F_VN_KeyPointsAndDescriptorsORBExp

Detect keypoints and compute descriptors using the ORB method. (expert function)
Can use available TwinCAT Job Tasks for executing parallel code regions.

Syntax

Definition:

FUNCTION F_VN_KeyPointsAndDescriptorsORBExp : HRESULT
VAR_INPUT
    ipSrcImage    : ITcVnImage;
    ipKeyPoints   : Reference To  ITcVnContainer;
    ipDescriptors : Reference To  ITcVnImage;
    ipMask        : ITcVnImage;
END_VAR
VAR_IN_OUT
    stParams      : TcVnParamsORB;
END_VAR
VAR_INPUT
    hrPrev        : HRESULT;
END_VAR

Inputs

Name	Type	Description
ipSrcImage	ITcVnImage	Source image
ipKeyPoints	Reference To ITcVnContainer	Returns a container which is filled with the keypoints (ContainerType_Vector_TcVnKeyPoint; Non-zero interface pointers are reused.)
ipDescriptors	Reference To ITcVnImage	Descriptor image (set to 0 if not required; 1 descriptor in each row; An appropriate image will be created if required.)
ipMask	ITcVnImage	Mask to specify, where to look for keypoints (set to 0 if no mask required)
hrPrev	HRESULT	HRESULT indicating the result of previous operations (If SUCCEEDED(hrPrev) equals false, no operation is executed.)

In/Outputs

Name	Type	Description
stParams	TcVnParamsORB	Additional expert parameters

Return value

HRESULT

Required License

TC3 Vision Matching

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