Chapter 27: Calibrating your camera setup

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This chapter describes how to use MIL's Calibration module.

• Camera calibration - overview
• • Types of distortions
  • Camera calibration mechanism
• Steps to performing a camera calibration
• Basic concepts for the MIL Camera Calibration module
• Coordinate systems
• • Absolute world coordinate system
  • Relative world coordinate system
  • Tool coordinate system
  • Camera coordinate system
  • Robot-base coordinate system
  • Pixel coordinate system
• Uniform camera calibration and other camera calibration modes
• • Uniform mode
  • Piecewise linear interpolation mode
  • Perspective transformation mode
  • Tsai-based mode
  • Robotics mode
• Camera calibration propagation
• • Processing calibrated images
  • Saving and reloading a calibrated image
  • • Saving the calibration with the image file
    • Saving the associated camera calibration context in a separate file
• Working with real-world units
• • Getting results in world units
  • Input settings in world units
  • Angle convention in MIL
• Calibrating using calibration points from a grid
• • Requirements for the image of the grid
  • • Requirements for the image of a circle grid
    • Requirements for the image of a chessboard grid
  • Defining the absolute coordinate system
  • • Determining the grid's reference calibration point
    • Using the X- and Y-offsets
    • Inverting the orientation of the Y-axis
  • Calibrating with a partial chessboard grid
  • Defining the relative coordinate system directly
  • • Calibrating a Tsai based camera calibration context when the camera is directly overhead
• Calibrating using a fiducial grid
• • Requirements when calibrating your camera setup using a fiducial grid
  • Defining the absolute coordinate system with a fiducial grid
  • • Determining the grid's reference calibration point
    • Orientation of the fiducial grid in the image
    • Specifying the position and orientation of the absolute coordinate system when calling McalGrid()
  • Inquiring camera calibration information after successful calibration
  • Calibrating multiple cameras or camera positions using a fiducial grid
  • • Multi-fiducial grids
• Calibrating using calibration points from a list
• Inquiring about your camera calibration
• • Camera calibration status and errors
  • Camera calibration accuracy
  • • Addressing calibration error due to problems finding calibration points
    • Addressing calibration error due to problems creating the mapping function
    • Inquiring pixel and world calibration points
  • Position and orientation of coordinate systems
  • Pinhole camera
• Physically correcting an image
• • Generating lookup tables to correct images
  • Scale and position of the corrected image
  • Transformation cache
• Moving coordinate systems to reflect camera setup changes
• • Types of transformation
  • • Translation
    • Rotation
  • Transforming coordinate systems
  • Moving the camera after calibrating with a 3D-based camera calibration context
  • Special considerations concerning the tool and camera coordinate systems
• Calibrating a camera setup that analyzes large objects
• • Single camera fixed on a movable tool (manipulator): tool coordinate system example
  • Single camera and movable object: relative coordinate system example
  • Several fixed cameras and fixed object: grid offset example
• Propagating camera calibration information after performing a geometric operation
• How coordinates and non-positional results are transformed
• • Transforming from the pixel to a specified world coordinate system
  • Transforming from the world to the pixel coordinate system
  • Transforming from one world coordinate system to another
  • Generating unit vectors from the pixel coordinate system (or vice-versa)
  • Transforming coordinates from a depth map to a world coordinate system (or vice-versa)
  • Using piecewise linear camera calibrations
  • Transforming Results
• Generating a grid for calibration
• • Generating a grid using CalGenChessGrid
  • • Specifying the physical setup
    • Specifying the grid's fiducials
  • Printing the grid
  • • Adding printed fiducials to an existing chessboard grid