CogHandEyeCalibrator.ComputeRaw2DFromCamera2D Method

CogHandEyeCalibrator ComputeRaw2DFromCamera2D Method

Cognex VisionPro

Compute camera calibration ( Raw2DFromCamera2D) for a camera using a group of calibration feature correspondences from different calibration plate poses.

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 static CogTransform2DCameraCalibration ComputeRaw2DFromCamera2D(
	int cameraIndex,
	Rectangle pelRect,
	CogFeatureCrspsMCamerasNPoses correspondedPointPairsForMCameraNPoses,
	CogLensDistortionModelConstants distortionModel,
	out double[] rmsErrRaw2D,
	out double[] maxErrRaw2D,
	out double[] rmsErrPlate2D,
	out double[] maxErrPlate2D
)

public static CogTransform2DCameraCalibration ComputeRaw2DFromCamera2D(
	int cameraIndex,
	Rectangle pelRect,
	CogFeatureCrspsMCamerasNPoses correspondedPointPairsForMCameraNPoses,
	CogLensDistortionModelConstants distortionModel,
	out double[] rmsErrRaw2D,
	out double[] maxErrRaw2D,
	out double[] rmsErrPlate2D,
	out double[] maxErrPlate2D
)

Public Shared Function ComputeRaw2DFromCamera2D ( 
	cameraIndex As Integer,
	pelRect As Rectangle,
	correspondedPointPairsForMCameraNPoses As CogFeatureCrspsMCamerasNPoses,
	distortionModel As CogLensDistortionModelConstants,
	<OutAttribute> ByRef rmsErrRaw2D As Double(),
	<OutAttribute> ByRef maxErrRaw2D As Double(),
	<OutAttribute> ByRef rmsErrPlate2D As Double(),
	<OutAttribute> ByRef maxErrPlate2D As Double()
) As CogTransform2DCameraCalibration

Public Shared Function ComputeRaw2DFromCamera2D ( 
	cameraIndex As Integer,
	pelRect As Rectangle,
	correspondedPointPairsForMCameraNPoses As CogFeatureCrspsMCamerasNPoses,
	distortionModel As CogLensDistortionModelConstants,
	<OutAttribute> ByRef rmsErrRaw2D As Double(),
	<OutAttribute> ByRef maxErrRaw2D As Double(),
	<OutAttribute> ByRef rmsErrPlate2D As Double(),
	<OutAttribute> ByRef maxErrPlate2D As Double()
) As CogTransform2DCameraCalibration

public:
static CogTransform2DCameraCalibration^ ComputeRaw2DFromCamera2D(
	int cameraIndex, 
	Rectangle pelRect, 
	CogFeatureCrspsMCamerasNPoses^ correspondedPointPairsForMCameraNPoses, 
	CogLensDistortionModelConstants distortionModel, 
	[OutAttribute] array<double>^% rmsErrRaw2D, 
	[OutAttribute] array<double>^% maxErrRaw2D, 
	[OutAttribute] array<double>^% rmsErrPlate2D, 
	[OutAttribute] array<double>^% maxErrPlate2D
)

public:
static CogTransform2DCameraCalibration^ ComputeRaw2DFromCamera2D(
	int cameraIndex, 
	Rectangle pelRect, 
	CogFeatureCrspsMCamerasNPoses^ correspondedPointPairsForMCameraNPoses, 
	CogLensDistortionModelConstants distortionModel, 
	[OutAttribute] array<double>^% rmsErrRaw2D, 
	[OutAttribute] array<double>^% maxErrRaw2D, 
	[OutAttribute] array<double>^% rmsErrPlate2D, 
	[OutAttribute] array<double>^% maxErrPlate2D
)

Parameters

cameraIndex: Type: System Int32
The camera index which indicates which camera will be calibrated in parameter correspondedPointPairsForMCameraNPoses.

pelRect: Type: System.Drawing Rectangle
The pelrect used to extract the corresponded point pairs. It is used to define the origin of camera coordinate system (i.e. Camera2D) which is at the center of the pelrect.

correspondedPointPairsForMCameraNPoses: Type: Cognex.VisionPro CogFeatureCrspsMCamerasNPoses
The corresponded point pairs to be processed.

distortionModel: Type: Cognex.VisionPro CogLensDistortionModelConstants
The lens distortion model used for camera calibration.

rmsErrRaw2D: Type: System Double
The rms errors in Raw2D for the calibration result, indexed by view (plate pose).

maxErrRaw2D: Type: System Double
The maximum errors in Raw2D for the calibration result, indexed by view (plate pose).

rmsErrPlate2D: Type: System Double
The rms errors in Plate2D for the calibration result, indexed by view (plate pose).

maxErrPlate2D: Type: System Double
The maximum errors in Plate2D for the calibration result, indexed by view (plate pose).

Return Value

Type: CogTransform2DCameraCalibration
A CogTransform2DCameraCalibration containing the result of the Raw2DfromCamera2D transform for the specified camera.

Exceptions

Exception	Condition
ArgumentNullException	If correspondedPointPairsForMCameraNPoses is null.
ArgumentException	If any of the following is true: correspondedPointPairsForMCameraNPoses is empty. cameraIndex < 0 or cameraIndex >= correspondedPointPairsForMCameraNPoses[0].Count correspondedPointPairsForMCameraNPoses[i].Count != correspondedPointPairsForMCameraNPoses[j].Count for any plate pose i and j. The supplied distortionModel is not a member of the CogLensDistortionModelConstants enumeration.
ArgumentException	if any calibration feature falls outside its corresponding image window.
ArgumentException	If the input data is degenerated, or if correspondedPointPairsForMCameraNPoses[cameraIndex] does not contain sufficient data to support a successful camera calibration.