CalibrateCameraManually

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

Syntax

Definition:

HRESULT CalibrateCameraManually(
    HRESULT                       hrPrev,
    ITcVnContainer*               ipImagePoints,
    ULONG                         nImageWidth,
    ULONG                         nImageHeight,
    ITcVnContainer*               ipReferencePoints,
    TcVnMatrix3x3_LREAL&          aCameraMatrix,
    TcVnArray8_LREAL&             aDistortionCoefficients,
    TcVnMatrix3x3_LREAL&          aRotationMatrix,
    TcVnVector3_LREAL&            aTranslationVector,
    double&                       fReprojError,
    TcVnCameraCalibrationOptions& stCalibrationOptions,
    ETcVnWorldCoordinateSystem    eWorldSystem = WCS_X_RIGHT_Y_DOWN
)

Parameters

Name

Type

Default

Description

hrPrev

HRESULT

 

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

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

ULONG

 

Image width

nImageHeight

ULONG

 

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.

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

double&

 

Returns the reprojection error

stCalibrationOptions

TcVnCameraCalibrationOptions&

 

Calibration options

eWorldSystem

ETcVnWorldCoordinateSystem

WCS_X_RIGHT_Y_DOWN

World coordinate system orientation

CalibrateCameraManually 1: 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