Symmetric vs Asymmetric Circle Grids for Camera Calibration
Circle grids are the third common OpenCV calibration pattern, in two layouts. The asymmetric (staggered) grid removes the 180° orientation ambiguity of the symmetric grid and packs more points, which is why it is the recommended layout. How findCirclesGrid counts patternSize for each (the (4,11) gotcha), why circle centroids carry a perspective bias, blob-detector tuning, and how substrate sets the accuracy ceiling.