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Minimum AprilTag count

MinimumApriltagCount stops the current pipeline cycle unless an AprilTag result contains enough detections.

Inputs​

  • detections: a sized AprilTag detection collection, or None.

Outputs​

  • detections: the unchanged collection when it meets the threshold. Otherwise the operation returns the pipeline's skip-cycle signal, so downstream operations do not run for that frame.

When to use​

Use this before pose estimation or fusion when too few visible tags would make the result unacceptable. Do not use it when a valid single-tag estimate should continue through the pipeline.

Configuration​

  • minimum_detections: required count, at least 1. Default 2. It supports live updates.

Limitations​

The operation checks only collection length. It does not inspect tag IDs, ambiguity, geometry, or detection quality.