{"id":76415,"date":"2022-10-31T17:53:28","date_gmt":"2022-10-31T09:53:28","guid":{"rendered":"https:\/\/www.tm-robot.com\/?post_type=docs&#038;p=76415"},"modified":"2025-11-05T14:25:39","modified_gmt":"2025-11-05T06:25:39","slug":"notice-on-external-camera-calibration","status":"publish","type":"docs","link":"https:\/\/www.tm-robot.com.cn\/en\/docs\/notice-on-external-camera-calibration\/","title":{"rendered":"Notice on External Camera Calibration"},"content":{"rendered":"<p>TMflow Software version: All versions.<\/p>\n<p>TM Robot Hardware version: All versions.<\/p>\n<p>Other Specific Requirements: External Camera and Lens<\/p>\n<p>Note :<\/p>\n<ul>\n<li>Older or latest software versions may have different results<\/li>\n<li>While placing the TM Calibration Plate with an inclined angle, <span style=\"color: #ff0000;\">please ensure that the plate is not bent or distorted<\/span>, especially for larger plates.<\/li>\n<\/ul>\n<hr \/>\n<h1>Purpose<\/h1>\n<p>While using an external camera, whether in the EIH or ETH setting, it is essential to calibrate the intrinsic parameters of the camera. After determining the working distance between the camera and the object to be inspected (target), adjustment to the lens aperture and focus is required since it helps enhance imaging precision and quality, and minimize image distortion and errors.<\/p>\n<h1>How to Set External Camera?<\/h1>\n<ol>\n<li>Determine the observation range for the target and camera&#8217;s FOV. Note that lenses with different focal lengths correspond to different FOVs. For detail concepts, please refer to Section 5 in <a href=\"https:\/\/www.tm-robot.com\/en\/docs\/how-to-choose-a-camera-lens-and-light-source\/\"><span style=\"text-decoration: underline;\"><span style=\"color: #0000ff; text-decoration: underline;\">How to choose a camera, lens, and light source<\/span><\/span><\/a>.<\/li>\n<li>Adjust camera position to the appropriate working distance.<\/li>\n<li>Select a lens, which has adjustable aperture size and focus, with an appropriate focal length. During the adjustment procedure, try to minimize the aperture size; <span style=\"color: #ff0000;\">a smaller aperture helps correct intrinsic parameters, resulting in a larger depth of field<\/span>. This is particularly effective for capturing clear images of titled TM Calibration Plates. If there is insufficient brightness in the environment, try to adjust exposure time or external light sources. After tuning the aperture and focus, <span style=\"color: #ff0000;\">ensure that the screws of the camera are securely tightened to prevent any unexpected change in the intrinsic parameters during the calibration process or robot movement.<\/span><\/li>\n<\/ol>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/10\/external-1.jpg\"><img loading=\"lazy\" class=\"aligncenter size-full wp-image-108962\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/10\/external-1.jpg\" alt=\"\" width=\"653\" height=\"365\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/10\/external-1.jpg 653w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/10\/external-1-300x168.jpg 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/10\/external-1-360x201.jpg 360w\" sizes=\"(max-width: 653px) 100vw, 653px\" \/><\/a><\/p>\n<h1>Intrinsic Parameter Calibration Process<\/h1>\n<p>Whether in the EIH or ETH setting, calibration of intrinsic parameters is required while using an external camera. If the aperture and focal length of the camera are changed, it is necessary to recalibrate the intrinsic parameters.<\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/10\/external-2.jpg\"><img loading=\"lazy\" class=\"aligncenter size-full wp-image-108968\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/10\/external-2.jpg\" alt=\"\" width=\"666\" height=\"597\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/10\/external-2.jpg 666w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/10\/external-2-300x269.jpg 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/10\/external-2-360x323.jpg 360w\" sizes=\"(max-width: 666px) 100vw, 666px\" \/><\/a><\/p>\n<ul>\n<li>To start the intrinsic parameter calibration process, press the corresponding buttons to enter the calibration procedure, and collect 15 images.<\/li>\n<\/ul>\n<figure id=\"attachment_108974\" aria-describedby=\"caption-attachment-108974\" style=\"width: 797px\" class=\"wp-caption aligncenter\"><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/10\/external-3.jpg\"><img loading=\"lazy\" class=\"wp-image-108974 size-full\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/10\/external-3.jpg\" alt=\"\" width=\"797\" height=\"509\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/10\/external-3.jpg 797w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/10\/external-3-300x192.jpg 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/10\/external-3-768x490.jpg 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/10\/external-3-360x230.jpg 360w\" sizes=\"(max-width: 797px) 100vw, 797px\" \/><\/a><figcaption id=\"caption-attachment-108974\" class=\"wp-caption-text\"><strong>\u00a0Camera Intrinsic Calibration (TMflow 2.16 or below)<\/strong><\/figcaption><\/figure>\n<figure id=\"attachment_108980\" aria-describedby=\"caption-attachment-108980\" style=\"width: 846px\" class=\"wp-caption aligncenter\"><img loading=\"lazy\" class=\"wp-image-108980 size-full\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/10\/external-4.jpg\" alt=\"\" width=\"846\" height=\"231\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/10\/external-4.jpg 846w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/10\/external-4-300x82.jpg 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/10\/external-4-768x210.jpg 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/10\/external-4-360x98.jpg 360w\" sizes=\"(max-width: 846px) 100vw, 846px\" \/><figcaption id=\"caption-attachment-108980\" class=\"wp-caption-text\"><strong>Camera Intrinsic Calibration (TMflow 2.18 or above) <\/strong><\/figcaption><\/figure>\n<ul>\n<li>An appropriate calibration FOV must allow the camera to at least recognize an area of 5&#215;5 squares on the TM Calibration Plate, and the size of the plate should be larger than half of the FOV.<\/li>\n<\/ul>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/10\/external-5.jpg\"><img loading=\"lazy\" class=\"aligncenter wp-image-108986 size-full\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/10\/external-5.jpg\" alt=\"\" width=\"757\" height=\"623\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/10\/external-5.jpg 757w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/10\/external-5-300x247.jpg 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/10\/external-5-360x296.jpg 360w\" sizes=\"(max-width: 757px) 100vw, 757px\" \/><\/a><\/p>\n<p>&nbsp;<\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/10\/external-6.jpg\"><img loading=\"lazy\" class=\"aligncenter size-full wp-image-108992\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/10\/external-6.jpg\" alt=\"\" width=\"845\" height=\"477\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/10\/external-6.jpg 845w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/10\/external-6-300x169.jpg 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/10\/external-6-768x434.jpg 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/10\/external-6-360x203.jpg 360w\" sizes=\"(max-width: 845px) 100vw, 845px\" \/><\/a><\/p>\n<p>Below are some recommended poses to place the TM Calibration Plate during the calibration procedure. There are 15 poses in total.<\/p>\n<ul>\n<li>\n<div class=\"text-base my-auto mx-auto pb-10 [--thread-content-margin:--spacing(4)] thread-sm:[--thread-content-margin:--spacing(6)] thread-lg:[--thread-content-margin:--spacing(16)] px-(--thread-content-margin)\">\n<div class=\"[--thread-content-max-width:40rem] thread-lg:[--thread-content-max-width:48rem] mx-auto max-w-(--thread-content-max-width) flex-1 group\/turn-messages focus-visible:outline-hidden relative flex w-full min-w-0 flex-col agent-turn\" tabindex=\"-1\">\n<div class=\"flex max-w-full flex-col grow\">\n<div class=\"min-h-8 text-message relative flex w-full flex-col items-end gap-2 text-start break-words whitespace-normal [.text-message+&amp;]:mt-1\" dir=\"auto\" data-message-author-role=\"assistant\" data-message-id=\"b13033f6-4a0e-419f-bb25-18a7206f56ba\" data-message-model-slug=\"gpt-5\">\n<div class=\"flex w-full flex-col gap-1 empty:hidden first:pt-[1px]\">\n<div class=\"markdown prose dark:prose-invert w-full break-words light markdown-new-styling\">\n<p data-start=\"0\" data-end=\"247\" data-is-last-node=\"\" data-is-only-node=\"\">Keep the calibration board stationary and positioned within the camera\u2019s field of view. Place a book underneath it to create an inclination of approximately 5\u201310 degrees. Position the calibration board at six different locations below this setup.<\/p>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n<\/li>\n<\/ul>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/10\/one.png\"><img loading=\"lazy\" class=\"wp-image-132078 size-full aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/10\/one.png\" alt=\"\" width=\"1479\" height=\"833\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/10\/one.png 1479w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/10\/one-300x169.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/10\/one-1024x577.png 1024w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/10\/one-768x433.png 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/10\/one-360x203.png 360w\" sizes=\"(max-width: 1479px) 100vw, 1479px\" \/><\/a><\/p>\n<p>&nbsp;<\/p>\n<ul>\n<li>\n<div class=\"text-base my-auto mx-auto pb-10 [--thread-content-margin:--spacing(4)] thread-sm:[--thread-content-margin:--spacing(6)] thread-lg:[--thread-content-margin:--spacing(16)] px-(--thread-content-margin)\">\n<div class=\"[--thread-content-max-width:40rem] thread-lg:[--thread-content-max-width:48rem] mx-auto max-w-(--thread-content-max-width) flex-1 group\/turn-messages focus-visible:outline-hidden relative flex w-full min-w-0 flex-col agent-turn\" tabindex=\"-1\">\n<div class=\"flex max-w-full flex-col grow\">\n<div class=\"min-h-8 text-message relative flex w-full flex-col items-end gap-2 text-start break-words whitespace-normal [.text-message+&amp;]:mt-1\" dir=\"auto\" data-message-author-role=\"assistant\" data-message-id=\"c4584a1e-bbaa-48e7-ab5f-a178ed89a0ed\" data-message-model-slug=\"gpt-5\">\n<div class=\"flex w-full flex-col gap-1 empty:hidden first:pt-[1px]\">\n<div class=\"markdown prose dark:prose-invert w-full break-words light markdown-new-styling\">\n<p data-start=\"0\" data-end=\"249\" data-is-last-node=\"\" data-is-only-node=\"\">Next, keep the calibration board stationary and within the camera\u2019s field of view. Add another book underneath to tilt the calibration board by approximately 10\u201320 degrees. Place the calibration board at six different positions beneath this setup.<\/p>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n<\/li>\n<\/ul>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/10\/two.png\"><img loading=\"lazy\" class=\"wp-image-132084 size-full aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/10\/two.png\" alt=\"\" width=\"1467\" height=\"834\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/10\/two.png 1467w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/10\/two-300x171.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/10\/two-1024x582.png 1024w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/10\/two-768x437.png 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/10\/two-360x205.png 360w\" sizes=\"(max-width: 1467px) 100vw, 1467px\" \/><\/a><\/p>\n<p>&nbsp;<\/p>\n<ul>\n<li>Finally, raise the calibration board to three different heights.<\/li>\n<\/ul>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/10\/three.png\"><img loading=\"lazy\" class=\"wp-image-132090 size-full aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/10\/three.png\" alt=\"\" width=\"1103\" height=\"406\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/10\/three.png 1103w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/10\/three-300x110.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/10\/three-1024x377.png 1024w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/10\/three-768x283.png 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/10\/three-360x133.png 360w\" sizes=\"(max-width: 1103px) 100vw, 1103px\" \/><\/a><\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>TMflow Software version: All versions. TM Robot Hardware version: All versions. Other Specific Requirements: External Camera and Lens Note : Older or latest software versions may have different results While placing the TM Calibration Plate with an inclined angle, please ensure that the plate is not bent or distorted, especially for larger plates. Purpose While [&hellip;]<\/p>\n","protected":false},"author":4696,"featured_media":0,"parent":0,"comment_status":"closed","ping_status":"closed","template":"","meta":[],"doc_category":[4148],"doc_tag":[],"acf":[],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v16.9 - https:\/\/yoast.com\/wordpress\/plugins\/seo\/ -->\n<title>Notice on External Camera Calibration | Techman Robot<\/title>\n<meta name=\"robots\" content=\"noindex, follow\" \/>\n<meta property=\"og:locale\" content=\"en_US\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"Notice on External Camera Calibration | Techman Robot\" \/>\n<meta property=\"og:description\" content=\"TMflow Software version: All versions. TM Robot Hardware version: All versions. 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TM Robot Hardware version: All versions. Other Specific Requirements: External Camera and Lens Note : Older or latest software versions may have different results While placing the TM Calibration Plate with an inclined angle, please ensure that the plate is not bent or distorted, especially for larger plates. 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