3D Calibration Matrix Calculation

Operator Function

Input at least 2 calibration matrices, output the set of calibration matrices from all other cameras to camera 1. The input matrix information can be obtained either from the matrix variables output by the 3D line scan camera calibration operator, or from the calibration files output by the 3D line scan camera calibration operator.

Parameter Introduction

Calculation Parameters

Parameter	Range	Default Value	Description	Illustration
Number of Calibration Matrices	2-7	2	Number of input calibration matrices
Data Source	From Matrix/From File	From Matrix	From Matrix means the input type is matrix variable From File means the input type is calibration file path
Matrix		1,0,0,0 0,1,0,0 0,0,1,0 0,0,0,1	When data source is From Matrix, input calibration matrix
File Path		Empty	When data source is From File, input calibration file path
Calibration File Path		Empty	Output calibration file save path

Output Parameters

Name	Type	Range	Description
Result	bool	true/false	true for success false for failure
Warning	bool	true/false	true indicates there is a warning false indicates there is none
Message	string		Outputs success, error, or warning information; if there is no error or warning, it is empty
Time	float		Operator execution time, unit: ms

Exception Troubleshooting

No.	Exception Information	Corresponding Parameter	Solution
1	File parameter path is empty		Select correct file path
2	File path does not exist		Select correct calibration file path
3	Invalid matrix		Check matrix. Matrix should be 4x4 with 16 elements total
4	Calibration file path is empty		Select correct save path

Example Introduction

This example explains how to use the 3D Calibration Matrix Calculation operator to calculate the set of calibration matrices from all other cameras to camera 1 by inputting multiple calibration matrices.

Engineering Design

1. Select 3 Load 3D Point Cloud operators.
2. Select 2 3D Line Scan Camera Calibration operators.
3. Select 1 3D Calibration Matrix Calculation operator.

Tool Usage

1. Select 3 Load 3D Point Cloud operators. Input the calibration block images captured by 3 cameras into IM0, IM1, and IM2 respectively in order.
2. Select one 3D Line Scan Camera Calibration operator to calibrate between camera 1 and camera 2. Set both reference image point selection and target image point selection to automatic mode. Set output calibration file path to ./calib_21.json. Set output image number to 3.
3. Select one 3D Line Scan Camera Calibration operator to calibrate between camera 2 and camera 3. Set both reference image point selection and target image point selection to manual mode. Set output calibration file path to ./calib_32.json. Set output image number to 4.
4. Select one 3D Calibration Matrix Calculation operator. Set Number of Calibration Matrices to 2. In Matrix 1, set Data Source to From File, File Path to ./calib_21.json; in Matrix 2, set Data Source to From File, File Path to ./calib_32.json. Set output Calibration File Path to ./calib_210.json. Click Test.