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Added Marker/MaxRange and Marker/MinRange parameters (#630)

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* ADD 3 meter limit for marker detections

* ADD Marker/MaxRange and Marker/MinRange parameters for controlling marker detection
ADD ctags ignore

Co-authored-by: John Paul Soliva <soliva@seaos.co.jp>
Co-authored-by: Tim Fronsee <tfronsee21@gmail.com>
This commit is contained in:
David Molina
2020-11-22 06:18:22 +09:00
committed by GitHub
parent 7c4d2bbdf4
commit f467f2af7f
4 changed files with 24 additions and 11 deletions
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2
corelib/include/rtabmap/core/MarkerDetector.h
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@@ -50,6 +50,8 @@ private:
cv::Ptr<cv::aruco::DetectorParameters> detectorParams_;
float markerLength_;
float maxDepthError_;
float maxRange_;
float minRange_;
int dictionaryId_;
cv::Ptr<cv::aruco::Dictionary> dictionary_;
#endif

3
corelib/include/rtabmap/core/Parameters.h
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@@ -753,6 +753,8 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Marker, VarianceLinear, float, 0.001, "Linear variance to set on marker detections.");
RTABMAP_PARAM(Marker, VarianceAngular, float, 0.01, "Angular variance to set on marker detections. Set to >=9999 to use only position (xyz) constraint in graph optimization.");
RTABMAP_PARAM(Marker, CornerRefinementMethod, int, 0, "Corner refinement method (0: None, 1: Subpixel, 2:contour, 3: AprilTag2). For OpenCV <3.3.0, this is \"doCornerRefinement\" parameter: set 0 for false and 1 for true.");
RTABMAP_PARAM(Marker, MaxRange, float, -1, "Maximum range in which markers will be detected. -1 is reserved for unlimited range.")
RTABMAP_PARAM(Marker, MinRange, float, -1, "Miniminum range in which markers will be detected. -1 is reserved for unlimited range.")
RTABMAP_PARAM(ImuFilter, MadgwickGain, double, 0.1, "Gain of the filter. Higher values lead to faster convergence but more noise. Lower values lead to slower convergence but smoother signal, belongs in [0, 1].");
RTABMAP_PARAM(ImuFilter, MadgwickZeta, double, 0.0, "Gyro drift gain (approx. rad/s), belongs in [-1, 1].");
@@ -840,4 +842,3 @@ private:
}
#endif /* PARAMETERS_H_ */