CogHandEyeCalibrator.Execute Method (CogFeaturePositionsMCamerasNPoses, Rectangle[], CogTransform2DRigid[], CogTransform2DCameraCalibration[])

CogHandEyeCalibrator Execute Method (CogFeaturePositionsMCamerasNPoses, Rectangle , CogTransform2DRigid , CogTransform2DCameraCalibration )

Cognex VisionPro 9.8

Recompute the CogHandEyeCalibrationResults for the supplied trackedRaw2DFeatures, pelrects, and UncorrectedHome2DFromStage2D poses, reusing intrinsics parameter from the input raw2DFromCamera2Ds and recompute the extrinsic parameter.

Namespace: Cognex.VisionPro.CalibFix
Assembly: Cognex.VisionPro.CalibFixPlus (in Cognex.VisionPro.CalibFixPlus.dll) Version: 75.1.0.0

Syntax

C++

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public CogHandEyeCalibrationResults Execute(
	CogFeaturePositionsMCamerasNPoses trackedRaw2DFeatures,
	Rectangle[] pelRects,
	CogTransform2DRigid[] uncorrectedHome2DFromStage2Ds,
	CogTransform2DCameraCalibration[] raw2DFromCamera2Ds
)

public CogHandEyeCalibrationResults Execute(
	CogFeaturePositionsMCamerasNPoses trackedRaw2DFeatures,
	Rectangle[] pelRects,
	CogTransform2DRigid[] uncorrectedHome2DFromStage2Ds,
	CogTransform2DCameraCalibration[] raw2DFromCamera2Ds
)

Public Function Execute ( 
	trackedRaw2DFeatures As CogFeaturePositionsMCamerasNPoses,
	pelRects As Rectangle(),
	uncorrectedHome2DFromStage2Ds As CogTransform2DRigid(),
	raw2DFromCamera2Ds As CogTransform2DCameraCalibration()
) As CogHandEyeCalibrationResults

Public Function Execute ( 
	trackedRaw2DFeatures As CogFeaturePositionsMCamerasNPoses,
	pelRects As Rectangle(),
	uncorrectedHome2DFromStage2Ds As CogTransform2DRigid(),
	raw2DFromCamera2Ds As CogTransform2DCameraCalibration()
) As CogHandEyeCalibrationResults

public:
CogHandEyeCalibrationResults^ Execute(
	CogFeaturePositionsMCamerasNPoses^ trackedRaw2DFeatures, 
	array<Rectangle>^ pelRects, 
	array<CogTransform2DRigid^>^ uncorrectedHome2DFromStage2Ds, 
	array<CogTransform2DCameraCalibration^>^ raw2DFromCamera2Ds
)

public:
CogHandEyeCalibrationResults^ Execute(
	CogFeaturePositionsMCamerasNPoses^ trackedRaw2DFeatures, 
	array<Rectangle>^ pelRects, 
	array<CogTransform2DRigid^>^ uncorrectedHome2DFromStage2Ds, 
	array<CogTransform2DCameraCalibration^>^ raw2DFromCamera2Ds
)

Parameters

trackedRaw2DFeatures: Type: Cognex.VisionPro CogFeaturePositionsMCamerasNPoses
Tracked Raw2D feature position points. Each feature includes x,y coordinate and a validation value. For different poseID: i, trackedRaw2DFeatures[i][cameraID][featureID] should always correspond to the same physical feature. The validation value indicates whether this feature is visible in current camera under current pose.

pelRects: Type: System.Drawing Rectangle
The pelrects of the cameras. 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.

uncorrectedHome2DFromStage2Ds: Type: Cognex.VisionPro CogTransform2DRigid
The sequence of UncorrectedHome2DFromStage2D poses that were used to move the stage when the images that provided the tracked Raw2D features were acquired.

raw2DFromCamera2Ds: Type: Cognex.VisionPro CogTransform2DCameraCalibration
The previously computed calibration results which is 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 tracked Raw2D features.

Return Value

Type: CogHandEyeCalibrationResults
A CogHandEyeCalibrationResults containing the results of the analysis, i.e. a CogHandEyeCalibrationResult object for each camera.

Exceptions

Exception	Condition
ArgumentNullException	If the trackedRaw2DFeatures argument is null.
ArgumentNullException	If the pelRects argument is null.
ArgumentNullException	If the uncorrectedHome2DFromStage2Ds argument is null.
ArgumentNullException	If the raw2DFromCamera2Ds argument 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. trackedRaw2DFeatures.Count != uncorrectedHome2DFromStage2Ds.Count trackedRaw2DFeatures[i].Count != pelRects.Count for any pose i trackedRaw2DFeatures[i1][j].Count != trackedRaw2DFeatures[i2][j] for any j. Home2DUnitLengthReference != UseMotionStage Inconsistent handedness flip identified in different poses for the same camera.
ArgumentException	If MotionCapability is RotationAndTranslation2Axes and any of the following is true: The uncorrectedHome2DFromStage2Ds parameter has fewer than 4 elements. The translation component of all elements of uncorrectedHome2DFromStage2Ds are roughly collinear. Note: the elements of uncorrectedHome2DFromStage2Ds are said to be roughly collinear if, when projecting these translation components to any pair of perpendicular axes, the shortest projection span is less than 10% of the longest projection span. The rotation span among all elements of uncorrectedHome2DFromStage2Ds is less than MinimumRotationSpan.
ArgumentException	If MotionCapability is RotationAndTranslation1Axis and any of the following is true: The uncorrectedHome2DFromStage2Ds parameter has fewer than 3 elements. All elements of the uncorrectedHome2DFromStage2Ds parameter have exactly the same translation component. The rotation span among all elements of uncorrectedHome2DFromStage2Ds is less than MinimumRotationSpan.
ArgumentException	If MotionCapability is RotationOnly and any of the following is true: The uncorrectedHome2DFromStage2Ds parameter has fewer than 2 elements. The rotation span among all elements of uncorrectedHome2DFromStage2Ds is less than MinimumRotationSpan. There are two elements of uncorrectedHome2DFromStage2Ds with different translation components.
ArgumentException	If MotionCapability is TranslationOnly1Axis and any of the following is true: The uncorrectedHome2DFromStage2Ds parameter has fewer than 2 elements. All elements of uncorrectedHome2DFromStage2Ds have exactly the same translation component. There are two elements of uncorrectedHome2DFromStage2Ds with different rotation angles.
ArgumentException	If MotionCapability is TranslationOnly2Axes and any of the following is true: The uncorrectedHome2DFromStage2Ds parameter has fewer than 3 elements. The translation component of all elements of uncorrectedHome2DFromStage2Ds are roughly collinear. Note: the elements of uncorrectedHome2DFromStage2Ds are said to be roughly collinear if, when projecting these translation components to any pair of perpendicular axes, the shortest projection span is less than 10% of the longest projection span. There are two elements of uncorrectedHome2DFromStage2Ds with different rotation angles.
ArgumentException	If any Raw2D feature point in the trackedRaw2DFeatures argument falls outside its corresponding pelrect.
ArgumentException	If the input data is degenerate.
ArgumentException	If any of the following is true: The Raw2DFromCamera2D transform for any of the items in raw2DFromCamera2Ds is null. The number of cameras represented by the raw2DFromCamera2Ds argument does not match the number of items in the pelRects argument. If the supplied raw2DFromCamera2Ds is using a lens distortion model different from the one set in the calibrator.

Remarks

The purpose of this overload is to support calibrating cameras whose mounting positions have been changed since previous calibration, 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, there could be some changes to the cameras' extrinsic parameters in-plane rotation and translation, there might also be some changes in perspective.