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CalibrateEyeInHandDataPrep

Basic

Module: Calibration

Compute the transformation between the camera and the calibration target reference frames. (all units in mm)

Name Type Description
Input value inCalibrationTargetImages ImageArray Input Intensity images of the calibration target. Calibration target should be visible in all images.
Input value inCalibrationTargetPoints Point3DGridArray Input 3D point Cloud of the calibration target. Calibration target should be visible in all images.
Input value inCalibrationTargetSquareSize Real* Side length of the Square in chessboard calibration target in mm. If not specified, the size will be estimated from the input Point Cloud.
Input value inCalibrationTargetSize Size Number of Rows and Columns in the chessboard calibration target.
Output value outRotationTargetToCam MatrixArray Estimated rotation part of the homogeneous transformation matrix that transforms a point expressed in the camera frame to the Target frame.
Output value outTranslationTargetToCam MatrixArray Estimated translation part of the homogeneous transformation matrix that transforms a point expressed in the camera frame to the Target frame.
Output value outDetectionStatus BoolArray Output status of the detection of the calibration target in each image.
Diagnostic input diagShowDetectedCorners2D ImageArray Calibration Target Images annotated with detected corners.
Diagnostic input diagShowCorners3DCameraRef Point3DGridArray Position of the chessboard corners in Camera Reference Frame
Diagnostic input diagShow3DCorners3DTargetRef Point3DGridArray Position of the chessboard corners in Calibration Target Reference Frame

Errors

This filter can throw an exception to report error. Read how to deal with errors in Error Handling.

List of possible exceptions:

Error type Description
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.

Complexity Level

This filter is available on Basic Complexity Level.