With workpiece located by its rotary surface , either the rotary surface or its center line is regarded as the reference of location , the calculating results of location error are the same.

With the coplanar reference target, the spacial pose between camera and optical plane can be calibrated by using the cameras projective center and the lights information in the cameras image surface.

It gets the best reference motion vectors from the error - surface and the center deviation characteristics, and it USES the direction and intensity information to choose the proper searching mode.