Camera Calibrators

Camera Calibrators

axon solves for a camera's intrinsics, the transform between a wrist-mounted camera and the robot TCP (eye-in-hand), and the extrinsics between N synchronized cameras. This tutorial covers all three calibrators, their skills, and the state each one exposes.

IntrinsicCalibrator

Recover a single camera's intrinsic matrix and distortion coefficients from a stack of calibration-board images.

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IntrinsicCalibrator

Theory, constructor, and best practices for recovering a camera's intrinsic matrix and distortion coefficients.

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Calibrate

Recover a single camera's intrinsic matrix and distortion coefficients from a stack of images.

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Find Corners

Detect the target in a set of images with no calibration solve.

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IntrinsicCalibrator State

Read back the target, options, and detections of the last calibrate() call.

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IntrinsicOptions

Field reference for tuning the corner detector and solver.

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EyeInHandCalibrator

Solve tcp_T_camera, the fixed transform between a robot's TCP and a wrist-mounted camera.

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EyeInHandCalibrator

Theory, constructor, and best practices for solving the camera-to-TCP transform.

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Calibrate

Solve tcp_T_camera, the transform between a wrist-mounted camera and the robot TCP.

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Compute Target Poses

Precompute per-frame target poses via ChArUco detection and solvePnP.

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EyeInHandCalibrator State

Read back the last result, detection images, and target consistency stats.

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MultiCameraCalibrator

Solve extrinsics between N >= 2 synchronized cameras, with triangulation validation.

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MultiCameraCalibrator

Theory, constructor, and best practices for solving extrinsics between synchronized cameras.

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Calibrate

Solve the pose of every camera in a synchronized rig relative to a reference camera.

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Triangulate

Reconstruct the target's ChArUco corners in 3D and validate against known board geometry.

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Calibrate Subsets

Calibrate and triangulate every camera subset of a given size.

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MultiCameraCalibrator State

Read back the last result, camera count, reference index, and a formatted report.

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Where to Go Next?

Continue to the next tutorial.

Benchmarking & Diagnostics

Cross-validate a calibration configuration and diagnose hand-eye datasets with Axon.

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Report a bug?

Found a bug or something not working as expected? Raise an issue on our GitHub.

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