Camera calibration guide

Note

This guide only applies when a camera behaves abnormally during use and needs to be recalibrated.

1. Collect calibration data:

• Connect only the cameras to calibrate; disconnect other sensors.
• Open the live camera preview in the capture software.
• Follow the video guide for egocentric / gripper / wrist cameras.
  • Egocentric / gripper:
    • Starting position: hold the camera about 50 cm from the calibration board, and check the preview to ensure the board is centred in the frame.
    • Start recording.
    • Slowly move the camera toward the board until it fills the frame, then slowly move away to about 1 m from the board and stop.
    • Return to the starting position, then slowly pan left, right, up, down, upper-left, lower-right, upper-right, and lower-left in turn, stopping when the board reaches the frame edge each time. Return to the starting position and stop recording.
    • Stay at the starting position and start recording again. Rotate about the three spatial axes in turn: Y/Z-axis rotations should move the board to the frame edges; X-axis rotation should keep the board centred while reaching 90° left and right. Return to the starting position and stop recording.
  • Wrist:
    • Starting position: hold the camera about 50 cm from the calibration board, and check the preview to ensure the board is centred in the frame.
    • Start recording.
    • Slowly move the camera toward the board until it fills the frame, then slowly move away to about 1 m from the board and stop.
    • Return to the starting position, then slowly pan left, right, up, down, upper-left, lower-right, upper-right, and lower-left in turn, stopping when the board reaches the frame edge each time. Return to the starting position and stop recording.

2. Export the data from the capture software and send it to us.
3. We will calibrate the cameras and provide you with the parameters.
4. Enter the camera parameters on the sensor configuration page to complete calibration.