Class TargetBase¶
Defined in File target-base.h
Inheritance Relationships¶
Derived Type¶
public aslam::calibration::TargetAprilGrid(Class TargetAprilGrid)
Class Documentation¶
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class
aslam::calibration::TargetBase¶ Represents a calibration target with known geometry.
The class is a little limiting: The target is supposed to be square such that each row has the same number of points. Points along a row are supposed to be colinear. Points along a column are supposed to be colinear.
Subclassed by aslam::calibration::TargetAprilGrid
Public Functions
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ASLAM_POINTER_TYPEDEFS(TargetBase)¶
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inline virtual
~TargetBase()¶
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const Eigen::Matrix3Xd &
points() const¶ Get all points from the target expressed in the target frame.
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Eigen::Vector3d
point(size_t point_idx) const¶ Get a point from the target expressed in the target frame.
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double *
pointMutable(size_t point_idx)¶ Return pointer to the i-th grid point in target frame.
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Eigen::Vector3d
gridPoint(size_t row_idx, size_t col_idx) const¶ Get a point from the target expressed in the target frame by row and column.
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std::pair<size_t, size_t>
pointToGridCoordinates(size_t point_idx) const¶ Get the grid coordinates for a point index.
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size_t
gridCoordinatesToPoint(size_t row_idx, size_t col_idx) const¶ Get the point index from the grid coordinates.
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inline size_t
rows() const¶ Number of rows in the calibration target.
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inline size_t
cols() const¶ Number of columns in the calibration target.
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inline size_t
size() const¶ Get the number of points of the full grid.
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virtual double
width() const¶ Extent of the grid in row dimension.
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virtual double
height() const¶ Extent of the grid in column dimension.
Protected Functions
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TargetBase(size_t rows, size_t cols, const Eigen::Matrix3Xd &target_points)¶
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