Calibrate
SUMMARY
calibrate() is the primary skill on every Axon calibrator. Its signature and return type differ per class, define it once on the calibrator you need and follow its link below for the full reference.
SUPPORTED TARGETS
IntrinsicCalibrator accepts any target, ChessboardTarget, CharucoTarget, or ArucoTarget. EyeInHandCalibrator and MultiCameraCalibrator require a CharucoTarget, both rely on per-corner ArUco ids to recover a target pose per frame.
UNITS
Input images are BGR ndarrays. All transforms are (4, 4) SE(3) matrices with translation in meters. Reprojection errors are in pixels.
An Epson manipulator with a wrist-mounted RealSense camera, calibrated with calibrator.calibrate().
The Skill
calibrator.calibrate(...)| Calibrator | Signature | Returns | Calibrate() reference |
|---|---|---|---|
| IntrinsicCalibrator | calibrate(images) | IntrinsicResult | Calibrate |
| EyeInHandCalibrator | calibrate(robot_T_tcp_list, image_list, method="TSAI", ...) | HandEyeResult | Calibrate |
| MultiCameraCalibrator | calibrate(image_lists, intrinsic_matrices=[], ...) | MultiCameraResult | Calibrate |
Each calibrator's own page covers theory and best practices; its dedicated calibrate() page covers the full signature, parameters, and result fields, follow the links above.