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Jmeyer1292 / robot_cal_tools

A suite of tools focused on calibration of sensors for robotic workcell development
Apache License 2.0
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Circle Detector Update #78

Closed marip8 closed 4 years ago

marip8 commented 4 years ago

This PR modifies the circle detector to improve robustness and add debug capability. The main changes in this PR are:

  1. General clean up of the circle detector code
  2. Bug fix for incorrect determination of features that were the same in differently threshold-ed images
  3. Addition of contour to ellipse model check that more effectively filters non-circular points
  4. Addition of debug flag that shows the found circles displayed on the threshold-ed image
marip8 commented 4 years ago

@jdlangs any further thoughts about this PR?

jdlangs commented 4 years ago

Thanks for reminding me about this. The new API looks good and makes a lot of sense. Nicely done.

marip8 commented 4 years ago

Would you mind approving if there aren't any other changes that need to be made?