Compute the hand-eye calibration(s) using previously extracted calibration
plate features and previously computed camera intrinsic parameters.
Namespace: Cognex.VisionPro3DAssembly: Cognex.VisionPro3D (in Cognex.VisionPro3D.dll) Version: 65.1.0.0
public List<Cog3DHandEyeCalibrationResult> Execute(
List<Rectangle> pelRectRaw2Ds,
List<Cog3DCameraCalibrationIntrinsics> raw2DFromCamera2Ds,
List<List<Cog3DCrspFeaturesCollection>> crspFeatures,
List<Cog3DTransformRigid> robotBase3DFromHand3Ds
)
public List<Cog3DHandEyeCalibrationResult> Execute(
List<Rectangle> pelRectRaw2Ds,
List<Cog3DCameraCalibrationIntrinsics> raw2DFromCamera2Ds,
List<List<Cog3DCrspFeaturesCollection>> crspFeatures,
List<Cog3DTransformRigid> robotBase3DFromHand3Ds
)
Public Function Execute (
pelRectRaw2Ds As List(Of Rectangle),
raw2DFromCamera2Ds As List(Of Cog3DCameraCalibrationIntrinsics),
crspFeatures As List(Of List(Of Cog3DCrspFeaturesCollection)),
robotBase3DFromHand3Ds As List(Of Cog3DTransformRigid)
) As List(Of Cog3DHandEyeCalibrationResult)
Public Function Execute (
pelRectRaw2Ds As List(Of Rectangle),
raw2DFromCamera2Ds As List(Of Cog3DCameraCalibrationIntrinsics),
crspFeatures As List(Of List(Of Cog3DCrspFeaturesCollection)),
robotBase3DFromHand3Ds As List(Of Cog3DTransformRigid)
) As List(Of Cog3DHandEyeCalibrationResult)
public:
List<Cog3DHandEyeCalibrationResult^>^ Execute(
List<Rectangle>^ pelRectRaw2Ds,
List<Cog3DCameraCalibrationIntrinsics^>^ raw2DFromCamera2Ds,
List<List<Cog3DCrspFeaturesCollection^>^>^ crspFeatures,
List<Cog3DTransformRigid^>^ robotBase3DFromHand3Ds
)
public:
List<Cog3DHandEyeCalibrationResult^>^ Execute(
List<Rectangle>^ pelRectRaw2Ds,
List<Cog3DCameraCalibrationIntrinsics^>^ raw2DFromCamera2Ds,
List<List<Cog3DCrspFeaturesCollection^>^>^ crspFeatures,
List<Cog3DTransformRigid^>^ robotBase3DFromHand3Ds
)
Parameters
- pelRectRaw2Ds
- Type: System.Collections.Generic List Rectangle
A list of rectangles indexed by camera, that specifies the region of interest
of the raw acquired calibration image (the camera's field of view).
The size of this list defines the number of cameras.
Each item must be the size of the acquired images for that camera (with origin (0,0)).
- raw2DFromCamera2Ds
- Type: System.Collections.Generic List Cog3DCameraCalibrationIntrinsics
A list of the cameras' intrinsic parameters indexed by camera.
The size of this list must equal the number of cameras.
- crspFeatures
- Type: System.Collections.Generic List List Cog3DCrspFeaturesCollection
A doubly indexed list of extracted calibration plate features from various robot hand poses.
The first index is the robot hand pose index, the second index is the camera index.
The size of the outer list must equal the number of robot hand poses.
The size of each inner list must equal the number of cameras.
- robotBase3DFromHand3Ds
- Type: System.Collections.Generic List Cog3DTransformRigid
A list of Cog3DTransformRigid's defining the robot hand poses, indexed by robot hand pose.
The size of this list must equal the number of robot hand poses.
Return Value
Type:
List Cog3DHandEyeCalibrationResult
A list of Cog3DHandEyeCalibrationResults (index is camera) containing the hand-eye calibration
result for each camera.
| Exception | Condition |
|---|
| ArgumentNullException |
If any input argument is null or any input argument includes a null item
(except crspFeatures[i][j].Weights).
|
| ArgumentException |
If any of the following is true:
- pelRectRaw2Ds, raw2DFromCamera2Ds,
and crspFeatures[i] (i is inside [0, crspFeatures.Count -1])
are not the same size;
- crspFeatures and robotBase3DFromHand3Ds are not the same size.
- 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.
|