CogHandEyeCalibratorRemoteCameras.Execute Method (CogHandEyeCalibrationResults, CogFeatureCrspsMCameras, Rectangle[], CogFeatureCrspsMCameras, CogTransform2DCameraCalibration[])

CogHandEyeCalibratorRemoteCameras Execute Method (CogHandEyeCalibrationResults, CogFeatureCrspsMCameras, Rectangle , CogFeatureCrspsMCameras, CogTransform2DCameraCalibration )

Cognex VisionPro

Reuse the internal camera parameters (from the supplied camera calibration results of the remote cameras) to compute the CogHandEyeCalibrationRemoteCamerasResults for the remote cameras based on the supplied hand-eye calibration results of the primary cameras, the corresponded point pairs (from the same calibration plate) for the primary cameras and the remote cameras, pelrects of the remote cameras, using the current parameter settings.

Namespace: Cognex.VisionPro.CalibFix
Assembly: Cognex.VisionPro.CalibFixPlus (in Cognex.VisionPro.CalibFixPlus.dll) Version: 65.1.0.0

Syntax

C++

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public CogHandEyeCalibrationRemoteCameraResults Execute(
	CogHandEyeCalibrationResults primaryCamerasCalibResults,
	CogFeatureCrspsMCameras primaryCamerasCrsps,
	Rectangle[] remoteCamerasPelRects,
	CogFeatureCrspsMCameras remoteCamerasCrsps,
	CogTransform2DCameraCalibration[] remoteCameraRaw2DFromCamera2Ds
)

public CogHandEyeCalibrationRemoteCameraResults Execute(
	CogHandEyeCalibrationResults primaryCamerasCalibResults,
	CogFeatureCrspsMCameras primaryCamerasCrsps,
	Rectangle[] remoteCamerasPelRects,
	CogFeatureCrspsMCameras remoteCamerasCrsps,
	CogTransform2DCameraCalibration[] remoteCameraRaw2DFromCamera2Ds
)

Public Function Execute ( 
	primaryCamerasCalibResults As CogHandEyeCalibrationResults,
	primaryCamerasCrsps As CogFeatureCrspsMCameras,
	remoteCamerasPelRects As Rectangle(),
	remoteCamerasCrsps As CogFeatureCrspsMCameras,
	remoteCameraRaw2DFromCamera2Ds As CogTransform2DCameraCalibration()
) As CogHandEyeCalibrationRemoteCameraResults

Public Function Execute ( 
	primaryCamerasCalibResults As CogHandEyeCalibrationResults,
	primaryCamerasCrsps As CogFeatureCrspsMCameras,
	remoteCamerasPelRects As Rectangle(),
	remoteCamerasCrsps As CogFeatureCrspsMCameras,
	remoteCameraRaw2DFromCamera2Ds As CogTransform2DCameraCalibration()
) As CogHandEyeCalibrationRemoteCameraResults

public:
CogHandEyeCalibrationRemoteCameraResults^ Execute(
	CogHandEyeCalibrationResults^ primaryCamerasCalibResults, 
	CogFeatureCrspsMCameras^ primaryCamerasCrsps, 
	array<Rectangle>^ remoteCamerasPelRects, 
	CogFeatureCrspsMCameras^ remoteCamerasCrsps, 
	array<CogTransform2DCameraCalibration^>^ remoteCameraRaw2DFromCamera2Ds
)

public:
CogHandEyeCalibrationRemoteCameraResults^ Execute(
	CogHandEyeCalibrationResults^ primaryCamerasCalibResults, 
	CogFeatureCrspsMCameras^ primaryCamerasCrsps, 
	array<Rectangle>^ remoteCamerasPelRects, 
	CogFeatureCrspsMCameras^ remoteCamerasCrsps, 
	array<CogTransform2DCameraCalibration^>^ remoteCameraRaw2DFromCamera2Ds
)

Parameters

primaryCamerasCalibResults: Type: Cognex.VisionPro.CalibFix CogHandEyeCalibrationResults
The primary cameras' hand-eye calibration results.

primaryCamerasCrsps: Type: Cognex.VisionPro CogFeatureCrspsMCameras
The corresponded point pairs for the primary cameras.

remoteCamerasPelRects: Type: System.Drawing Rectangle
The pelrects of the remote cameras, used to extract the corresponded point pairs. There should be one pelrect for each camera. There is no relationship between the pelrects of two separate cameras. It is used to define the camera coordinate system (i.e. Camera2D) to be at the center of the pelrect.

remoteCamerasCrsps: Type: Cognex.VisionPro CogFeatureCrspsMCameras
The corresponded point pairs for the remote cameras.

remoteCameraRaw2DFromCamera2Ds: Type: Cognex.VisionPro CogTransform2DCameraCalibration
The remote cameras' previously computed calibration results which are expected to have better accuracy (e.g., using calibration plate). The intrinsic parameters of input camera calibrations are kept during computing the hand-eye calibration, while the extrinsic parameter are recalculated based on the corresponded point pairs.

Return Value

Type: CogHandEyeCalibrationRemoteCameraResults
A CogHandEyeCalibrationRemoteCameraResults containing the results of the calibration, i.e. a CogHandEyeCalibrationRemoteCameraResult object for each remote camera.

Exceptions

Exception	Condition
ArgumentNullException	If the primaryCamerasCalibResults argument is null.
ArgumentNullException	If the primaryCamerasCrsps argument is null.
ArgumentNullException	If the remoteCamerasPelRects argument is null.
ArgumentNullException	If the remoteCamerasCrsps argument is null.
ArgumentNullException	If the remoteCameraRaw2DFromCamera2Ds argument is null.
ArgumentNullException	The Raw2DFromCamera2D transform for any of the items in remoteCameraRaw2DFromCamera2Ds is null.
CogTimeoutExpiredException	If TimeoutEnabled is true and this method does not complete within Timeout milliseconds.
ArgumentException	If any of the following is true: Any of the input arguments is empty. The number of primary cameras described by primaryCamerasCrsps is different from the number of items in primaryCamerasCalibResults. The number of remote cameras described by remoteCamerasCrsps is different from the number of items in remoteCameraRaw2DFromCamera2Ds. The number of remote cameras described by remoteCamerasPelRects is different from the number of items in remoteCamerasCrsps.
ArgumentException	If any Raw2D feature position in the remoteCamerasCrsps argument falls outside its corresponding pelrect.
ArgumentException	If the supplied remoteCameraRaw2DFromCamera2Ds is using a lens distortion model different from the one set in this calibrator.
ArgumentException	If the input data is degenerate.

Remarks

The purpose of this overload is to support previously-calibrated remote cameras, and calibrating the camera extrinsic poses using potentially sparse feature correspondences.

Requires:

Between the previous and current calibration, there should be no change to the cameras' intrinsic parameters, e.g. focal length, focus, aperture, lens unit, camera body.
Between the previous and current calibration, the cameras' extrinsic parameters changes such as in-plane rotation and translation, are to be expected. Small changes to non-in-plane rotation and translation that cause changes in perspective are also allowed.