F_VN_CalibrateCameraPlanarExp

F_VN_CalibrateCameraPlanarExp 1:

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

F_VN_CalibrateCameraPlanarExp 2: 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.)

F_VN_CalibrateCameraPlanarExp 3: 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)

F_VN_CalibrateCameraPlanarExp 4: Return value

HRESULT

Required License

TC3 Vision Base

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