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 |
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 |
Reference world points (ContainerType_Vector_Vector_TcVnPoint3_REAL). The number of inner containers and their amount of points must match ipImagePoints. | |
|
eWorldSystem |
World coordinate system orientation | |
|
hrPrev |
HRESULT indicating the result of previous operations (If SUCCEEDED(hrPrev) equals false, no operation is executed.) |
In/Outputs
|
Name |
Type |
Description |
|---|---|---|
|
aCameraMatrix |
Returns the camera matrix | |
|
aDistortionCoefficients |
Returns the lens distortion coefficients [k1, k2, p1, p2, k3, k4, k5, k6] | |
|
aRotationMatrix |
Returns the rotation matrix (for the first inner container) | |
|
aTranslationVector |
Returns the translation vector (for the first inner container) | |
|
fReprojError |
LREAL |
Returns the reprojection error |
|
stCalibrationOptions |
Calibration options |
Return valueRequired License
TC3 Vision Metrology 2D