#include <MultiSenseTypes.hh>

Public Member Functions
	ApriltagParams ()

Public Attributes
double	decode_sharpening

std::string	family

uint8_t	max_hamming

size_t	min_border_width

double	quad_detection_blur_sigma

double	quad_detection_decimate

bool	refine_quad_edges

Detailed Description

Class containing parameters for the apriltag fiducial detection algorithm application which may be running on the specifically commissioned MultiSenses.

Example code to set a device's apriltag parameters:

//
// Instantiate a channel connecting to a sensor at the factory default
// IP address
crl::multisense::Channel* channel;
channel = crl::multisense::Channel::Create("10.66.171.21");
 
channel->setMtu(1500);
 
//
// Create a instance of ApriltagParams to store the device's params
crl::multisense::system::ApriltagParams params;
 
//
// Set the parameter values
params.family = "tagStandard52h13";
params.max_hamming = 0;
params.quad_detection_blur_sigma = 0.75;
params.quad_detection_decimate = 1.0;
params.min_border_width = 5;
params.refine_quad_edges = false;
params.decode_sharpening = 0.25;
 
//
// Send the new external calibration to the device
crl::multisense::Status status = channel->setApriltagParams(params));
 
//
// Check to see if the new network configuration was received
if(crl::multisense::Status_Ok != status) {
     throw std::runtime_error("Unable to set the devices's apriltag params");
}
 
//
// Destroy the channel instance
crl::multisense::Channel::Destroy(channel);

Definition at line 3880 of file Legacy/include/MultiSense/MultiSenseTypes.hh.

Constructor & Destructor Documentation

◆ ApriltagParams()

crl::multisense::system::ApriltagParams::ApriltagParams ( )

inline

Default constructor

Definition at line 3926 of file Legacy/include/MultiSense/MultiSenseTypes.hh.

Member Data Documentation

◆ decode_sharpening

double crl::multisense::system::ApriltagParams::decode_sharpening

How much to sharpen the quad before sampling the pixels. After the homography turns the sampled pixels into a perfect square image representing the tag bits, the sharpening is applied bring out the potentially soft edges. 0 to turn off, large values are stronger sharpening, recommended to stay below 1

Definition at line 3923 of file Legacy/include/MultiSense/MultiSenseTypes.hh.

◆ family

std::string crl::multisense::system::ApriltagParams::family

Apriltag family to detect

Definition at line 3883 of file Legacy/include/MultiSense/MultiSenseTypes.hh.

◆ max_hamming

uint8_t crl::multisense::system::ApriltagParams::max_hamming

The maximum hamming correction that will be applied while detecting codes

Definition at line 3886 of file Legacy/include/MultiSense/MultiSenseTypes.hh.

◆ min_border_width

size_t crl::multisense::system::ApriltagParams::min_border_width

Minimum border width that can be considered a valid tag. Used to filter contours based on area and perimeter. Units are in undecimated image pixels. Increasing the value will speed up the detector and may reduce false detection rates at the expense of reducing ability to detect small tags. NOTE: If this value is smaller than the smallest tag border, detector will override with the minimum border width out of the active families in the detector.

   Family border widths for reference:
       tag16h5 : 6 px
       tag25h9 : 7 px
       tag36h11 : 8 px
       tagCircle21h7 : 5 px
       tagCircle49h12 : 5 px
       tagCustom48h12 : 6 px
       tagStandard41h12 : 5 px
       tagStandard52h13 : 6 px

Definition at line 3914 of file Legacy/include/MultiSense/MultiSenseTypes.hh.

◆ quad_detection_blur_sigma

double crl::multisense::system::ApriltagParams::quad_detection_blur_sigma

Sigma of the Gaussian blur applied to the image before quad_detection Specified in full resolution pixels. Kernel size = 4*sigma, rounded up to the next odd number. (<0.5 results in no blur)

Definition at line 3891 of file Legacy/include/MultiSense/MultiSenseTypes.hh.