Class CircularCutout

Inheritance Relationships

Base Type

Class Documentation

class CircularCutout : public multisensor_calibration::Cutout

Class implementing a circular cutout geometry from the calibration board. Inheriting Cutout.

Geometry ID: 1 Number of coefficients: 3 Coefficients: {Center.X, Center.Y, Radius}

Public Functions

CircularCutout()

Empty Constructor.

CircularCutout(const std::vector<float> iCoefficients)

Constructor initializing the geometry coefficients.

Parameters:

iCoefficients – [in] coefficients to initialize.

virtual ~CircularCutout()

Destructor.

virtual float getRadius() const override

Get radius of cutout. If cutout is not circular, this should be the biggest radius which fully fits into the cutout.

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

virtual float getCenterX() const override

Get X coordinate of center point.

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

virtual float getCenterY() const override

Get Y coordinate of center point.

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

virtual bool isPointInside(const float x, const float y, float *opDistance = nullptr, float *opPenalty = nullptr) const override

Method to test whether a point lies inside the cutout.

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Parameters:

  • x – [in] X-value of the point in the local coordinate system of the calibration target.

  • y – [in] Y-value of the point in the local coordinate system of the calibration target.

  • opDistance – [out] Pointer to return value providing the distance to the center of the cutout. Set to nullptr if not used.

  • opPenalty – [out] Pointer to return value providing a penalty based on the distance of the point to the center of the cutout.

Returns:

True, if point is inside the cutout. False, otherwise.