Skip to content

Commit

Permalink
docs/library: Update docs for openmv 4.5.9 release.
Browse files Browse the repository at this point in the history
  • Loading branch information
@kwagyeman
kwagyeman committed Sep 5, 2024
1 parent 7063c24 commit 377f17c
Show file tree
Hide file tree
Showing 2 changed files with 63 additions and 81 deletions.
120 changes: 63 additions & 57 deletions docs/library/omv.image.rst
View file
Original file line number Diff line number Diff line change
Expand Up @@ -1098,41 +1098,48 @@ The apriltag object is returned by `Image.find_apriltags()`.

Please call `Image.find_apriltags()` to create this object.

.. method:: corners() -> List[Tuple[int, int]]
Attributes
~~~~~~~~~~

.. attribute:: corners
:type: List[Tuple[int, int]]

Returns a list of 4 (x,y) tuples of the 4 corners of the object. Corners are
always returned in sorted clock-wise order starting from the top left.

.. method:: rect() -> Tuple[int, int, int, int]
.. attribute:: rect
:type: Tuple[int, int, int, int]

Returns a rectangle tuple (x, y, w, h) for use with other `image` methods
like `Image.draw_rectangle()` of the apriltag's bounding box.

.. method:: x() -> int
.. attribute:: x
:type: int

Returns the apriltag's bounding box x coordinate (int).

You may also get this value doing ``[0]`` on the object.

.. method:: y() -> int
.. attribute:: y
:type: int

Returns the apriltag's bounding box y coordinate (int).

You may also get this value doing ``[1]`` on the object.

.. method:: w() -> int
.. attribute:: w
:type: int

Returns the apriltag's bounding box w coordinate (int).

You may also get this value doing ``[2]`` on the object.

.. method:: h() -> int
.. attribute:: h
:type: int

Returns the apriltag's bounding box h coordinate (int).

You may also get this value doing ``[3]`` on the object.
.. attribute:: area
:type: int

.. method:: id() -> int
Returns the area (w * h) of the apriltag (int).

.. attribute:: id
:type: int

Returns the numeric id of the apriltag.

Expand All @@ -1143,9 +1150,8 @@ The apriltag object is returned by `Image.find_apriltags()`.
* TAG36H11 -> 0 to 586
* ARTOOLKIT -> 0 to 511

You may also get this value doing ``[4]`` on the object.

.. method:: family() -> int
.. attribute:: family
:type: int

Returns the numeric family of the apriltag.

Expand All @@ -1156,41 +1162,50 @@ The apriltag object is returned by `Image.find_apriltags()`.
* image.TAG36H11
* image.ARTOOLKIT

You may also get this value doing ``[5]`` on the object.
.. attribute:: name
:type: str

.. method:: cx() -> int
Returns the family of the apriltag.

* "TAG16H5"
* "TAG25H7"
* "TAG25H9"
* "TAG36H10"
* "TAG36H11"
* "ARTOOLKIT"

.. attribute:: cx
:type: int

Returns the centroid x position of the apriltag (int).

.. method:: cxf() -> float
.. attribute:: cxf
:type: float

Returns the centroid x position of the apriltag (float).

You may also get this value doing ``[6]`` on the object.

.. method:: cy() -> int
.. attribute:: cy
:type: int

Returns the centroid y position of the apriltag (int).

.. method:: cyf() -> float
.. attribute:: cyf
:type: float

Returns the centroid y position of the apriltag (float).

You may also get this value doing ``[7]`` on the object.

.. method:: rotation() -> float
.. attribute:: rotation
:type: float

Returns the rotation of the apriltag in radians (float).

You may also get this value doing ``[8]`` on the object.

.. method:: decision_margin() -> float
.. attribute:: decision_margin
:type: float

Returns the quality of the apriltag match (0.0 - 1.0) where 1.0 is the best.

You may also get this value doing ``[9]`` on the object.

.. method:: hamming() -> int
.. attribute:: hamming
:type: int

Returns the number of accepted bit errors for this tag.

Expand All @@ -1201,9 +1216,8 @@ The apriltag object is returned by `Image.find_apriltags()`.
* TAG36H11 -> up to 4 bit errors may be accepted
* ARTOOLKIT -> 0 bit errors will be accepted

You may also get this value doing ``[10]`` on the object.

.. method:: goodness() -> float
.. attribute:: goodness
:type: float

Returns the quality of the apriltag image (0.0 - 1.0) where 1.0 is the best.

Expand All @@ -1213,9 +1227,8 @@ The apriltag object is returned by `Image.find_apriltags()`.
refinement" in the future which will allow detection of small apriltags.
However, this feature currently drops the frame rate to less than 1 FPS.

You may also get this value doing ``[11]`` on the object.

.. method:: x_translation() -> float
.. attribute:: x_translation
:type: float

Returns the translation in unknown units from the camera in the X direction.

Expand All @@ -1227,9 +1240,8 @@ The apriltag object is returned by `Image.find_apriltags()`.

Note that this is the left-to-right direction.

You may also get this value doing ``[12]`` on the object.

.. method:: y_translation() -> float
.. attribute:: y_translation
:type: float

Returns the translation in unknown units from the camera in the Y direction.

Expand All @@ -1241,9 +1253,8 @@ The apriltag object is returned by `Image.find_apriltags()`.

Note that this is the up-to-down direction.

You may also get this value doing ``[13]`` on the object.

.. method:: z_translation() -> float
.. attribute:: z_translation
:type: float

Returns the translation in unknown units from the camera in the Z direction.

Expand All @@ -1255,30 +1266,25 @@ The apriltag object is returned by `Image.find_apriltags()`.

Note that this is the front-to-back direction.

You may also get this value doing ``[14]`` on the object.

.. method:: x_rotation() -> float
.. attribute:: x_rotation
:type: float

Returns the rotation in radians of the apriltag in the X plane. E.g. moving
the camera left-to-right while looking at the tag.

You may also get this value doing ``[15]`` on the object.

.. method:: y_rotation() -> float
.. attribute:: y_rotation
:type: float

Returns the rotation in radians of the apriltag in the Y plane. E.g. moving
the camera up-to-down while looking at the tag.

You may also get this value doing ``[16]`` on the object.

.. method:: z_rotation() -> float
.. attribute:: z_rotation
:type: float

Returns the rotation in radians of the apriltag in the Z plane. E.g.
rotating the camera while looking directly at the tag.

Note that this is just a renamed version of `apriltag.rotation()`.

You may also get this value doing ``[17]`` on the object.
Note that this is just a renamed version of `apriltag.rotation`.

class DataMatrix -- DataMatrix object
-------------------------------------
Expand Down
24 changes: 0 additions & 24 deletions docs/library/omv.rpc.rst
View file
Original file line number Diff line number Diff line change
Expand Up @@ -410,27 +410,3 @@ Be controlled by another ``rpc`` device over a USB Virtual COM Port.
.. class:: rpc_usb_vcp_slave()

Creates a USB VCP ``rpc`` slave. This interface can move data at the USB speed.

class rpc_network_master - Network Master Interface
---------------------------------------------------

Control another ``rpc`` device over a network.

.. class:: rpc_network_master(network_if, port=0x1DBA)

Creates a Network ``rpc`` master.

* network_if - Network interface created from ``network.LAN()``, ``network.WLAN()``, or etc.
* port - Port to route traffic to.

class rpc_network_slave - Network Slave Interface
---------------------------------------------------

Be controlled by another ``rpc`` device a network.

.. class:: rpc_network_slave(network_if, port=0x1DBA)

Creates a Network ``rpc`` slave.

* network_if - Network interface created from ``network.LAN()``, ``network.WLAN()``, or etc.
* port - Port to route traffic to.

0 comments on commit 377f17c

Please sign in to comment.