industrial_calibration::CharucoGridTarget Struct Reference

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

Detailed Description

Detects the intersections of a chessboard as the features to use for calibration, using the embedded ArUco tags to uniquely identify each intersection

• Pros:
  • Straightforward to detect with minimal tuning
  • Target can be partially occluded
• Cons:
  • Theoretically less accurate than the modified circle grid target, but in practice the difference is negligible

#include <charuco_grid_target_finder.h>

Inheritance diagram for industrial_calibration::CharucoGridTarget:

Public Member Functions
	CharucoGridTarget (const int rows, const int cols, const float chessboard_dim, const float aruco_marker_dim, const int dictionary_id=cv::aruco::DICT_6X6_250)
	Constructor.
	CharucoGridTarget (const cv::Ptr< cv::aruco::CharucoBoard > &board_in)
bool	operator== (const CharucoGridTarget &other) const
virtual Correspondence2D3D::Set	createCorrespondences (const TargetFeatures2D &target_features) const override
	Creates a set of correspondences between chessboard intersections observed in an image 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::CharucoBoard >	board
	Representation of the ChArUco board target.
std::map< unsigned, Eigen::Vector3d >	points
	Map of 3D chessboard corners with corresponding IDs.

Constructor & Destructor Documentation

CharucoGridTarget()

industrial_calibration::CharucoGridTarget::CharucoGridTarget	(	const int	rows,
		const int	cols,
		const float	chessboard_dim,
		const float	aruco_marker_dim,
		const int	dictionary_id = cv::aruco::DICT_6X6_250
	)

Parameters

rows	- number of rows in the target
cols	- number of columns in the target
chessboard_dim	- The length of the side of one chessboard square (m)
aruco_marker_dim	- The length of the side of one ArUco marker (m)
dictionary_id	- The enumeration ID of the dictionary of ArUco markers to use. ArUco dictionary enumerations

Member Function Documentation

createCorrespondences()

std::vector< Correspondence2D3D > industrial_calibration::CharucoGridTarget::createCorrespondences ( const TargetFeatures2D &  target_features ) const

overridevirtual

Parameters

target_features

- Map of observed chessboard intersections and their IDs

Returns

Set of corresponding features in the image to features in the ChArUco target