cv::aruco::DetectorParameters Struct Reference

Parameters for the detectMarker process: More...

#include <opencv2/aruco.hpp>

Public Member Functions
	DetectorParameters ()

Static Public Member Functions
static Ptr< DetectorParameters >	create ()
static bool	readDetectorParameters (const FileNode &fn, Ptr< DetectorParameters > &params)

Public Attributes
double	adaptiveThreshConstant
int	adaptiveThreshWinSizeMax
int	adaptiveThreshWinSizeMin
int	adaptiveThreshWinSizeStep
float	aprilTagCriticalRad
int	aprilTagDeglitch
float	aprilTagMaxLineFitMse
int	aprilTagMaxNmaxima
int	aprilTagMinClusterPixels
int	aprilTagMinWhiteBlackDiff
float	aprilTagQuadDecimate
float	aprilTagQuadSigma
int	cornerRefinementMaxIterations
int	cornerRefinementMethod
double	cornerRefinementMinAccuracy
int	cornerRefinementWinSize
bool	detectInvertedMarker
double	errorCorrectionRate
int	markerBorderBits
double	maxErroneousBitsInBorderRate
double	maxMarkerPerimeterRate
double	minCornerDistanceRate
int	minDistanceToBorder
double	minMarkerDistanceRate
double	minMarkerPerimeterRate
double	minOtsuStdDev
double	perspectiveRemoveIgnoredMarginPerCell
int	perspectiveRemovePixelPerCell
double	polygonalApproxAccuracyRate

Detailed Description

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. (default 0.03)
• 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). (default CORNER_REFINE_NONE)
• 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 4).
• 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. (default 5)
• aprilTagMaxNmaxima: how many corner candidates to consider when segmenting a group of pixels into a quad. (default 10)
• 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) (default 10*PI/180)
• 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. (default 10.0)
• 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]). (default 5)
• aprilTagDeglitch: should the thresholded image be deglitched? Only useful for very noisy images. (default 0)
• 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. (default 0.0)
• 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). (default 0.0)
• 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)

Constructor & Destructor Documentation

DetectorParameters()

cv::aruco::DetectorParameters::DetectorParameters

(

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Member Function Documentation

create()

static Ptr<DetectorParameters> cv::aruco::DetectorParameters::create ( )

static

readDetectorParameters()

static bool cv::aruco::DetectorParameters::readDetectorParameters ( const FileNode &  fn, Ptr< DetectorParameters > &  params  )

static

Member Data Documentation

adaptiveThreshConstant

double cv::aruco::DetectorParameters::adaptiveThreshConstant

adaptiveThreshWinSizeMax

int cv::aruco::DetectorParameters::adaptiveThreshWinSizeMax

adaptiveThreshWinSizeMin

int cv::aruco::DetectorParameters::adaptiveThreshWinSizeMin

adaptiveThreshWinSizeStep

int cv::aruco::DetectorParameters::adaptiveThreshWinSizeStep

aprilTagCriticalRad

float cv::aruco::DetectorParameters::aprilTagCriticalRad

aprilTagDeglitch

int cv::aruco::DetectorParameters::aprilTagDeglitch

aprilTagMaxLineFitMse

float cv::aruco::DetectorParameters::aprilTagMaxLineFitMse

aprilTagMaxNmaxima

int cv::aruco::DetectorParameters::aprilTagMaxNmaxima

aprilTagMinClusterPixels

int cv::aruco::DetectorParameters::aprilTagMinClusterPixels

aprilTagMinWhiteBlackDiff

int cv::aruco::DetectorParameters::aprilTagMinWhiteBlackDiff

aprilTagQuadDecimate

float cv::aruco::DetectorParameters::aprilTagQuadDecimate

aprilTagQuadSigma

float cv::aruco::DetectorParameters::aprilTagQuadSigma

cornerRefinementMaxIterations

int cv::aruco::DetectorParameters::cornerRefinementMaxIterations

cornerRefinementMethod

int cv::aruco::DetectorParameters::cornerRefinementMethod

cornerRefinementMinAccuracy

double cv::aruco::DetectorParameters::cornerRefinementMinAccuracy

cornerRefinementWinSize

int cv::aruco::DetectorParameters::cornerRefinementWinSize

detectInvertedMarker

bool cv::aruco::DetectorParameters::detectInvertedMarker

errorCorrectionRate

double cv::aruco::DetectorParameters::errorCorrectionRate

markerBorderBits

int cv::aruco::DetectorParameters::markerBorderBits

maxErroneousBitsInBorderRate

double cv::aruco::DetectorParameters::maxErroneousBitsInBorderRate

maxMarkerPerimeterRate

double cv::aruco::DetectorParameters::maxMarkerPerimeterRate

minCornerDistanceRate

double cv::aruco::DetectorParameters::minCornerDistanceRate

minDistanceToBorder

int cv::aruco::DetectorParameters::minDistanceToBorder

minMarkerDistanceRate

double cv::aruco::DetectorParameters::minMarkerDistanceRate

minMarkerPerimeterRate

double cv::aruco::DetectorParameters::minMarkerPerimeterRate

minOtsuStdDev

double cv::aruco::DetectorParameters::minOtsuStdDev

perspectiveRemoveIgnoredMarginPerCell

double cv::aruco::DetectorParameters::perspectiveRemoveIgnoredMarginPerCell

perspectiveRemovePixelPerCell

int cv::aruco::DetectorParameters::perspectiveRemovePixelPerCell

polygonalApproxAccuracyRate

double cv::aruco::DetectorParameters::polygonalApproxAccuracyRate

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

• opencv2/aruco.hpp