F_VN_CalibrateCameraManually

F_VN_CalibrateCameraManually 1:

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

Syntax

Definition:

FUNCTION F_VN_CalibrateCameraManually : 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
    hrPrev                  : HRESULT;
END_VAR

F_VN_CalibrateCameraManually 2: 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.

hrPrev

HRESULT

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

F_VN_CalibrateCameraManually 3: 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

F_VN_CalibrateCameraManually 4: 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