F_VN_CalibrateCameraPlanarExp

Calibrate camera using a planar calibration pattern comprised of four circles marking the corners of a rectangle. (expert function)
Can use available TwinCAT Job Tasks for executing parallel code regions.

Syntax

Definition:

FUNCTION F_VN_CalibrateCameraPlanarExp : HRESULT
VAR_INPUT
    ipSrcImage             : ITcVnImage;
END_VAR
VAR_IN_OUT
    aMarkerPositions       : TcVnArray4_Point2_REAL;
    aTransformationMatrix  : TcVnMatrix3x3_LREAL;
    aMarkerImagePositions  : TcVnArray4_Point2_REAL;
END_VAR
VAR_INPUT
    nMinMarkerArea         : UDINT;
    nMaxMarkerArea         : UDINT;
    fMaxMarkerEccentricity : LREAL;
    hrPrev                 : HRESULT;
END_VAR

Inputs

Name	Type	Description
ipSrcImage	ITcVnImage	Binary source image (background zero, markers non-zero)
nMinMarkerArea	UDINT	Minimum area for the detection of markers (Smaller markers are ignored.)
nMaxMarkerArea	UDINT	Maximum area for the detection of markers (Larger markers are ignored.)
fMaxMarkerEccentricity	LREAL	Maximum eccenticity for the detection of markers (The eccentricity measures deviations from a round shape (eccentricity = 0: round object; eccentricity = 1.0: linear object).)
hrPrev	HRESULT	HRESULT indicating the result of previous operations (If SUCCEEDED(hrPrev) equals false, no operation is executed.)

In/Outputs

Name	Type	Description
aMarkerPositions	TcVnArray4_Point2_REAL	Marker positions within their plane using world units (right-handed coordinate system)
aTransformationMatrix	TcVnMatrix3x3_LREAL	Returns a 3-by-3 matrix for the transformation from image coordinates into the reference coordinate system
aMarkerImagePositions	TcVnArray4_Point2_REAL	Returns the marker positions in image coordinates (left-handed coordinate system)

Return value

HRESULT

Required License

TC3 Vision Base

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