F_VN_DrawMatchesExp

Draws the keypoints and matches for visualization purpose. (expert function)
Can use available TwinCAT Job Tasks for executing parallel code regions.

Syntax

Definition:

FUNCTION F_VN_DrawMatchesExp : HRESULT
VAR_INPUT
    ipSrcImage1   : ITcVnImage;
    ipKeyPoints1  : ITcVnContainer;
    ipSrcImage2   : ITcVnImage;
    ipKeyPoints2  : ITcVnContainer;
    ipMatches1To2 : ITcVnContainer;
    ipDestImage   : Reference To  ITcVnImage;
END_VAR
VAR_IN_OUT
    aMatchColor   : TcVnVector4_LREAL;
    aSingleColor  : TcVnVector4_LREAL;
END_VAR
VAR_INPUT
    ipMatchesMask : ITcVnContainer;
    eFlags        : ETcVnDrawMatchesFlags;
    hrPrev        : HRESULT;
END_VAR

Inputs

Name	Type	Description
ipSrcImage1	ITcVnImage	Source image 1 (elements of type USINT)
ipKeyPoints1	ITcVnContainer	Container with the keypoints 1 (ContainerType_Vector_TcVnKeyPoint)
ipSrcImage2	ITcVnImage	Source image 2 (elements of type USINT, must have the same number of channels as ipSrcImage1)
ipKeyPoints2	ITcVnContainer	Container with the keypoints 2 (ContainerType_Vector_TcVnKeyPoint)
ipMatches1To2	ITcVnContainer	Container with the descriptor matches (ContainerType_Vector_TcVnDMatch)
ipDestImage	Reference To ITcVnImage	Destination image (An appropriate color image will be created if required.)
ipMatchesMask	ITcVnContainer	Mask to select the matches to be drawn (ContainerType_Vector_SINT; Set to 0 if all matches should be drawn.)
eFlags	ETcVnDrawMatchesFlags	A combination of flags to support overdrawing an existing destination image and/or drawing additional (Rich-)Keypoint information (size and orientation) and/or skipping single keypoints
hrPrev	HRESULT	HRESULT indicating the result of previous operations (If SUCCEEDED(hrPrev) equals false, no operation is executed.)

In/Outputs

Name	Type	Description
aMatchColor	TcVnVector4_LREAL	Color to draw the matches (for {-1, -1, -1, -1}, a random color is chosen for each point and line)
aSingleColor	TcVnVector4_LREAL	Color to draw the single keypoints (for {-1, -1, -1, -1}, a random color is chosen for each point)

Return value

HRESULT

Required License

TC3 Vision Matching

System Requirements

Development environment	Target platform	PLC libraries to include
TwinCAT V3.1. 4024.44 or later	PC or CX (x64) with PL50, e.g. Intel 4-core Atom CPU	Tc3_Vision