From 21116529503ec0d0d8dd76be0eb6afee6ae384ef Mon Sep 17 00:00:00 2001
From: builder <customersuccess@zivid.com>
Date: Tue, 30 Jul 2024 09:49:33 +0000
Subject: [PATCH] Bump samples to Zivid SDK 2.13

This commit adds the following changes:
New samples:
- network_configuration
- automatic_network_configuration_for_cameras
- transform_point_cloud_via_aruco_marker
- transform_point_cloud_via_checkerboard
- roi_box_via_aruco_marker
Modification of samples:
- hand-eye sample now supports ArUco markers
- in various samples, calibration.detect_calibration_board() is used
  instead of experimental.calibration.detect_feature_points(). This
  removes the zivid.experimental.calibration dependency.
---
 README.md                                     |  18 +-
 continuous-integration/setup.sh               |   2 +-
 .../applications/advanced/auto_2d_settings.py |  13 +-
 .../get_checkerboard_pose_from_zdf.py         |  11 +-
 .../hand_eye_calibration.py                   |  92 ++++--
 .../robodk_hand_eye_calibration.py            |  70 +++--
 ...sal_robots_perform_hand_eye_calibration.py |  50 ++--
 .../verify_hand_eye_with_visualization.py     |  85 +++---
 .../applications/advanced/reproject_points.py |   5 +-
 .../robot_guidance/robodk_robot_guidance.py   |   5 +-
 .../advanced/roi_box_via_aruco_marker.py      | 116 ++++++++
 .../advanced/roi_box_via_checkerboard.py      | 131 ++++-----
 .../transform_point_cloud_via_aruco_marker.py |  90 ++++++
 .../transform_point_cloud_via_checkerboard.py | 193 +++++++++++++
 .../robodk_verify_hand_eye_calibration.py     | 268 +++++++++++++++---
 source/applications/point_cloud_tutorial.md   |   7 +-
 source/camera/basic/capture_tutorial.md       |   3 +-
 ...matic_network_configuration_for_cameras.py |  77 +++++
 .../info_util_other/firmware_updater.py       |   2 +-
 .../info_util_other/network_configuration.py  |  75 +++++
 .../maintenance/correct_camera_in_field.py    |   4 +-
 .../maintenance/verify_camera_in_field.py     |   4 +-
 .../verify_camera_in_field_from_zdf.py        |   6 +-
 source/sample_utils/save_load_matrix.py       |   5 +
 24 files changed, 1095 insertions(+), 237 deletions(-)
 create mode 100644 source/applications/advanced/roi_box_via_aruco_marker.py
 create mode 100644 source/applications/advanced/transform_point_cloud_via_aruco_marker.py
 create mode 100644 source/applications/advanced/transform_point_cloud_via_checkerboard.py
 create mode 100644 source/camera/info_util_other/automatic_network_configuration_for_cameras.py
 create mode 100644 source/camera/info_util_other/network_configuration.py

diff --git a/README.md b/README.md
index 2407322a..700fa89f 100644
--- a/README.md
+++ b/README.md
@@ -1,6 +1,6 @@
 # Python samples
 
-This repository contains python code samples for Zivid SDK v2.12.0. For
+This repository contains python code samples for Zivid SDK v2.13.1. For
 tested compatibility with earlier SDK versions, please check out
 [accompanying
 releases](https://github.com/zivid/zivid-python-samples/tree/master/../../releases).
@@ -60,6 +60,9 @@ from the camera can be used.
           - [capture\_hdr\_print\_normals](https://github.com/zivid/zivid-python-samples/tree/master/source/camera/advanced/capture_hdr_print_normals.py) - Capture Zivid point clouds, compute normals and print a
             subset.
       - **info\_util\_other**
+          - [automatic\_network\_configuration\_for\_cameras](https://github.com/zivid/zivid-python-samples/tree/master/source/camera/info_util_other/automatic_network_configuration_for_cameras.py) - Automatically set the IP addresses of any number of
+            cameras to be in the same subnet as the provided IP address
+            of the network interface.
           - [camera\_info](https://github.com/zivid/zivid-python-samples/tree/master/source/camera/info_util_other/camera_info.py) - Print version information for Python, zivid-python and
             Zivid SDK, then list cameras and print camera info and state
             for each connected camera.
@@ -69,6 +72,8 @@ from the camera can be used.
           - [firmware\_updater](https://github.com/zivid/zivid-python-samples/tree/master/source/camera/info_util_other/firmware_updater.py) - Update firmware on the Zivid camera.
           - [get\_camera\_intrinsics](https://github.com/zivid/zivid-python-samples/tree/master/source/camera/info_util_other/get_camera_intrinsics.py) - Read intrinsic parameters from the Zivid camera (OpenCV
             model) or estimate them from the point cloud.
+          - [network\_configuration](https://github.com/zivid/zivid-python-samples/tree/master/source/camera/info_util_other/network_configuration.py) - Uses Zivid API to change the IP address of the Zivid
+            camera.
           - [warmup](https://github.com/zivid/zivid-python-samples/tree/master/source/camera/info_util_other/warmup.py) - A basic warm-up method for a Zivid camera with specified
             time and capture cycle.
       - **maintenance**
@@ -114,8 +119,16 @@ from the camera can be used.
             images to find the marker coordinates (2D and 3D).
           - [reproject\_points](https://github.com/zivid/zivid-python-samples/tree/master/source/applications/advanced/reproject_points.py) - Illuminate checkerboard (Zivid Calibration Board) corners
             by getting checkerboard pose
+          - [roi\_box\_via\_aruco\_marker](https://github.com/zivid/zivid-python-samples/tree/master/source/applications/advanced/roi_box_via_aruco_marker.py) - Filter the point cloud based on a ROI box given relative
+            to the ArUco marker on a Zivid Calibration Board.
           - [roi\_box\_via\_checkerboard](https://github.com/zivid/zivid-python-samples/tree/master/source/applications/advanced/roi_box_via_checkerboard.py) - Filter the point cloud based on a ROI box given relative
             to the Zivid Calibration Board.
+          - [transform\_point\_cloud\_via\_aruco\_marker](https://github.com/zivid/zivid-python-samples/tree/master/source/applications/advanced/transform_point_cloud_via_aruco_marker.py) - Transform a point cloud from camera to ArUco marker
+            coordinate frame by estimating the marker's pose from the
+            point cloud.
+          - [transform\_point\_cloud\_via\_checkerboard](https://github.com/zivid/zivid-python-samples/tree/master/source/applications/advanced/transform_point_cloud_via_checkerboard.py) - Transform a point cloud from camera to checkerboard (Zivid
+            Calibration Board) coordinate frame by getting checkerboard
+            pose from the API.
           - **hand\_eye\_calibration**
               - [pose\_conversions](https://github.com/zivid/zivid-python-samples/tree/master/source/applications/advanced/hand_eye_calibration/pose_conversions.py) - Convert to/from Transformation Matrix (Rotation Matrix
                 + Translation Vector).
@@ -134,7 +147,8 @@ from the camera can be used.
       - [display](https://github.com/zivid/zivid-python-samples/tree/master/source/sample_utils/display.py) - Display relevant data for Zivid Samples.
       - [paths](https://github.com/zivid/zivid-python-samples/tree/master/source/sample_utils/paths.py) - Get relevant paths for Zivid Samples.
       - [robodk\_tools](https://github.com/zivid/zivid-python-samples/tree/master/source/sample_utils/robodk_tools.py) - Robot Control Module
-      - [save\_load\_matrix](https://github.com/zivid/zivid-python-samples/tree/master/source/sample_utils/save_load_matrix.py) - try:
+      - [save\_load\_matrix](https://github.com/zivid/zivid-python-samples/tree/master/source/sample_utils/save_load_matrix.py) - Save and load Zivid 4x4 transformation matrices from and to
+        YAML files.
       - [white\_balance\_calibration](https://github.com/zivid/zivid-python-samples/tree/master/source/sample_utils/white_balance_calibration.py) - Balance color for 2D capture using white surface as reference.
   - **applications**
       - **advanced**
diff --git a/continuous-integration/setup.sh b/continuous-integration/setup.sh
index 95512490..2713fc6f 100755
--- a/continuous-integration/setup.sh
+++ b/continuous-integration/setup.sh
@@ -28,7 +28,7 @@ function install_www_deb {
     rm -r $TMP_DIR || exit
 }
 
-install_www_deb "https://downloads.zivid.com/sdk/releases/2.12.0+6afd4961-1/u${VERSION_ID:0:2}/zivid_2.12.0+6afd4961-1_amd64.deb" || exit
+install_www_deb "https://downloads.zivid.com/sdk/releases/2.13.1+18e79e79-1/u${VERSION_ID:0:2}/zivid_2.13.1+18e79e79-1_amd64.deb" || exit
 
 python3 -m pip install --upgrade pip || exit
 python3 -m pip install --requirement "$ROOT_DIR/requirements.txt" || exit
diff --git a/source/applications/advanced/auto_2d_settings.py b/source/applications/advanced/auto_2d_settings.py
index b90db00f..652cc946 100644
--- a/source/applications/advanced/auto_2d_settings.py
+++ b/source/applications/advanced/auto_2d_settings.py
@@ -16,8 +16,6 @@
 first. If you want to use your own white reference (white wall, piece of paper, etc.) instead of using the calibration
 board, you can provide your own mask in _main(). Then you will have to specify the lower limit for f-number yourself.
 
-Note: This example uses experimental SDK features, which may be modified, moved, or deleted in the future without notice.
-
 """
 
 import argparse
@@ -29,7 +27,6 @@
 import matplotlib.pyplot as plt
 import numpy as np
 import zivid
-import zivid.experimental.calibration
 from sample_utils.calibration_board_utils import find_white_mask_from_checkerboard
 from sample_utils.white_balance_calibration import compute_mean_rgb_from_mask, white_balance_calibration
 
@@ -152,7 +149,7 @@ def _find_white_mask_and_distance_to_checkerboard(camera: zivid.Camera) -> Tuple
         settings = _capture_assistant_settings(camera)
         frame = camera.capture(settings)
 
-        checkerboard_pose = zivid.experimental.calibration.detect_feature_points(frame).pose().to_matrix()
+        checkerboard_pose = zivid.calibration.detect_calibration_board(frame).pose().to_matrix()
         distance_to_checkerboard = checkerboard_pose[2, 3]
 
         rgb = frame.point_cloud().copy_data("rgba")[:, :, :3]
@@ -520,10 +517,10 @@ def _print_poor_pixel_distribution(rgb: np.ndarray) -> None:
     black_and = np.sum(np.logical_and(np.logical_and(rgb[:, :, 0] == 0, rgb[:, :, 1] == 0), rgb[:, :, 2] == 0))
 
     print("Distribution of saturated (255) and black (0) pixels with final settings:")
-    print(f"Saturated pixels (at least one channel): {saturated_or}\t ({100*saturated_or/total_num_pixels:.2f}%)")
-    print(f"Saturated pixels (all channels):\t {saturated_and}\t ({100*saturated_and/total_num_pixels:.2f}%)")
-    print(f"Black pixels (at least one channel):\t {black_or}\t ({100*black_or/total_num_pixels:.2f}%)")
-    print(f"Black pixels (all channels):\t\t {black_and}\t ({100*black_and/total_num_pixels:.2f}%)")
+    print(f"Saturated pixels (at least one channel): {saturated_or}\t ({100 * saturated_or / total_num_pixels:.2f}%)")
+    print(f"Saturated pixels (all channels):\t {saturated_and}\t ({100 * saturated_and / total_num_pixels:.2f}%)")
+    print(f"Black pixels (at least one channel):\t {black_or}\t ({100 * black_or / total_num_pixels:.2f}%)")
+    print(f"Black pixels (all channels):\t\t {black_and}\t ({100 * black_and / total_num_pixels:.2f}%)")
 
 
 def _plot_image_with_histogram(rgb: np.ndarray, settings_2d: zivid.Settings2D) -> None:
diff --git a/source/applications/advanced/get_checkerboard_pose_from_zdf.py b/source/applications/advanced/get_checkerboard_pose_from_zdf.py
index e4fce1a5..67c4a44d 100644
--- a/source/applications/advanced/get_checkerboard_pose_from_zdf.py
+++ b/source/applications/advanced/get_checkerboard_pose_from_zdf.py
@@ -5,8 +5,6 @@
 The checkerboard point cloud is also visualized with a coordinate system.
 The ZDF file for this sample can be found under the main instructions for Zivid samples.
 
-Note: This example uses experimental SDK features, which may be modified, moved, or deleted in the future without notice.
-
 """
 
 from pathlib import Path
@@ -14,7 +12,6 @@
 import numpy as np
 import open3d as o3d
 import zivid
-import zivid.experimental.calibration
 from sample_utils.paths import get_sample_data_path
 from sample_utils.save_load_matrix import assert_affine_matrix_and_save
 
@@ -35,8 +32,8 @@ def _create_open3d_point_cloud(point_cloud: zivid.PointCloud) -> o3d.geometry.Po
     xyz = np.nan_to_num(xyz).reshape(-1, 3)
     rgb = rgba[:, :, 0:3].reshape(-1, 3)
 
-    point_cloud_open3d = o3d.geometry.PointCloud(o3d.utility.Vector3dVector(xyz))
-    point_cloud_open3d.colors = o3d.utility.Vector3dVector(rgb / 255)
+    point_cloud_open3d = o3d.geometry.PointCloud(o3d.utility.Vector3dVector(xyz.astype(np.float64)))
+    point_cloud_open3d.colors = o3d.utility.Vector3dVector(rgb.astype(np.float64) / 255)
 
     refined_point_cloud_open3d = o3d.geometry.PointCloud.remove_non_finite_points(
         point_cloud_open3d, remove_nan=True, remove_infinite=True
@@ -75,9 +72,7 @@ def _main() -> None:
         point_cloud = frame.point_cloud()
 
         print("Detecting checkerboard and estimating its pose in camera frame")
-        transform_camera_to_checkerboard = (
-            zivid.experimental.calibration.detect_feature_points(frame).pose().to_matrix()
-        )
+        transform_camera_to_checkerboard = zivid.calibration.detect_calibration_board(frame).pose().to_matrix()
         print(f"Camera pose in checkerboard frame:\n{transform_camera_to_checkerboard}")
 
         transform_file_name = "CameraToCheckerboardTransform.yaml"
diff --git a/source/applications/advanced/hand_eye_calibration/hand_eye_calibration.py b/source/applications/advanced/hand_eye_calibration/hand_eye_calibration.py
index 3c3c5db3..a6e35655 100644
--- a/source/applications/advanced/hand_eye_calibration/hand_eye_calibration.py
+++ b/source/applications/advanced/hand_eye_calibration/hand_eye_calibration.py
@@ -1,17 +1,14 @@
 """
 Perform Hand-Eye calibration.
 
-Note: This example uses experimental SDK features, which may be modified, moved, or deleted in the future without notice.
-
 """
 
 import datetime
 from pathlib import Path
-from typing import List
+from typing import List, Tuple
 
 import numpy as np
 import zivid
-import zivid.experimental.calibration
 from sample_utils.save_load_matrix import assert_affine_matrix_and_save
 
 
@@ -26,7 +23,7 @@ def _enter_robot_pose(index: int) -> zivid.calibration.Pose:
 
     """
     inputted = input(
-        f"Enter pose with id={index} (a line with 16 space separated values describing 4x4 row-major matrix):"
+        f"Enter pose with id={index} (a line with 16 space separated values describing 4x4 row-major matrix): "
     )
     elements = inputted.split(maxsplit=15)
     data = np.array(elements, dtype=np.float64).reshape((4, 4))
@@ -46,14 +43,14 @@ def _perform_calibration(hand_eye_input: List[zivid.calibration.HandEyeInput]) -
 
     """
     while True:
-        calibration_type = input("Enter type of calibration, eth (for eye-to-hand) or eih (for eye-in-hand):").strip()
+        calibration_type = input("Enter type of calibration, eth (for eye-to-hand) or eih (for eye-in-hand): ").strip()
         if calibration_type.lower() == "eth":
-            print("Performing eye-to-hand calibration")
+            print(f"Performing eye-to-hand calibration with {len(hand_eye_input)} dataset pairs")
             print("The resulting transform is the camera pose in robot base frame")
             hand_eye_output = zivid.calibration.calibrate_eye_to_hand(hand_eye_input)
             return hand_eye_output
         if calibration_type.lower() == "eih":
-            print("Performing eye-in-hand calibration")
+            print(f"Performing eye-in-hand calibration with {len(hand_eye_input)} dataset pairs")
             print("The resulting transform is the camera pose in flange (end-effector) frame")
             hand_eye_output = zivid.calibration.calibrate_eye_in_hand(hand_eye_input)
             return hand_eye_output
@@ -78,6 +75,58 @@ def _assisted_capture(camera: zivid.Camera) -> zivid.Frame:
     return camera.capture(settings)
 
 
+def _handle_add_pose(
+    current_pose_id: int, hand_eye_input: List, camera: zivid.Camera, calibration_object: str
+) -> Tuple[int, List]:
+    """Acquire frame with capture assistant.
+
+    Args:
+        current_pose_id: Counter of the current pose in the hand-eye calibration dataset
+        hand_eye_input: List of hand-eye calibration dataset pairs (poses and point clouds)
+        camera: Zivid camera
+        calibration_object: m (for ArUco marker(s)) or c (for Zivid checkerboard)
+
+    Returns:
+        Tuple[int, List]: Updated current_pose_id and hand_eye_input
+
+    """
+
+    robot_pose = _enter_robot_pose(current_pose_id)
+
+    print("Detecting calibration object in point cloud")
+
+    if calibration_object == "c":
+
+        frame = zivid.calibration.capture_calibration_board(camera)
+        detection_result = zivid.calibration.detect_calibration_board(frame)
+
+        if detection_result.valid():
+            print("Calibration board detected")
+            hand_eye_input.append(zivid.calibration.HandEyeInput(robot_pose, detection_result))
+            current_pose_id += 1
+        else:
+            print("Failed to detect calibration board, ensure that the entire board is in the view of the camera")
+    elif calibration_object == "m":
+
+        frame = _assisted_capture(camera)
+
+        marker_dictionary = zivid.calibration.MarkerDictionary.aruco4x4_50
+        marker_ids = [1, 2, 3]
+
+        print(f"Detecting arUco marker IDs {marker_ids} from the dictionary {marker_dictionary}")
+        detection_result = zivid.calibration.detect_markers(frame, marker_ids, marker_dictionary)
+
+        if detection_result.valid():
+            print(f"ArUco marker(s) detected: {len(detection_result.detected_markers())}")
+            hand_eye_input.append(zivid.calibration.HandEyeInput(robot_pose, detection_result))
+            current_pose_id += 1
+        else:
+            print(
+                "Failed to detect any ArUco markers, ensure that at least one ArUco marker is in the view of the camera"
+            )
+    return current_pose_id, hand_eye_input
+
+
 def _main() -> None:
     app = zivid.Application()
 
@@ -88,6 +137,13 @@ def _main() -> None:
     hand_eye_input = []
     calibrate = False
 
+    while True:
+        calibration_object = input(
+            "Enter calibration object you are using, m (for ArUco marker(s)) or c (for Zivid checkerboard): "
+        ).strip()
+        if calibration_object.lower() == "m" or calibration_object.lower() == "c":
+            break
+
     print(
         "Zivid primarily operates with a (4x4) transformation matrix. To convert\n"
         "from axis-angle, rotation vector, roll-pitch-yaw, or quaternion, check out\n"
@@ -95,24 +151,12 @@ def _main() -> None:
     )
 
     while not calibrate:
-        command = input("Enter command, p (to add robot pose) or c (to perform calibration):").strip()
+        command = input("Enter command, p (to add robot pose) or c (to perform calibration): ").strip()
         if command == "p":
             try:
-                robot_pose = _enter_robot_pose(current_pose_id)
-
-                frame = _assisted_capture(camera)
-
-                print("Detecting checkerboard in point cloud")
-                detection_result = zivid.experimental.calibration.detect_feature_points(frame)
-
-                if detection_result.valid():
-                    print("Calibration board detected")
-                    hand_eye_input.append(zivid.calibration.HandEyeInput(robot_pose, detection_result))
-                    current_pose_id += 1
-                else:
-                    print(
-                        "Failed to detect calibration board, ensure that the entire board is in the view of the camera"
-                    )
+                current_pose_id, hand_eye_input = _handle_add_pose(
+                    current_pose_id, hand_eye_input, camera, calibration_object
+                )
             except ValueError as ex:
                 print(ex)
         elif command == "c":
diff --git a/source/applications/advanced/hand_eye_calibration/robodk_hand_eye_calibration/robodk_hand_eye_calibration.py b/source/applications/advanced/hand_eye_calibration/robodk_hand_eye_calibration/robodk_hand_eye_calibration.py
index 60ab2d9f..60e416ba 100644
--- a/source/applications/advanced/hand_eye_calibration/robodk_hand_eye_calibration/robodk_hand_eye_calibration.py
+++ b/source/applications/advanced/hand_eye_calibration/robodk_hand_eye_calibration/robodk_hand_eye_calibration.py
@@ -14,8 +14,6 @@
 https://support.zivid.com/latest/academy/applications/hand-eye/hand-eye-calibration-process.html
 Make sure to launch your RDK file and connect to robot through Robodk before running this script.
 
-Note: This example uses experimental SDK features, which may be modified, moved, or deleted in the future without notice.
-
 """
 
 import argparse
@@ -27,7 +25,6 @@
 import cv2
 import numpy as np
 import zivid
-import zivid.experimental.calibration
 from robodk.robolink import Item
 from sample_utils.robodk_tools import connect_to_robot, get_robot_targets, set_robot_speed_and_acceleration
 from sample_utils.save_load_matrix import assert_affine_matrix_and_save, load_and_assert_affine_matrix
@@ -63,7 +60,7 @@ def _get_frame_and_transform(robot: Item, camera: zivid.Camera) -> Tuple[zivid.F
         4x4 transformation matrix
 
     """
-    frame = assisted_capture(camera)
+    frame = _assisted_capture(camera)
     transform = np.array(robot.Pose()).T
     return frame, transform
 
@@ -88,19 +85,25 @@ def _save_point_cloud_and_pose(
     assert_affine_matrix_and_save(transform, save_directory / f"pos{image_and_pose_iterator:02d}.yaml")
 
 
-def _verify_good_capture(frame: zivid.Frame) -> None:
-    """Verify that checkerboard feature points are detected in the frame.
+def _verify_good_capture(frame: zivid.Frame, user_options: argparse.Namespace) -> None:
+    """Verify that calibration object feature points are detected in the frame.
 
     Args:
         frame: Zivid frame containing point cloud
+        user_options: Input arguments
 
     Raises:
         RuntimeError: If no feature points are detected in frame
 
     """
-    detected_features = zivid.experimental.calibration.detect_feature_points(frame)
-    if not detected_features.valid():
-        raise RuntimeError("Failed to detect feature points from captured frame.")
+    if user_options.calibration_object == "checkerboard":
+        detected_features = zivid.calibration.detect_calibration_board(frame)
+        if not detected_features.valid():
+            raise RuntimeError("Failed to detect Zivid checkerboard from captured frame.")
+    if user_options.calibration_object == "marker":
+        detected_features = zivid.calibration.detect_markers(frame, user_options.ids, user_options.dictionary)
+        if not detected_features.valid():
+            raise RuntimeError("Failed to detect any ArUco markers from captured frame.")
 
 
 def _capture_one_frame_and_robot_pose(
@@ -109,6 +112,7 @@ def _capture_one_frame_and_robot_pose(
     save_directory: Path,
     image_and_pose_iterator: int,
     next_target: Item,
+    user_options: argparse.Namespace,
 ) -> None:
     """Captures and saves point cloud at a given robot pose, saves robot pose,
     then signals the robot to move to the next pose.
@@ -119,6 +123,7 @@ def _capture_one_frame_and_robot_pose(
         save_directory: Path to where data will be saved
         image_and_pose_iterator: Counter for point cloud and pose acquisition sequence
         next_target: Next pose the robot should move to in sequence
+        user_options: Input arguments
 
     """
     robot.WaitMove()
@@ -129,11 +134,11 @@ def _capture_one_frame_and_robot_pose(
     # Verifying capture from previous pose while moving to new pose
     if next_target is not None:
         robot.MoveJ(next_target, blocking=False)
-    _verify_good_capture(frame)
+    _verify_good_capture(frame, user_options)
     print(f"Image and pose #{image_and_pose_iterator} saved")
 
 
-def save_hand_eye_results(save_directory: Path, transform: np.ndarray, residuals: List) -> None:
+def _save_hand_eye_results(save_directory: Path, transform: np.ndarray, residuals: List) -> None:
     """Save transformation and residuals to directory.
 
     Args:
@@ -157,7 +162,9 @@ def save_hand_eye_results(save_directory: Path, transform: np.ndarray, residuals
     file_storage_residuals.release()
 
 
-def generate_hand_eye_dataset(app: zivid.application, robot: Item, targets: List) -> Path:
+def generate_hand_eye_dataset(
+    app: zivid.application, robot: Item, targets: List, user_options: argparse.Namespace
+) -> Path:
     """Generate dataset of pairs of robot poses and point clouds containing calibration target.
     This dataset is composed of pairs of YML and ZDF files respectively.
 
@@ -165,6 +172,7 @@ def generate_hand_eye_dataset(app: zivid.application, robot: Item, targets: List
         app: Zivid application instance
         robot: Robot item in open RoboDK rdk file
         targets: List of roboDK targets (poses)
+        user_options: Input arguments
 
     Returns:
         Path: Save_directory for where data will be saved
@@ -176,13 +184,14 @@ def generate_hand_eye_dataset(app: zivid.application, robot: Item, targets: List
         save_directory = _generate_directory()
         image_and_pose_iterator = 1
         while not image_and_pose_iterator > num_targets:
-            print(f"Capturing calibration object at robot pose {num_targets-len(targets)}")
+            print(f"Capturing calibration object at robot pose {num_targets - len(targets)}")
             _capture_one_frame_and_robot_pose(
                 robot,
                 camera,
                 save_directory,
                 image_and_pose_iterator,
                 targets.pop(0) if targets else None,
+                user_options,
             )
             image_and_pose_iterator += 1
 
@@ -191,7 +200,7 @@ def generate_hand_eye_dataset(app: zivid.application, robot: Item, targets: List
     return save_directory
 
 
-def assisted_capture(camera: zivid.Camera, max_time_milliseconds: int = 800) -> zivid.Frame:
+def _assisted_capture(camera: zivid.Camera, max_time_milliseconds: int = 800) -> zivid.Frame:
     """Capturing image with Zivid camera using assisted capture settings.
 
     Args:
@@ -213,12 +222,14 @@ def assisted_capture(camera: zivid.Camera, max_time_milliseconds: int = 800) ->
 def perform_hand_eye_calibration(
     calibration_type: str,
     dataset_directory: Path,
+    user_options: argparse.Namespace,
 ) -> Tuple[np.ndarray, List[zivid.calibration.HandEyeResidual]]:
     """Perform hand-eye calibration based on calibration type.
 
     Args:
         calibration_type: Calibration type, eye-in-hand or eye-to-hand
         dataset_directory: Path to dataset
+        user_options: Input arguments
 
     Returns:
         transform: 4x4 transformation matrix
@@ -238,7 +249,10 @@ def perform_hand_eye_calibration(
         if frame_file_path.is_file() and pose_file_path.is_file():
             print(f"Detect feature points from img{pose_and_image_iterator:02d}.zdf")
             frame = zivid.Frame(frame_file_path)
-            detected_features = zivid.experimental.calibration.detect_feature_points(frame)
+            if user_options.calibration_object == "checkerboard":
+                detected_features = zivid.calibration.detect_calibration_board(frame)
+            else:
+                detected_features = zivid.calibration.detect_markers(frame, user_options.ids, user_options.dictionary)
             print(f"Read robot pose from pos{pose_and_image_iterator:02d}.yaml")
             transform = load_and_assert_affine_matrix(pose_file_path)
 
@@ -279,6 +293,9 @@ def options() -> argparse.Namespace:
         eih or eth: eye-in-hand or eye-to-hand
         ip: IP address of the robot controller
         target_keyword: The common name of the targets (poses) in RoboDK station that will be used for the hand-eye dataset
+        calibration:object: marker (for ArUco marker(s)) or checkerboard (for Zivid checkerboard)
+        dictionary: ArUco marker dictionary
+        ids: List of ArUco marker IDs
 
     """
     parser = argparse.ArgumentParser(description=__doc__)
@@ -286,13 +303,23 @@ def options() -> argparse.Namespace:
 
     type_group.add_argument("--eih", "--eye-in-hand", action="store_true", help="eye-in-hand calibration")
     type_group.add_argument("--eth", "--eye-to-hand", action="store_true", help="eye-to-hand calibration")
-
     parser.add_argument("--ip", required=True, help="IP address of the robot controller")
     parser.add_argument(
         "--target-keyword",
         required=True,
         help='This is the keyword shared for naming all poses used for hand-eye dataset, i.e. if we have: "Target 1", "Target 2", ... , "Target N". Then we should use "Target"',
     )
+    subparsers = parser.add_subparsers(dest="calibration_object", required=True, help="Calibration object type")
+    subparsers.add_parser("checkerboard", help="Use checkerboard for calibration")
+    marker_parser = subparsers.add_parser("marker", help="Use marker for calibration")
+    marker_parser.add_argument(
+        "--dictionary",
+        required=True,
+        choices=list(zivid.calibration.MarkerDictionary.valid_values()),
+        help="Dictionary used for marker calibration",
+    )
+    marker_parser.add_argument("--ids", nargs="+", required=True, type=int, help="IDs used for marker calibration")
+
     return parser.parse_args()
 
 
@@ -306,17 +333,16 @@ def _main() -> None:
     targets = get_robot_targets(rdk, user_options.target_keyword)
 
     #  NOTE! Verify safe operation speeds and accelerations for your robot
-    robot_speed_accel_limits = [100, 100, 50, 50]
-    set_robot_speed_and_acceleration(robot, *robot_speed_accel_limits)
+    set_robot_speed_and_acceleration(robot, speed=100, joint_speed=100, acceleration=50, joint_acceleration=50)
 
-    dataset_dir = generate_hand_eye_dataset(app, robot, targets)
+    dataset_dir = generate_hand_eye_dataset(app, robot, targets, user_options)
 
     if user_options.eih:
-        transform, residuals = perform_hand_eye_calibration("eye-in-hand", dataset_dir)
+        transform, residuals = perform_hand_eye_calibration("eye-in-hand", dataset_dir, user_options)
     else:
-        transform, residuals = perform_hand_eye_calibration("eye-to-hand", dataset_dir)
+        transform, residuals = perform_hand_eye_calibration("eye-to-hand", dataset_dir, user_options)
 
-    save_hand_eye_results(dataset_dir, transform, residuals)
+    _save_hand_eye_results(dataset_dir, transform, residuals)
 
 
 if __name__ == "__main__":
diff --git a/source/applications/advanced/hand_eye_calibration/ur_hand_eye_calibration/universal_robots_perform_hand_eye_calibration.py b/source/applications/advanced/hand_eye_calibration/ur_hand_eye_calibration/universal_robots_perform_hand_eye_calibration.py
index 45529212..6add2c60 100644
--- a/source/applications/advanced/hand_eye_calibration/ur_hand_eye_calibration/universal_robots_perform_hand_eye_calibration.py
+++ b/source/applications/advanced/hand_eye_calibration/ur_hand_eye_calibration/universal_robots_perform_hand_eye_calibration.py
@@ -15,8 +15,6 @@
 Further explanation of this sample is found in our knowledge base:
 https://support.zivid.com/latest/academy/applications/hand-eye/ur5-robot-%2B-python-generate-dataset-and-perform-hand-eye-calibration.html
 
-Note: This example uses experimental SDK features, which may be modified, moved, or deleted in the future without notice.
-
 """
 
 import argparse
@@ -28,7 +26,6 @@
 import cv2
 import numpy as np
 import zivid
-import zivid.experimental.calibration
 from rtde import rtde, rtde_config
 from sample_utils.save_load_matrix import assert_affine_matrix_and_save, load_and_assert_affine_matrix
 from scipy.spatial.transform import Rotation
@@ -47,6 +44,17 @@ def _options() -> argparse.Namespace:
     mode_group.add_argument("--eth", "--eye-to-hand", action="store_true", help="eye-to-hand calibration")
     parser.add_argument("--ip", required=True, help="IP address to robot")
 
+    subparsers = parser.add_subparsers(dest="calibration_object", required=True, help="Calibration object type")
+    subparsers.add_parser("checkerboard", help="Use checkerboard for calibration")
+    marker_parser = subparsers.add_parser("marker", help="Use marker for calibration")
+    marker_parser.add_argument(
+        "--dictionary",
+        required=True,
+        choices=list(zivid.calibration.MarkerDictionary.valid_values()),
+        help="Dictionary used for marker calibration",
+    )
+    marker_parser.add_argument("--ids", nargs="+", required=True, type=int, help="IDs used for marker calibration")
+
     return parser.parse_args()
 
 
@@ -259,30 +267,35 @@ def _ready_for_capture(robot_state: rtde.serialize.DataObject) -> bool:
     return robot_state.output_bit_register_64
 
 
-def _verify_good_capture(frame: zivid.Frame) -> None:
-    """Verify that checkerboard feature-points are detected in the frame.
+def _verify_good_capture(frame: zivid.Frame, user_options: argparse.Namespace) -> None:
+    """Verify that calibration object feature points are detected in the frame.
 
     Args:
         frame: Zivid frame containing point cloud
+        user_options: Input arguments
 
     Raises:
         RuntimeError: If no feature points are detected in frame
 
     """
-    detection_result = zivid.experimental.calibration.detect_feature_points(frame)
-
-    if not detection_result.valid():
-        raise RuntimeError("Failed to detect feature points from captured frame.")
+    if user_options.calibration_object == "checkerboard":
+        detected_features = zivid.calibration.detect_calibration_board(frame)
+        if not detected_features.valid():
+            raise RuntimeError("Failed to detect Zivid checkerboard from captured frame.")
+    if user_options.calibration_object == "marker":
+        detected_features = zivid.calibration.detect_markers(frame, user_options.ids, user_options.dictionary)
+        if not detected_features.valid():
+            raise RuntimeError("Failed to detect feature any ArUco markers from captured frame.")
 
 
 def _capture_one_frame_and_robot_pose(
     con: rtde.RTDE,
     camera: zivid.Camera,
-    settings: zivid.Settings,
     save_dir: Path,
     input_data: rtde.serialize.DataObject,
     image_num: int,
     ready_to_capture: bool,
+    user_options: argparse.Namespace,
 ) -> None:
     """Capture 3D image and robot pose for a given robot posture,
     then signals robot to move to next posture.
@@ -290,15 +303,16 @@ def _capture_one_frame_and_robot_pose(
     Args:
         con: Connection between computer and robot
         camera: Zivid camera
-        settings: Zivid settings
         save_dir: Path to where data will be saved
         input_data: Input package containing the specific input data registers
         image_num: Image number
         ready_to_capture: Boolean value to robot_state that camera is ready to capture images
+        user_options: Input arguments
 
     """
+    settings = _camera_settings(camera)
     frame, transform = _get_frame_and_transform_matrix(con, camera, settings)
-    _verify_good_capture(frame)
+    _verify_good_capture(frame, user_options)
 
     # Signal robot to move to next position, then set signal to low again.
     _write_robot_state(con, input_data, finish_capture=True, camera_ready=ready_to_capture)
@@ -308,20 +322,22 @@ def _capture_one_frame_and_robot_pose(
     print("Image and pose saved")
 
 
-def _generate_dataset(app: zivid.Application, con: rtde.RTDE, input_data: rtde.serialize.DataObject) -> Path:
+def _generate_dataset(
+    app: zivid.Application, con: rtde.RTDE, input_data: rtde.serialize.DataObject, user_options: argparse.Namespace
+) -> Path:
     """Generate dataset based on predefined robot poses.
 
     Args:
         app: Zivid application instance
         con: Connection between computer and robot
         input_data: Input package containing the specific input data registers
+        user_options: Input arguments
 
     Returns:
         Path: Save_dir to where dataset is saved
 
     """
     with app.connect_camera() as camera:
-        settings = _camera_settings(camera)
         save_dir = _generate_folder()
 
         # Signal robot that camera is ready
@@ -345,11 +361,11 @@ def _generate_dataset(app: zivid.Application, con: rtde.RTDE, input_data: rtde.s
                 _capture_one_frame_and_robot_pose(
                     con,
                     camera,
-                    settings,
                     save_dir,
                     input_data,
                     images_captured,
                     ready_to_capture,
+                    user_options,
                 )
                 images_captured += 1
 
@@ -393,7 +409,7 @@ def perform_hand_eye_calibration(
         if frame_file_path.is_file() and pose_file_path.is_file():
             print(f"Detect feature points from img{idata:02d}.zdf")
             frame = zivid.Frame(frame_file_path)
-            detection_result = zivid.experimental.calibration.detect_feature_points(frame)
+            detection_result = zivid.calibration.detect_calibration_board(frame)
 
             if not detection_result.valid():
                 raise RuntimeError(f"Failed to detect feature points from frame {frame_file_path}")
@@ -440,7 +456,7 @@ def _main() -> None:
     con, input_data = _initialize_robot_sync(robot_ip_address)
     con.send_start()
 
-    dataset_dir = _generate_dataset(app, con, input_data)
+    dataset_dir = _generate_dataset(app, con, input_data, user_options)
 
     if user_options.eih:
         transform, residuals = perform_hand_eye_calibration("eye-in-hand", dataset_dir)
diff --git a/source/applications/advanced/hand_eye_calibration/verify_hand_eye_with_visualization.py b/source/applications/advanced/hand_eye_calibration/verify_hand_eye_with_visualization.py
index 8c65f121..47f472e6 100644
--- a/source/applications/advanced/hand_eye_calibration/verify_hand_eye_with_visualization.py
+++ b/source/applications/advanced/hand_eye_calibration/verify_hand_eye_with_visualization.py
@@ -10,15 +10,13 @@
 - eye-to-hand: The point clouds are transformed to the robot end-effector frame
 - eye-in-hand: The point clouds are transformed to the robot base frame
 
-The Hand-Eye calibration is good if the visualized checkerboards overlap
+The Hand-Eye calibration is good if the visualized calibration objects overlap
 accurately.
 
 Tip: This sample saves the point clouds in PLY format in the same
 directory where this sample is stored. You can open the PLY point clouds
 in MeshLab for visual inspection.
 
-Note: This example uses experimental SDK features, which may be modified, moved, or deleted in the future without notice.
-
 """
 
 import argparse
@@ -28,23 +26,37 @@
 import numpy as np
 import open3d as o3d
 import zivid
-import zivid.experimental.calibration
 from sample_utils.save_load_matrix import load_and_assert_affine_matrix
 
 
-def _filter_checkerboard_roi(xyz: np.ndarray, centroid: np.ndarray) -> np.ndarray:
-    """Filters out the data outside the region of interest defined by the checkerboard centroid.
+def _filter_calibration_object_roi(frame: zivid.Frame, args: argparse.Namespace) -> np.ndarray:
+    """Filters out the data outside the region of interest defined by the calibration_object centroid.
 
     Args:
-        xyz: A numpy array of X, Y and Z point cloud coordinates
-        centroid: A numpy array of X, Y and Z checkerboard centroid coordinates
+        frame: Zivid frame
+        args: Input arguments
 
     Returns:
         xyz: A numpy array of X, Y and Z point cloud coordinates within the region of interest
 
     """
-    # the longest distance from the checkerboard centroid to the calibration board corner is < 245 mm
-    radius_threshold = 245
+
+    xyz = frame.point_cloud().copy_data("xyz")
+
+    if args.calibration_object == "checkerboard":
+        # Finding Cartesian coordinates of the checkerboard center point
+        detection_result = zivid.calibration.detect_calibration_board(frame)
+        centroid = detection_result.centroid()
+        # the longest distance from the checkerboard centroid to the calibration board corner is < 245 mm
+        radius_threshold = 245
+    else:
+        # Finding Cartesian coordinates of the ArUco marker center point
+        detection_result = zivid.calibration.detect_markers(frame, args.id, args.dictionary)
+        pose = detection_result.detected_markers()[0].pose.to_matrix()
+        translation = pose[:3, 3]
+        centroid = translation.flatten()
+        radius_threshold = args.size * np.sqrt(2) / 2
+
     radius = np.linalg.norm(centroid - xyz, axis=2)
     xyz[radius > radius_threshold] = np.NaN
 
@@ -65,6 +77,21 @@ def _options() -> argparse.Namespace:
         required=True,
         help="Path to the Hand-Eye dataset",
     )
+
+    subparsers = parser.add_subparsers(dest="calibration_object", required=True, help="Calibration object type")
+    subparsers.add_parser("checkerboard", help="Verify using Zivid calibration board")
+    marker_parser = subparsers.add_parser("marker", help="Verify using ArUco marker")
+    marker_parser.add_argument(
+        "--dictionary",
+        required=True,
+        choices=list(zivid.calibration.MarkerDictionary.valid_values()),
+        help="Dictionary of the targeted ArUco marker",
+    )
+    marker_parser.add_argument(
+        "--id", nargs=1, required=True, type=int, help="ID of ArUco marker to be used for verification"
+    )
+    marker_parser.add_argument("--size", required=True, type=float, help="ArUco marker size in mm")
+
     return parser.parse_args()
 
 
@@ -83,8 +110,8 @@ def _create_open3d_point_cloud(rgba: np.ndarray, xyz: np.ndarray) -> o3d.geometr
     xyz = xyz.reshape(-1, 3)
     rgb = rgba[:, :, 0:3].reshape(-1, 3)
 
-    point_cloud_open3d = o3d.geometry.PointCloud(o3d.utility.Vector3dVector(xyz))
-    point_cloud_open3d.colors = o3d.utility.Vector3dVector(rgb / 255)
+    point_cloud_open3d = o3d.geometry.PointCloud(o3d.utility.Vector3dVector(xyz.astype(np.float64)))
+    point_cloud_open3d.colors = o3d.utility.Vector3dVector(rgb.astype(np.float64) / 255)
 
     refined_point_cloud_open3d = o3d.geometry.PointCloud.remove_non_finite_points(
         point_cloud_open3d, remove_nan=True, remove_infinite=True
@@ -120,7 +147,7 @@ def _path_list_creator(
         file_path = path / f"{file_prefix_name}{str(num).zfill(number_of_digits_zfill)}{file_suffix_name}"
         list_of_paths.append(file_path)
 
-        next_file_path = path / f"{file_prefix_name}{str(num+1).zfill(number_of_digits_zfill)}{file_suffix_name}"
+        next_file_path = path / f"{file_prefix_name}{str(num + 1).zfill(number_of_digits_zfill)}{file_suffix_name}"
 
         if not next_file_path.exists():
             return list_of_paths
@@ -130,6 +157,8 @@ def _path_list_creator(
 
 def _main() -> None:
     with zivid.Application():
+        args = _options()
+
         while True:
             robot_camera_configuration = input(
                 "Enter type of calibration, eth (for eye-to-hand) or eih (for eye-in-hand):"
@@ -138,11 +167,8 @@ def _main() -> None:
                 break
             print("Entered unknown Hand-Eye calibration type")
 
-        args = _options()
         path = args.input_path
-
         list_of_paths_to_hand_eye_dataset_point_clouds = _path_list_creator(path, "img", 2, ".zdf")
-
         list_of_paths_to_hand_eye_dataset_robot_poses = _path_list_creator(path, "pos", 2, ".yaml")
 
         if len(list_of_paths_to_hand_eye_dataset_robot_poses) != len(list_of_paths_to_hand_eye_dataset_point_clouds):
@@ -162,7 +188,9 @@ def _main() -> None:
             list_of_open_3d_point_clouds = []
             for data_pair_id in range(number_of_dataset_pairs):
                 # Updating the user about the process status through the terminal
-                print(f"{data_pair_id} / {number_of_dataset_pairs} - {100*data_pair_id / number_of_dataset_pairs}%")
+                print(
+                    f"{data_pair_id} / {number_of_dataset_pairs} - {(100 * data_pair_id / number_of_dataset_pairs):.2f}%"
+                )
 
                 # Reading point cloud from file
                 frame = zivid.Frame(list_of_paths_to_hand_eye_dataset_point_clouds[data_pair_id])
@@ -178,24 +206,17 @@ def _main() -> None:
                 if robot_camera_configuration.lower() == "eih":
                     frame.point_cloud().transform(np.matmul(robot_pose, hand_eye_transform))
 
-                xyz = frame.point_cloud().copy_data("xyz")
-                rgba = frame.point_cloud().copy_data("rgba")
-
-                # Finding Cartesian coordinates of the checkerboard center point
-                detection_result = zivid.experimental.calibration.detect_feature_points(frame)
-
-                if detection_result.valid():
-                    # Extracting the points within the ROI (checkerboard)
-                    xyz_filtered = _filter_checkerboard_roi(xyz, detection_result.centroid())
+                # Extracting the points within the ROI (calibration object)
+                xyz_filtered = _filter_calibration_object_roi(frame, args)
 
-                    # Converting from NumPy array to Open3D format
-                    point_cloud_open3d = _create_open3d_point_cloud(rgba, xyz_filtered)
+                # Converting from NumPy array to Open3D format
+                point_cloud_open3d = _create_open3d_point_cloud(frame.point_cloud().copy_data("rgba"), xyz_filtered)
 
-                    # Saving point cloud to PLY file
-                    o3d.io.write_point_cloud(f"img{data_pair_id + 1}.ply", point_cloud_open3d)
+                # Saving point cloud to PLY file
+                o3d.io.write_point_cloud(f"img{data_pair_id + 1}.ply", point_cloud_open3d)
 
-                    # Appending the Open3D point cloud to a list for visualization
-                    list_of_open_3d_point_clouds.append(point_cloud_open3d)
+                # Appending the Open3D point cloud to a list for visualization
+                list_of_open_3d_point_clouds.append(point_cloud_open3d)
 
         print(f"{number_of_dataset_pairs} / {number_of_dataset_pairs} - 100.0%")
         print("\nAll done!\n")
diff --git a/source/applications/advanced/reproject_points.py b/source/applications/advanced/reproject_points.py
index 56643e05..21e19249 100644
--- a/source/applications/advanced/reproject_points.py
+++ b/source/applications/advanced/reproject_points.py
@@ -7,8 +7,6 @@
 The projector pixel coordinates are then used to draw markers at the correct locations before displaying
 the image using the projector.
 
-Note: This example uses experimental SDK features, which may be modified, moved, or deleted in the future without notice.
-
 """
 
 from datetime import timedelta
@@ -17,7 +15,6 @@
 import cv2
 import numpy as np
 import zivid
-import zivid.experimental.calibration
 
 
 def _checkerboard_grid() -> List[np.ndarray]:
@@ -85,7 +82,7 @@ def _main() -> None:
     camera = app.connect_camera()
 
     print("Capturing and estimating pose of the Zivid checkerboard in the camera frame")
-    detection_result = zivid.experimental.calibration.detect_feature_points(camera)
+    detection_result = zivid.calibration.detect_calibration_board(camera)
     if not detection_result.valid():
         raise RuntimeError("Calibration board not detected!")
 
diff --git a/source/applications/advanced/robot_guidance/robodk_robot_guidance.py b/source/applications/advanced/robot_guidance/robodk_robot_guidance.py
index 212a4afd..e5e53c36 100644
--- a/source/applications/advanced/robot_guidance/robodk_robot_guidance.py
+++ b/source/applications/advanced/robot_guidance/robodk_robot_guidance.py
@@ -12,8 +12,6 @@
 
 Note: Make sure to launch RoboDK and connect to the robot before running this sample.
 
-Note: This example uses experimental SDK features, which may be modified, moved, or deleted in the future without notice.
-
 """
 
 import argparse
@@ -23,7 +21,6 @@
 import numpy as np
 import robodk
 import zivid
-import zivid.experimental.calibration
 from sample_utils.robodk_tools import connect_to_robot, set_robot_speed_and_acceleration
 from sample_utils.save_load_matrix import load_and_assert_affine_matrix
 
@@ -145,7 +142,7 @@ def _generate_tool_poses_from_checkerboard(
         List of poses (4x4) for the tool path in the robot base
 
     """
-    detection_result = zivid.experimental.calibration.detect_feature_points(camera)
+    detection_result = zivid.calibration.detect_calibration_board(camera)
     if not detection_result.valid():
         raise RuntimeError("Calibration board not detected!")
 
diff --git a/source/applications/advanced/roi_box_via_aruco_marker.py b/source/applications/advanced/roi_box_via_aruco_marker.py
new file mode 100644
index 00000000..da20958a
--- /dev/null
+++ b/source/applications/advanced/roi_box_via_aruco_marker.py
@@ -0,0 +1,116 @@
+"""
+Filter the point cloud based on a ROI box given relative to the ArUco marker on a Zivid Calibration Board.
+
+The ZFC file for this sample can be downloaded from https://support.zivid.com/en/latest/api-reference/samples/sample-data.html.
+
+"""
+
+from typing import List
+
+import numpy as np
+import zivid
+from sample_utils.display import display_depthmap, display_pointcloud
+from sample_utils.paths import get_sample_data_path
+
+
+def _transform_points(points: List[np.ndarray], transform: np.ndarray) -> List[np.ndarray]:
+    """Perform a homogenous transformation to every point in 'points' and return the transformed points.
+
+    Args:
+        points: list of 3D points to be transformed
+        transform: homogenous transform (4x4)
+
+    Returns:
+        transformed_points: list of transformed 3D points
+
+    """
+    rotation_matrix = transform[:3, :3]
+    translation_vector = transform[:3, 3]
+
+    transformed_points = []
+    for point in points:
+        transformed_points.append(rotation_matrix @ point + translation_vector)
+
+    return transformed_points
+
+
+def _main() -> None:
+    with zivid.Application() as app:
+
+        file_camera = get_sample_data_path() / "BinWithCalibrationBoard.zfc"
+
+        print(f"Creating virtual camera using file: {file_camera}")
+        camera = app.create_file_camera(file_camera)
+
+        settings = zivid.Settings([zivid.Settings.Acquisition()])
+
+        original_frame = camera.capture(settings)
+        point_cloud = original_frame.point_cloud()
+
+        print("Displaying the original point cloud")
+        display_pointcloud(point_cloud.copy_data("xyz"), point_cloud.copy_data("rgba")[:, :, :3])
+
+        print("Configuring ROI box based on bin size and checkerboard placement")
+        roi_box_length = 545
+        roi_box_width = 345
+        roi_box_height = 150
+
+        # Coordinates are relative to the ArUco marker origin which lies in the center of the ArUco marker.
+        # Positive x-axis is "East", y-axis is "South" and z-axis is "Down".
+        roi_box_lower_right_corner_in_aruco_frame = np.array([240, 30, 5])
+        roi_box_upper_right_corner_in_aruco_frame = np.array(
+            [
+                roi_box_lower_right_corner_in_aruco_frame[0],
+                roi_box_lower_right_corner_in_aruco_frame[1] - roi_box_width,
+                roi_box_lower_right_corner_in_aruco_frame[2],
+            ]
+        )
+        roi_box_lower_left_corner_in_aruco_frame = np.array(
+            [
+                roi_box_lower_right_corner_in_aruco_frame[0] - roi_box_length,
+                roi_box_lower_right_corner_in_aruco_frame[1],
+                roi_box_lower_right_corner_in_aruco_frame[2],
+            ]
+        )
+
+        point_o_in_aruco_frame = roi_box_lower_right_corner_in_aruco_frame
+        point_a_in_aruco_frame = roi_box_upper_right_corner_in_aruco_frame
+        point_b_in_aruco_frame = roi_box_lower_left_corner_in_aruco_frame
+
+        print("Configuring ArUco marker")
+        marker_dictionary = zivid.calibration.MarkerDictionary.aruco4x4_50
+        marker_id = [1]
+
+        print("Detecting ArUco marker")
+        detection_result = zivid.calibration.detect_markers(original_frame, marker_id, marker_dictionary)
+
+        if not detection_result.valid():
+            raise RuntimeError("No ArUco markers detected")
+
+        print("Estimating pose of detected ArUco marker")
+        transform_camera_to_marker = detection_result.detected_markers()[0].pose.to_matrix()
+
+        print("Transforming the ROI base frame points to the camera frame")
+        roi_points_in_camera_frame = _transform_points(
+            [point_o_in_aruco_frame, point_a_in_aruco_frame, point_b_in_aruco_frame],
+            transform_camera_to_marker,
+        )
+
+        print("Setting the ROI")
+        settings.region_of_interest.box.enabled = True
+        settings.region_of_interest.box.point_o = roi_points_in_camera_frame[0]
+        settings.region_of_interest.box.point_a = roi_points_in_camera_frame[1]
+        settings.region_of_interest.box.point_b = roi_points_in_camera_frame[2]
+        settings.region_of_interest.box.extents = (-10, roi_box_height)
+
+        roi_point_cloud = camera.capture(settings).point_cloud()
+
+        print("Displaying the ROI-filtered point cloud")
+        display_pointcloud(roi_point_cloud.copy_data("xyz"), roi_point_cloud.copy_data("rgba")[:, :, :3])
+
+        print("Displaying depth map of the ROI-filtered point cloud")
+        display_depthmap(roi_point_cloud.copy_data("xyz"))
+
+
+if __name__ == "__main__":
+    _main()
diff --git a/source/applications/advanced/roi_box_via_checkerboard.py b/source/applications/advanced/roi_box_via_checkerboard.py
index 5703ff76..1c4f2dab 100644
--- a/source/applications/advanced/roi_box_via_checkerboard.py
+++ b/source/applications/advanced/roi_box_via_checkerboard.py
@@ -3,15 +3,12 @@
 
 The ZFC file for this sample can be downloaded from https://support.zivid.com/en/latest/api-reference/samples/sample-data.html.
 
-Note: This example uses experimental SDK features, which may be modified, moved, or deleted in the future without notice.
-
 """
 
 from typing import List
 
 import numpy as np
 import zivid
-import zivid.experimental.calibration
 from sample_utils.display import display_depthmap, display_pointcloud
 from sample_utils.paths import get_sample_data_path
 
@@ -38,68 +35,72 @@ def _transform_points(points: List[np.ndarray], transform: np.ndarray) -> List[n
 
 
 def _main() -> None:
-    app = zivid.Application()
-
-    file_camera = get_sample_data_path() / "BinWithCalibrationBoard.zfc"
-
-    print(f"Creating virtual camera using file: {file_camera}")
-    camera = app.create_file_camera(file_camera)
-
-    settings = zivid.Settings([zivid.Settings.Acquisition()])
-
-    original_frame = camera.capture(settings)
-    original_point_cloud = original_frame.point_cloud()
-
-    print("Displaying the original point cloud")
-    display_pointcloud(original_point_cloud.copy_data("xyz"), original_point_cloud.copy_data("rgba")[:, :, :3])
-
-    print("Configuring ROI box based on bin size and checkerboard placement")
-    roi_box_length = 545
-    roi_box_width = 345
-    roi_box_height = 150
-
-    # Coordinates are relative to the checkerboard origin which lies in the intersection between the four checkers
-    # in the top-left corner of the checkerboard: Positive x-axis is "East", y-axis is "South" and z-axis is "Down"
-    roi_box_lower_right_corner = np.array([240, 260, 0.5])
-    roi_box_upper_right_corner = np.array(
-        [
-            roi_box_lower_right_corner[0],
-            roi_box_lower_right_corner[1] - roi_box_width,
-            roi_box_lower_right_corner[2],
-        ]
-    )
-    roi_box_lower_left_corner = np.array(
-        [roi_box_lower_right_corner[0] - roi_box_length, roi_box_lower_right_corner[1], roi_box_lower_right_corner[2]]
-    )
-
-    point_o_in_checkerboard_frame = roi_box_lower_right_corner
-    point_a_in_checkerboard_frame = roi_box_upper_right_corner
-    point_b_in_checkerboard_frame = roi_box_lower_left_corner
-
-    print("Detecting and estimating pose of the Zivid checkerboard in the camera frame")
-    detection_result = zivid.experimental.calibration.detect_feature_points(original_frame)
-    transform_checkerboard_to_camera = detection_result.pose().to_matrix()
-
-    print("Transforming the ROI base frame points to the camera frame")
-    roi_points_in_camera_frame = _transform_points(
-        [point_o_in_checkerboard_frame, point_a_in_checkerboard_frame, point_b_in_checkerboard_frame],
-        transform_checkerboard_to_camera,
-    )
-
-    print("Setting the ROI")
-    settings.region_of_interest.box.enabled = True
-    settings.region_of_interest.box.point_o = roi_points_in_camera_frame[0]
-    settings.region_of_interest.box.point_a = roi_points_in_camera_frame[1]
-    settings.region_of_interest.box.point_b = roi_points_in_camera_frame[2]
-    settings.region_of_interest.box.extents = (-10, roi_box_height)
-
-    roi_point_cloud = camera.capture(settings).point_cloud()
-
-    print("Displaying the ROI-filtered point cloud")
-    display_pointcloud(roi_point_cloud.copy_data("xyz"), roi_point_cloud.copy_data("rgba")[:, :, :3])
-
-    print("Displaying depth map of the ROI-filtered point cloud")
-    display_depthmap(roi_point_cloud.copy_data("xyz"))
+    with zivid.Application() as app:
+
+        file_camera = get_sample_data_path() / "BinWithCalibrationBoard.zfc"
+
+        print(f"Creating virtual camera using file: {file_camera}")
+        camera = app.create_file_camera(file_camera)
+
+        settings = zivid.Settings([zivid.Settings.Acquisition()])
+
+        original_frame = camera.capture(settings)
+        point_cloud = original_frame.point_cloud()
+
+        print("Displaying the original point cloud")
+        display_pointcloud(point_cloud.copy_data("xyz"), point_cloud.copy_data("rgba")[:, :, :3])
+
+        print("Configuring ROI box based on bin size and checkerboard placement")
+        roi_box_length = 545
+        roi_box_width = 345
+        roi_box_height = 150
+
+        # Coordinates are relative to the checkerboard origin which lies in the intersection between the four checkers
+        # in the top-left corner of the checkerboard: Positive x-axis is "East", y-axis is "South" and z-axis is "Down"
+        roi_box_lower_right_corner = np.array([240, 260, 0.5])
+        roi_box_upper_right_corner = np.array(
+            [
+                roi_box_lower_right_corner[0],
+                roi_box_lower_right_corner[1] - roi_box_width,
+                roi_box_lower_right_corner[2],
+            ]
+        )
+        roi_box_lower_left_corner = np.array(
+            [
+                roi_box_lower_right_corner[0] - roi_box_length,
+                roi_box_lower_right_corner[1],
+                roi_box_lower_right_corner[2],
+            ]
+        )
+
+        point_o_in_checkerboard_frame = roi_box_lower_right_corner
+        point_a_in_checkerboard_frame = roi_box_upper_right_corner
+        point_b_in_checkerboard_frame = roi_box_lower_left_corner
+
+        print("Detecting and estimating pose of the Zivid checkerboard in the camera frame")
+        detection_result = zivid.calibration.detect_feature_points(original_frame)
+        transform_camera_to_checkerboard = detection_result.pose().to_matrix()
+
+        print("Transforming the ROI base frame points to the camera frame")
+        roi_points_in_camera_frame = _transform_points(
+            [point_o_in_checkerboard_frame, point_a_in_checkerboard_frame, point_b_in_checkerboard_frame],
+            transform_camera_to_checkerboard,
+        )
+
+        print("Setting the ROI")
+        settings.region_of_interest.box.enabled = True
+        settings.region_of_interest.box.point_o = roi_points_in_camera_frame[0]
+        settings.region_of_interest.box.point_a = roi_points_in_camera_frame[1]
+        settings.region_of_interest.box.point_b = roi_points_in_camera_frame[2]
+        settings.region_of_interest.box.extents = (-10, roi_box_height)
+
+        roi_point_cloud = camera.capture(settings).point_cloud()
+
+        print("Displaying the ROI-filtered point cloud")
+        display_pointcloud(roi_point_cloud.copy_data("xyz"), roi_point_cloud.copy_data("rgba")[:, :, :3])
+
+        print("Displaying depth map of the ROI-filtered point cloud")
+        display_depthmap(roi_point_cloud.copy_data("xyz"))
 
 
 if __name__ == "__main__":
diff --git a/source/applications/advanced/transform_point_cloud_via_aruco_marker.py b/source/applications/advanced/transform_point_cloud_via_aruco_marker.py
new file mode 100644
index 00000000..9227c403
--- /dev/null
+++ b/source/applications/advanced/transform_point_cloud_via_aruco_marker.py
@@ -0,0 +1,90 @@
+"""
+Transform a point cloud from camera to ArUco marker coordinate frame by estimating the marker's pose from the point cloud.
+
+The ZDF file for this sample can be found under the main instructions for Zivid samples.
+
+"""
+
+from pathlib import Path
+
+import cv2
+import numpy as np
+import zivid
+from sample_utils.display import display_bgr
+from sample_utils.paths import get_sample_data_path
+from sample_utils.save_load_matrix import assert_affine_matrix_and_save
+
+
+def _draw_detected_marker(bgra_image: np.ndarray, detection_result: zivid.calibration.DetectionResult) -> np.ndarray:
+    """Draw detected ArUco marker on the BGRA image based on Zivid ArUco marker detection results.
+
+    Args:
+        bgra_image: The input BGRA image.
+        detection_result: The result object containing detected ArUco markers with their corners.
+
+    Returns:
+        bgra_image: The BGR image with ArUco detected marker drawn on it.
+    """
+
+    bgr = bgra_image[:, :, 0:3].copy()
+    marker_corners = detection_result.detected_markers()[0].corners_in_pixel_coordinates
+
+    for i, corner in enumerate(marker_corners):
+        start_point = tuple(map(int, corner))
+        end_point = tuple(map(int, marker_corners[(i + 1) % len(marker_corners)]))
+        cv2.line(bgr, start_point, end_point, (0, 255, 0), 2)
+
+    return bgr
+
+
+def _main() -> None:
+    with zivid.Application():
+
+        data_file = get_sample_data_path() / "CalibrationBoardInCameraOrigin.zdf"
+        print(f"Reading ZDF frame from file: {data_file}")
+        frame = zivid.Frame(data_file)
+        point_cloud = frame.point_cloud()
+
+        print("Configuring ArUco marker")
+        marker_dictionary = zivid.calibration.MarkerDictionary.aruco4x4_50
+        marker_id = [1]
+
+        print("Detecting ArUco marker")
+        detection_result = zivid.calibration.detect_markers(frame, marker_id, marker_dictionary)
+
+        if not detection_result.valid():
+            raise RuntimeError("No ArUco markers detected")
+
+        print("Converting to OpenCV image format")
+        bgra_image = point_cloud.copy_data("bgra")
+
+        print("Displaying detected ArUco marker")
+        bgr = _draw_detected_marker(bgra_image, detection_result)
+        display_bgr(bgr, "ArucoMarkerDetected")
+
+        bgr_image_file = "ArucoMarkerDetected.png"
+        print(f"Saving 2D color image with detected ArUco marker to file: {bgr_image_file}")
+        cv2.imwrite(bgr_image_file, bgr)
+
+        print("Estimating pose of detected ArUco marker")
+        transform_camera_to_marker = detection_result.detected_markers()[0].pose.to_matrix()
+        print("ArUco marker pose in camera frame:")
+        print(transform_camera_to_marker)
+        print("Camera pose in ArUco marker frame:")
+        transform_marker_to_camera = np.linalg.inv(transform_camera_to_marker)
+        print(transform_marker_to_camera)
+
+        transform_file = Path("ArUcoMarkerToCameraTransform.yaml")
+        print("Saving a YAML file with Inverted ArUco marker pose to file: ")
+        assert_affine_matrix_and_save(transform_marker_to_camera, transform_file)
+
+        print("Transforming point cloud from camera frame to ArUco marker frame")
+        point_cloud.transform(transform_marker_to_camera)
+
+        aruco_marker_transformed_file = "CalibrationBoardInArucoMarkerOrigin.zdf"
+        print(f"Saving transformed point cloud to file: {aruco_marker_transformed_file}")
+        frame.save(aruco_marker_transformed_file)
+
+
+if __name__ == "__main__":
+    _main()
diff --git a/source/applications/advanced/transform_point_cloud_via_checkerboard.py b/source/applications/advanced/transform_point_cloud_via_checkerboard.py
new file mode 100644
index 00000000..b561740a
--- /dev/null
+++ b/source/applications/advanced/transform_point_cloud_via_checkerboard.py
@@ -0,0 +1,193 @@
+"""
+Transform a point cloud from camera to checkerboard (Zivid Calibration Board) coordinate frame by getting checkerboard pose from the API.
+
+The ZDF file for this sample can be found under the main instructions for Zivid samples.
+
+Note: This example uses experimental SDK features, which may be modified, moved, or deleted in the future without notice.
+
+"""
+
+from pathlib import Path
+from typing import Dict, Tuple
+
+import cv2
+import numpy as np
+import zivid
+import zivid.experimental.calibration
+from sample_utils.display import display_bgr
+from sample_utils.paths import get_sample_data_path
+from sample_utils.save_load_matrix import assert_affine_matrix_and_save
+
+
+def _coordinate_system_line(
+    bgra_image: np.ndarray,
+    first_point: Tuple[int, int],
+    second_point: Tuple[int, int],
+    line_color: Tuple[int, int, int],
+) -> None:
+    """Draw a line on a BGRA image.
+
+    Args:
+        bgra_image: BGRA image.
+        first_point: Pixel coordinates of the first end point.
+        second_point: Pixel coordinates of the second end point.
+        line_color: Line color.
+    """
+
+    line_thickness = 4
+    line_type = cv2.LINE_8
+    cv2.line(bgra_image, first_point, second_point, line_color, line_thickness, line_type)
+
+
+def _zivid_camera_matrix_to_opencv_camera_matrix(camera_matrix: zivid.CameraIntrinsics.CameraMatrix) -> np.ndarray:
+    """Convert camera matrix from Zivid to OpenCV.
+
+    Args:
+        camera_matrix: Camera matrix in Zivid format.
+
+    Returns:
+        camera_matrix_opencv: Camera matrix in OpenCV format.
+    """
+
+    return np.array(
+        [[camera_matrix.fx, 0.0, camera_matrix.cx], [0.0, camera_matrix.fy, camera_matrix.cy], [0.0, 0.0, 1.0]]
+    )
+
+
+def _zivid_distortion_coefficients_to_opencv_distortion_coefficients(
+    distortion_coeffs: zivid.CameraIntrinsics.Distortion,
+) -> np.ndarray:
+    """Convert distortion coefficients from Zivid to OpenCV.
+
+    Args:
+        distortion_coeffs: Camera distortion coefficients in Zivid format.
+
+    Returns:
+        distortion_coeffs_opencv: Camera distortion coefficients in OpenCV format.
+    """
+
+    return np.array(
+        [distortion_coeffs.k1, distortion_coeffs.k2, distortion_coeffs.p1, distortion_coeffs.p2, distortion_coeffs.k3]
+    )
+
+
+def _move_point(
+    origin_in_camera_frame: np.ndarray, offset_in_board_frame: np.ndarray, checkerboard_pose: np.ndarray
+) -> np.ndarray:
+    """Move a coordinate system origin point given a direction and an offset to create a coordinate system axis point.
+
+    Args:
+        origin_in_camera_frame: 3D coordinates of the coordinate system origin point.
+        offset_in_board_frame: 3D coordinates of the offset to move the coordinate system origin point to.
+        checkerboard_pose: Transformation matrix (checkerboard in camera frame).
+
+    Returns:
+        translated point: 3D coordinates of coordinate system axis point.
+    """
+
+    rotation_matrix = checkerboard_pose[:3, :3]
+    offset_rotated = np.dot(rotation_matrix, offset_in_board_frame)
+    return origin_in_camera_frame + offset_rotated
+
+
+def _get_coordinate_system_points(
+    frame: zivid.Frame, checkerboard_pose: np.ndarray, size_of_axis: float
+) -> Dict[str, Tuple[int, int]]:
+    """Get pixel coordinates of the coordinate system origin and axes.
+
+    Args:
+        frame: Zivid frame containing point cloud.
+        checkerboard_pose: Transformation matrix (checkerboard in camera frame).
+        size_of_axis: Coordinate system axis length in mm.
+
+    Returns:
+        frame_points: Pixel coordinates of the coordinate system origin and axes.
+    """
+
+    intrinsics = zivid.experimental.calibration.estimate_intrinsics(frame)
+    cv_camera_matrix = _zivid_camera_matrix_to_opencv_camera_matrix(intrinsics.camera_matrix)
+    cv_dist_coeffs = _zivid_distortion_coefficients_to_opencv_distortion_coefficients(intrinsics.distortion)
+
+    origin_position = np.array([checkerboard_pose[0, 3], checkerboard_pose[1, 3], checkerboard_pose[2, 3]])
+    x_axis_direction = _move_point(origin_position, np.array([size_of_axis, 0.0, 0.0]), checkerboard_pose)
+    y_axis_direction = _move_point(origin_position, np.array([0.0, size_of_axis, 0.0]), checkerboard_pose)
+    z_axis_direction = _move_point(origin_position, np.array([0.0, 0.0, size_of_axis]), checkerboard_pose)
+
+    points_to_project = np.array([origin_position, x_axis_direction, y_axis_direction, z_axis_direction])
+    projected_points = cv2.projectPoints(points_to_project, np.zeros(3), np.zeros(3), cv_camera_matrix, cv_dist_coeffs)
+
+    projected_points = projected_points.reshape(-1, 2)
+    return {
+        "origin_point": (int(projected_points[0][0]), int(projected_points[0][1])),
+        "x_axis_point": (int(projected_points[1][0]), int(projected_points[1][1])),
+        "y_axis_point": (int(projected_points[2][0]), int(projected_points[2][1])),
+        "z_axis_point": (int(projected_points[3][0]), int(projected_points[3][1])),
+    }
+
+
+def _draw_coordinae_system(frame: zivid.Frame, checkerboard_pose: np.ndarray, bgra_image: np.ndarray) -> None:
+    """Draw a coordinate system on a BGRA image.
+
+    Args:
+        frame: Zivid frame containing point cloud.
+        checkerboard_pose: Transformation matrix (checkerboard in camera frame).
+        bgra_image: BGRA image.
+    """
+
+    size_of_axis = 30.0  # each axis has 30 mm of length
+
+    print("Acquiring frame points")
+    frame_points = _get_coordinate_system_points(frame, checkerboard_pose, size_of_axis)
+
+    origin_point = frame_points["origin_point"]
+    z = frame_points["z_axis_point"]
+    y = frame_points["y_axis_point"]
+    x = frame_points["x_axis_point"]
+
+    print("Drawing Z axis")
+    _coordinate_system_line(bgra_image, origin_point, z, (255, 0, 0))
+
+    print("Drawing Y axis")
+    _coordinate_system_line(bgra_image, origin_point, y, (0, 255, 0))
+
+    print("Drawing X axis")
+    _coordinate_system_line(bgra_image, origin_point, x, (0, 0, 255))
+
+
+def _main() -> None:
+    with zivid.Application():
+
+        data_file = get_sample_data_path() / "CalibrationBoardInCameraOrigin.zdf"
+        print(f"Reading ZDF frame from file: {data_file}")
+        frame = zivid.Frame(data_file)
+        point_cloud = frame.point_cloud()
+
+        print("Detecting and estimating pose of the Zivid checkerboard in the camera frame")
+        detection_result = zivid.calibration.detect_calibration_board(frame)
+        transform_camera_to_checkerboard = detection_result.pose().to_matrix()
+        print(transform_camera_to_checkerboard)
+        print("Camera pose in checkerboard frame:")
+        transform_checkerboard_to_camera = np.linalg.inv(transform_camera_to_checkerboard)
+        print(transform_checkerboard_to_camera)
+
+        transform_file = Path("CheckerboardToCameraTransform.yaml")
+        print("Saving a YAML file with Inverted checkerboard pose to file: ")
+        assert_affine_matrix_and_save(transform_checkerboard_to_camera, transform_file)
+
+        print("Transforming point cloud from camera frame to Checkerboard frame")
+        point_cloud.transform(transform_checkerboard_to_camera)
+
+        print("Converting to OpenCV image format")
+        bgra_image = point_cloud.copy_data("bgra")
+
+        print("Visualizing checkerboard with coordinate system")
+        _draw_coordinae_system(frame, transform_camera_to_checkerboard, bgra_image)
+        display_bgr(bgra_image, "Checkerboard transformation frame")
+
+        checkerboard_transformed_file = "CalibrationBoardInCheckerboardOrigin.zdf"
+        print(f"Saving transformed point cloud to file: {checkerboard_transformed_file}")
+        frame.save(checkerboard_transformed_file)
+
+
+if __name__ == "__main__":
+    _main()
diff --git a/source/applications/advanced/verify_hand_eye_calibration/robodk_verify_hand_eye_calibration.py b/source/applications/advanced/verify_hand_eye_calibration/robodk_verify_hand_eye_calibration.py
index 26df4648..cc8fa3e6 100644
--- a/source/applications/advanced/verify_hand_eye_calibration/robodk_verify_hand_eye_calibration.py
+++ b/source/applications/advanced/verify_hand_eye_calibration/robodk_verify_hand_eye_calibration.py
@@ -2,12 +2,13 @@
 Perform a touch test with a robot to verify Hand-Eye Calibration using the RoboDK interface.
 
 The touch test is performed by a robot equipped with the Pointed Hand-Eye Verification Tool.
-The robot touches a corner of the checkerboard on the Zivid calibration board to verify hand-eye calibration.
+The robot touches the Zivid calibration object to verify hand-eye calibration.
 The sample requires as follows:
 - Type of calibration used (eye-in-hand or eye-to-hand)
 - YAML file with Hand-Eye transformation
 - YAML file with Pointed Hand-Eye Verification Tool transformation
 - Capture pose target name used in RoboDK
+- Calibration object used (Zivid calibration board or ArUco marker)
 
 Note: Make sure to launch your RDK file and connect to the robot through RoboDK before running this script.
 
@@ -19,23 +20,28 @@
 
 import argparse
 import datetime
+from typing import Dict, Tuple
 
+import cv2
 import numpy as np
 import zivid
+import zivid.experimental.calibration
 from robodk import Mat
 from robodk.robolink import Item
+from sample_utils.display import display_rgb
 from sample_utils.robodk_tools import connect_to_robot, get_robot_targets, set_robot_speed_and_acceleration
 from sample_utils.save_load_matrix import load_and_assert_affine_matrix
 
 
-def _capture_and_estimate_calibration_board_pose(camera: zivid.Camera) -> np.ndarray:
-    """Capture an image with the Zivid camera using capture assistant, detecting, and estimating the pose of the calibration board.
+def _assisted_capture(camera: zivid.Camera) -> zivid.Frame:
+    """Acquire frame with capture assistant.
 
     Args:
         camera: Zivid camera
 
     Returns:
-        calibration_board_pose: A 4x4 numpy array containing the calibration board pose
+        frame: Zivid frame
+        bgra_image: BGRA image
 
     """
     suggest_settings_parameters = zivid.capture_assistant.SuggestSettingsParameters(
@@ -46,25 +52,55 @@ def _capture_and_estimate_calibration_board_pose(camera: zivid.Camera) -> np.nda
     settings_list = zivid.capture_assistant.suggest_settings(camera, suggest_settings_parameters)
     frame = camera.capture(settings_list)
 
-    calibration_board_pose = zivid.calibration.detect_feature_points(frame).pose().to_matrix()
+    bgra_image = frame.point_cloud().copy_data("bgra")
 
-    return calibration_board_pose
+    return frame, bgra_image
 
 
-def _get_robot_base_to_calibration_board_transform(
+def _estimate_calibration_object_pose(frame: zivid.Frame, user_options: argparse.Namespace) -> np.ndarray:
+    """Detect and estimate the pose of the calibration object.
+
+    Args:
+        frame: Zivid frame
+        user_options: Input arguments
+
+    Returns:
+        calibration_object_pose: A 4x4 numpy array containing the calibration object pose
+
+    """
+
+    if user_options.calibration_object == "checkerboard":
+        print("Detecting the Zivid calibration board pose (upper left checkerboard corner)")
+        calibration_object_pose = zivid.calibration.detect_calibration_board(frame).pose().to_matrix()
+    else:
+        print("Detecting the ArUco marker pose (center of the marker)")
+
+        calibration_object_pose = (
+            zivid.calibration.detect_markers(frame, user_options.ids, user_options.dictionary)
+            .detected_markers()[0]
+            .pose.to_matrix()
+        )
+
+    return calibration_object_pose
+
+
+def _get_robot_base_to_calibration_object_transform(
     user_options: argparse.Namespace,
-    camera_to_calibration_board_transform: np.ndarray,
+    camera_to_calibration_object_transform: np.ndarray,
     robot: Item,
 ) -> np.ndarray:
-    """Calculating the robot base to the calibration board transform matrix.
+    """Calculating the robot base to the calibration object transform matrix.
 
     Args:
         user_options: Arguments from user that contain the type of hand-eye calibration done and the path to the matrix that resulted from that calibration
-        camera_to_calibration_board_transform: A 4x4 numpy array containing the calibration board pose in the camera frame
+        camera_to_calibration_object_transform: A 4x4 numpy array containing the calibration object pose in the camera frame
         robot: Robot item in open RoboDK rdk file
 
     Returns:
-        robot_base_to_calibration_board_transform: A 4x4 numpy array containing the calibration board pose in the robot base frame
+        robot_base_to_calibration_object_transform: A 4x4 numpy array containing the calibration object pose in the robot base frame
+
+    Raises:
+        ValueError: If an invalid calibration type is selected
 
     """
     if user_options.eih:
@@ -72,17 +108,19 @@ def _get_robot_base_to_calibration_board_transform(
         robot_base_to_flange_transform = np.array(robot.Pose()).T
         flange_to_camera_transform = load_and_assert_affine_matrix(user_options.hand_eye_yaml)
 
-        robot_base_to_calibration_board_transform = (
-            robot_base_to_flange_transform @ flange_to_camera_transform @ camera_to_calibration_board_transform
+        robot_base_to_calibration_object_transform = (
+            robot_base_to_flange_transform @ flange_to_camera_transform @ camera_to_calibration_object_transform
         )
-    if user_options.eth:
+    elif user_options.eth:
         robot_base_to_camera_transform = load_and_assert_affine_matrix(user_options.hand_eye_yaml)
 
-        robot_base_to_calibration_board_transform = (
-            robot_base_to_camera_transform @ camera_to_calibration_board_transform
+        robot_base_to_calibration_object_transform = (
+            robot_base_to_camera_transform @ camera_to_calibration_object_transform
         )
+    else:
+        raise ValueError("Invalid calibration type. Please choose either eye-in-hand or eye-to-hand.")
 
-    return robot_base_to_calibration_board_transform
+    return robot_base_to_calibration_object_transform
 
 
 def _yes_no_prompt(question: str) -> str:
@@ -102,6 +140,148 @@ def _yes_no_prompt(question: str) -> str:
         print("Invalid response. Please respond with either 'y' or 'n'.")
 
 
+def _coordinate_system_line(
+    bgra_image: np.ndarray,
+    first_point: Tuple[int, int],
+    second_point: Tuple[int, int],
+    line_color: Tuple[int, int, int],
+) -> None:
+    """Draw a line on a BGRA image.
+
+    Args:
+        bgra_image: BGRA image.
+        first_point: Pixel coordinates of the first end point.
+        second_point: Pixel coordinates of the second end point.
+        line_color: Line color.
+    """
+
+    line_thickness = 4
+    line_type = cv2.LINE_8
+    cv2.line(bgra_image, first_point, second_point, line_color, line_thickness, line_type)
+
+
+def _zivid_camera_matrix_to_opencv_camera_matrix(camera_matrix: zivid.CameraIntrinsics.CameraMatrix) -> np.ndarray:
+    """Convert camera matrix from Zivid to OpenCV.
+
+    Args:
+        camera_matrix: Camera matrix in Zivid format.
+
+    Returns:
+        camera_matrix_opencv: Camera matrix in OpenCV format.
+    """
+
+    return np.array(
+        [[camera_matrix.fx, 0.0, camera_matrix.cx], [0.0, camera_matrix.fy, camera_matrix.cy], [0.0, 0.0, 1.0]]
+    )
+
+
+def _zivid_distortion_coefficients_to_opencv_distortion_coefficients(
+    distortion_coeffs: zivid.CameraIntrinsics.Distortion,
+) -> np.ndarray:
+    """Convert distortion coefficients from Zivid to OpenCV.
+
+    Args:
+        distortion_coeffs: Camera distortion coefficients in Zivid format.
+
+    Returns:
+        distortion_coeffs_opencv: Camera distortion coefficients in OpenCV format.
+    """
+
+    return np.array(
+        [distortion_coeffs.k1, distortion_coeffs.k2, distortion_coeffs.p1, distortion_coeffs.p2, distortion_coeffs.k3]
+    )
+
+
+def _move_point(
+    origin_in_camera_frame: np.ndarray, offset_in_object_frame: np.ndarray, calibration_object_pose: np.ndarray
+) -> np.ndarray:
+    """Move a coordinate system origin point given a direction and an offset to create a coordinate system axis point.
+
+    Args:
+        origin_in_camera_frame: 3D coordinates of the coordinate system origin point.
+        offset_in_object_frame: 3D coordinates of the offset to move the coordinate system origin point to.
+        calibration_object_pose: Transformation matrix (calibration object in camera frame).
+
+    Returns:
+        translated_point: 3D coordinates of coordinate system axis point.
+    """
+
+    rotation_matrix = calibration_object_pose[:3, :3]
+    offset_rotated = np.dot(rotation_matrix, offset_in_object_frame)
+    return origin_in_camera_frame + offset_rotated
+
+
+def _get_coordinate_system_points(
+    frame: zivid.Frame, calibration_object_pose: np.ndarray, size_of_axis: float
+) -> Dict[str, Tuple[int, int]]:
+    """Get pixel coordinates of the coordinate system origin and axes.
+
+    Args:
+        frame: Zivid frame containing point cloud.
+        calibration_object_pose: Transformation matrix (calibration object in camera frame).
+        size_of_axis: Coordinate system axis length in mm.
+
+    Returns:
+        frame_points: Pixel coordinates of the coordinate system origin and axes.
+    """
+
+    intrinsics = zivid.experimental.calibration.estimate_intrinsics(frame)
+    cv_camera_matrix = _zivid_camera_matrix_to_opencv_camera_matrix(intrinsics.camera_matrix)
+    cv_dist_coeffs = _zivid_distortion_coefficients_to_opencv_distortion_coefficients(intrinsics.distortion)
+
+    origin_position = np.array(
+        [calibration_object_pose[0, 3], calibration_object_pose[1, 3], calibration_object_pose[2, 3]]
+    )
+    x_axis_direction = _move_point(origin_position, np.array([size_of_axis, 0.0, 0.0]), calibration_object_pose)
+    y_axis_direction = _move_point(origin_position, np.array([0.0, size_of_axis, 0.0]), calibration_object_pose)
+    z_axis_direction = _move_point(origin_position, np.array([0.0, 0.0, size_of_axis]), calibration_object_pose)
+
+    points_to_project = np.array([origin_position, x_axis_direction, y_axis_direction, z_axis_direction])
+    projected_points = cv2.projectPoints(points_to_project, np.zeros(3), np.zeros(3), cv_camera_matrix, cv_dist_coeffs)[
+        0
+    ]
+
+    projected_points = projected_points.reshape(-1, 2)
+    return {
+        "origin_point": (int(projected_points[0][0]), int(projected_points[0][1])),
+        "x_axis_point": (int(projected_points[1][0]), int(projected_points[1][1])),
+        "y_axis_point": (int(projected_points[2][0]), int(projected_points[2][1])),
+        "z_axis_point": (int(projected_points[3][0]), int(projected_points[3][1])),
+    }
+
+
+def _draw_coordinate_system(frame: zivid.Frame, calibration_object_pose: np.ndarray, bgra_image: np.ndarray) -> None:
+    """Draw a coordinate system on a BGRA image.
+
+    Args:
+        frame: Zivid frame containing point cloud.
+        calibration_object_pose: Transformation matrix (calibration object in camera frame).
+        bgra_image: BGRA image.
+
+    """
+
+    size_of_axis = 30.0  # each axis has 30 mm of length
+
+    print("Acquiring frame points")
+    frame_points = _get_coordinate_system_points(frame, calibration_object_pose, size_of_axis)
+
+    origin_point = frame_points["origin_point"]
+    z = frame_points["z_axis_point"]
+    y = frame_points["y_axis_point"]
+    x = frame_points["x_axis_point"]
+
+    print("Drawing Z axis")
+    _coordinate_system_line(bgra_image, origin_point, z, (255, 0, 0))
+
+    print("Drawing Y axis")
+    _coordinate_system_line(bgra_image, origin_point, y, (0, 255, 0))
+
+    print("Drawing X axis")
+    _coordinate_system_line(bgra_image, origin_point, x, (0, 0, 255))
+
+    display_rgb(rgb=cv2.cvtColor(bgra_image, cv2.COLOR_BGRA2RGB))
+
+
 def _options() -> argparse.Namespace:
     """Function to read user arguments.
 
@@ -112,14 +292,13 @@ def _options() -> argparse.Namespace:
     parser = argparse.ArgumentParser(description=__doc__)
 
     type_group = parser.add_mutually_exclusive_group(required=True)
-    type_group.add_argument("--eih", "--eye-in-hand", action="store_true", help="eye-in-hand calibration")
-    type_group.add_argument("--eth", "--eye-to-hand", action="store_true", help="eye-to-hand calibration")
-
+    type_group.add_argument("--eih", "--eye-in-hand", action="store_true", help="eye-in-hand configuration")
+    type_group.add_argument("--eth", "--eye-to-hand", action="store_true", help="eye-to-hand configuration")
     parser.add_argument("--ip", required=True, help="IP address of the robot controller")
     parser.add_argument(
         "--target-keyword",
         required=True,
-        help="RoboDK target name representing a robot pose at which the calibration board is in the field of view of the camera",
+        help="RoboDK target name representing a robot pose at which the calibration object is in the field of view of the camera",
     )
     parser.add_argument(
         "--tool-yaml",
@@ -136,17 +315,31 @@ def _options() -> argparse.Namespace:
         required=True,
         help="Path to the YAML file that contains the Hand-Eye transformation matrix",
     )
+    subparsers = parser.add_subparsers(dest="calibration_object", required=True, help="Calibration object type")
+    subparsers.add_parser("checkerboard", help="Verify using Zivid calibration board")
+    marker_parser = subparsers.add_parser("marker", help="Verify using ArUco marker")
+    marker_parser.add_argument(
+        "--dictionary",
+        required=True,
+        choices=list(zivid.calibration.MarkerDictionary.valid_values()),
+        help="Dictionary of the targeted ArUco marker",
+    )
+    marker_parser.add_argument(
+        "--id", nargs=1, required=True, type=int, help="ID of ArUco marker to be used for verification"
+    )
 
     return parser.parse_args()
 
 
-def main() -> None:
+def _main() -> None:
+
     app = zivid.Application()
     camera = app.connect_camera()
 
     user_options = _options()
     rdk, robot = connect_to_robot(user_options.ip)
-    set_robot_speed_and_acceleration(robot, speed=120, joint_speed=120, acceleration=120, joint_acceleration=120)
+    #  NOTE! Verify safe operation speeds and accelerations for your robot!
+    set_robot_speed_and_acceleration(robot, speed=100, joint_speed=100, acceleration=50, joint_acceleration=50)
 
     print("Loading the Pointed Hand-Eye Verification Tool transformation matrix from a YAML file")
     pointed_hand_eye_verification_tool_matrix = load_and_assert_affine_matrix(user_options.tool_yaml)
@@ -166,46 +359,49 @@ def main() -> None:
         )
     robot.MoveJ(capture_pose[0])
 
-    print("\nPlace the calibration board in the FOV of the camera.")
+    print("\nPlace the calibration object in the FOV of the camera.")
     input("Press enter to start.")
 
     while True:
         try:
-            print("Detecting the calibration board pose (upper left checkerboard corner)")
-            camera_to_calibration_board_transform = _capture_and_estimate_calibration_board_pose(camera)
+            frame, bgra_image = _assisted_capture(camera)
+            camera_to_calibration_object_transform = _estimate_calibration_object_pose(frame, user_options)
 
-            print("Calculating the calibration board pose in robot base frame")
-            robot_base_to_calibration_board_transform = _get_robot_base_to_calibration_board_transform(
+            print("Calculating the calibration object pose in robot base frame")
+            robot_base_to_calibration_object_transform = _get_robot_base_to_calibration_object_transform(
                 user_options,
-                camera_to_calibration_board_transform,
+                camera_to_calibration_object_transform,
                 robot,
             )
 
-            print("Calculating pose for robot to touch the calibration board")
-            touch_pose = robot_base_to_calibration_board_transform @ np.linalg.inv(tcp)
+            print("Calculating pose for robot to touch the calibration object")
+            touch_pose = robot_base_to_calibration_object_transform @ np.linalg.inv(tcp)
 
-            print("Calculating pose for the robot to approach the calibration board")
+            print("Calculating pose for the robot to approach the calibration object")
             touch_pose_offset = np.identity(4)
             touch_pose_offset[2, 3] = -140
             approach_pose = touch_pose @ touch_pose_offset
 
-            print("Touching calibration board (upper left checkerboard corner)")
+            _draw_coordinate_system(frame, camera_to_calibration_object_transform, bgra_image)
+            input("\nClose the window and press enter to the touch the calibration object...")
+
+            print("Touching calibration object")
             robot.MoveJ(Mat(approach_pose.tolist()))
             robot.MoveL(Mat(touch_pose.tolist()))
             input("\nPress enter to pull back and return to the capture pose...")
             robot.MoveL(Mat(approach_pose.tolist()))
             robot.MoveJ(capture_pose[0])
 
-            print("\nThe board can be moved at this time.")
+            print("\nThe calibration object can be moved at this time.")
             answer = _yes_no_prompt("Perform another touch?")
             if answer == "n":
                 break
 
         except RuntimeError as ex:
             print(ex)
-            print("Please make sure calibration board is in FOV.")
+            print("Please make sure calibration object is in FOV.")
             input("Press enter to continue.")
 
 
 if __name__ == "__main__":
-    main()
+    _main()
diff --git a/source/applications/point_cloud_tutorial.md b/source/applications/point_cloud_tutorial.md
index 829ad763..55bdd945 100644
--- a/source/applications/point_cloud_tutorial.md
+++ b/source/applications/point_cloud_tutorial.md
@@ -12,7 +12,6 @@ tutorial see:
 [**Introduction**](#Introduction) |
 [**Frame**](#Frame) |
 [**Point**](#Point-Cloud) |
-[**Transform**](#Transform) |
 [**Downsample**](#Downsample) |
 [**Normals**](#Normals) |
 [**Visualize**](#Visualize) |
@@ -148,7 +147,7 @@ In terms of memory allocation, there are two ways to copy data:
   - A user can pass a pointer to a pre-allocated memory buffer, and the
     Zivid SDK will copy the data to the pre-allocated memory buffer.
 
-## Transform
+-----
 
 You may want to
 [transform](https://support.zivid.com/latest//academy/applications/transform.html)
@@ -230,10 +229,10 @@ The size of normals is equal to the size of the input point cloud.
 
 Having the frame allows you to visualize the point cloud.
 
-No source available for {language\_name} You can visualize the point
+No source available for {language\_name}You can visualize the point
 cloud from the point cloud object as well.
 
-No source available for {language\_name} For more information, check out
+No source available for {language\_name}For more information, check out
 [Visualization
 Tutorial](https://support.zivid.com/latest/academy/applications/visualization-tutorial.html),
 where we cover point cloud, color image, depth map, and normals
diff --git a/source/camera/basic/capture_tutorial.md b/source/camera/basic/capture_tutorial.md
index c0f761d5..2fbf9c0c 100644
--- a/source/camera/basic/capture_tutorial.md
+++ b/source/camera/basic/capture_tutorial.md
@@ -433,8 +433,7 @@ frame.save(data_file_ply)
 
 We can get 2D color image from a 3D capture.
 
-No source available for {language\_name} 2D captures also produce 2D
-color images.
+2D captures also produce 2D color images.
 
 ([go to
 source](https://github.com/zivid/zivid-python-samples/tree/master//source/camera/basic/capture_2d.py#L33))
diff --git a/source/camera/info_util_other/automatic_network_configuration_for_cameras.py b/source/camera/info_util_other/automatic_network_configuration_for_cameras.py
new file mode 100644
index 00000000..b3826a20
--- /dev/null
+++ b/source/camera/info_util_other/automatic_network_configuration_for_cameras.py
@@ -0,0 +1,77 @@
+"""
+Automatically set the IP addresses of any number of cameras to be in the same subnet as the provided IP address of the network interface.
+"""
+
+import argparse
+import ipaddress
+
+import zivid
+
+
+def _options() -> argparse.Namespace:
+    """Function to read user arguments.
+
+    Returns:
+        Arguments from user
+
+    """
+    parser = argparse.ArgumentParser(description=__doc__)
+    parser.add_argument("--interface-ipv4", required=True, help="IP address of the PC network interface")
+    parser.add_argument("--subnet-mask", required=False, default="255.255.255.0", help="Network subnet mask")
+
+    return parser.parse_args()
+
+
+def _assert_user_input(ip_address: str, subnet_mask: str) -> None:
+    """Validates the IP address and the subnet mask.
+
+    Args:
+        ip_address: IP address
+        subnet_mask: Subnet mask
+
+    """
+    zivid.NetworkConfiguration.IPV4(address=ip_address, subnet_mask=subnet_mask)
+
+
+def _main() -> None:
+    try:
+
+        user_input = _options()
+        _assert_user_input(user_input.interface_ipv4, user_input.subnet_mask)
+        user_ip_address = ipaddress.ip_address(user_input.interface_ipv4)
+
+        # defines the last octet of the ip address of the first Zivid camera. Eg.: x.x.x.2
+        next_ip_address_last_octet = 2
+        new_ip_address = ipaddress.IPv4Address(user_ip_address.packed[:-1] + bytes([next_ip_address_last_octet]))
+
+        app = zivid.Application()
+        cameras = app.cameras()
+
+        if len(cameras) == 0:
+            raise RuntimeError("No cameras connected")
+
+        for camera in cameras:
+
+            if new_ip_address == user_ip_address:
+                new_ip_address = new_ip_address + 1
+
+            new_config = zivid.NetworkConfiguration(
+                ipv4=zivid.NetworkConfiguration.IPV4(
+                    mode=zivid.NetworkConfiguration.IPV4.Mode.manual,
+                    address=str(new_ip_address),
+                    subnet_mask=user_input.subnet_mask,
+                )
+            )
+
+            new_ip_address = new_ip_address + 1
+
+            print(f"Applying network configuration to camera {camera.info.serial_number}")
+            camera.apply_network_configuration(new_config)
+            print(f"New {camera.network_configuration}\n")
+
+    except RuntimeError as ex:
+        print(ex)
+
+
+if __name__ == "__main__":
+    _main()
diff --git a/source/camera/info_util_other/firmware_updater.py b/source/camera/info_util_other/firmware_updater.py
index d5204e94..838ecd5f 100644
--- a/source/camera/info_util_other/firmware_updater.py
+++ b/source/camera/info_util_other/firmware_updater.py
@@ -23,7 +23,7 @@ def _main() -> None:
             zivid.firmware.update(
                 camera,
                 progress_callback=lambda progress, description: print(
-                    f'{progress}% : {description}{("","...") [progress < 100]}'
+                    f'{progress}% : {description}{("","...")[progress < 100]}'
                 ),
             )
         else:
diff --git a/source/camera/info_util_other/network_configuration.py b/source/camera/info_util_other/network_configuration.py
new file mode 100644
index 00000000..edec9b7f
--- /dev/null
+++ b/source/camera/info_util_other/network_configuration.py
@@ -0,0 +1,75 @@
+"""
+Uses Zivid API to change the IP address of the Zivid camera.
+"""
+
+import zivid
+
+
+def _confirm(message: str) -> bool:
+    while True:
+        answer = input(f"{message} [Y/n]: ")
+        if answer.lower() == "y" or answer.lower() == "yes":
+            return True
+        if answer.lower() == "n" or answer.lower() == "no":
+            return False
+        print("Invalid input. Please enter 'Y' or 'n'.")
+
+
+def _main() -> None:
+    app = zivid.Application()
+    cameras = app.cameras()
+
+    if len(cameras) == 0:
+        raise RuntimeError("Failed to connect to camera. No cameras found.")
+
+    camera = cameras[0]
+
+    original_config = camera.network_configuration
+
+    print(f"Current network configuration of camera {camera.info.serial_number}:")
+    print(f"{original_config}\n")
+
+    mode = zivid.NetworkConfiguration.IPV4.Mode.manual
+    address = original_config.ipv4.address
+    subnet_mask = original_config.ipv4.subnet_mask
+
+    if _confirm("Do you want to use DHCP?"):
+        mode = zivid.NetworkConfiguration.IPV4.Mode.dhcp
+    else:
+
+        input_address = input(f"Enter IPv4 Address [{original_config.ipv4.address}]: ")
+        if input_address:
+            address = input_address
+        else:
+            address = original_config.ipv4.address
+
+        input_subnet_mask = input(f"Enter new Subnet mask [{original_config.ipv4.subnet_mask}]: ")
+        if input_subnet_mask:
+            subnet_mask = input_subnet_mask
+        else:
+            subnet_mask = original_config.ipv4.subnet_mask
+
+    new_config = zivid.NetworkConfiguration(
+        ipv4=zivid.NetworkConfiguration.IPV4(
+            mode=mode,
+            address=address,
+            subnet_mask=subnet_mask,
+        )
+    )
+
+    print("\nNew network configuration:")
+    print(new_config)
+    if not _confirm(f"Do you want to apply the new network configuration to camera {camera.info.serial_number}?"):
+        return
+
+    print("Applying network configuration...")
+    camera.apply_network_configuration(new_config)
+
+    print(f"Updated network configuration of camera {camera.info.serial_number}:")
+    print(f"{camera.network_configuration}\n")
+
+    print(f"Camera status is '{camera.state.status}'")
+
+
+if __name__ == "__main__":
+    _main()
diff --git a/source/camera/maintenance/correct_camera_in_field.py b/source/camera/maintenance/correct_camera_in_field.py
index 9d9520a0..b13e2b38 100644
--- a/source/camera/maintenance/correct_camera_in_field.py
+++ b/source/camera/maintenance/correct_camera_in_field.py
@@ -56,7 +56,7 @@ def _collect_dataset(camera: zivid.Camera) -> List[zivid.experimental.calibratio
         print(print_line)
         if _yes_no_prompt("Capture (y) or finish (n)? "):
             print("Capturing calibration board")
-            detection_result = zivid.experimental.calibration.detect_feature_points(camera)
+            detection_result = zivid.calibration.detect_calibration_board(camera)
             infield_input = zivid.experimental.calibration.InfieldCorrectionInput(detection_result)
 
             if infield_input.valid():
@@ -93,7 +93,7 @@ def _main() -> None:
 
         print(
             "If written to the camera, this correction can be expected to yield a dimension accuracy error of",
-            f"{accuracy_estimate.dimension_accuracy()*100:.3f}% or better in the range of z=[{accuracy_estimate.z_min():.3f}, {accuracy_estimate.z_max():.3f}] across the full FOV.",
+            f"{accuracy_estimate.dimension_accuracy() * 100:.3f}% or better in the range of z=[{accuracy_estimate.z_min():.3f}, {accuracy_estimate.z_max():.3f}] across the full FOV.",
             "Accuracy close to where the correction data was collected is likely better.",
         )
 
diff --git a/source/camera/maintenance/verify_camera_in_field.py b/source/camera/maintenance/verify_camera_in_field.py
index 7d2fc3e3..cfd05514 100644
--- a/source/camera/maintenance/verify_camera_in_field.py
+++ b/source/camera/maintenance/verify_camera_in_field.py
@@ -29,7 +29,7 @@ def _main() -> None:
 
     # Gather data
     print("Capturing calibration board")
-    detection_result = zivid.experimental.calibration.detect_feature_points(camera)
+    detection_result = zivid.calibration.detect_calibration_board(camera)
 
     # Prepare data and check that it is appropriate for infield verification
     infield_input = zivid.experimental.calibration.InfieldCorrectionInput(detection_result)
@@ -42,7 +42,7 @@ def _main() -> None:
     print(f"Successful measurement at {detection_result.centroid()}")
     camera_verification = zivid.experimental.calibration.verify_camera(infield_input)
     print(
-        f"Estimated dimension trueness error at measured position: {camera_verification.local_dimension_trueness()*100:.3f}%"
+        f"Estimated dimension trueness error at measured position: {camera_verification.local_dimension_trueness() * 100:.3f}%"
     )
 
 
diff --git a/source/camera/maintenance/verify_camera_in_field_from_zdf.py b/source/camera/maintenance/verify_camera_in_field_from_zdf.py
index 786697e9..4bcbedf8 100644
--- a/source/camera/maintenance/verify_camera_in_field_from_zdf.py
+++ b/source/camera/maintenance/verify_camera_in_field_from_zdf.py
@@ -33,7 +33,7 @@ def _main() -> None:
         # offline infield verification
 
         print("Capturing calibration board")
-        with zivid.experimental.calibration.capture_calibration_board(camera) as frame:
+        with zivid.calibration.capture_calibration_board(camera) as frame:
             data_file = "FrameWithCalibrationBoard.zdf"
             print(f"Saving frame to file: {data_file}, for later use in offline infield verification")
             frame.save(data_file)
@@ -44,7 +44,7 @@ def _main() -> None:
         print(f"Reading frame from file: {data_file}, for offline infield verification")
         with zivid.Frame(data_file) as frame:
             print("Detecting calibration board")
-            detection_result = zivid.experimental.calibration.detect_feature_points(frame)
+            detection_result = zivid.calibration.detect_calibration_board(frame)
 
         infield_input = zivid.experimental.calibration.InfieldCorrectionInput(detection_result)
         if not infield_input.valid():
@@ -55,7 +55,7 @@ def _main() -> None:
         print(f"Successful measurement at {detection_result.centroid()}")
         camera_verification = zivid.experimental.calibration.verify_camera(infield_input)
         print(
-            f"Estimated dimension trueness error at measured position: {camera_verification.local_dimension_trueness()*100:.3f}%"
+            f"Estimated dimension trueness error at measured position: {camera_verification.local_dimension_trueness() * 100:.3f}%"
         )
 
 
diff --git a/source/sample_utils/save_load_matrix.py b/source/sample_utils/save_load_matrix.py
index e86b3f20..b73a5c41 100644
--- a/source/sample_utils/save_load_matrix.py
+++ b/source/sample_utils/save_load_matrix.py
@@ -1,3 +1,8 @@
+"""
+Save and load Zivid 4x4 transformation matrices from and to YAML files.
+
+"""
+
 from pathlib import Path
 from typing import Union