Partial views of ArUco gridboard patterns still provide corner coordinates for the subset of visible markers, whereas circle grid targets and checkerboards fail completely if some of the corners aren't visible. This makes the ArUco gridboards much more robust to inconsistent lighting conditions and weird camera viewing angles than other targets.
This PR adds a new detector utility, which follows the same pattern as the Modified Circle Grid Observation Finder. To allow correspondences to be extracted from partial views, it returns a map matching the marker ID numbers to 4-element vectors of corner coordinates. Some additional effort (out of scope of this particular contribution) is required to format these maps as the 2D-to-3D correspondences that serve as inputs to the optimizations.
Partial views of ArUco gridboard patterns still provide corner coordinates for the subset of visible markers, whereas circle grid targets and checkerboards fail completely if some of the corners aren't visible. This makes the ArUco gridboards much more robust to inconsistent lighting conditions and weird camera viewing angles than other targets.
This PR adds a new detector utility, which follows the same pattern as the Modified Circle Grid Observation Finder. To allow correspondences to be extracted from partial views, it returns a map matching the marker ID numbers to 4-element vectors of corner coordinates. Some additional effort (out of scope of this particular contribution) is required to format these maps as the 2D-to-3D correspondences that serve as inputs to the optimizations.