Cog3DCameraCalibrationValidator.Execute Method

Cog3DCameraCalibrationValidator Execute Method

Cognex VisionPro

Use the specified calibration features and the specified camera calibrations to compute 2 camera calibration validation results. The first result (validationResultUsingOriginalCalibrations) contains the residuals when the specified camera calibrations are used. The second result (validationResultUsingRecomputedExtrinsics) contains the residuals after a new set of extrinsic parameters are computed using the specified calibration features. Note that for the case of a single camera, the two results should be exactly equal to each other.

Namespace: Cognex.VisionPro3D
Assembly: Cognex.VisionPro3D (in Cognex.VisionPro3D.dll) Version: 65.1.0.0

Syntax

C++

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public void Execute(
	List<Rectangle> pelRectRaw2Ds,
	List<List<Cog3DCrspFeaturesCollection>> crspFeatures,
	List<Cog3DCameraCalibration> raw2DFromPhys3Ds,
	out Cog3DCameraCalibrationValidationResult validationResultUsingOriginalCalibrations,
	out Cog3DCameraCalibrationValidationResult validationResultUsingRecomputedExtrinsics
)

public void Execute(
	List<Rectangle> pelRectRaw2Ds,
	List<List<Cog3DCrspFeaturesCollection>> crspFeatures,
	List<Cog3DCameraCalibration> raw2DFromPhys3Ds,
	out Cog3DCameraCalibrationValidationResult validationResultUsingOriginalCalibrations,
	out Cog3DCameraCalibrationValidationResult validationResultUsingRecomputedExtrinsics
)

Public Sub Execute ( 
	pelRectRaw2Ds As List(Of Rectangle),
	crspFeatures As List(Of List(Of Cog3DCrspFeaturesCollection)),
	raw2DFromPhys3Ds As List(Of Cog3DCameraCalibration),
	<OutAttribute> ByRef validationResultUsingOriginalCalibrations As Cog3DCameraCalibrationValidationResult,
	<OutAttribute> ByRef validationResultUsingRecomputedExtrinsics As Cog3DCameraCalibrationValidationResult
)

Public Sub Execute ( 
	pelRectRaw2Ds As List(Of Rectangle),
	crspFeatures As List(Of List(Of Cog3DCrspFeaturesCollection)),
	raw2DFromPhys3Ds As List(Of Cog3DCameraCalibration),
	<OutAttribute> ByRef validationResultUsingOriginalCalibrations As Cog3DCameraCalibrationValidationResult,
	<OutAttribute> ByRef validationResultUsingRecomputedExtrinsics As Cog3DCameraCalibrationValidationResult
)

public:
void Execute(
	List<Rectangle>^ pelRectRaw2Ds, 
	List<List<Cog3DCrspFeaturesCollection^>^>^ crspFeatures, 
	List<Cog3DCameraCalibration^>^ raw2DFromPhys3Ds, 
	[OutAttribute] Cog3DCameraCalibrationValidationResult^% validationResultUsingOriginalCalibrations, 
	[OutAttribute] Cog3DCameraCalibrationValidationResult^% validationResultUsingRecomputedExtrinsics
)

public:
void Execute(
	List<Rectangle>^ pelRectRaw2Ds, 
	List<List<Cog3DCrspFeaturesCollection^>^>^ crspFeatures, 
	List<Cog3DCameraCalibration^>^ raw2DFromPhys3Ds, 
	[OutAttribute] Cog3DCameraCalibrationValidationResult^% validationResultUsingOriginalCalibrations, 
	[OutAttribute] Cog3DCameraCalibrationValidationResult^% validationResultUsingRecomputedExtrinsics
)

Parameters

pelRectRaw2Ds: Type: System.Collections.Generic List Rectangle
The list of rectangles representing the size of the raw acquired images (the fields of view of the cameras). May not be null.

crspFeatures: Type: System.Collections.Generic List List Cog3DCrspFeaturesCollection
The two-dimensional list of feature correspondences from the cameras viewing the calibration plate. The feature correspondences are indexed first by the calibration plate pose, then by camera. crspFeatures[i][j] corresponds to the ith calibration plate pose and the jth camera. May not be null.

raw2DFromPhys3Ds: Type: System.Collections.Generic List Cog3DCameraCalibration
The list of camera calibrations, indexed by camera. raw2DFromPhys3Ds[i] corresponds to the ith camera. May not be null.

validationResultUsingOriginalCalibrations: Type: Cognex.VisionPro3D Cog3DCameraCalibrationValidationResult
The computed validation result corresponding to using the original camera calibrations.

validationResultUsingRecomputedExtrinsics: Type: Cognex.VisionPro3D Cog3DCameraCalibrationValidationResult
The computed validation result corresponding to using re-computed extrinsics based on the specified calibration features. Note that the camera intrinsics are kept from the input camera calibrations. Note that it will be set to null if any camera distortion model is Cog3DCameraCalibrationDistortionModelConstants.eTelecentric.

Exceptions

Exception	Condition
ArgumentNullException	If any input argument is null or any input argument includes null item (except crspFeatures[i][j].Weights).
ArgumentException	If input arguments do not match, e.g. If pelRectRaw2Ds.Count, raw2DFromPhys3Ds.Count, and crspFeatures[i].Count are not the same. (i is inside [0, crspFeatures.Count-1]); If crspFeatures is empty; If pelRectRaw2Ds is empty; If crspFeatures[i][j].PointsModel3D.Count != crspFeatures[i][j].PointsRaw2D.Count (i is inside [0, crspFeatures.Count-1], and j is inside [0,crspFeatures[i].Count-1]); If crspFeatures[i][j].Weights is not null, and crspFeatures[i][j].Weights.Count != crspFeatures[i][j].PointsModel3D.Count (i is inside [0, crspFeatures.Count-1], and j is inside [0,crspFeatures[i].Count-1]);

Exception

Condition

ArgumentNullException

If any input argument is null or any input argument includes null item (except crspFeatures[i][j].Weights).

ArgumentException

If input arguments do not match, e.g.

If pelRectRaw2Ds.Count, raw2DFromPhys3Ds.Count, and crspFeatures[i].Count are not the same. (i is inside [0, crspFeatures.Count-1]);
If crspFeatures is empty;
If pelRectRaw2Ds is empty;
If crspFeatures[i][j].PointsModel3D.Count != crspFeatures[i][j].PointsRaw2D.Count (i is inside [0, crspFeatures.Count-1], and j is inside [0,crspFeatures[i].Count-1]);
If crspFeatures[i][j].Weights is not null, and crspFeatures[i][j].Weights.Count != crspFeatures[i][j].PointsModel3D.Count (i is inside [0, crspFeatures.Count-1], and j is inside [0,crspFeatures[i].Count-1]);

Remarks

Notes:

This tool only requires a single set of calibration features, but can provide more accurate results if multiple sets of calibration features are provided.
The tool can tolerate some of the correspondences being empty so long as there are other correspondences which allow the validation to be computed.
This tool handles calibration features with 3-dimensional physical positions.
This tool requires that all of the elements in the calibration features vector correspond to the same set of cameras.
This tool requires that all of the calibration features correspond to cameras, and the optical paths associated with each camera are unchanged.