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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ASLAM_POINTER_TYPEDEFS(TargetBase)¶