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Invoke.CalibrateEyeInHandDataPrep

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

Namespace:Avl
Assembly:AvlNet.dll

Syntax

C++
C#
 
public static void CalibrateEyeInHandDataPrep
(
	List<Avl.Image> inCalibrationTargetImages,
	List<Avl.Point3DGrid> inCalibrationTargetPoints,
	Optional<float> inCalibrationTargetSquareSize,
	Avl.Size inCalibrationTargetSize,
	List<Avl.Matrix> outRotationTargetToCam,
	List<Avl.Matrix> outTranslationTargetToCam,
	List<bool> outDetectionStatus,
	Diagnostic<List<Avl.Image>> diagShowDetectedCorners2D,
	Diagnostic<List<Avl.Point3DGrid>> diagShowCorners3DCameraRef,
	Diagnostic<List<Avl.Point3DGrid>> diagShow3DCorners3DTargetRef
)

Parameters

Name Type Range Default Description
inCalibrationTargetImagesSystem.Collections.Generic.List<Avl.Image>Input Intensity images of the calibration target. Calibration target should be visible in all images.
inCalibrationTargetPointsSystem.Collections.Generic.List<Avl.Point3DGrid>Input 3D point Cloud of the calibration target. Calibration target should be visible in all images.
inCalibrationTargetSquareSizeAtl.Optional<float>Side length of the Square in chessboard calibration target in mm. If not specified, the size will be estimated from the input Point Cloud. Default value: atl::NIL.
inCalibrationTargetSizeAvl.SizeNumber of Rows and Columns in the chessboard calibration target.
outRotationTargetToCamSystem.Collections.Generic.List<Avl.Matrix>Estimated rotation part of the homogeneous transformation matrix that transforms a point expressed in the camera frame to the Target frame.
outTranslationTargetToCamSystem.Collections.Generic.List<Avl.Matrix>Estimated translation part of the homogeneous transformation matrix that transforms a point expressed in the camera frame to the Target frame.
outDetectionStatusSystem.Collections.Generic.List<bool>Output status of the detection of the calibration target in each image.
diagShowDetectedCorners2DAvl.Diagnostic<System.Collections.Generic.List<Avl.Image>>Calibration Target Images annotated with detected corners.
diagShowCorners3DCameraRefAvl.Diagnostic<System.Collections.Generic.List<Avl.Point3DGrid>>Position of the chessboard corners in Camera Reference Frame.
diagShow3DCorners3DTargetRefAvl.Diagnostic<System.Collections.Generic.List<Avl.Point3DGrid>>Position of the chessboard corners in Calibration Target Reference Frame.

See also