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Everything related to detection goodness removed #2

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Apr 8, 2019
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Everything related to detection goodness removed #2

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2f37d11
detection goodness parts removed
AleksandarPetrov Apr 4, 2019
e784d77
everything related to goodness removed
AleksandarPetrov Apr 8, 2019
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everything related to goodness removed
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@AleksandarPetrov
AleksandarPetrov committed Apr 8, 2019
commit e784d77c8b9f3760bf452572a5a6a1202fa77153
2 changes: 1 addition & 1 deletion README.md
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Expand Up @@ -46,7 +46,7 @@ If you also want to extract the tag pose, `estimate_tag_pose` should be set to `
| tag_id | The decoded ID of the tag. |
| hamming | How many error bits were corrected? Note: accepting large numbers of corrected errors leads to greatly increased false positive rates. NOTE: As of this implementation, the detector cannot detect tags with a Hamming distance greater than 2. |
| decision_margin | A measure of the quality of the binary decoding process: the average difference between the intensity of a data bit versus the decision threshold. Higher numbers roughly indicate better decodes. This is a reasonable measure of detection accuracy only for very small tags-- not effective for larger tags (where we could have sampled anywhere within a bit cell and still gotten a good detection.) |
| homography | The 3x3 homography matrix describing the projection from an "ideal" tag (with corners at (-1,1), (1,1), (1,-1), and (-1, -1)) to pixels in the image. CURRENTLY NOT IMPLEMENTED DUE TO A NULL POINTER ERROR ON RPI |
| homography | The 3x3 homography matrix describing the projection from an "ideal" tag (with corners at (-1,1), (1,1), (1,-1), and (-1, -1)) to pixels in the image. |
| center | The center of the detection in image pixel coordinates. |
| corners | The corners of the tag in image pixel coordinates. These always wrap counter-clock wise around the tag. |
| pose_R* | Rotation matrix of the pose estimate. |
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4 changes: 0 additions & 4 deletions apriltags3.py
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Expand Up @@ -69,7 +69,6 @@ class _ApriltagDetection(ctypes.Structure):
('family', ctypes.POINTER(_ApriltagFamily)),
('id', ctypes.c_int),
('hamming', ctypes.c_int),
# ('goodness', ctypes.c_float),
('decision_margin', ctypes.c_float),
('H', ctypes.POINTER(_Matd)),
('c', ctypes.c_double*2),
Expand Down Expand Up @@ -146,7 +145,6 @@ def __init__(self):
self.tag_family = None
self.tag_id = None
self.hamming = None
# self.goodness = None
self.decision_margin = None
self.homography = None
self.center = None
Expand All @@ -160,7 +158,6 @@ def __str__(self):
'\ntag_family = ' + str(self.tag_family)+
'\ntag_id = ' + str(self.tag_id)+
'\nhamming = ' + str(self.hamming)+
# '\ngoodness = ' + str(self.goodness)+
'\ndecision_margin = ' + str(self.decision_margin)+
'\nhomography = ' + str(self.homography)+
'\ncenter = ' + str(self.center)+
Expand Down Expand Up @@ -363,7 +360,6 @@ def detect(self, img, estimate_tag_pose=False, camera_params=None, tag_size=None
detection.tag_family = ctypes.string_at(tag.family.contents.name)
detection.tag_id = tag.id
detection.hamming = tag.hamming
# detection.goodness = tag.goodness
detection.decision_margin = tag.decision_margin
detection.homography = homography
detection.center = center
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