxHammingDistance

std::int32_t dai::RawAprilTagConfig::maxHammingDistance = 1

Max number of error bits that should be corrected. Accepting large numbers of corrected errors leads to greatly increased false positive rates. As of this implementation, the detector cannot detect tags with a hamming distance greater than 2.

Definition at line 62 of file RawAprilTagConfig.hpp.

quadDecimate

std::int32_t dai::RawAprilTagConfig::quadDecimate = 4

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.

Definition at line 30 of file RawAprilTagConfig.hpp.

quadSigma

float dai::RawAprilTagConfig::quadSigma = 0.0f

What Gaussian blur should be applied to the segmented image. Parameter is the standard deviation in pixels. Very noisy images benefit from non-zero values (e.g. 0.8).

Definition at line 37 of file RawAprilTagConfig.hpp.

quadThresholds

QuadThresholds dai::RawAprilTagConfig::quadThresholds

AprilTag quad threshold parameters.

Definition at line 111 of file RawAprilTagConfig.hpp.

refineEdges

bool dai::RawAprilTagConfig::refineEdges = true

When non-zero, 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. Very computationally inexpensive. Option is ignored if quadDecimate = 1.

Definition at line 46 of file RawAprilTagConfig.hpp.

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

• RawAprilTagConfig.hpp