F_VN_SolvePnP

F_VN_SolvePnP 1:

Computes the rotation matrix and translation vector from 3D-2D point correspondences.

Syntax

Definition:

FUNCTION F_VN_SolvePnP : HRESULT
VAR_INPUT
    ipImagePoints           : ITcVnContainer;
    ipReferencePoints       : ITcVnContainer;
END_VAR
VAR_IN_OUT
    aCameraMatrix           : TcVnMatrix3x3_LREAL;
    aDistortionCoefficients : TcVnArray8_LREAL;
    aRotationMatrix         : TcVnMatrix3x3_LREAL;
    aTranslationVector      : TcVnVector3_LREAL;
    fReprojError            : LREAL;
END_VAR
VAR_INPUT
    hrPrev                  : HRESULT;
END_VAR

F_VN_SolvePnP 2: Inputs

Name

Type

Description

ipImagePoints

ITcVnContainer

Image points (ContainerType_Vector_TcVnPoint2_REAL, requires at least 4 points in the same order as in ipReferencePoints)

ipReferencePoints

ITcVnContainer

Reference world points (ContainerType_Vector_TcVnPoint3_REAL, same number of points as in ipImagePoints)

hrPrev

HRESULT

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

F_VN_SolvePnP 3: In/Outputs

Name

Type

Description

aCameraMatrix

TcVnMatrix3x3_LREAL

Camera matrix (e.g. computed with one of the CalibrateCamera functions)

aDistortionCoefficients

TcVnArray8_LREAL

Lens distortion coefficients [k1, k2, p1, p2, k3, k4, k5, k6] (e.g. computed with one of the CalibrateCamera functions)

aRotationMatrix

TcVnMatrix3x3_LREAL

Returns the rotation matrix

aTranslationVector

TcVnVector3_LREAL

Returns the translation vector

fReprojError

LREAL

Returns the reprojection error

F_VN_SolvePnP 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