Cog3DCameraCalibrator.Execute Method (List(Rectangle), List(List(Cog3DCrspFeaturesCollection)), List(Cog3DCameraCalibrationIntrinsics), List(Cog3DTransformRigid), List(Cog3DCalibrationPlatePoseTypeConstants))

Cog3DCameraCalibrator Execute Method (List Rectangle , List List Cog3DCrspFeaturesCollection , List Cog3DCameraCalibrationIntrinsics , List Cog3DTransformRigid , List Cog3DCalibrationPlatePoseTypeConstants )

Cognex VisionPro

Overload for computing the 3D camera calibration from the given feature correspondences, camera intrinsic parameters, and calibration plate poses. Note that DistortionModel inside this Cog3DCameraCalibrator will be ignored, and the ones inside raw2DFromCamera2Ds will be used instead.

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

Syntax

C++

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public Cog3DCameraCalibrationResult Execute(
	List<Rectangle> pelRectRaw2Ds,
	List<List<Cog3DCrspFeaturesCollection>> crspFeatures,
	List<Cog3DCameraCalibrationIntrinsics> raw2DFromCamera2Ds,
	List<Cog3DTransformRigid> world3DFromCalPlate3Ds,
	List<Cog3DCalibrationPlatePoseTypeConstants> poseTypes
)

public Cog3DCameraCalibrationResult Execute(
	List<Rectangle> pelRectRaw2Ds,
	List<List<Cog3DCrspFeaturesCollection>> crspFeatures,
	List<Cog3DCameraCalibrationIntrinsics> raw2DFromCamera2Ds,
	List<Cog3DTransformRigid> world3DFromCalPlate3Ds,
	List<Cog3DCalibrationPlatePoseTypeConstants> poseTypes
)

Public Function Execute ( 
	pelRectRaw2Ds As List(Of Rectangle),
	crspFeatures As List(Of List(Of Cog3DCrspFeaturesCollection)),
	raw2DFromCamera2Ds As List(Of Cog3DCameraCalibrationIntrinsics),
	world3DFromCalPlate3Ds As List(Of Cog3DTransformRigid),
	poseTypes As List(Of Cog3DCalibrationPlatePoseTypeConstants)
) As Cog3DCameraCalibrationResult

Public Function Execute ( 
	pelRectRaw2Ds As List(Of Rectangle),
	crspFeatures As List(Of List(Of Cog3DCrspFeaturesCollection)),
	raw2DFromCamera2Ds As List(Of Cog3DCameraCalibrationIntrinsics),
	world3DFromCalPlate3Ds As List(Of Cog3DTransformRigid),
	poseTypes As List(Of Cog3DCalibrationPlatePoseTypeConstants)
) As Cog3DCameraCalibrationResult

public:
Cog3DCameraCalibrationResult^ Execute(
	List<Rectangle>^ pelRectRaw2Ds, 
	List<List<Cog3DCrspFeaturesCollection^>^>^ crspFeatures, 
	List<Cog3DCameraCalibrationIntrinsics^>^ raw2DFromCamera2Ds, 
	List<Cog3DTransformRigid^>^ world3DFromCalPlate3Ds, 
	List<Cog3DCalibrationPlatePoseTypeConstants>^ poseTypes
)

public:
Cog3DCameraCalibrationResult^ Execute(
	List<Rectangle>^ pelRectRaw2Ds, 
	List<List<Cog3DCrspFeaturesCollection^>^>^ crspFeatures, 
	List<Cog3DCameraCalibrationIntrinsics^>^ raw2DFromCamera2Ds, 
	List<Cog3DTransformRigid^>^ world3DFromCalPlate3Ds, 
	List<Cog3DCalibrationPlatePoseTypeConstants>^ poseTypes
)

Parameters

pelRectRaw2Ds: Type: System.Collections.Generic List Rectangle
The list of the regions of interest (the fields of view) of the raw acquired images (the fields of view of the cameras). May not be null. Each item must be the size of acquired calibration images for that camera (with origin (0,0)).

crspFeatures: Type: System.Collections.Generic List List Cog3DCrspFeaturesCollection
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.

raw2DFromCamera2Ds: Type: System.Collections.Generic List Cog3DCameraCalibrationIntrinsics
A list of intrinsic camera calibration parameters, and indexed by camera. raw2DFromCamera2Ds[i] corresponds to the ith camera. May not be null.

world3DFromCalPlate3Ds

Type: System.Collections.Generic List Cog3DTransformRigid
The list of poses of the calibration plate (with respect to the calibration plate pose defining the world coordinate system). world3DFromCalPlate3Ds[i] corresponds to the ith calibration plate pose. Calibration plate pose does not need to be specified exactly for pose types of PoseElevated or PoseTilted. The requirement is as follows:

The poses for pose types of PoseSpecified must be valid/appropriate;
The poses for pose types of PoseTilted will be ignored;
The poses for pose types of PoseElevated will be used to set the z height information of the calibration plate (only pose.Translation.Z will be used);
The pose for pose type of PoseDefineWorldCoord must be identity.

poseTypes: Type: System.Collections.Generic List Cog3DCalibrationPlatePoseTypeConstants
The list of calibration plate pose types. It should have the same length as world3DFromCalPlate3Ds. May not be null.

Return Value

Type: Cog3DCameraCalibrationResult
The 3D camera calibration result.

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 crspFeatures, world3DFromCalPlate3Ds, and poseTypes are not the same length; If pelRectRaw2Ds, raw2DFromCamera2Ds, and crspFeatures[i] (i is inside [0, crspFeatures.Count-1]) are not the same length; 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]);
Cog3DOperationCancelledByUserException	If the operation is cancelled by user via the event handler.

Remarks

This overload ignores DistortionModel value of this Cog3DCameraCalibrator object.