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[apriltag] Improve AprilTagDetector default config (#6847)

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This commit is contained in:
Gold856
2024-07-19 00:06:37 -04:00
committed by GitHub
parent 602325d608
commit 8d857cdb78
3 changed files with 12 additions and 9 deletions
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9
apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagDetector.java
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@@ -112,8 +112,8 @@ public class AprilTagDetector implements AutoCloseable {
/** 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
@@ -124,9 +124,9 @@ public class AprilTagDetector implements AutoCloseable {
/**
* 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
@@ -203,6 +203,7 @@ public class AprilTagDetector implements AutoCloseable {
/** Constructs an AprilTagDetector. */
public AprilTagDetector() {
m_native = AprilTagJNI.createDetector();
setQuadThresholdParameters(new QuadThresholdParameters());
}
@Override

4
apriltag/src/main/native/cpp/AprilTagDetector.cpp
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@@ -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();

8
apriltag/src/main/native/include/frc/apriltag/AprilTagDetector.h
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@@ -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
@@ -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