calibrate_camera_to_camera

Skill class for ai.intrinsic.calibrate_camera_to_camera skill.

The calibrate_camera_to_camera skill computes the extrinsic relationship between multiple cameras in the workcell. It requests the CalibrationService to process the data collected from the cameras observing a shared calibration pattern. The service estimates the relative transformations between the cameras. The skill returns the results in a MultiCameraCalibrationResult. This is essential for multi-camera setups to ensure they operate in a consistent coordinate frame. This skill causes an update of the camera poses in the execute world to reflect the new calibration. However, it does not automatically apply the updated camera poses to the initial world; use save_calibration_result for that.

Prerequisites

For calibrate_camera_to_camera to work, a calibration session must have been initialized in the CalibrationService and data (camera poses and pattern detections) must have been collected for the camera being calibrated. This is typically done by calling the initialize_calibration and collect_calibration_data skills beforehand.

Usage Example

This skill does not have any usage example yet.

Parameters

calibration_service

Returns

calibration_results

The resulting calibration parameters for the camera-to-camera transformation. The index of each entry corresponds to the index of the camera in the initialize_calibration skill input.

Error Code

The skill does not have error codes yet