Multi Camera Setups and Calibrations

The NxLib provides a number of functions that simplify the use of different coordinate systems.

All of these functions work by settings the Link node of your camera to the position of the camera in some other coordinate system that is specified by the Target node. This reference coordinate system can in turn have a position in some further coordinate system and so on. See the documentation of the Links node and the how-to on multi camera setups for more information on how this tree of transformations works.

Note

In the examples, we often use the “Workspace” or “Hand” frames within the Links node. These are not special in any way. You can use other names and utilize this node to store arbitrary trees of coordinate systems.

Multi Camera Setups

The NxLib provides functions for using multiple cameras together, so that all of their data is automatically lined up. This is discussed in the topic on multi camera setups. A special case of this is that you can use a monocular camera to texture the 3D data returned by a stereo camera. This is discussed in the topic on texturing point clouds.

Calibrations

The NxLib also provides ways in which you can change the coordinate system of the calculated 3D data. You can align your data with fixed points in the real world by performing a workspace calibration. When your camera should work together with a robot and you need to coordinate the robot’s movement with data from the camera, you can perform a hand-eye calibration.