CalibrateCamera

Compute the camera parameters (intrinsic + extrinsic) by evaluating an image containing a calibration pattern (circles).
Can use available TwinCAT Job Tasks for executing parallel code regions.

Syntax

Definition:

HRESULT CalibrateCamera(
    HRESULT                       hrPrev,
    ITcVnImage*                   ipSrcImage,
    ITcVnContainer*               ipReferencePoints,
    TcVnMatrix3x3_LREAL&          aCameraMatrix,
    TcVnArray8_LREAL&             aDistortionCoefficients,
    TcVnMatrix3x3_LREAL&          aRotationMatrix,
    TcVnVector3_LREAL&            aTranslationVector,
    double&                       fReprojError,
    TcVnParamsBlobDetection&      stBlobDetectionParams,
    TcVnCameraCalibrationOptions& stCalibrationOptions
)

Parameters

Name

Type

Description

hrPrev

HRESULT

HRESULT indicating the result of previous operations (If SUCCEEDED(hrPrev) equals false, no operation is executed.)

ipSrcImage

ITcVnImage*

Source image containing a calibration pattern (1 channel, USINT elements)

ipReferencePoints

ITcVnContainer*

Reference calibration pattern point positions (ContainerType_Vector_TcVnPoint3_REAL)

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

aTranslationVector

TcVnVector3_LREAL&

Returns the translation vector

fReprojError

double&

Returns the reprojection error

stBlobDetectionParams

TcVnParamsBlobDetection&

Parameters for the internally used F_VN_DetectBlobs function

stCalibrationOptions

TcVnCameraCalibrationOptions&

Calibration options

CalibrateCamera 1: Return value

HRESULT

Required License

TC3 Vision Metrology 2D

System Requirements

Development environment

Target platform

PLC libraries to include

TwinCAT V3.1.4024.54 or later

PC or CX (x64) with PL50, e.g. Intel 4-core Atom CPU

Tc3_Vision