WorkspaceCalibration Class Reference

#include <peak_icv/algorithms/calibration/peak_icv_workspace_calibration.hpp>

Public Member Functions
	WorkspaceCalibration (const IntrinsicParameters &intrinsicParameters, CalibrationPlate calibrationPlate)
	Constructs a WorkspaceCalibration using the given intrinsic parameters and the specified calibration plate.
CalibrationResult	Process (const Image &image) const
	Calculates the camera's extrinsic parameters from a single image of a calibration plate.

Detailed Description

Performs a workspace calibration to determine the position and orientation of a camera relative to a physical workspace.

Workspace calibration determines the extrinsic parameters of a camera, which describe its position and orientation with respect to the workspace coordinate system.

A calibration plate is used to calculate the transformation between the camera coordinate system and the workspace coordinate system. This enables accurate mapping of 2D image points to 3D coordinates in the workspace for tasks such as measurement and localization.

The calibration process uses a single image of a calibration plate as input.

Since

ids_peak_icv 1.1

Constructor & Destructor Documentation

WorkspaceCalibration()

WorkspaceCalibration ( const IntrinsicParameters & intrinsicParameters, CalibrationPlate calibrationPlate )

inline

Constructs a WorkspaceCalibration using the given intrinsic parameters and the specified calibration plate.

Parameters

[in]	intrinsicParameters	Holds the intrinsic camera parameters, e.g. estimated using CameraCalibration::Process().
[in]	calibrationPlate	Holds the world coordinates of the reference points.

Since

ids_peak_icv 1.1

Member Function Documentation

Process()

CalibrationResult Process ( const Image & image ) const

inline

Calculates the camera's extrinsic parameters from a single image of a calibration plate.

The method estimates the camera's position and orientation relative to the workspace coordinate system and calculates the mean reprojection error as a measure of calibration quality.

Note

Processes the entire image, ignoring any specified image region.

Parameters

[in]

image

An image showing a single calibration plate.

Returns

The calibration result, including the extrinsic parameters and the mean reprojection error.

Exceptions

NotSupportedException	If the calibration plate pattern or image format is unsupported.
MismatchException	If the image size differs from that specified in the intrinsic parameters
TargetNotFoundException	If the calibration plate markers are not found in the image.

Since

ids_peak_icv 1.1