laser_cb_detector

Summary

laser_cb_detector
Version:

0.10.13
Description:

Extracts checkerboard corners from a dense laser snapshot. This package is experimental and unstable. Expect its APIs to change.
Maintainers:
  • Vincent Rabaud <vincent DOT rabaud AT gmail DOT com>
Licenses:
  • BSD
Urls:
Authors:
  • Vijay Pradeep
BuildDepends:
BuildtoolDepends:
 
BuildExportDepends:
 
ExecDepends:

Types

Action types

laser_cb_detector/Config
Field (Goal):
  • num_x (uint32) –
  • num_y (uint32) –
  • spacing_x (float32) –
  • spacing_y (float32) –
  • width_scaling (float32) –
  • height_scaling (float32) –
  • min_intensity (float32) –
  • max_intensity (float32) –
  • subpixel_window (uint32) –
  • subpixel_zero_zone (int32) –
  • flip_horizontal (uint8) – 
uint32 num_x     # Number of checkerboard corners in the X direction
uint32 num_y     # Number of corners in the Y direction
float32 spacing_x  # Spacing between corners in the X direction (meters)
float32 spacing_y  # Spacing between corners in the Y direction (meters)

# Specify how many times we want to upsample the image.
#  This is often useful for detecting small checkerboards far away
float32 width_scaling
float32 height_scaling

# Specifiy how intensity maps into a uint8. A specified window of
#   intensities is linearly scaled to 0-255
float32 min_intensity
float32 max_intensity

# Configure openCV's subpixel corner detector
uint32 subpixel_window
int32  subpixel_zero_zone

# Specify if we need to flip snapshot image model. This is usually necessary
# when the laser scans from right to left, since this is the opposite of images,
# which are normally indexed left to right
uint8 flip_horizontal

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