Cog3DHandEyeCalibrationValidator.Execute Method

Cog3DHandEyeCalibrationValidator Execute Method

Cognex VisionPro

Validate the specified hand-eye calibration result using the specified calibration features and robot poses, and then return the hand-eye calibration validation result.

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

Syntax

C++

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public Cog3DHandEyeCalibrationValidationResult Execute(
	List<Cog3DCrspFeaturesCollection> crspFeatures,
	List<Cog3DTransformRigid> robotBase3DFromHand3Ds,
	Cog3DHandEyeCalibrationResult handEyeCalibrationResult
)

public Cog3DHandEyeCalibrationValidationResult Execute(
	List<Cog3DCrspFeaturesCollection> crspFeatures,
	List<Cog3DTransformRigid> robotBase3DFromHand3Ds,
	Cog3DHandEyeCalibrationResult handEyeCalibrationResult
)

Public Function Execute ( 
	crspFeatures As List(Of Cog3DCrspFeaturesCollection),
	robotBase3DFromHand3Ds As List(Of Cog3DTransformRigid),
	handEyeCalibrationResult As Cog3DHandEyeCalibrationResult
) As Cog3DHandEyeCalibrationValidationResult

Public Function Execute ( 
	crspFeatures As List(Of Cog3DCrspFeaturesCollection),
	robotBase3DFromHand3Ds As List(Of Cog3DTransformRigid),
	handEyeCalibrationResult As Cog3DHandEyeCalibrationResult
) As Cog3DHandEyeCalibrationValidationResult

public:
Cog3DHandEyeCalibrationValidationResult^ Execute(
	List<Cog3DCrspFeaturesCollection^>^ crspFeatures, 
	List<Cog3DTransformRigid^>^ robotBase3DFromHand3Ds, 
	Cog3DHandEyeCalibrationResult^ handEyeCalibrationResult
)

public:
Cog3DHandEyeCalibrationValidationResult^ Execute(
	List<Cog3DCrspFeaturesCollection^>^ crspFeatures, 
	List<Cog3DTransformRigid^>^ robotBase3DFromHand3Ds, 
	Cog3DHandEyeCalibrationResult^ handEyeCalibrationResult
)

Parameters

crspFeatures: Type: System.Collections.Generic List Cog3DCrspFeaturesCollection
A list of feature correspondences from the camera viewing the calibration plate. The list of feature correspondences are indexed by the robot hand pose. crspFeatures[i] corresponds to the ith robot pose. May not be null.

robotBase3DFromHand3Ds: Type: System.Collections.Generic List Cog3DTransformRigid
A list of Cog3DTransformRigid's defining the robot hand poses. The list is indexed by robot hand pose. The size of this list must match the size of crspFeatures. May not be null.

handEyeCalibrationResult: Type: Cognex.VisionPro3D Cog3DHandEyeCalibrationResult
The hand-eye calibration result to be validated.

Return Value

Type: Cog3DHandEyeCalibrationValidationResult
The hand-eye calibration validation result.

Exceptions

Exception	Condition
ArgumentNullException	If any input argument is null or any input argument includes a null item (except crspFeatures[i].Weights).
ArgumentException	If input arguments do not match, e.g. If crspFeatures.Count != robotBase3DFromHand3Ds.Count; If robotBase3DFromHand3Ds.Count is less than 2. If crspFeatures[i].PointsModel3D.Count != crspFeatures[i].PointsRaw2D.Count (i is inside [0, crspFeatures.Count-1]); If crspFeatures[i].Weights is not null, and crspFeatures[i].Weights.Count != crspFeatures[i].PointsModel3D.Count (i is inside [0, crspFeatures.Count-1]);

Exception

Condition

ArgumentNullException

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

ArgumentException

If input arguments do not match, e.g.

If crspFeatures.Count != robotBase3DFromHand3Ds.Count;
If robotBase3DFromHand3Ds.Count is less than 2.
If crspFeatures[i].PointsModel3D.Count != crspFeatures[i].PointsRaw2D.Count (i is inside [0, crspFeatures.Count-1]);
If crspFeatures[i].Weights is not null, and crspFeatures[i].Weights.Count != crspFeatures[i].PointsModel3D.Count (i is inside [0, crspFeatures.Count-1]);

Remarks

Notes:

This tool requires at least 2 sets of features, and can provide more accurate results if more sets of features (corresponding to distinct robot hand poses) are provided.
This tool requires all of the elements in crspFeatures to be from the same camera.
The returned hand-eye calibration validation result includes a camera calibration validation result characterizing the accuracy of the camera intrinsics, and 3D residuals characterizing the accuracy of the whole hand-eye system.