industrial_calibration::ArucoGridBoardTargetFinder Class Reference

This class finds 2D target features from images of a specified ArUco gridboard target. The main advantage of this kind of target is that partial views still provide usable correspondences. Target features are returned as a map where the marker ID is the key and the image coordinates of the marker corners are the mapped value.

#include <aruco_grid_target_finder.h>

Inheritance diagram for industrial_calibration::ArucoGridBoardTargetFinder:

Public Member Functions
	ArucoGridBoardTargetFinder (const ArucoGridTarget &target)
virtual TargetFeatures2D	findTargetFeatures (const cv::Mat &image) const override
	Detect marker corner coordinates in the provided image.
virtual cv::Mat	drawTargetFeatures (const cv::Mat &image, const TargetFeatures2D &target_features) const override
	A debugging utility that will draw a set of target features onto an image for display purposes. Usually you want to call findTargetFeatures() above then this with the result.
virtual const Target2D3D &	target () const override
	Returns the definition of the target used by the finder.
Public Member Functions inherited from industrial_calibration::TargetFinderOpenCV
void	drawTargetOrigin (const cv::Mat &image, const TargetFeatures2D &features, const double axis_length=0.1) const
	Draws the target origin X and Y axes on the image.
Public Member Functions inherited from industrial_calibration::TargetFinder< 2, 3, cv::Mat >
virtual cv::Mat	drawTargetFeatures (const cv::Mat &sensor_data, const TargetFeatures< SENSOR_DIM > &target_features) const
	Draws the target features on an input sensor data measurement (e.g., a 2D image)
Correspondence< SENSOR_DIM, WORLD_DIM >::Set	findCorrespondences (const cv::Mat &measurement) const
	Finds correspondences from a sensor data measurement (e.g., 2D image)
Correspondence< SENSOR_DIM, WORLD_DIM >::Set	findCorrespondences (const std::vector< cv::Mat > &measurements) const
	Finds correspondences from a set of sensor data measurements (e.g., 2D images)

Protected Attributes
const ArucoGridTarget	target_

Additional Inherited Members
Public Types inherited from industrial_calibration::TargetFinder< 2, 3, cv::Mat >
using	Ptr = std::shared_ptr< TargetFinder >
using	ConstPtr = std::shared_ptr< const TargetFinder >

Member Function Documentation

findTargetFeatures()

TargetFeatures2D industrial_calibration::ArucoGridBoardTargetFinder::findTargetFeatures ( const cv::Mat &  image ) const

overridevirtual

Parameters

image

- Input image, ideally containing an ArUco gridboard.

Returns

Map matching marker ID numbers to a vector of marker corner coordinates. The vector will contain four corners defined in the same order as in the output of the function cv::aruco::DetectMarkers() (e.g. clockwise from the "origin" corner).

Implements industrial_calibration::TargetFinder< 2, 3, cv::Mat >.

drawTargetFeatures()

cv::Mat industrial_calibration::ArucoGridBoardTargetFinder::drawTargetFeatures ( const cv::Mat &  image, const TargetFeatures2D &  target_features  ) const

overridevirtual

Parameters

image	- The image of the target
target_features	- The target features identified in the input image

target()

virtual const Target2D3D & industrial_calibration::ArucoGridBoardTargetFinder::target ( ) const

inlineoverridevirtual

Implements industrial_calibration::TargetFinder< 2, 3, cv::Mat >.