Cog3DTriangulator.Execute Method (List(Cog3DCameraCalibration), List(Cog3DVect2Collection), List(List(Boolean)), List(Boolean), List(Cog3DResiduals), List(Cog3DResiduals))

Cog3DTriangulator Execute Method (List Cog3DCameraCalibration , List Cog3DVect2Collection , List List Boolean , List Boolean , List Cog3DResiduals , List Cog3DResiduals )

Cognex VisionPro

Triangulate a collection of 3D features from their corresponding 2D image points from different cameras.

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

Syntax

C++

Copy to Clipboard Print

public Cog3DVect3Collection Execute(
	List<Cog3DCameraCalibration> raw2DFromPhys3Ds,
	List<Cog3DVect2Collection> pointsRaw2D,
	List<List<bool>> isPointValid,
	out List<bool> is3DPointValid,
	out List<Cog3DResiduals> residualsRaw2D,
	out List<Cog3DResiduals> residualsPhys3D
)

public Cog3DVect3Collection Execute(
	List<Cog3DCameraCalibration> raw2DFromPhys3Ds,
	List<Cog3DVect2Collection> pointsRaw2D,
	List<List<bool>> isPointValid,
	out List<bool> is3DPointValid,
	out List<Cog3DResiduals> residualsRaw2D,
	out List<Cog3DResiduals> residualsPhys3D
)

Public Function Execute ( 
	raw2DFromPhys3Ds As List(Of Cog3DCameraCalibration),
	pointsRaw2D As List(Of Cog3DVect2Collection),
	isPointValid As List(Of List(Of Boolean)),
	<OutAttribute> ByRef is3DPointValid As List(Of Boolean),
	<OutAttribute> ByRef residualsRaw2D As List(Of Cog3DResiduals),
	<OutAttribute> ByRef residualsPhys3D As List(Of Cog3DResiduals)
) As Cog3DVect3Collection

Public Function Execute ( 
	raw2DFromPhys3Ds As List(Of Cog3DCameraCalibration),
	pointsRaw2D As List(Of Cog3DVect2Collection),
	isPointValid As List(Of List(Of Boolean)),
	<OutAttribute> ByRef is3DPointValid As List(Of Boolean),
	<OutAttribute> ByRef residualsRaw2D As List(Of Cog3DResiduals),
	<OutAttribute> ByRef residualsPhys3D As List(Of Cog3DResiduals)
) As Cog3DVect3Collection

public:
Cog3DVect3Collection^ Execute(
	List<Cog3DCameraCalibration^>^ raw2DFromPhys3Ds, 
	List<Cog3DVect2Collection^>^ pointsRaw2D, 
	List<List<bool>^>^ isPointValid, 
	[OutAttribute] List<bool>^% is3DPointValid, 
	[OutAttribute] List<Cog3DResiduals>^% residualsRaw2D, 
	[OutAttribute] List<Cog3DResiduals>^% residualsPhys3D
)

public:
Cog3DVect3Collection^ Execute(
	List<Cog3DCameraCalibration^>^ raw2DFromPhys3Ds, 
	List<Cog3DVect2Collection^>^ pointsRaw2D, 
	List<List<bool>^>^ isPointValid, 
	[OutAttribute] List<bool>^% is3DPointValid, 
	[OutAttribute] List<Cog3DResiduals>^% residualsRaw2D, 
	[OutAttribute] List<Cog3DResiduals>^% residualsPhys3D
)

Parameters

raw2DFromPhys3Ds: Type: System.Collections.Generic List Cog3DCameraCalibration
A list of Cog3DCameraCalibration, indexed by camera. One calibration per camera. The size of this list defines the number of cameras. Must be greater than or equal to two.

pointsRaw2D: Type: System.Collections.Generic List Cog3DVect2Collection
A List of 2D point collections, indexed by camera. Each 2D point collection contains all 2D feature points from a specific camera. The size of the List must be equal to the number of cameras. The size of each 2D point collection must be the same and defines the number of 3D features to be triangulated.

isPointValid: Type: System.Collections.Generic List List Boolean
A List of valid flags Lists, indexed by camera. The outer List may be null to indicate all points are valid. If not null, the size of the outer List must be equal to the number of cameras, and each item in the outer List must be either null (to indicate all points from the corresponding camera are valid), or have the same size as the number of 3D features to be triangulated.

is3DPointValid: Type: System.Collections.Generic List Boolean
This output parameter is a list of valid flags for the returned 3D features. If a 3D feature could not be triangulated, its corresponding flag will be false; true otherwise. The passed list will be re-initialized by this function.

residualsRaw2D: Type: System.Collections.Generic List Cog3DResiduals
2D residual error information is returned via this Out argument. One Cog3DResiduals per triangulated 3D feature. The passed list will be re-initialized by this function.

residualsPhys3D: Type: System.Collections.Generic List Cog3DResiduals
3D residual error information is returned via this Out argument. One Cog3DResiduals per triangulated 3D feature. The passed list will be re-initialized by this function.

Return Value

Type: Cog3DVect3Collection
A collection of the triangulated 3D feature coordinates and updates is3DPointValid.

Exceptions

Exception	Condition
ArgumentNullException	If any of the input arguments (except isPointValid) is null; If any item of raw2DFromPhys3Ds is null; If any item of pointsRaw2D is null.
ArgumentException	If the sizes of raw2DFromPhys3Ds and pointsRaw2D are different or are less than two; If pointsRaw2D[i] does not have the same length as pointsRaw2D[j] (i and j are inside [0, pointsRaw2D.Count-1]); If isPointValid is not null, and does not have the same length as pointsRaw2D; if isPointValid[i] is not null, and does not have the same length as pointsRaw2D[i] (i is inside [0, pointsRaw2D.Count-1]).

Exception

Condition

ArgumentNullException

If any of the input arguments (except isPointValid) is null;
If any item of raw2DFromPhys3Ds is null;
If any item of pointsRaw2D is null.

ArgumentException

If the sizes of raw2DFromPhys3Ds and pointsRaw2D are different or are less than two;
If pointsRaw2D[i] does not have the same length as pointsRaw2D[j] (i and j are inside [0, pointsRaw2D.Count-1]);
If isPointValid is not null, and does not have the same length as pointsRaw2D;
if isPointValid[i] is not null, and does not have the same length as pointsRaw2D[i] (i is inside [0, pointsRaw2D.Count-1]).