CalibrateEyeInHandDataPrep

Module:	Calibration

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

Name	Type	Description
inCalibrationTargetImages	Image Array	Input Intensity images of the calibration target. Calibration target should be visible in all images.
inCalibrationTargetPoints	Point3DGrid Array	Input 3D point Cloud of the calibration target. Calibration target should be visible in all images.
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.
inCalibrationTargetSize	Size	Number of Rows and Columns in the chessboard calibration target.
outRotationTargetToCam	Matrix Array	Estimated rotation part of the homogeneous transformation matrix that transforms a point expressed in the camera frame to the Target frame.
outTranslationTargetToCam	Matrix Array	Estimated translation part of the homogeneous transformation matrix that transforms a point expressed in the camera frame to the Target frame.
outDetectionStatus	Bool Array	Output status of the detection of the calibration target in each image.
diagShowDetectedCorners2D	Image Array	Calibration Target Images annotated with detected corners.
diagShowCorners3DCameraRef	Point3DGrid Array	Position of the chessboard corners in Camera Reference Frame
diagShow3DCorners3DTargetRef	Point3DGrid Array	Position of the chessboard corners in Calibration Target Reference Frame

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.

This filter is available on Basic Complexity Level.