'refine_edges' is an invalid keyword argument

[DanielChaseButterfield]

Describe the Bug: The file apriltag_py_type.docstring states the following:

The constructor takes a number of arguments:
...
- refine_edges: When non-zero, the edges of the each quad are adjusted to "snap
  to" strong gradients nearby. This is useful when decimation is employed, as it
  can increase the quality of the initial quad estimate substantially. Generally
  recommended to be on. Very computationally inexpensive. Option is ignored if
  decimate == 1. Default is True

However, when trying to use this argument, the following bug occurs:

TypeError: 'refine_edges' is an invalid keyword argument for this function

To Reproduce Try to run the following command in a python file:

at_detector = apriltag(family='tag36h11', threads=1, maxhamming=3, decimate=1.0,
                           blur=0.0, refine_edges=0, debug=0)

Expected behavior No error, just that the refine_edges variable in the AprilTag detector is set to false.

Operating Sytem WSL2 - Ubuntu 20.04.4

Installation Method I built AprilTag from source following the instructions in the README

Code version package.xml has:

<name>apriltag</name>
  <version>3.2.0</version>

[christian-rauch]

Can you send a PR to the documentation or Python API?

[DanielChaseButterfield]

@christian-rauch A PR to add the refine_edges functionality, or to remove the reference to "refine_edges" from the documentation? I can definitely do the former, but I'm not sure how easy it would be for me to do the later.

[christian-rauch]

I haven't looked into the python bindings or its documentation :-) I don't know if refine_edges was there before or is supposed to be there. Maybe the parameter is just called different in the API? If there is no such parameter or one with equivalent functionality, then it's easier to remove it from the documentation.

[DanielChaseButterfield]

I just checked with lib-dt-apriltags (https://github.com/duckietown/lib-dt-apriltags), and it looks like their python bindings include refine_edges functionality.

This makes me believe that refine_edges should be there, but the python port didn't fully implement it. I guess the solution to fix this would be to implement this functionality.

I'll look into whether I'd be able to fix this myself.

[DanielChaseButterfield]

Okay, should be fixed whenever the pull request is approved.

[christian-rauch]

Fixed by https://github.com/AprilRobotics/apriltag/pull/248.

@DanielChaseButterfield If you write Fixes #243 in your PR, then this will close an associated issue automatically when the PR is merged.