F_VN_CalibrateCameraManuallyExp

Compute the camera parameters (intrinsic + extrinsic). The extrinsic parameters are computed for the first inner container. (expert function)

Syntax

Definition:

FUNCTION F_VN_CalibrateCameraManuallyExp : HRESULT
VAR_INPUT
    ipImagePoints           : ITcVnContainer;
    nImageWidth             : UDINT;
    nImageHeight            : UDINT;
    ipReferencePoints       : ITcVnContainer;
END_VAR
VAR_IN_OUT
    aCameraMatrix           : TcVnMatrix3x3_LREAL;
    aDistortionCoefficients : TcVnArray8_LREAL;
    aRotationMatrix         : TcVnMatrix3x3_LREAL;
    aTranslationVector      : TcVnVector3_LREAL;
    fReprojError            : LREAL;
    stCalibrationOptions    : TcVnCameraCalibrationOptions;
END_VAR
VAR_INPUT
    eWorldSystem            : ETcVnWorldCoordinateSystem;
    hrPrev                  : HRESULT;
END_VAR

Inputs

Name	Type	Description
ipImagePoints	ITcVnContainer	Provided image points of multiple images (ContainerType_Vector_Vector_TcVnPoint2_REAL, each inner container with at least 6 points). The container and point order must match ipReferencePoints.
nImageWidth	UDINT	Image width
nImageHeight	UDINT	Image height
ipReferencePoints	ITcVnContainer	Reference world points (ContainerType_Vector_Vector_TcVnPoint3_REAL). The number of inner containers and their amount of points must match ipImagePoints.
eWorldSystem	ETcVnWorldCoordinateSystem	World coordinate system orientation
hrPrev	HRESULT	HRESULT indicating the result of previous operations (If SUCCEEDED(hrPrev) equals false, no operation is executed.)

In/Outputs

Name	Type	Description
aCameraMatrix	TcVnMatrix3x3_LREAL	Returns the camera matrix
aDistortionCoefficients	TcVnArray8_LREAL	Returns the lens distortion coefficients [k1, k2, p1, p2, k3, k4, k5, k6]
aRotationMatrix	TcVnMatrix3x3_LREAL	Returns the rotation matrix (for the first inner container)
aTranslationVector	TcVnVector3_LREAL	Returns the translation vector (for the first inner container)
fReprojError	LREAL	Returns the reprojection error
stCalibrationOptions	TcVnCameraCalibrationOptions	Calibration options

Return value

HRESULT

Required License

TC3 Vision Metrology 2D

System Requirements

Development environment	Target platform	PLC libraries to include
TwinCAT V3.1. 4024.44 or later	PC or CX (x64) with PL50, e.g. Intel 4-core Atom CPU	Tc3_Vision