Cog3DHandEyeCalibrator.Execute Method (List(Rectangle), List(Cog3DCameraCalibrationIntrinsics), List(List(Cog3DTransformRigid)), List(Cog3DTransformRigid))

Cog3DHandEyeCalibrator Execute Method (List Rectangle , List Cog3DCameraCalibrationIntrinsics , List List Cog3DTransformRigid , List Cog3DTransformRigid )

Cognex VisionPro 9.7

Compute the hand-eye calibration(s) based on camera intrinsic parameters, extrinsic camera transforms, and robot 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<Rectangle> pelRectRaw2Ds,
	List<Cog3DCameraCalibrationIntrinsics> raw2DFromCamera2Ds,
	List<List<Cog3DTransformRigid>> camera3DFromCalPlate3Ds,
	List<Cog3DTransformRigid> robotBase3DFromHand3Ds
)

public List<Cog3DHandEyeCalibrationResult> Execute(
	List<Rectangle> pelRectRaw2Ds,
	List<Cog3DCameraCalibrationIntrinsics> raw2DFromCamera2Ds,
	List<List<Cog3DTransformRigid>> camera3DFromCalPlate3Ds,
	List<Cog3DTransformRigid> robotBase3DFromHand3Ds
)

Public Function Execute ( 
	pelRectRaw2Ds As List(Of Rectangle),
	raw2DFromCamera2Ds As List(Of Cog3DCameraCalibrationIntrinsics),
	camera3DFromCalPlate3Ds As List(Of List(Of Cog3DTransformRigid)),
	robotBase3DFromHand3Ds As List(Of Cog3DTransformRigid)
) As List(Of Cog3DHandEyeCalibrationResult)

Public Function Execute ( 
	pelRectRaw2Ds As List(Of Rectangle),
	raw2DFromCamera2Ds As List(Of Cog3DCameraCalibrationIntrinsics),
	camera3DFromCalPlate3Ds As List(Of List(Of Cog3DTransformRigid)),
	robotBase3DFromHand3Ds As List(Of Cog3DTransformRigid)
) As List(Of Cog3DHandEyeCalibrationResult)

public:
List<Cog3DHandEyeCalibrationResult^>^ Execute(
	List<Rectangle>^ pelRectRaw2Ds, 
	List<Cog3DCameraCalibrationIntrinsics^>^ raw2DFromCamera2Ds, 
	List<List<Cog3DTransformRigid^>^>^ camera3DFromCalPlate3Ds, 
	List<Cog3DTransformRigid^>^ robotBase3DFromHand3Ds
)

public:
List<Cog3DHandEyeCalibrationResult^>^ Execute(
	List<Rectangle>^ pelRectRaw2Ds, 
	List<Cog3DCameraCalibrationIntrinsics^>^ raw2DFromCamera2Ds, 
	List<List<Cog3DTransformRigid^>^>^ camera3DFromCalPlate3Ds, 
	List<Cog3DTransformRigid^>^ robotBase3DFromHand3Ds
)

Parameters

pelRectRaw2Ds: Type: System.Collections.Generic List Rectangle
A list of rectangles indexed by camera, that specifies the region of interest of the raw acquired calibration image (the camera's field of view). The size of this list defines the number of cameras. Each item must be the size of the acquired images for that camera (with origin (0,0)).

raw2DFromCamera2Ds: Type: System.Collections.Generic List Cog3DCameraCalibrationIntrinsics
A list of the cameras' intrinsic parameters indexed by camera. The size of this list must equal the number of cameras.

camera3DFromCalPlate3Ds: Type: System.Collections.Generic List List Cog3DTransformRigid
A doubly indexed list of Cog3DTransformRigid for extrinsic camera transforms under various robot hand poses. The first index is the robot hand pose index, the second index is the camera index. The size of the outer list must equal the number of robot hand poses. The size of each inner list must equal the number of cameras.

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 Cog3DHandEyeCalibrationResult's indexed by camera containing the hand-eye calibration result for each camera.

Exceptions

Exception	Condition
ArgumentNullException	If any input argument is null or any input argument includes null item.
ArgumentException	If any of the following is true: camera3DFromCalPlate3Ds is empty pelRectRaw2Ds, raw2DFromCamera2Ds, and camera3DFromCalPlate3Ds[i] (i is inside [0, camera3DFromCalPlate3Ds.Count -1]) are not the same size. camera3DFromCalPlate3Ds.Count is not equal to robotBase3DFromHand3Ds.Count
Cog3DOperationCancelledByUserException	If the operation is cancelled by user via the event handler.