CalibrateCameraPlanar

Calibrate camera using a planar calibration pattern comprised of four circles marking the corners of a rectangle.
Can use available TwinCAT Job Tasks for executing parallel code regions.

Syntax

Definition:

HRESULT CalibrateCameraPlanar(
    HRESULT                 hrPrev,
    ITcVnImage*             ipSrcImage,
    TcVnArray4_Point2_REAL& aMarkerPositions,
    TcVnMatrix3x3_LREAL&    aTransformationMatrix,
    TcVnArray4_Point2_REAL& aMarkerImagePositions,
    ULONG                   nMinMarkerArea = 100,
    ULONG                   nMaxMarkerArea = 10000,
    double                  fMaxMarkerEccentricity = 0.05
)

Parameters

Name

Type

Default

Description

hrPrev

HRESULT

 

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

ipSrcImage

ITcVnImage*

 

Binary source image (background zero, markers non-zero)

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)

nMinMarkerArea

ULONG

100

Minimum area for the detection of markers (Smaller markers are ignored.)

nMaxMarkerArea

ULONG

10000

Maximum area for the detection of markers (Larger markers are ignored.)

fMaxMarkerEccentricity

double

0.05

Maximum eccenticity for the detection of markers (The eccentricity measures deviations from a round shape (eccentricity = 0: round object; eccentricity = 1.0: linear object).)

CalibrateCameraPlanar 1: 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