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Camera to camera calibration

During camera-to-camera calibration the relative poses between a reference camera and one or more other cameras is estimated.

This is done by capturing several images of a calibration board in different positions in the scene, and then running an optimization routine to estimate the unknown (but fixed) transformations between the cameras.

Note: A ChArUco calibration board and estimator are required for camera to camera calibration. We recommend using a professionally printed calibration board, which can be purchased, for example, at calib.io. More information on recommended patterns can be found in our hardware documentation. We do support pre-configured estimators for the patterns from calib.io that you can install from the catalog.

Prerequisites​

  • A solution is running on the physical workcell.
  • The solution includes more than one camera resource.
  • The solution includes exactly one multi camera calibration service resource, which can be added to the solution by using the catalog.
  • The cameras have up-to-date intrinsic calibrations.
  • A calibration plate configured for the workcell.

Open the camera to camera calibration panel​

  • From the developer portal, go to the Solution editor.

  • Select a reference camera in the Scene tree.

    Select camera

  • In the Properties Panel on the left side of the screen, under Settings, click the Camera-camera calibration (optional) button.

    Camera settings panel

  • The camera-to-camera calibration dialog opens.

Step 1: Select calibration pattern and equipment​

  • Select or upload a pattern descriptor file that matches your calibration pattern.
  • Select the camera equipment for calibration using the camera selectors.

Step 2: Capture calibration images​

Follow the steps on the capture screen, pressing Capture as necessary, to collect calibration images until a calibration result is available. Delete any blurry or missed detections as necessary.

Tips:

  • By default, the calibration service will require at least three good capture results.

Step 3: Apply the calibration results to the world​

Press Apply to update the camera world poses with their calibrated poses or close the dialog without clicking apply to discard the calibration.