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CalibrateEyeInHandDataPrep
Header: | AVL.h |
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Namespace: | avl |
Module: | Calibration |
Compute the transformation between the camera and the calibration target reference frames. (all units in mm)
Syntax
C++
C#
void avl::CalibrateEyeInHandDataPrep ( const atl::Array<avl::Image>& inCalibrationTargetImages, const atl::Array<avl::Point3DGrid>& inCalibrationTargetPoints, const atl::Optional<float>& inCalibrationTargetSquareSize, const avl::Size& inCalibrationTargetSize, atl::Array<avl::Matrix>& outRotationTargetToCam, atl::Array<avl::Matrix>& outTranslationTargetToCam, atl::Array<bool>& outDetectionStatus, atl::Array<avl::Image>& diagShowDetectedCorners2D, atl::Array<avl::Point3DGrid>& diagShowCorners3DCameraRef, atl::Array<avl::Point3DGrid>& diagShow3DCorners3DTargetRef )
Parameters
Name | Type | Default | Description | |
---|---|---|---|---|
inCalibrationTargetImages | const Array<Image>& | Input Intensity images of the calibration target. Calibration target should be visible in all images. | ||
inCalibrationTargetPoints | const Array<Point3DGrid>& | Input 3D point Cloud of the calibration target. Calibration target should be visible in all images. | ||
inCalibrationTargetSquareSize | const Optional<float>& | NIL | Side length of the Square in chessboard calibration target in mm. If not specified, the size will be estimated from the input Point Cloud. | |
inCalibrationTargetSize | const Size& | Number of Rows and Columns in the chessboard calibration target. | ||
outRotationTargetToCam | Array<Matrix>& | Estimated rotation part of the homogeneous transformation matrix that transforms a point expressed in the camera frame to the Target frame. | ||
outTranslationTargetToCam | Array<Matrix>& | Estimated translation part of the homogeneous transformation matrix that transforms a point expressed in the camera frame to the Target frame. | ||
outDetectionStatus | Array<bool>& | Output status of the detection of the calibration target in each image. | ||
diagShowDetectedCorners2D | Array<Image>& | Calibration Target Images annotated with detected corners. | ||
diagShowCorners3DCameraRef | Array<Point3DGrid>& | Position of the chessboard corners in Camera Reference Frame | ||
diagShow3DCorners3DTargetRef | Array<Point3DGrid>& | Position of the chessboard corners in Calibration Target Reference Frame |
Errors
List of possible exceptions:
Error type | Description |
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DomainError | All images should have the same size. |
DomainError | All point clouds should have the same size. |
DomainError | At least 3 images are needed. |
DomainError | Number of images and Point Cloud should be same. |
DomainError | The Size of a square in calibration should be greater than 10 mm |
DomainError | The Size of the calibration should be greater then 4x4 rows, columns. |
DomainError | The size of the image and the point cloud should be the same. |