Defined in File target-base.h
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
const Eigen::Matrix3Xd &
Get all points from the target expressed in the target frame.
point(size_t point_idx) const¶
Get a point from the target expressed in the target frame.
Return pointer to the i-th grid point in target frame.
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.
pointToGridCoordinates(size_t point_idx) const¶
Get the grid coordinates for a point index.
gridCoordinatesToPoint(size_t row_idx, size_t col_idx) const¶
Get the point index from the grid coordinates.
Number of rows in the calibration target.
Number of columns in the calibration target.
Get the number of points of the full grid.
Extent of the grid in row dimension.
Extent of the grid in column dimension.
TargetBase(size_t rows, size_t cols, const Eigen::Matrix3Xd &target_points)¶
- inline virtual