The CogCalibCheckerboard object defines a calibrated coordinate space using an image of a checkerboard calibration plate. It allows you to attach the calibrated space to an image, and may also perform a nonlinear warping of that image.

The runtime parameters needed for checkerboard calibration. They include the name of the calibrated space, an enum that specifies the selected space of the calibrated image, and settings for the unfilled pixels that may occur in nonlinear warping.

This tool defines a calibrated space using an image of a checkerboard plate. When run, the tool converts its input image into an output image (possibly via nonlinear warping) and attaches the calibrated space to it, for use by downstream tools.

This class is the abstract base class for 2D calibration feature extractors.

Clients that are using a checkerboard calibration plate following Cognex specification can use the CogCalibFeatureExtractorCheckerboard class to perform calibration feature extraction. These clients do not need to be concerned with this base class.

Clients that are using a special calibration object must implement their own calibration feature extractor class capable of extracting calibration features from images of the special calibration object. One way to implement such a custom calibration feature extractor class, is to derive the custom calibration feature extraction class from this base class.

This abstract base class provides an implementation of the Execute(CogImageCollectionMCamerasNPoses) method. This implementation calls the derived class' Execute(ICogImage) and will make the calls on multiple threads if the derived class IsThreadSafe is true and CogVisionToolMultiThreading.Enable is true. The provided implementation supports feature extraction progress events as well - the FeaturesExtracted event is fired as soon as feature extraction is completed on each calibration image.

Derived classes must: implement an override of the Execute(ICogImage) method as well as implement the IsThreadSafe property which specifies whether the override of Execute(ICogImage) is thread-safe or not.

This class defines a checkerboard calibration feature extractor. This extractor extracts the calibration features from an image or image collections of a checkerboard calibration plate. Note that the checkerboard calibration plate must follow the Cognex specifications.

This feature extractor operates with a checkerboard style calibration plate consisting of a grid of alternating light and dark checkers.

For each image of a checkerboard, the extractor locates the vertices of checkers in the image and generates a correspondence of vertex locations in image with vertex locations on the physical calibration plate coordinate system (Plate2D, see the remarks section of CogCalibFeatureExtractorCheckerboardLabelModeConstants).

This class holds the feature extraction result from one image, and it has 2 collections: a collection of feature correspondences, and a collection of symbol parse results.

This class is immutable, and it may not be changed once it has been constructed.

This class contains the feature extraction result from multiple poses of multiple images.

This class is immutable, and it may not be changed once it has been constructed.

Note that this class is not a simple collection of CogCalibFeatureExtractorResult, it has getters to directly return the following (which are used by calibration functions):

• The feature correspondences: FeatureCrspsMCamerasNPoses of type CogFeatureCrspsMCamerasNPoses.
• The symbol parse results: SymbolParseResultsMCamerasNPoses of type CogCalibFeaturesSymbolParseResultsMCamerasNPoses.
• The Image windows: PelRectsMCameras of type array of Rectangle.

This class holds data used by FeaturesExtracted event handler. FeaturesExtracted event fires each time feature extraction of an image has finished in Execute(CogImageCollectionMCamerasNPoses).

Note that it does not require to fire FeaturesExtracted event in the implementation of Execute(ICogImage).

This class contains the labeling information from the parsing result of one ID code on the checkerboard. It is immutable, and can only be created from calibration feature extraction.

This class holds the symbol parse results for all the ID symbols in one image.

This class is immutable, and it may not be changed once it has been constructed.

This class holds the symbol parse results for all the ID symbols in the images from multiple cameras at a single pose.

CogCalibFeaturesSymbolParseResultsMCameras[cameraIndex] is a CogCalibFeaturesSymbolParseResults holding the symbol parse results for the image from camera "cameraIndex" at one pose.

This class is immutable, and it may not be changed once it has been constructed.

This class holds the symbol parse results for all the ID symbols in the images from multiple cameras at multiple poses.

CogCalibFeaturesSymbolParseResultsMCamerasNPoses[poseIndex][cameraIndex] is a CogCalibFeaturesSymbolParseResults holding the symbol parse results for the image from camera "cameraIndex" at pose "poseIndex".

This class is immutable, and it may not be changed once it has been constructed.

The CogCalibImageCorrector, when trained, will produce a corrected image at run time. This class contains both inputs and outputs for training.

The CogCalibImageCorrectorRunParams class controls the CogImageCorrector's creation of corrected runtime images.

This class provides tool level access to the CogCalibImageCorrector operator. This class encapsulates all of the classes required to perform image correction with CogCalibImageCorrector operator.

The CogCalibNPointToNPoint object defines a calibrated coordinate space using N pairs of points and allows users to attach this space to an image.

The runtime parameters needed for N-point calibration. They include the name of the calibrated space, and an enumeration that specifies the selected space of the calibrated image.

This tool defines a new calibrated coordinate space using N pairs of points. When run, it attaches the (adjusted) calibrated space to the coordinate tree of the input image and supplies the updated image as an output for use by downstream tools.

This object holds the parameters required for simple fixturing. Its Execute function attaches the fixtured coordinate space to the given input image and supplies the updated image as an output for use by downstream tools.

The CogFixtureNPointToNPoint object defines a fixtured coordinate space using N pairs of points and allows users to attach this space to an image.

This object holds the result from an N Point to N Point fixturing operation. It contains the output image, the transforms which define fixtured space, and the computed RMS error.

When run, this tool defines a new fixtured coordinate space using N pairs of points. It attaches the (adjusted) fixtured space to the coordinate tree of the input image and supplies the updated image as an output for use by downstream tools.

The CogFixtureTool attaches a user-defined fixtured coordinate space to its input image and supplies the updated image as an output for use by downstream tools.

The CogHandEyeCalibrationRemoteCameraResult class holds the hand-eye calibration result for a remote camera which is not involved in the initial hand-eye calibration. The calibration for the remote camera is usually achieved by having the remote camera and the primary (already calibrated) cameras view a single calibration target. In case where the primary cameras and the remote camera doesn't have common FOV, a full hand-eye calibration is performed and the result are converted into remote calibration result.

The calibration target may be viewed simultaneously by all cameras or may be moved independently into the field of view of each camera, via a known motion or an unknown but highly repeatable motion which is used in both calibration time and run time.

It is an immutable object - its content is set at construction and cannot be changed.

The CogHandEyeCalibrationRemoteCameraResults class holds zero or more instances of CogHandEyeCalibrationRemoteCameraResult, presumably one for each remote camera being calibrated. Its content is set at construction by the CogHandEyeCalibratorRemoteCameras and should not be changed.

The CogHandEyeCalibrationResult class describes the hand-eye calibration for a single camera. It is an immutable object - its content is set at construction and cannot be changed.

The CogHandEyeCalibrationResults class holds zero or more instances of CogHandEyeCalibrationResult, presumably one for each camera being calibrated. This class is immutable - its content is set at construction by the CogHandEyeCalibrator and cannot be changed.

The CogHandEyeCalibrator class performs a hand-eye calibration between one or more cameras and a motion stage.

The CogHandEyeCalibratorRemoteCameras class performs a hand-eye calibration between one or more remote cameras and a motion stage.

This class contains the result of a failed attempt to compute a metric-result from a suitable-subset of UncorrectedHome2DFromStage2D poses. It contains the type metric and the indices of UncorrectedHome2DFromStage2D poses that were used to compute this result, as well as the reason for failure. It is an immutable object - its content is set at construction and cannot be changed.

This class contains the validation result for a specific metric that is computed from a single set of UncorrectedHome2DFromStage2D poses. The same metric characterizes the motion between any pair of poses in this set of poses. For example, for the UncorrectedHome2DFromStage2D poses a CogMotionStageValidationMetricResult object that contains the metric eXScale can be computed from the set of poses {0,1,2}, that contain x-translation only. It is an immutable object - its content is set at construction and cannot be changed.

This class contains the validation result for a specific metric that is computed from all suitable-subsets of UncorrectedHome2DFromStage2D poses that have the type of motion corresponding to that metric. It is composed from all CogMotionStageValidationMetricResult objects that have the specified metric. This class is an immutable object - its content is set at construction and cannot be changed. The term "suitable subsets" is explained in the CogMotionStageValidator class.

The CogMotionStageValidationResult class is the top level motion stage validation result. This class contains the validation result for all the requested metrics. It serves as a container that holds all CogMotionStageValidationMetricResults objects that were each computed for specific metrics.It is an immutable object - its content is set at construction and cannot be changed.

The CogMotionStageValidator class performs motion stage validation prior to performing a hand-eye calibration of the stage in a machine vision system with one or more cameras. The purpose of this class is to verify that the stage moves to its commanded poses (X, Y, Theta), and to characterize certain types of systematic errors in the observed motion.

The CogNPointToNPoint object computes the best-fit (minimum squared error) transformation which maps a set of N 'group B' points onto a set of N 'group A' points.

Interface containing the nonlinear warping parameters needed for checkerboard calibration. It also provides the warping results that are available prior to runtime.

This is the interface class for 2D calibration feature extractors. It includes one overload of Execute which can be used for single image calibration, and another overload of Execute is good for multi-camera multi-pose calibration. In addition, multi-thread implementation for the second overload in the derived classes (e.g. CogCalibFeatureExtractorBase ) can improve the speed performance.

The ICogHandEyeCalibrationResult class defines a common interface for primary and remote hand-eye calibration result. This interface class provides methods that converts between 3 different coordinate space.

This is the delegate of features Extracted progress event handler.

Enumeration that specifies whether the parameters for adjusting the calibrated space are expressed in uncalibrated space, or in raw calibrated space.

Enumeration of data that can be provided in the Tool's CurrentRecord.

Enumeration that specifies which degrees of freedom will be computed during checkerboard calibration. These enumeration values are applicable only if the computation mode is linear.

Enumeration that specifies how features on the calibration plate are found.

Enumeration that specifies what style of fiducial mark is present on the calibration plate.

Enumeration of non-diagnostic data that can be provided in the Tool's LastRunRecord.

Enumeration of diagnostic data that can be provided in the Tool's LastRunRecord.

This class defines enumeration constants to define the algorithm used in feature extractor.

This class defines enumeration constants to define the label mode of the vertices on the checkerboard, i.e., how to set the origin and axes of Grid2D.

Enumeration of modes for computing calibration and fixturing transformations. Notice that N-Point calibration and fixturing support only linear computations in this release.

Enumeration that specifies whether the parameters for adjusting the corrected space are expressed in uncorrected root space, or in raw corrected space. See the "Remarks" section of CogCalibImageCorrector for descriptions of these spaces.

Enumeration of data that can be included in the tool's CurrentRecord.

Enumeration of non-diagnostic data that can be provided in the Tool's LastRunRecord.

Enumeration of diagnostic data that can be included in the tool's LastRunRecord.

Enumeration that specifies which coordinate space will be selected in the corrected image. See the "Remarks" section of CogCalibImageCorrector for descriptions of these spaces.

Enumeration that specifies whether the parameters for adjusting the calibrated space are expressed in uncalibrated space, or in raw calibrated space.

Enumeration of data that can be provided in the Tool's CurrentRecord.

Enumeration of Non-Diagnostic data that can be provided in the Tool's LastRunRecord.

Enumeration of diagnostic data that can be provided in the Tool's LastRunRecord.

Enumeration that specifies which coordinate space will be selected in the output image of a calibration operation.

Enumeration that specifies what action a fixture operator is to perform.

Enumeration of data that can be provided in the Tool's CurrentRecord.

Enumeration that specifies how a fixture tool should respond when attempting to add a space whose name already exists in the coordinate space tree.

Enumeration of Non-Diagnostic data that can be provided in the Tool's LastRunRecord.

Enumeration of diagnostic data that can be provided in the Tool's LastRunRecord.

Enumeration of data that can be provided in the Tool's CurrentRecord.

Enumeration of Non-Diagnostic data that can be provided in the Tool's LastRunRecord.

Enumeration of diagnostic data that can be provided in the Tool's LastRunRecord.

Enumeration that specifies which coordinate space will be selected in the output image of a fixturing operation.

Enumeration that specifies how to establish unit length in Home2D coordinates.

Constants used by the operator to specify what the motion stage can do.

Constants used to describe a specific metric failure.

Constants used to refer to a specific validation metric.

Enumeration that specifies which degrees of freedom will be computed during the N point to N point fitting operation.