F_VN_GetAffineTransformation2DExp
Estimate the affine transformation between two planar point sets. (expert function)
Syntax
Definition:
FUNCTION F_VN_GetAffineTransformation2DExp : HRESULT
VAR_INPUT
ipSrcPoints : ITcVnContainer;
ipDestPoints : ITcVnContainer;
END_VAR
VAR_IN_OUT
aAffineTransform : TcVnMatrix2x3_LREAL;
END_VAR
VAR_INPUT
eAlgorithm : ETcVnEstimationAlgorithm;
fReprojThreshold : LREAL;
ipInlierMask : Reference To ITcVnContainer;
nMaxIterations : UDINT;
fConfidence : LREAL;
nRefineIters : UDINT;
hrPrev : HRESULT;
END_VAR
Inputs
|
Name |
Type |
Description |
|---|---|---|
|
ipSrcPoints |
Container with at least 3 source points (ContainerType_Vector_TcVnPoint2_REAL) | |
|
ipDestPoints |
Container with destination points (same number as ipSrcPoints, ContainerType_Vector_TcVnPoint2_REAL) | |
|
eAlgorithm |
Estimation algorithm (only RANSAC and LMEDS are supported) | |
|
fReprojThreshold |
LREAL |
Maximum allowed reprojection error to treat a point pair as an inlier |
|
ipInlierMask |
Reference To ITcVnContainer |
Returns a mask marking the inliers (optional, set to 0 if not required; ContainerType_Vector_USINT) |
|
nMaxIterations |
UDINT |
Maximum number of iterations |
|
fConfidence |
LREAL |
Confidence (0..1) |
|
nRefineIters |
UDINT |
Maximum number of iterations of Levenberg-Marquardt algorithm to refine further the affine transform (using only inliers). Set to 0 to disable refining. |
|
hrPrev |
HRESULT indicating the result of previous operations (If SUCCEEDED(hrPrev) equals false, no operation is executed.) |
In/Outputs
|
Name |
Type |
Description |
|---|---|---|
|
aAffineTransform |
Returns the affine transformation matrix, which transforms the source points to the destination points |
Return valueRequired License
TC3 Vision Base
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 |