diff --git a/include/base/processor/processor_tracker_landmark_apriltag.h b/include/base/processor/processor_tracker_landmark_apriltag.h
index cc0677e7145ce3f3865524f45044bd3dad50ffe0..9e0532cf5f869e2b4eedb750f90b996020203bfe 100644
--- a/include/base/processor/processor_tracker_landmark_apriltag.h
+++ b/include/base/processor/processor_tracker_landmark_apriltag.h
@@ -23,7 +23,6 @@ struct ProcessorParamsTrackerLandmarkApriltag : public ProcessorParamsTrackerLan
{
//tag parameters
std::string tag_family_;
- int tag_black_border_;
// tag sizes
Scalar tag_width_default_;
@@ -35,8 +34,6 @@ struct ProcessorParamsTrackerLandmarkApriltag : public ProcessorParamsTrackerLan
unsigned int nthreads_;
bool debug_;
bool refine_edges_;
- bool refine_decode_;
- bool refine_pose_;
Scalar std_xy_, std_z_, std_rpy_;
Scalar std_pix_;
diff --git a/src/examples/processor_tracker_landmark_apriltag.yaml b/src/examples/processor_tracker_landmark_apriltag.yaml
index fc78c0d2b7c8feaa92f85600e68f3cc8cb565e39..e8b1fd02dc80ffedefafc44ae3af9898a873cb3b 100644
--- a/src/examples/processor_tracker_landmark_apriltag.yaml
+++ b/src/examples/processor_tracker_landmark_apriltag.yaml
@@ -7,8 +7,6 @@ detector parameters:
nthreads: 8 # how many thread during tag detection (does not change much?)
debug: false # write some debugging images
refine_edges: true # better edge detection if quad_decimate > 1 (quite inexpensive, almost no diff)
- refine_decode: false # improve detection probability for small tags (quite expensive (~*3)
- refine_pose: false # improves detection by maximizing local contrast so that future pose extraction works better (VERY expensive ~*10-20)
ippe_min_ratio: 3.0 # quite arbitrary, always > 1 (to deactive, set at 0 for example)
ippe_max_rep_error: 2.0 # to deactivate, set at something big (100)
@@ -20,7 +18,7 @@ tag widths:
tag parameters:
tag_family: "tag36h11"
- tag_black_border: 1
+ # tag_black_border: 1
tag_width_default: 0.165 # used if tag width not specified
diff --git a/src/processor/processor_tracker_landmark_apriltag.cpp b/src/processor/processor_tracker_landmark_apriltag.cpp
index 41cd1101da0ecb36e9c202b0d4078c853070b846..52fa046a9fc7049ed0799a506afd9a114e233753 100644
--- a/src/processor/processor_tracker_landmark_apriltag.cpp
+++ b/src/processor/processor_tracker_landmark_apriltag.cpp
@@ -13,11 +13,14 @@
#include "common/homography.h"
#include "common/zarray.h"
-#include <tag36h11.h>
-#include <tag36h10.h>
-#include <tag36artoolkit.h>
+#include <tag16h5.h>
#include <tag25h9.h>
-#include <tag25h7.h>
+#include <tag36h11.h>
+#include <tagCircle21h7.h>
+#include <tagCircle49h12.h>
+#include <tagCustom48h12.h>
+#include <tagStandard41h12.h>
+#include <tagStandard52h13.h>
#include "base/processor/ippe.h"
@@ -58,22 +61,28 @@ ProcessorTrackerLandmarkApriltag::ProcessorTrackerLandmarkApriltag( ProcessorPar
// configure apriltag detector
std::string famname(_params_tracker_landmark_apriltag->tag_family_);
- if (famname == "tag36h11")
- tag_family_ = *tag36h11_create();
- else if (famname == "tag36h10")
- tag_family_ = *tag36h10_create();
- else if (famname == "tag36artoolkit")
- tag_family_ = *tag36artoolkit_create();
+ if (famname == "tag16h5")
+ tag_family_ = *tag16h5_create();
else if (famname == "tag25h9")
tag_family_ = *tag25h9_create();
- else if (famname == "tag25h7")
- tag_family_ = *tag25h7_create();
+ else if (famname == "tag36h11")
+ tag_family_ = *tag36h11_create();
+ else if (famname == "tagCircle21h7")
+ tag_family_ = *tagCircle21h7_create();
+ else if (famname == "tagCircle49h12")
+ tag_family_ = *tagCircle49h12_create();
+ else if (famname == "tagCustom48h12")
+ tag_family_ = *tagCustom48h12_create();
+ else if (famname == "tagStandard41h12")
+ tag_family_ = *tagStandard41h12_create();
+ else if (famname == "tagStandard52h13")
+ tag_family_ = *tagStandard52h13_create();
else {
- WOLF_ERROR("Unrecognized tag family name. Use e.g. \"tag36h11\".");
+ WOLF_ERROR(famname, ": Unrecognized tag family name. Use e.g. \"tag36h11\".");
exit(-1);
}
- tag_family_.black_border = _params_tracker_landmark_apriltag->tag_black_border_;
+ // tag_family_.black_border = _params_tracker_landmark_apriltag->tag_black_border_;
detector_ = *apriltag_detector_create();
apriltag_detector_add_family(&detector_, &tag_family_);
@@ -83,8 +92,6 @@ ProcessorTrackerLandmarkApriltag::ProcessorTrackerLandmarkApriltag( ProcessorPar
detector_.nthreads = _params_tracker_landmark_apriltag->nthreads_;
detector_.debug = _params_tracker_landmark_apriltag->debug_;
detector_.refine_edges = _params_tracker_landmark_apriltag->refine_edges_;
- detector_.refine_decode = _params_tracker_landmark_apriltag->refine_decode_;
- detector_.refine_pose = _params_tracker_landmark_apriltag->refine_pose_;
}
// Destructor
diff --git a/src/yaml/processor_tracker_landmark_apriltag_yaml.cpp b/src/yaml/processor_tracker_landmark_apriltag_yaml.cpp
index 339fb428d5daf46266cce1b6604c8c189dab623c..70a44fc672b41eaacd09fd5dc36b7d642bb283cf 100644
--- a/src/yaml/processor_tracker_landmark_apriltag_yaml.cpp
+++ b/src/yaml/processor_tracker_landmark_apriltag_yaml.cpp
@@ -38,14 +38,12 @@ static ProcessorParamsBasePtr createProcessorParamsLandmarkApriltag(const std::s
params->nthreads_ = detector_parameters["nthreads"] .as<int>();
params->debug_ = detector_parameters["debug"] .as<bool>();
params->refine_edges_ = detector_parameters["refine_edges"] .as<bool>();
- params->refine_decode_ = detector_parameters["refine_decode"] .as<bool>();
- params->refine_pose_ = detector_parameters["refine_pose"] .as<bool>();
params->ippe_min_ratio_ = detector_parameters["ippe_min_ratio"] .as<Scalar>();
params->ippe_max_rep_error_ = detector_parameters["ippe_max_rep_error"] .as<Scalar>();
YAML::Node tag_parameters = config["tag parameters"];
params->tag_family_ = tag_parameters["tag_family"] .as<std::string>();
- params->tag_black_border_ = tag_parameters["tag_black_border"] .as<int>();
+ // params->tag_black_border_ = tag_parameters["tag_black_border"] .as<int>();
params->tag_width_default_ = tag_parameters["tag_width_default"] .as<Scalar>();
// read list of tag widths
diff --git a/test/gtest_odom_2D.cpp b/test/gtest_odom_2D.cpp
index 604ef489478f5779ac4b79a14095c37436c81be4..2c8ab239bb890532f8a26f1e41bb713d9c6e0019 100644
--- a/test/gtest_odom_2D.cpp
+++ b/test/gtest_odom_2D.cpp
@@ -329,7 +329,7 @@ TEST(Odom2D, KF_callback)
params->angle_turned = 6.28;
params->max_time_span = 100;
params->cov_det = 100;
- params->unmeasured_perturbation_std = 0.000001;
+ params->unmeasured_perturbation_std = 0.0000001;
Matrix3s unmeasured_cov = params->unmeasured_perturbation_std*params->unmeasured_perturbation_std*Matrix3s::Identity();
ProcessorBasePtr prc_base = problem->installProcessor("ODOM 2D", "odom", sensor_odom2d, params);
ProcessorOdom2DPtr processor_odom2d = std::static_pointer_cast<ProcessorOdom2D>(prc_base);