Structure containing the necessary data to represent a modified circle grid target. More...

Detailed Description

The one big dot allows us to disambiguate the orientation of symmetrical targets.
The big dot is the "origin" or (0,0,0) of the target. The +Z axis comes out of the page, the +X axis runs along the bottom of the page, left to right (the last row if your big dot is in the bottom left). The +Y runs up the page from the big dot.
When using this target finder, the points are ordered left to right, top to bottom as if reading a book. The big dot, or origin, is in the bottom left. So the top left point is 0, the top right point is cols - 1, the second row first column is point cols, etc. See the image.

Note: You can create targets with custom size and spacing using the handy script, calibration_target.py found in target_finders/opencv/script. Thanks to Jeremy Zoss for making this.

Pros:
- Theoretically more accurate since the
Cons:
- Entire target must be visible
- Detection requires tuning of many parameters
- The grid can frequently be identified in an incorrect order

#include <modified_circle_grid_target_finder.h>

Inheritance diagram for industrial_calibration::ModifiedCircleGridTarget:

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Public Member Functions
	ModifiedCircleGridTarget (const unsigned rows, const unsigned cols, const double spacing)
	Constructor.

bool	operator== (const ModifiedCircleGridTarget &other) const

virtual Correspondence2D3D::Set	createCorrespondences (const TargetFeatures2D &target_features) const override

std::vector< Eigen::Vector3d >	createPoints () const

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.

Constructor & Destructor Documentation

industrial_calibration::ModifiedCircleGridTarget::ModifiedCircleGridTarget	(	const unsigned	rows,
		const unsigned	cols,
		const double	spacing
	)

Parameters

rows	- Number of rows in the target
cols	- Number of columns in the target
spacing	- The spacing between adjacent circle centers (m)