Test Data

Function: Default test data, mainly used to save relevant data through parameters.

Input Parameters:

Name Type Valid Range Default Value Meaning

Hand-eye calibration matrix

Matrix

None

None

Hand-eye calibration matrix, rotation matrix form

Camera internal reference

Matrix

None

None

Camera internal reference, matrix form

Camera distortion

List

None

None

Camera distortion

3D ROI

ROI3D

None

None

3D ROI in the format [{'min': [min_x, min_y, min_z], 'max': [max_x, max_y, max_z], 'transform': cam2ROIFrame}]

Output Parameters:

Name Type Valid Range Default Value Meaning

Test Image

ColorImage

None

None

Test Image, size 2048*1536, all-black image.

Test point cloud

XYZPoints

None

None

Test point cloud, size and picture alignment, depth is all 1, each point is calculated by in-camera parameters.

Test Camera Intrinsics

Matrix

None

None

Camera internal reference, output in 3*3 matrix form.

Test Camera Distortion

List

None

None

Camera distortion

Test Hand-eye Calibration Matrix

Matrix

None

None

Hand-eye calibration matrix, output in 4*4 rotation matrix form.

3D ROI

ROI3D

None

None

3D ROI in the format [{'min': [min_x, min_y, min_z], 'max': [max_x, max_y, max_z], 'transform': cam2ROIFrame}]

Parameter Settings:

Name Type Valid Range Default Value Meaning

Hand-eye calibration matrix (rotation vector)

List

None

[-265.33, 575.86, 1246.98, 3.12, -0.03, 0.2418]

Hand-eye calibration matrix, input in rotation vector form, defaults to real data.

Camera internal reference

Matrix

None

[[2337, 0, 1039], [0, 2337, 783], [0, 0, 1]]

Camera internal reference, matrix form, defaults to real data.

Camera distortion

List

None

[-0.087932, 0.120497, 0.000357, 0.000248, -0.079468]

Camera distortion, input in vector form, defaults to real data.

3D ROI

ROI3D

None

[{'min': [-2000, -2000, -3000], 'max': [2000, 2000, 6000], 'transform': [0, 0, 0, 0, 0, 0]}]

3D ROI in the format [{'min': [min_x, min_y, min_z], 'max':[max_x, max_y, max_z], 'transform':cam2ROIFrame}]