Cog3DHandEyeCalibrator.Execute Method (List(Cog3DCameraCalibrationIntrinsics), List(List(ICogImage)), ICog3DCalibrationFeatureExtractor, List(Cog3DTransformRigid))

Cog3DHandEyeCalibrator Execute Method (List Cog3DCameraCalibrationIntrinsics , List List ICogImage , ICog3DCalibrationFeatureExtractor, List Cog3DTransformRigid )

Cognex VisionPro 9.7

Compute the hand-eye calibration(s) using the specified calibration plate images acquired from different cameras and at different robot hand poses.

Namespace: Cognex.VisionPro3D
Assembly: Cognex.VisionPro3D (in Cognex.VisionPro3D.dll) Version: 73.0.0.0

Syntax

C++

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public List<Cog3DHandEyeCalibrationResult> Execute(
	List<Cog3DCameraCalibrationIntrinsics> raw2DFromCamera2Ds,
	List<List<ICogImage>> images,
	ICog3DCalibrationFeatureExtractor featureExtractor,
	List<Cog3DTransformRigid> robotBase3DFromHand3Ds
)

public List<Cog3DHandEyeCalibrationResult> Execute(
	List<Cog3DCameraCalibrationIntrinsics> raw2DFromCamera2Ds,
	List<List<ICogImage>> images,
	ICog3DCalibrationFeatureExtractor featureExtractor,
	List<Cog3DTransformRigid> robotBase3DFromHand3Ds
)

Public Function Execute ( 
	raw2DFromCamera2Ds As List(Of Cog3DCameraCalibrationIntrinsics),
	images As List(Of List(Of ICogImage)),
	featureExtractor As ICog3DCalibrationFeatureExtractor,
	robotBase3DFromHand3Ds As List(Of Cog3DTransformRigid)
) As List(Of Cog3DHandEyeCalibrationResult)

Public Function Execute ( 
	raw2DFromCamera2Ds As List(Of Cog3DCameraCalibrationIntrinsics),
	images As List(Of List(Of ICogImage)),
	featureExtractor As ICog3DCalibrationFeatureExtractor,
	robotBase3DFromHand3Ds As List(Of Cog3DTransformRigid)
) As List(Of Cog3DHandEyeCalibrationResult)

public:
List<Cog3DHandEyeCalibrationResult^>^ Execute(
	List<Cog3DCameraCalibrationIntrinsics^>^ raw2DFromCamera2Ds, 
	List<List<ICogImage^>^>^ images, 
	ICog3DCalibrationFeatureExtractor^ featureExtractor, 
	List<Cog3DTransformRigid^>^ robotBase3DFromHand3Ds
)

public:
List<Cog3DHandEyeCalibrationResult^>^ Execute(
	List<Cog3DCameraCalibrationIntrinsics^>^ raw2DFromCamera2Ds, 
	List<List<ICogImage^>^>^ images, 
	ICog3DCalibrationFeatureExtractor^ featureExtractor, 
	List<Cog3DTransformRigid^>^ robotBase3DFromHand3Ds
)

Parameters

raw2DFromCamera2Ds: Type: System.Collections.Generic List Cog3DCameraCalibrationIntrinsics
A list of the cameras' intrinsic parameters indexed by camera.

images: Type: System.Collections.Generic List List ICogImage
A doubly indexed list of calibration plate images, acquired at various robot hand poses. The first index is the robot hand pose index, the second index is the camera index.

featureExtractor: Type: Cognex.VisionPro3D ICog3DCalibrationFeatureExtractor
The feature extractor to be used for extracting calibration features from the images.

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 indexed by camera, containing the hand-eye calibration result for each of the cameras.

Exceptions

Exception	Condition
ArgumentNullException	If any input argument is null or any input argument includes a null item.
ArgumentException	If any of the following is true: images.Count is not equal to robotBase3DFromHand3Ds.Count images[i].Count (i is inside [0, images.Count -1]) is not equal to raw2DFromCamera2Ds.Count
Cog3DOperationCancelledByUserException	If the operation is cancelled by user via the event handler.