config.yaml

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#     Settings for pose estimation     #
#         `python main.py`             #
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img_dir_path: 'data/images' # Change this to the dir containing your images
img_format: '.png' # keep the dot ('.')! change the png to other format if needed
min_detected_sqnc: 4 # Minimum required: 2. You can change this value, 3 is also a good option.
min_cntr_area_prcntg: 0.03 #3% of the marker area (reduce value if smaller keypoints are not being detected)
max_angle_diff_group: 1.5 # max angular difference (in degrees) between two keypoints in the same sequence
max_angle_diff_label: 35.0 # to classify each blob as a 0 or a 1
cyl_diameter_mm: 8.35 # WARNING: If changed you need to make a new marker `python main.py --task m`, so that the 3D positions are updated!
# Note: if you print the marker, to wrap around a cylinder, we also need to take into account the paper's thickness
#       total_marker_diameter = cyl_diameter_mm + 2 * printing_paper_thickness_mm
printing_paper_thickness_mm: 0.08 # standard 100 gsm paper

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#  HSV ranges for green marker segmentation  #
#         `python main.py --task a`          #
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# Note: use the command `python main.py --task a` to adjust these values
# Intuition:
#   h_min and h_max should be around the green color, usually around 60
#   s_min -> you can lower this number if the marker has "white" regions due to specular highlights.
#   v_min -> You can lower this when the marker is in low light conditions.
h_min: 50
h_max: 70
s_min: 15
v_min: 50

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#  Settings for making a new pattern and marker  #
#          `python main.py --task m`             #
##################################################
new_pattern:
    pattern_size:
        n_sequences: 16 # number of sequences per pattern (= number of columns). Use a EVEN number for hexagonal grid!
        sequence_length: 8 # number of features per sequence (should be > 2)
    sequence_head: 1 # if starts with `1` then it will end with `0`, and vice-versa
    max_n_random_sequences: 100
    max_n_iterations_to_optimise_pttrn: 10000
new_marker:
    draw_green_bg: true # set to false if you will print on a green paper!
    use_hexagonal_distribution: true
    marker_margin_pixels:
        vertical: 186 # add both on top and bottom
    feature_size_pixels:
        vertical:
            v: 272
            u: 65
        horizontal:
            v: 93
            u: 160
    feature_margin_pixels:
        vertical: 125
        horizontal: 27.5
    add_border_top_and_bot: true # to be used as a guide for cutting the printed marker
    border_thickness_pixels: 10