Optimize parameters for speed -> barely under 1/30 s for detection of quads on macbook 8 threads

src/examples/processor_tracker_landmark_apriltag.yaml

 processor type: "TRACKER LANDMARK APRILTAG"
 processor name: "tracker landmark apriltag example"
 
-
 detector parameters: 
-    quad_decimate:  0.0
-    quad_sigma:     2.0
-    nthreads:       4
-    debug:          false
-    refine_edges:   true
-    refine_decode:  true
-    refine_pose:    true
-    ippe_min_ratio: 3.0  	# quite arbitrary, always > 1 (to deactive, set at 0 for example)
+    quad_decimate:  1.5      # doing quad detection at lower resolution to speed things up (see end of file)
+    quad_sigma:     0.8	     # gaussian blur good for noisy images, may be recommended with quad_decimate. Kernel size adapted (see end of this file) 
+    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)
 
 tag parameters:
@@ -33,3 +32,21 @@ vote:
     voting active:              true
     min_time_vote:              0.2 # s
     min_features_for_keyframe:  1
+
+
+
+
+# Annexes:
+### Quad decimate: the higher, the lower the resolution
+# Does nothing if <= 1.0
+# Only values taken into account:
+# 1.5, 2, 3, 4
+# 1.5 -> ~*2 speed up
+
+# Higher values use a "bad" code according to commentaries in the library, smaller do nothing
+### Gaussian blur table:
+# max sigma          kernel size
+# 0.499              1  (disabled)
+# 0.999              3
+# 1.499              5
+# 1.999              7

src/processors/processor_tracker_landmark_apriltag.cpp

@@ -69,6 +69,26 @@ ProcessorTrackerLandmarkApriltag::ProcessorTrackerLandmarkApriltag( ProcessorPar
     detector_ = *apriltag_detector_create();
     apriltag_detector_add_family(&detector_, &tag_family_);
 
+    WOLF_TRACE("\n\n\n\n", _params_tracker_landmark_apriltag->nthreads_, "\n\n\n\n");
+    WOLF_TRACE("\n\n\n\n", _params_tracker_landmark_apriltag->nthreads_, "\n\n\n\n");
+    WOLF_TRACE("\n\n\n\n", _params_tracker_landmark_apriltag->nthreads_, "\n\n\n\n");
+    WOLF_TRACE("\n\n\n\n", _params_tracker_landmark_apriltag->nthreads_, "\n\n\n\n");
+    WOLF_TRACE("\n\n\n\n", _params_tracker_landmark_apriltag->nthreads_, "\n\n\n\n");
+    WOLF_TRACE("\n\n\n\n", _params_tracker_landmark_apriltag->nthreads_, "\n\n\n\n");
+    WOLF_TRACE("\n\n\n\n", _params_tracker_landmark_apriltag->nthreads_, "\n\n\n\n");
+    WOLF_TRACE("\n\n\n\n", _params_tracker_landmark_apriltag->nthreads_, "\n\n\n\n");
+    WOLF_TRACE("\n\n\n\n", _params_tracker_landmark_apriltag->nthreads_, "\n\n\n\n");
+    WOLF_TRACE("\n\n\n\n", _params_tracker_landmark_apriltag->nthreads_, "\n\n\n\n");
+    WOLF_TRACE("\n\n\n\n", _params_tracker_landmark_apriltag->nthreads_, "\n\n\n\n");
+    WOLF_TRACE("\n\n\n\n", _params_tracker_landmark_apriltag->nthreads_, "\n\n\n\n");
+    WOLF_TRACE("\n\n\n\n", _params_tracker_landmark_apriltag->nthreads_, "\n\n\n\n");
+    WOLF_TRACE("\n\n\n\n", _params_tracker_landmark_apriltag->nthreads_, "\n\n\n\n");
+    WOLF_TRACE("\n\n\n\n", _params_tracker_landmark_apriltag->nthreads_, "\n\n\n\n");
+    WOLF_TRACE("\n\n\n\n", _params_tracker_landmark_apriltag->nthreads_, "\n\n\n\n");
+    WOLF_TRACE("\n\n\n\n", _params_tracker_landmark_apriltag->nthreads_, "\n\n\n\n");
+    WOLF_TRACE("\n\n\n\n", _params_tracker_landmark_apriltag->nthreads_, "\n\n\n\n");
+
+
     detector_.quad_decimate     = _params_tracker_landmark_apriltag->quad_decimate_;
     detector_.quad_sigma        = _params_tracker_landmark_apriltag->quad_sigma_;
     detector_.nthreads          = _params_tracker_landmark_apriltag->nthreads_;
@@ -126,7 +146,9 @@ void ProcessorTrackerLandmarkApriltag::preProcess()
                     };
 
     // run Apriltag detector
+//    const clock_t begin_time_detection = clock();
     zarray_t *detections = apriltag_detector_detect(&detector_, &im);
+//    WOLF_DEBUG("tag detection: ", (double)(clock() - begin_time_detection) / CLOCKS_PER_SEC);
 
     // loop all detections
     for (int i = 0; i < zarray_size(detections); i++) {
@@ -148,7 +170,6 @@ void ProcessorTrackerLandmarkApriltag::preProcess()
         Scalar rep_error1;
         Scalar rep_error2;
         ippePoseEstimation(det, cv_K_, tag_width, M_ippe1, rep_error1, M_ippe2, rep_error2);
-
         // If not so sure about whether we have the right solution or not, do not create a feature
         is_ambiguous = !((rep_error2 / rep_error1 > ippe_min_ratio_) && rep_error1 < ippe_max_rep_error_);
         //////////////////
@@ -169,8 +190,8 @@ void ProcessorTrackerLandmarkApriltag::preProcess()
         // M_april = umichPoseEstimation(det, cv_K_, tag_width);
         //////////////////
 
-        WOLF_DEBUG("ippe1\n",   M_ippe1 .matrix());
-        WOLF_DEBUG("ippe2\n",   M_ippe2 .matrix());
+//        WOLF_DEBUG("ippe1\n",   M_ippe1 .matrix());
+//        WOLF_DEBUG("ippe2\n",   M_ippe2 .matrix());
 //        WOLF_DEBUG("M_PnP\n",   M_PnP   .matrix());
 //        WOLF_DEBUG("M_april\n", M_april .matrix());
 
@@ -191,7 +212,7 @@ void ProcessorTrackerLandmarkApriltag::preProcess()
         Eigen::Matrix6s info = computeInformation(translation, c_M_t.linear(), K_, tag_width, std_pix_);  // Lie jacobians covariance
 
         if (is_ambiguous){
-            WOLF_INFO("Ambiguity on estimated rotation is likely");
+//            WOLF_INFO("Ambiguity on estimated rotation is likely");
             // Put a very high covariance on angles measurements (low info matrix ?)
 //            cov.bottomRightCorner(3, 3) = 1000000*Eigen::Matrix3s::Identity();
             Eigen::Matrix6s new_info = 0.00001*Eigen::Matrix6s::Identity();
@@ -207,7 +228,7 @@ void ProcessorTrackerLandmarkApriltag::preProcess()
 //        WOLF_TRACE("tag ", tag_id, " cov diagonal: [", cov.diagonal().transpose(), "]");
         // add to detected features list
         detections_incoming_.push_back(std::make_shared<FeatureApriltag>(pose, info, tag_id, *det, FeatureBase::UncertaintyType::UNCERTAINTY_IS_INFO));
-        WOLF_TRACE("Meas Covariance tag ", tag_id, "\n", info.inverse());
+//        WOLF_TRACE("Meas Covariance tag ", tag_id, "\n", info.inverse());
         WOLF_TRACE("---------------------\n");
     }