org.opencv.aruco

Class DetectorParameters

java.lang.Object

org.opencv.aruco.DetectorParameters

public class DetectorParameters
extends Object

Parameters for the detectMarker process: - adaptiveThreshWinSizeMin: minimum window size for adaptive thresholding before finding contours (default 3). - adaptiveThreshWinSizeMax: maximum window size for adaptive thresholding before finding contours (default 23). - adaptiveThreshWinSizeStep: increments from adaptiveThreshWinSizeMin to adaptiveThreshWinSizeMax during the thresholding (default 10). - adaptiveThreshConstant: constant for adaptive thresholding before finding contours (default 7) - minMarkerPerimeterRate: determine minimum perimeter for marker contour to be detected. This is defined as a rate respect to the maximum dimension of the input image (default 0.03). - maxMarkerPerimeterRate: determine maximum perimeter for marker contour to be detected. This is defined as a rate respect to the maximum dimension of the input image (default 4.0). - polygonalApproxAccuracyRate: minimum accuracy during the polygonal approximation process to determine which contours are squares. - minCornerDistanceRate: minimum distance between corners for detected markers relative to its perimeter (default 0.05) - minDistanceToBorder: minimum distance of any corner to the image border for detected markers (in pixels) (default 3) - minMarkerDistanceRate: minimum mean distance beetween two marker corners to be considered similar, so that the smaller one is removed. The rate is relative to the smaller perimeter of the two markers (default 0.05). - cornerRefinementMethod: corner refinement method. (CORNER_REFINE_NONE, no refinement. CORNER_REFINE_SUBPIX, do subpixel refinement. CORNER_REFINE_CONTOUR use contour-Points, CORNER_REFINE_APRILTAG use the AprilTag2 approach) - cornerRefinementWinSize: window size for the corner refinement process (in pixels) (default 5). - cornerRefinementMaxIterations: maximum number of iterations for stop criteria of the corner refinement process (default 30). - cornerRefinementMinAccuracy: minimum error for the stop cristeria of the corner refinement process (default: 0.1) - markerBorderBits: number of bits of the marker border, i.e. marker border width (default 1). - perspectiveRemovePixelPerCell: number of bits (per dimension) for each cell of the marker when removing the perspective (default 8). - perspectiveRemoveIgnoredMarginPerCell: width of the margin of pixels on each cell not considered for the determination of the cell bit. Represents the rate respect to the total size of the cell, i.e. perspectiveRemovePixelPerCell (default 0.13) - maxErroneousBitsInBorderRate: maximum number of accepted erroneous bits in the border (i.e. number of allowed white bits in the border). Represented as a rate respect to the total number of bits per marker (default 0.35). - minOtsuStdDev: minimun standard deviation in pixels values during the decodification step to apply Otsu thresholding (otherwise, all the bits are set to 0 or 1 depending on mean higher than 128 or not) (default 5.0) - errorCorrectionRate error correction rate respect to the maximun error correction capability for each dictionary. (default 0.6). - aprilTagMinClusterPixels: reject quads containing too few pixels. - aprilTagMaxNmaxima: how many corner candidates to consider when segmenting a group of pixels into a quad. - aprilTagCriticalRad: 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. (In radians). - aprilTagMaxLineFitMse: When fitting lines to the contours, what is 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. - aprilTagMinWhiteBlackDiff: 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]). - aprilTagDeglitch: should the thresholded image be deglitched? Only useful for very noisy images - aprilTagQuadDecimate: 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. - aprilTagQuadSigma: What Gaussian blur should be applied to the segmented image (used for quad detection?) Parameter is the standard deviation in pixels. Very noisy images benefit from non-zero values (e.g. 0.8). - detectInvertedMarker: to check if there is a white marker. In order to generate a "white" marker just invert a normal marker by using a tilde, ~markerImage. (default false)

Field Summary

Fields

Modifier and Type	Field and Description
protected long	nativeObj

Constructor Summary

Constructors

Modifier	Constructor and Description
protected	DetectorParameters(long addr)

Method Summary

Modifier and Type	Method and Description
static DetectorParameters	__fromPtr__(long addr)
static DetectorParameters	create()
protected void	finalize()
double	get_adaptiveThreshConstant()
int	get_adaptiveThreshWinSizeMax()
int	get_adaptiveThreshWinSizeMin()
int	get_adaptiveThreshWinSizeStep()
float	get_aprilTagCriticalRad()
int	get_aprilTagDeglitch()
float	get_aprilTagMaxLineFitMse()
int	get_aprilTagMaxNmaxima()
int	get_aprilTagMinClusterPixels()
int	get_aprilTagMinWhiteBlackDiff()
float	get_aprilTagQuadDecimate()
float	get_aprilTagQuadSigma()
int	get_cornerRefinementMaxIterations()
int	get_cornerRefinementMethod()
double	get_cornerRefinementMinAccuracy()
int	get_cornerRefinementWinSize()
boolean	get_detectInvertedMarker()
double	get_errorCorrectionRate()
int	get_markerBorderBits()
double	get_maxErroneousBitsInBorderRate()
double	get_maxMarkerPerimeterRate()
double	get_minCornerDistanceRate()
int	get_minDistanceToBorder()
double	get_minMarkerDistanceRate()
double	get_minMarkerPerimeterRate()
double	get_minOtsuStdDev()
double	get_perspectiveRemoveIgnoredMarginPerCell()
int	get_perspectiveRemovePixelPerCell()
double	get_polygonalApproxAccuracyRate()
long	getNativeObjAddr()
void	set_adaptiveThreshConstant(double adaptiveThreshConstant)
void	set_adaptiveThreshWinSizeMax(int adaptiveThreshWinSizeMax)
void	set_adaptiveThreshWinSizeMin(int adaptiveThreshWinSizeMin)
void	set_adaptiveThreshWinSizeStep(int adaptiveThreshWinSizeStep)
void	set_aprilTagCriticalRad(float aprilTagCriticalRad)
void	set_aprilTagDeglitch(int aprilTagDeglitch)
void	set_aprilTagMaxLineFitMse(float aprilTagMaxLineFitMse)
void	set_aprilTagMaxNmaxima(int aprilTagMaxNmaxima)
void	set_aprilTagMinClusterPixels(int aprilTagMinClusterPixels)
void	set_aprilTagMinWhiteBlackDiff(int aprilTagMinWhiteBlackDiff)
void	set_aprilTagQuadDecimate(float aprilTagQuadDecimate)
void	set_aprilTagQuadSigma(float aprilTagQuadSigma)
void	set_cornerRefinementMaxIterations(int cornerRefinementMaxIterations)
void	set_cornerRefinementMethod(int cornerRefinementMethod)
void	set_cornerRefinementMinAccuracy(double cornerRefinementMinAccuracy)
void	set_cornerRefinementWinSize(int cornerRefinementWinSize)
void	set_detectInvertedMarker(boolean detectInvertedMarker)
void	set_errorCorrectionRate(double errorCorrectionRate)
void	set_markerBorderBits(int markerBorderBits)
void	set_maxErroneousBitsInBorderRate(double maxErroneousBitsInBorderRate)
void	set_maxMarkerPerimeterRate(double maxMarkerPerimeterRate)
void	set_minCornerDistanceRate(double minCornerDistanceRate)
void	set_minDistanceToBorder(int minDistanceToBorder)
void	set_minMarkerDistanceRate(double minMarkerDistanceRate)
void	set_minMarkerPerimeterRate(double minMarkerPerimeterRate)
void	set_minOtsuStdDev(double minOtsuStdDev)
void	set_perspectiveRemoveIgnoredMarginPerCell(double perspectiveRemoveIgnoredMarginPerCell)
void	set_perspectiveRemovePixelPerCell(int perspectiveRemovePixelPerCell)
void	set_polygonalApproxAccuracyRate(double polygonalApproxAccuracyRate)

Methods inherited from class java.lang.Object

clone, equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

nativeObj

protected final long nativeObj

Constructor Detail

DetectorParameters

protected DetectorParameters(long addr)

Method Detail

getNativeObjAddr

public long getNativeObjAddr()

__fromPtr__

public static DetectorParameters __fromPtr__(long addr)

create

public static DetectorParameters create()

get_adaptiveThreshWinSizeMin

public int get_adaptiveThreshWinSizeMin()

set_adaptiveThreshWinSizeMin

public void set_adaptiveThreshWinSizeMin(int adaptiveThreshWinSizeMin)

get_adaptiveThreshWinSizeMax

public int get_adaptiveThreshWinSizeMax()

set_adaptiveThreshWinSizeMax

public void set_adaptiveThreshWinSizeMax(int adaptiveThreshWinSizeMax)

get_adaptiveThreshWinSizeStep

public int get_adaptiveThreshWinSizeStep()

set_adaptiveThreshWinSizeStep

public void set_adaptiveThreshWinSizeStep(int adaptiveThreshWinSizeStep)

get_adaptiveThreshConstant

public double get_adaptiveThreshConstant()

set_adaptiveThreshConstant

public void set_adaptiveThreshConstant(double adaptiveThreshConstant)

get_minMarkerPerimeterRate

public double get_minMarkerPerimeterRate()

set_minMarkerPerimeterRate

public void set_minMarkerPerimeterRate(double minMarkerPerimeterRate)

get_maxMarkerPerimeterRate

public double get_maxMarkerPerimeterRate()

set_maxMarkerPerimeterRate

public void set_maxMarkerPerimeterRate(double maxMarkerPerimeterRate)

get_polygonalApproxAccuracyRate

public double get_polygonalApproxAccuracyRate()

set_polygonalApproxAccuracyRate

public void set_polygonalApproxAccuracyRate(double polygonalApproxAccuracyRate)

get_minCornerDistanceRate

public double get_minCornerDistanceRate()

set_minCornerDistanceRate

public void set_minCornerDistanceRate(double minCornerDistanceRate)

get_minDistanceToBorder

public int get_minDistanceToBorder()

set_minDistanceToBorder

public void set_minDistanceToBorder(int minDistanceToBorder)

get_minMarkerDistanceRate

public double get_minMarkerDistanceRate()

set_minMarkerDistanceRate

public void set_minMarkerDistanceRate(double minMarkerDistanceRate)

get_cornerRefinementMethod

public int get_cornerRefinementMethod()

set_cornerRefinementMethod

public void set_cornerRefinementMethod(int cornerRefinementMethod)

get_cornerRefinementWinSize

public int get_cornerRefinementWinSize()

set_cornerRefinementWinSize

public void set_cornerRefinementWinSize(int cornerRefinementWinSize)

get_cornerRefinementMaxIterations

public int get_cornerRefinementMaxIterations()

set_cornerRefinementMaxIterations

public void set_cornerRefinementMaxIterations(int cornerRefinementMaxIterations)

get_cornerRefinementMinAccuracy

public double get_cornerRefinementMinAccuracy()

set_cornerRefinementMinAccuracy

public void set_cornerRefinementMinAccuracy(double cornerRefinementMinAccuracy)

get_markerBorderBits

public int get_markerBorderBits()

set_markerBorderBits

public void set_markerBorderBits(int markerBorderBits)

get_perspectiveRemovePixelPerCell

public int get_perspectiveRemovePixelPerCell()

set_perspectiveRemovePixelPerCell

public void set_perspectiveRemovePixelPerCell(int perspectiveRemovePixelPerCell)

get_perspectiveRemoveIgnoredMarginPerCell

public double get_perspectiveRemoveIgnoredMarginPerCell()

set_perspectiveRemoveIgnoredMarginPerCell

public void set_perspectiveRemoveIgnoredMarginPerCell(double perspectiveRemoveIgnoredMarginPerCell)

get_maxErroneousBitsInBorderRate

public double get_maxErroneousBitsInBorderRate()

set_maxErroneousBitsInBorderRate

public void set_maxErroneousBitsInBorderRate(double maxErroneousBitsInBorderRate)

get_minOtsuStdDev

public double get_minOtsuStdDev()

set_minOtsuStdDev

public void set_minOtsuStdDev(double minOtsuStdDev)

get_errorCorrectionRate

public double get_errorCorrectionRate()

set_errorCorrectionRate

public void set_errorCorrectionRate(double errorCorrectionRate)

get_aprilTagQuadDecimate

public float get_aprilTagQuadDecimate()

set_aprilTagQuadDecimate

public void set_aprilTagQuadDecimate(float aprilTagQuadDecimate)

get_aprilTagQuadSigma

public float get_aprilTagQuadSigma()

set_aprilTagQuadSigma

public void set_aprilTagQuadSigma(float aprilTagQuadSigma)

get_aprilTagMinClusterPixels

public int get_aprilTagMinClusterPixels()

set_aprilTagMinClusterPixels

public void set_aprilTagMinClusterPixels(int aprilTagMinClusterPixels)

get_aprilTagMaxNmaxima

public int get_aprilTagMaxNmaxima()

set_aprilTagMaxNmaxima

public void set_aprilTagMaxNmaxima(int aprilTagMaxNmaxima)

get_aprilTagCriticalRad

public float get_aprilTagCriticalRad()

set_aprilTagCriticalRad

public void set_aprilTagCriticalRad(float aprilTagCriticalRad)

get_aprilTagMaxLineFitMse

public float get_aprilTagMaxLineFitMse()

set_aprilTagMaxLineFitMse

public void set_aprilTagMaxLineFitMse(float aprilTagMaxLineFitMse)

get_aprilTagMinWhiteBlackDiff

public int get_aprilTagMinWhiteBlackDiff()

set_aprilTagMinWhiteBlackDiff

public void set_aprilTagMinWhiteBlackDiff(int aprilTagMinWhiteBlackDiff)

get_aprilTagDeglitch

public int get_aprilTagDeglitch()

set_aprilTagDeglitch

public void set_aprilTagDeglitch(int aprilTagDeglitch)

get_detectInvertedMarker

public boolean get_detectInvertedMarker()

set_detectInvertedMarker

public void set_detectInvertedMarker(boolean detectInvertedMarker)

finalize

protected void finalize()
                 throws Throwable

Overrides:

finalize in class Object

Throws:

Throwable