CalibrateEyeInHandDataPrep


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

Syntax

C++
C#
Python
 
def CalibrateEyeInHandDataPrep(
	inCalibrationTargetImages: list[Image],
	inCalibrationTargetPoints: list[Point3DGrid],
	inCalibrationTargetSize: Size,
	/,
	*,
	inCalibrationTargetSquareSize: float | None = None
)
-> (
	outRotationTargetToCam: list[Matrix],
	outTranslationTargetToCam: list[Matrix],
	outDetectionStatus: list[bool],
	diagShowDetectedCorners2D: list[Image],
	diagShowCorners3DCameraRef: list[Point3DGrid],
	diagShow3DCorners3DTargetRef: list[Point3DGrid]
)

Parameters

Name Type Default Description
Input value inCalibrationTargetImages list[Image] Input Intensity images of the calibration target. Calibration target should be visible in all images.
Input value inCalibrationTargetPoints list[Point3DGrid] Input 3D point Cloud of the calibration target. Calibration target should be visible in all images.
Input value inCalibrationTargetSquareSize float | None None 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 list[Matrix] Estimated rotation part of the homogeneous transformation matrix that transforms a point expressed in the camera frame to the Target frame.
Output value outTranslationTargetToCam list[Matrix] Estimated translation part of the homogeneous transformation matrix that transforms a point expressed in the camera frame to the Target frame.
Output value outDetectionStatus list[bool] Output status of the detection of the calibration target in each image.
Diagnostic input diagShowDetectedCorners2D list[Image] Calibration Target Images annotated with detected corners.
Diagnostic input diagShowCorners3DCameraRef list[Point3DGrid] Position of the chessboard corners in Camera Reference Frame
Diagnostic input diagShow3DCorners3DTargetRef list[Point3DGrid] Position of the chessboard corners in Calibration Target Reference Frame