Struct opencv::aruco::DetectorParameters

pub struct DetectorParameters { /* private fields */ }

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)

Implementations

impl DetectorParameters

pub fn default() -> Result<DetectorParameters>

pub fn create() -> Result<Ptr<DetectorParameters>>

pub fn read_detector_parameters(
    fn_: &FileNode,
    params: &mut Ptr<DetectorParameters>
) -> Result<bool>

Trait Implementations

impl Boxed for DetectorParameters

unsafe fn from_raw(ptr: *mut c_void) -> Self

Wrap the specified raw pointer

fn into_raw(self) -> *mut c_void

Return an the underlying raw pointer while consuming this wrapper.

fn as_raw(&self) -> *const c_void

Return the underlying raw pointer.

fn as_raw_mut(&mut self) -> *mut c_void

Return the underlying mutable raw pointer

impl DetectorParametersTrait for DetectorParameters

fn as_raw_mut_DetectorParameters(&mut self) -> *mut c_void

fn set_adaptive_thresh_win_size_min(&mut self, val: i32)

fn set_adaptive_thresh_win_size_max(&mut self, val: i32)

fn set_adaptive_thresh_win_size_step(&mut self, val: i32)

fn set_adaptive_thresh_constant(&mut self, val: f64)

fn set_min_marker_perimeter_rate(&mut self, val: f64)

fn set_max_marker_perimeter_rate(&mut self, val: f64)

fn set_polygonal_approx_accuracy_rate(&mut self, val: f64)

fn set_min_corner_distance_rate(&mut self, val: f64)

fn set_min_distance_to_border(&mut self, val: i32)

fn set_min_marker_distance_rate(&mut self, val: f64)

fn set_corner_refinement_method(&mut self, val: i32)

fn set_corner_refinement_win_size(&mut self, val: i32)

fn set_corner_refinement_max_iterations(&mut self, val: i32)

fn set_corner_refinement_min_accuracy(&mut self, val: f64)

fn set_marker_border_bits(&mut self, val: i32)

fn set_perspective_remove_pixel_per_cell(&mut self, val: i32)

fn set_perspective_remove_ignored_margin_per_cell(&mut self, val: f64)

fn set_max_erroneous_bits_in_border_rate(&mut self, val: f64)

fn set_min_otsu_std_dev(&mut self, val: f64)

fn set_error_correction_rate(&mut self, val: f64)

fn set_april_tag_quad_decimate(&mut self, val: f32)

fn set_april_tag_quad_sigma(&mut self, val: f32)

fn set_april_tag_min_cluster_pixels(&mut self, val: i32)

fn set_april_tag_max_nmaxima(&mut self, val: i32)

fn set_april_tag_critical_rad(&mut self, val: f32)

fn set_april_tag_max_line_fit_mse(&mut self, val: f32)

fn set_april_tag_min_white_black_diff(&mut self, val: i32)

fn set_april_tag_deglitch(&mut self, val: i32)

fn set_detect_inverted_marker(&mut self, val: bool)

impl DetectorParametersTraitConst for DetectorParameters

fn as_raw_DetectorParameters(&self) -> *const c_void

fn adaptive_thresh_win_size_min(&self) -> i32

fn adaptive_thresh_win_size_max(&self) -> i32

fn adaptive_thresh_win_size_step(&self) -> i32

fn adaptive_thresh_constant(&self) -> f64

fn min_marker_perimeter_rate(&self) -> f64

fn max_marker_perimeter_rate(&self) -> f64

fn polygonal_approx_accuracy_rate(&self) -> f64

fn min_corner_distance_rate(&self) -> f64

fn min_distance_to_border(&self) -> i32

fn min_marker_distance_rate(&self) -> f64

fn corner_refinement_method(&self) -> i32

fn corner_refinement_win_size(&self) -> i32

fn corner_refinement_max_iterations(&self) -> i32

fn corner_refinement_min_accuracy(&self) -> f64

fn marker_border_bits(&self) -> i32

fn perspective_remove_pixel_per_cell(&self) -> i32

fn perspective_remove_ignored_margin_per_cell(&self) -> f64

fn max_erroneous_bits_in_border_rate(&self) -> f64

fn min_otsu_std_dev(&self) -> f64

fn error_correction_rate(&self) -> f64

fn april_tag_quad_decimate(&self) -> f32

fn april_tag_quad_sigma(&self) -> f32

fn april_tag_min_cluster_pixels(&self) -> i32

fn april_tag_max_nmaxima(&self) -> i32

fn april_tag_critical_rad(&self) -> f32

fn april_tag_max_line_fit_mse(&self) -> f32

fn april_tag_min_white_black_diff(&self) -> i32

fn april_tag_deglitch(&self) -> i32

fn detect_inverted_marker(&self) -> bool

impl Drop for DetectorParameters

fn drop(&mut self)

Executes the destructor for this type.

impl Send for DetectorParameters