Structure containing relevant data for a ArUco grid target. More...

Detailed Description

Detects the corners of each ArUco marker in a grid as the features to use for calibration

Pros:
- Straightforward to detect with minimal tuning
- Target can be partially occluded
Cons:
- Less accurate than the ChArUco grid target finder since it lacks the chessboard features
- Theoretically less accurate than the modified circle grid target, but in practice the difference is negligible

#include <aruco_grid_target_finder.h>

Inheritance diagram for industrial_calibration::ArucoGridTarget:

Public Member Functions
	ArucoGridTarget (const int rows, const int cols, const float aruco_marker_dim, const float marker_gap, const int dictionary_id=cv::aruco::DICT_6X6_250)
	Constructor.

	ArucoGridTarget (const cv::Ptr< cv::aruco::GridBoard > &board_in)
	Constructor.

bool	operator== (const ArucoGridTarget &other) const

virtual Correspondence2D3D::Set	createCorrespondences (const TargetFeatures2D &target_features) const override
	Creates a set of correspondences between the corners of each ArUco tag observed in an image (ordered clockwise from the "origin" corner) and their counterparts in the target (matched by ID)

Public Member Functions inherited from industrial_calibration::Target< SENSOR_DIM, WORLD_DIM >
virtual Correspondence< SENSOR_DIM, WORLD_DIM >::Set	createCorrespondences (const TargetFeatures< SENSOR_DIM > &target_features) const =0
	Creates a set of correspondences between an input set of target features (e.g., identified in a 2D image) and the same features from the known geometry of the target.

Public Attributes
cv::Ptr< cv::aruco::GridBoard >	board
	Representation of the ArUco grid target.

std::map< int, std::vector< Eigen::Vector3d > >	points
	Map of 3D ArUco tag corners with corresponding IDs.

Constructor & Destructor Documentation

industrial_calibration::ArucoGridTarget::ArucoGridTarget	(	const int	rows,
		const int	cols,
		const float	aruco_marker_dim,
		const float	marker_gap,
		const int	dictionary_id = `cv::aruco::DICT_6X6_250`
	)

Parameters

rows	- number of rows in the target
cols	- number of columns in the target
aruco_marker_dim	- The length of the side of one ArUco marker (m)
marker_gap	- The size of the gap between adjacent arUco markers (m)
dictionary_id	- The dictionary of ArUco markers to use

industrial_calibration::ArucoGridTarget::ArucoGridTarget ( const cv::Ptr< cv::aruco::GridBoard > & board_in )

Parameters

board_in - OpenCV ArUco GridBoard object defining rows, columns, marker size, and marker spacing

Correspondence2D3D::Set industrial_calibration::ArucoGridTarget::createCorrespondences ( const TargetFeatures2D & target_features ) const

overridevirtual

Parameters

target_features - Map of ArUco tag corners observed in an image

Returns: Set of corresponding features in the image to features in the ArUco grid target