F_VN_SolvePnPExp

Syntax

Definition:

FUNCTION F_VN_SolvePnPExp : 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
    eMethod                 : ETcVnSolvePnPMethod;
    bUseExtrinsicGuess      : BOOL;
    hrPrev                  : HRESULT;
END_VAR

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)
eMethod	ETcVnSolvePnPMethod	Solve PnP method
bUseExtrinsicGuess	BOOL	If true, the provided rotation matrix and translation vector are used as an initial guess for further optimization (only supported for the SPM_ITERATIVE method).
hrPrev	HRESULT	HRESULT indicating the result of previous operations (If SUCCEEDED(hrPrev) equals false, no operation is executed.)

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

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