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FIL.CalibrateEyeInHandDataPrep

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

Namespace:FilNet
Assembly:FIL.NET.dll

Syntax

C++
C#
 
public static void CalibrateEyeInHandDataPrep
(
	IList<FilNet.Image> inCalibrationTargetImages,
	IList<FilNet.Point3DGrid> inCalibrationTargetPoints,
	float? inCalibrationTargetSquareSize,
	FilNet.Size inCalibrationTargetSize,
	IList<FilNet.Matrix> outRotationTargetToCam,
	IList<FilNet.Matrix> outTranslationTargetToCam,
	IList<bool> outDetectionStatus
)

Parameters

Name Type Range Default Description
inCalibrationTargetImagesSystem.Collections.Generic.IList<FilNet.Image>Input Intensity images of the calibration target. Calibration target should be visible in all images.
inCalibrationTargetPointsSystem.Collections.Generic.IList<FilNet.Point3DGrid>Input 3D point Cloud of the calibration target. Calibration target should be visible in all images.
inCalibrationTargetSquareSizefloat?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: ftl::NIL.
inCalibrationTargetSizeFilNet.SizeNumber of Rows and Columns in the chessboard calibration target.
outRotationTargetToCamSystem.Collections.Generic.IList<FilNet.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.IList<FilNet.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.IList<bool>Output status of the detection of the calibration target in each image.

Errors

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.

Function Overrides

See also