CogHandEyeCalibrator.ComputeRaw2DFromCamera2Ds Method

CogHandEyeCalibrator ComputeRaw2DFromCamera2Ds Method

Cognex VisionPro 9.7

Compute camera calibration (Raw2DFromCamera2D) for all cameras 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: 73.0.0.0

Syntax

C++

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public static CogTransform2DCameraCalibration[] ComputeRaw2DFromCamera2Ds(
	Rectangle[] pelRects,
	CogFeatureCrspsMCamerasNPoses correspondedPointPairsForMCameraNPoses,
	CogLensDistortionModelConstants distortionModel,
	out double[][] rmsErrsRaw2D,
	out double[][] maxErrsRaw2D,
	out double[][] rmsErrsPlate2D,
	out double[][] maxErrsPlate2D
)

public static CogTransform2DCameraCalibration[] ComputeRaw2DFromCamera2Ds(
	Rectangle[] pelRects,
	CogFeatureCrspsMCamerasNPoses correspondedPointPairsForMCameraNPoses,
	CogLensDistortionModelConstants distortionModel,
	out double[][] rmsErrsRaw2D,
	out double[][] maxErrsRaw2D,
	out double[][] rmsErrsPlate2D,
	out double[][] maxErrsPlate2D
)

Public Shared Function ComputeRaw2DFromCamera2Ds ( 
	pelRects As Rectangle(),
	correspondedPointPairsForMCameraNPoses As CogFeatureCrspsMCamerasNPoses,
	distortionModel As CogLensDistortionModelConstants,
	<OutAttribute> ByRef rmsErrsRaw2D As Double()(),
	<OutAttribute> ByRef maxErrsRaw2D As Double()(),
	<OutAttribute> ByRef rmsErrsPlate2D As Double()(),
	<OutAttribute> ByRef maxErrsPlate2D As Double()()
) As CogTransform2DCameraCalibration()

Public Shared Function ComputeRaw2DFromCamera2Ds ( 
	pelRects As Rectangle(),
	correspondedPointPairsForMCameraNPoses As CogFeatureCrspsMCamerasNPoses,
	distortionModel As CogLensDistortionModelConstants,
	<OutAttribute> ByRef rmsErrsRaw2D As Double()(),
	<OutAttribute> ByRef maxErrsRaw2D As Double()(),
	<OutAttribute> ByRef rmsErrsPlate2D As Double()(),
	<OutAttribute> ByRef maxErrsPlate2D As Double()()
) As CogTransform2DCameraCalibration()

public:
static array<CogTransform2DCameraCalibration^>^ ComputeRaw2DFromCamera2Ds(
	array<Rectangle>^ pelRects, 
	CogFeatureCrspsMCamerasNPoses^ correspondedPointPairsForMCameraNPoses, 
	CogLensDistortionModelConstants distortionModel, 
	[OutAttribute] array<array<double>^>^% rmsErrsRaw2D, 
	[OutAttribute] array<array<double>^>^% maxErrsRaw2D, 
	[OutAttribute] array<array<double>^>^% rmsErrsPlate2D, 
	[OutAttribute] array<array<double>^>^% maxErrsPlate2D
)

public:
static array<CogTransform2DCameraCalibration^>^ ComputeRaw2DFromCamera2Ds(
	array<Rectangle>^ pelRects, 
	CogFeatureCrspsMCamerasNPoses^ correspondedPointPairsForMCameraNPoses, 
	CogLensDistortionModelConstants distortionModel, 
	[OutAttribute] array<array<double>^>^% rmsErrsRaw2D, 
	[OutAttribute] array<array<double>^>^% maxErrsRaw2D, 
	[OutAttribute] array<array<double>^>^% rmsErrsPlate2D, 
	[OutAttribute] array<array<double>^>^% maxErrsPlate2D
)

Parameters

pelRects: Type: System.Drawing Rectangle
The pelrects used to extract the corresponded point pairs. There should be one pelrect for each camera. The input pelRects specifies the pelrect of each camera. There is no relationship between the pelrects of two separate cameras. 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.

rmsErrsRaw2D: Type: System Double
The rms errors in Raw2D for the calibration results, indexed first by camera, then by view (plate pose).

maxErrsRaw2D: Type: System Double
The maximum errors in Raw2D for the calibration results, indexed first by camera, then by view (plate pose).

rmsErrsPlate2D: Type: System Double
The rms errors in Plate2D for the calibration results, indexed first by camera, then by view (plate pose).

maxErrsPlate2D: Type: System Double
The maximum errors in Plate2D for the calibration results, indexed first by camera, then by view (plate pose).

Return Value

Type: CogTransform2DCameraCalibration
A set of CogTransform2DCameraCalibration objects which maps between Raw2D and Camera2D for all cameras.

Exceptions

Exception	Condition
ArgumentNullException	If correspondedPointPairsForMCameraNPoses or pelRects is null.
ArgumentException	If any of the following is true: correspondedPointPairsForMCameraNPoses is empty. pelRects.Count == 0 is true. correspondedPointPairsForMCameraNPoses[i].Count != pelRects.Count for any plate pose i. 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 does not contain sufficient data to support a successful camera calibration.