Compute the hand-eye calibration(s) using the specified calibration plate images acquired from
different cameras and at different robot hand poses.
Namespace: Cognex.VisionPro3DAssembly: Cognex.VisionPro3D (in Cognex.VisionPro3D.dll) Version: 91.0.0.0
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.
| 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.
|