Camera Simple Calibration

## Camera Simple Calibration
Take a picture of a calibration board, manually align the machine to the center of the circle on the calibration board to obtain the mechanical point. The image point is obtained by the circle on the captured calibration board, and the image point is obtained by extracting the center of the circle. The order of image points is arranged from small to large according to the radius of the circle.
## Module Principle
For XYR type simple calibration, you need to manually align the machine to each circle center (4 circle centers). Then at the last circle center, rotate the machine twice at different angles to obtain two mechanical points with angle rotation. That is, the image point of the last circle center corresponds to three different angle mechanical points (one without rotation, two with rotation), used to calculate the rotation center. Therefore, XYR type simple calibration requires inputting mechanical points and image points. XY type is 4 pairs of image points + mechanical points.
Same as single camera calibration, choosing XY type without angle calculates the relative relationship, only calculating the conversion between the input image point and mechanical point; choosing XYR type with angle calculates the absolute conversion relationship between the rotation center on the image and the mechanical coordinates. The difference is that simple calibration cannot judge the accuracy of the mechanical angle input, and defaults that the angle the robot arm moves is correct, which will produce errors.
## Usage Method

![](/media/202603/2026-03-12_152824_4294710.17542677881793944.png)
Here the mechanical points need to be manually entered (filled in calibration data) or externally introduced float array. When the physical point array exceeds the required number, the first four (six) will be used by default, and less than that will report an error. Calibration data can check the information of the input points.

### Pre/Post-Sequence Modules
Camera image acquisition inputs the calibration board photo, and records the mechanical coordinates of the machine to the calibration board at the same time. Input to simple calibration, generate calibration in a single run.

![](/media/202603/2026-03-12_152838_0525940.9067942073982198.png)
## Parameter Configuration Description
【Mechanical Point Acquisition】
Communication Acquisition: Input mechanical point data through connection port;
Manual Input: Manually input data through [Calibration Data].
【Calibration Data】 Record mechanical and image calibration data, click the lock icon to unlock, and modify the calibration data. The physical coordinates must be the mechanical end coordinates when the robot arm is placed in the corresponding circle of the calibration board.
Mechanical Model:
【XYR】 Mechanical structure XY axes can translate and rotate. (Calibration machine moves 6 times)
【XY】 Mechanical structure XY axes can translate, but cannot rotate or do not need to rotate. (Calibration machine moves 4 times)
【Calibration Board】 Zhunyi calibration board, combined with Zhunyi calibration board for simple camera calibration.
【Calibration Group】 Select the corresponding coordinate system group, and the calibration data will be recorded in the calibration file under this coordinate system group. The coordinate system group must be set in the Coordinate System Calibration in Global Data Management.
【Calibration File】 Select the calibration file under the corresponding coordinate system group, and the calibration data will be recorded in this file. (The calibration file must be set in the Coordinate System Calibration in Global Data Management. First add a coordinate system group, then drag the camera and robot to the window under the corresponding coordinate system group, select the connection line to connect the two icons, and the calibration file can be generated)
【Generate Calibration】 Generate calibration results for the acquired calibration data.
【Physical Pose Array】 When the acquisition method is selected as Communication Acquisition, the mechanical pose array in the calibration data is introduced through the port.

## Other Supplements
Zhunyi Standard Calibration Board:

![](/media/202603/2026-03-04_155708_3776020.34117773238540916.jpeg)

[【Attachment】Camera Simple Calibration Example Project.rar](/media/attachment/2026/03/%E7%9B%B8%E6%9C%BA%E7%AE%80%E6%98%93%E6%A0%87%E5%AE%9A%E7%A4%BA%E4%BE%8B%E5%B7%A5%E7%A8%8B.rar)

When using the example project, you need to manually input the real mechanical data of the calibration board robot arm movement,

![](/media/202603/2026-03-12_152903_3253150.409489619802078.png)

Test input can be:
1mm, 1mm, 0
2mm, 2mm, 0
1.5mm, 1.5mm, 0
1.5mm, 2mm, 0

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Click here to jump to the corresponding Chinese manual page: [Camera Simple Calibration](/doc/128)