Calc Calibration Board Pose and Check Camera Intrinsic Parameters
Function
This Step can detect the calibration circle centers on the 2D image, and then compute the pose of the calibration board and the poses of calibration circles according to the camera intrinsic parameters and the input depth map. In addition, this Step can be used to estimate the accuracy of the camera’s intrinsic parameters based on the calibration circle poses.
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The calibration circle pose indicates the pose of the center of the calibration circle on the calibration board. |
Usage Scenario
This Step is usually used for obtaining the pose of the calibration board and check the camera’s intrinsic parameters.
Input and Output
Input
| Input port | Data type | Description |
|---|---|---|
Depth Map |
Image/Depth |
The depth map captured by the camera. |
2D Image |
Image/Color |
The 2D image captured by the camera. |
Output
| Output port | Data type | Description |
|---|---|---|
Calibration Board Pose |
Pose[] |
The pose of the calibration board. The position is located at the calibration board center, which is calculated based on the coordinates of all calibration circle centers. The X-axis of the pose is parallel to the long side of the calibration board, and the Z-axis is perpendicular to the plane of the calibration board. |
Calibration Circle Poses |
Pose[] |
The list of poses of the calibration circles. The position coincides with the center of each calibration circle, and the orientation of each axis is the same as that of the calibration board pose. |
Intrinsic Parameter Accuracy |
Number[] |
The accuracy of the camera’s intrinsic parameters. |
Parameter Description
| Parameter | Description |
|---|---|
Calibration Board Model |
Description: This parameter is used to set the model of the calibration board.
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2D ROI |
Description: This parameter is used to set the 2D ROI.
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