Class DetectorAprilGrid

Nested Relationships

Inheritance Relationships

Base Type

Class Documentation

class aslam::calibration::DetectorAprilGrid : public aslam::calibration::DetectorBase

Public Functions

ASLAM_POINTER_TYPEDEFS(DetectorAprilGrid)
DetectorAprilGrid(const TargetAprilGrid::Ptr &target, const DetectorAprilGrid::DetectorConfiguration &detector_config)
inline virtual ~DetectorAprilGrid()
virtual TargetObservation::Ptr detectTargetInImage(const cv::Mat &image) const

Extract the calibration target points from an image.

struct DetectorConfiguration

Public Functions

inline DetectorConfiguration()

Public Members

bool run_subpixel_refinement

Perform subpixel refinement of extracted corners.

double max_subpixel_refine_displacement_px_sq

Max. displacement squared in subpixel refinement. [px^2].

size_t min_visible_tags_for_valid_obs

Min. number of tags for a valid observation.

double min_border_distance_px

Min. distance from image border for valid corners. [px].