def __init__(self,
size,
tag_length,
tag_spacing,
start_id=0,
tag_family='t36h11',
border_bits=2,
min_rows=2,
min_points=12,
subpix_region=5,
adjusted_points=None):
assert tag_family in self.aruco_dicts
assert tag_family == 't36h11', "apriltags2-ethz currently supports only t36h11, remove this once complete!"
self.size = tuple(size)
self.start_id = start_id
self.tag_family = tag_family
self.tag_spacing = tag_spacing
self.tag_length = tag_length
self.border_bits = int(border_bits)
self.adjusted_points = choose(adjusted_points, self.points)
self.min_rows = min_rows
self.min_points = min_points
self.subpix_region = subpix_region
def align_transforms_robust(m1, m2, valid=None, threshold=1.5):
""" As align_transforms, with outlier rejection.
threshold (float): factor of upper quartile to be determined as an outlier.
"""
mask = choose(valid, np.ones(m1.shape[0], dtype=np.bool))
m = align_transforms_mean(m1[mask], m2[mask])
errs = error_transform(m, m1, m2)
inliers = test_outlier(errs, threshold) & mask
m = align_transforms_mean(m1[inliers], m2[inliers])
return m, inliers
def __init__(self, size, tag_length,
tag_spacing, tag_family='t36h11', border_bits=2, min_rows=2, min_points=12, subpix_region=5, adjusted_points=None):
assert tag_family in self.aruco_dicts
self.size = tuple(size)
self.tag_family = tag_family
self.tag_spacing = tag_spacing
self.tag_length = tag_length
self.border_bits = int(border_bits)
self.adjusted_points = choose(adjusted_points, self.points)
self.min_rows = min_rows
self.min_points = min_points
self.subpix_region = subpix_region
def __init__(self,
size,
square_length,
marker_length,
min_rows=3,
min_points=20,
adjusted_points=None,
aruco_params=None,
aruco_dict='4X4_100',
aruco_offset=0):
self.aruco_dict = aruco_dict
self.aruco_offset = aruco_offset
self.size = tuple(size)
self.marker_length = marker_length
self.square_length = square_length
self.adjusted_points = choose(adjusted_points, self.points)
self.aruco_params = aruco_params or {}
self.min_rows = min_rows
self.min_points = min_points
def inliers(self):
return choose(self.inlier_mask, self.valid)
def reprojection_inliers(self):
inlier_table = self.point_table._extend(
valid=choose(self.inliers, self.valid))
return tables.valid_reprojection_error(self.reprojected, inlier_table)
