Cog3DPoseEstimatorUsingCrsp2D3Ds.RefinePoseUsingAllCrsp2D3Ds Method

Cog3DPoseEstimatorUsingCrsp2D3Ds RefinePoseUsingAllCrsp2D3Ds Method

Cognex VisionPro

This method performs a 3D pose refinement based on an initial pose, the specified crsp2D3DsUnified, and the specified camera calibrations, from one or multiple cameras/views. Note that this method uses all the input features.

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

Syntax

C++

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public Cog3DPoseEstimatorUsing2DPointsResult RefinePoseUsingAllCrsp2D3Ds(
	List<Cog3DCameraCalibration> raw2DFromPhys3Ds,
	List<Cog3DCrsp2D3D> crsp2D3DsUnified,
	int partInstanceIndex,
	Cog3DTransformRigid initialPhys3DFromModel3D
)

public Cog3DPoseEstimatorUsing2DPointsResult RefinePoseUsingAllCrsp2D3Ds(
	List<Cog3DCameraCalibration> raw2DFromPhys3Ds,
	List<Cog3DCrsp2D3D> crsp2D3DsUnified,
	int partInstanceIndex,
	Cog3DTransformRigid initialPhys3DFromModel3D
)

Public Function RefinePoseUsingAllCrsp2D3Ds ( 
	raw2DFromPhys3Ds As List(Of Cog3DCameraCalibration),
	crsp2D3DsUnified As List(Of Cog3DCrsp2D3D),
	partInstanceIndex As Integer,
	initialPhys3DFromModel3D As Cog3DTransformRigid
) As Cog3DPoseEstimatorUsing2DPointsResult

Public Function RefinePoseUsingAllCrsp2D3Ds ( 
	raw2DFromPhys3Ds As List(Of Cog3DCameraCalibration),
	crsp2D3DsUnified As List(Of Cog3DCrsp2D3D),
	partInstanceIndex As Integer,
	initialPhys3DFromModel3D As Cog3DTransformRigid
) As Cog3DPoseEstimatorUsing2DPointsResult

public:
Cog3DPoseEstimatorUsing2DPointsResult^ RefinePoseUsingAllCrsp2D3Ds(
	List<Cog3DCameraCalibration^>^ raw2DFromPhys3Ds, 
	List<Cog3DCrsp2D3D^>^ crsp2D3DsUnified, 
	int partInstanceIndex, 
	Cog3DTransformRigid^ initialPhys3DFromModel3D
)

public:
Cog3DPoseEstimatorUsing2DPointsResult^ RefinePoseUsingAllCrsp2D3Ds(
	List<Cog3DCameraCalibration^>^ raw2DFromPhys3Ds, 
	List<Cog3DCrsp2D3D^>^ crsp2D3DsUnified, 
	int partInstanceIndex, 
	Cog3DTransformRigid^ initialPhys3DFromModel3D
)

Parameters

raw2DFromPhys3Ds: Type: System.Collections.Generic List Cog3DCameraCalibration
A List of camera calibrations. One calibration per camera/view. The size of this list specifies the number of cameras/views. May not be null.

crsp2D3DsUnified: Type: System.Collections.Generic List Cog3DCrsp2D3D
A List of crsp2D3Ds. May not be null. Note that each item has the camera index, the index of the part instance, the 2D feature(s), the corresponding 3D feature index, and sub-feature type.
Note that when there is multiple part instances, the PartInstanceIndex of crsp2D3DsUnified must be unified for all cameras by calling part corresponder ( Cog3DPartCorresponderUsingCrsp2D3Ds.Execute ). Therefore, for the same 3D part instance, the same PartInstanceIndex is used for the corresponding crsp2D3Ds items across all cameras.
If there is only one part instance, and the PartInstanceIndex is 0 for all items of crsp2D3Ds, then no need to call part corresponder.
Note that if crsp2D3DsUnified[i].FeatureRaw2D is null or empty, then crsp2D3DsUnified[i] is ignored during pose estimation.

partInstanceIndex: Type: System Int32
This parameter specifies which part instance to run the pose estimation. If crsp2D3DsUnified[i].PartInstanceIndex is not equal to partInstanceIndex, then that crsp2D3DsUnified element is not used in the pose estimation.

initialPhys3DFromModel3D: Type: Cognex.VisionPro3D Cog3DTransformRigid
An initial estimation for the pose. May not be NULL.

Return Value

Type: Cog3DPoseEstimatorUsing2DPointsResult
The refined 3D pose result. The pose maps point/shape features from Model3D space to Phys3D space.

Exceptions

Exception	Condition
ArgumentNullException	If any of the arguments (except partInstanceIndex) is null, or any input argument includes null item, or FeaturesModel3D[crsp2D3DsUnified[i].FeatureModel3DIndex] is null.
ArgumentException	If raw2DFromPhys3Ds.Count == 0; if raw2DFromPhys3Ds.Count is 1, and raw2DFromPhys3Ds[0].IsTelecentric is true . If partInstanceIndex is less than 0; If crsp2D3DsUnified[i].CameraIndex is not inside range [0, raw2DFromPhys3Ds.Count-1]; If crsp2D3DsUnified[i].FeatureModel3DType is not Cog3DVect3, Cog3DLine, Cog3DLineSeg, Cog3DCylinder, or Cog3DCircle; If crsp2D3DsUnified[i].FeatureModel3DType is Cog3DVect3, but crsp2D3DsUnified[i].Subfeature is not Cog3DSubfeatureConstants.Point0; If crsp2D3DsUnified[i].FeatureModel3DType is Cog3DLine or Cog3DLineSeg, but crsp2D3DsUnified[i].Subfeature is not Cog3DSubfeatureConstants.StraightEdge0; If crsp2D3DsUnified[i].FeatureModel3DType is Cog3DCircle, but crsp2D3DsUnified[i].Subfeature is not Cog3DSubfeatureConstants.CircleEdge0 or Cog3DSubfeatureConstants.Point0; If crsp2D3DsUnified[i].FeatureModel3DType is Cog3DCylinder, but crsp2D3DsUnified[i].Subfeature is not Cog3DSubfeatureConstants.OccludingEdge0, .OccludingEdge1, .CircularEdge0, or .CircularEdge1; If crsp2D3DsUnified[i].FeatureRaw2D is not null, and its type is not Cog3DVect2, or Cog3DVect2Collection; If crsp2D3DsUnified[i].FeatureModel3DType is Cog3DVect3, crsp2D3DsUnified[i].FeatureRaw2D has type of Cog3DVect2Collection, and its size is greater than 1. If crsp2D3DsUnified[i].FeatureModel3DIndex is not inside range [0, FeaturesModel3D.Count-1]; If crsp2D3DsUnified[i].FeatureModel3DType is not the same as the type of FeaturesModel3D[crsp2D3DsUnified[i].FeatureModel3DIndex];

Exception

Condition

ArgumentNullException

If any of the arguments (except partInstanceIndex) is null, or any input argument includes null item, or FeaturesModel3D[crsp2D3DsUnified[i].FeatureModel3DIndex] is null.

ArgumentException

If raw2DFromPhys3Ds.Count == 0;
if raw2DFromPhys3Ds.Count is 1, and raw2DFromPhys3Ds[0].IsTelecentric is true .
If partInstanceIndex is less than 0;
If crsp2D3DsUnified[i].CameraIndex is not inside range [0, raw2DFromPhys3Ds.Count-1];
If crsp2D3DsUnified[i].FeatureModel3DType is not Cog3DVect3, Cog3DLine, Cog3DLineSeg, Cog3DCylinder, or Cog3DCircle;
If crsp2D3DsUnified[i].FeatureModel3DType is Cog3DVect3, but crsp2D3DsUnified[i].Subfeature is not Cog3DSubfeatureConstants.Point0;
If crsp2D3DsUnified[i].FeatureModel3DType is Cog3DLine or Cog3DLineSeg, but crsp2D3DsUnified[i].Subfeature is not Cog3DSubfeatureConstants.StraightEdge0;
If crsp2D3DsUnified[i].FeatureModel3DType is Cog3DCircle, but crsp2D3DsUnified[i].Subfeature is not Cog3DSubfeatureConstants.CircleEdge0 or Cog3DSubfeatureConstants.Point0;
If crsp2D3DsUnified[i].FeatureModel3DType is Cog3DCylinder, but crsp2D3DsUnified[i].Subfeature is not Cog3DSubfeatureConstants.OccludingEdge0, .OccludingEdge1, .CircularEdge0, or .CircularEdge1;
If crsp2D3DsUnified[i].FeatureRaw2D is not null, and its type is not Cog3DVect2, or Cog3DVect2Collection;
If crsp2D3DsUnified[i].FeatureModel3DType is Cog3DVect3, crsp2D3DsUnified[i].FeatureRaw2D has type of Cog3DVect2Collection, and its size is greater than 1.
If crsp2D3DsUnified[i].FeatureModel3DIndex is not inside range [0, FeaturesModel3D.Count-1];
If crsp2D3DsUnified[i].FeatureModel3DType is not the same as the type of FeaturesModel3D[crsp2D3DsUnified[i].FeatureModel3DIndex];

Remarks

Note that this method handles a single part instance. Therefore, all 2D features with the specified partInstanceIndex in crsp2D3DsUnified must correspond to the same part instance.

Note that if 3D line segment model features are used, and some 3D line segments are shorter than the actual lengths, then it may return result(s) with larger residuals. Dilating the 3D line segments may avoid this problem.