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CalibrateEyeInHandDataPrep


Header: FIL.h
Namespace: fil
Module: Calibration

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

Syntax

C++
C#
 
void fil::CalibrateEyeInHandDataPrep
(
	const ftl::Array<fil::Image>& inCalibrationTargetImages,
	const ftl::Array<fil::Point3DGrid>& inCalibrationTargetPoints,
	const ftl::Optional<float>& inCalibrationTargetSquareSize,
	const fil::Size& inCalibrationTargetSize,
	ftl::Array<fil::Matrix>& outRotationTargetToCam,
	ftl::Array<fil::Matrix>& outTranslationTargetToCam,
	ftl::Array<bool>& outDetectionStatus,
	ftl::Array<fil::Image>& diagShowDetectedCorners2D,
	ftl::Array<fil::Point3DGrid>& diagShowCorners3DCameraRef,
	ftl::Array<fil::Point3DGrid>& diagShow3DCorners3DTargetRef
)

Parameters

Name Type Default Description
Input value inCalibrationTargetImages const Array<Image>& Input Intensity images of the calibration target. Calibration target should be visible in all images.
Input value inCalibrationTargetPoints const Array<Point3DGrid>& Input 3D point Cloud of the calibration target. Calibration target should be visible in all images.
Input value 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.
Input value inCalibrationTargetSize const Size& Number of Rows and Columns in the chessboard calibration target.
Output value outRotationTargetToCam Array<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 Array<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 Array<bool>& Output status of the detection of the calibration target in each image.
Diagnostic input diagShowDetectedCorners2D Array<Image>& Calibration Target Images annotated with detected corners.
Diagnostic input diagShowCorners3DCameraRef Array<Point3DGrid>& Position of the chessboard corners in Camera Reference Frame
Diagnostic input diagShow3DCorners3DTargetRef Array<Point3DGrid>& Position of the chessboard corners in Calibration Target Reference Frame

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.