FB_VN_ReadCalibrationResult

FB_VN_ReadCalibrationResult 1:

This FB reads calibration results from a json file on the targte pc.

Syntax

Definition:

FUNCTION_BLOCK FB_VN_ReadCalibrationResult
VAR_INPUT
    sFilePath               : STRING;
    aCameraMatrix           : Reference To TcVnMatrix3x3_LREAL;
    aDistortionCoefficients : Reference To TcVnArray8_LREAL;
    aRotationMatrix         : Reference To TcVnMatrix3x3_LREAL;
    aTranslationVector      : Reference To TcVnVector3_LREAL;
    bRead                   : BOOL;
    nTimeout                : TIME;
END_VAR
VAR_OUTPUT
    bBusy                   : BOOL;
    bError                  : BOOL;
    nErrorId                : UDINT;
END_VAR

FB_VN_ReadCalibrationResult 2: Inputs

Name

Type

Default

Description

sFilePath

STRING

 

Full path of the file or relative path to the default directory on the target pc

aCameraMatrix

Reference To TcVnMatrix3x3_LREAL

 

Returns the camera matrix

aDistortionCoefficients

Reference To TcVnArray8_LREAL

 

Returns the distortion coefficients

aRotationMatrix

Reference To TcVnMatrix3x3_LREAL

 

Returns the rotation matrix

aTranslationVector

Reference To TcVnVector3_LREAL

 

Returns the translation vector

bRead

BOOL

 

Reading the file is triggered by a rising edge at this input.

nTimeout

TIME

VISION_ADS_TIMEOUT

Indicates the time before the function is cancelled.

FB_VN_ReadCalibrationResult 3: Outputs

Name

Type

Description

bBusy

BOOL

This output remains TRUE until the function block has executed a command, but at the longest for the duration supplied to the 'nTimeout' input. While bBusy = TRUE, no new command will be accepted at the inputs.

bError

BOOL

This output is switched to TRUE as soon as an error occurs during the execution of a command. The command-specific error code is contained in ‘nErrorId’. If the function block has a timeout error, 'bError' is TRUE and 'nErrorId' is 1861 (hexadecimal 0x745). Is reset to FALSE by the execution of a command at the inputs.

nErrorId

UDINT

Contains the ADS error code or the command-specific error code of the last executed command. Is reset to 0 by the execution of a command at the inputs.

Weiterführende Informationen

Der Funktionsblock FB_VN_ReadCalibrationResult lädt die Kalibration-Ergebnisse aus einer Datei asynchron in die SPS.

FB_VN_ReadCalibrationResult 4:

Laden von geänderten Kalibration-Ergebnissen.

Beim Einladen der Kalibration-Ergebnisse cached der Vision-Service die Daten intern. Ein Einladen von geänderten Ergebnissen ist somit im Standard nicht möglich. Passen Sie dazu die die Cache Einstellungen an oder sehen Sie das Beispiel Serielles Laden von Bildern in die SPS für eine Alternative.

Parameter

Einige Parameter sind zentral in der Sektion File Access Parameter beschrieben.

Kalibration-Ergebnisse

Die geladenen Kalibration-Ergebnisse sind nach erfolgreichem Lesevorgang über die folgenden Variablen erreichbar:

// Calibration results
aCameraMatrix            : TcVnMatrix3x3_LREAL;
aDistortionCoefficients  : TcVnArray8_LREAL;
aRotationMatrix          : TcVnMatrix3x3_LREAL;
aTranslationVector       : TcVnVector3_LREAL;

Anwendung

Das Laden der Kalibration-Ergebnisse vom Pfad C:\TcVision\ CalibrationResult.json sieht z. B. so aus:

fbReadCalibrationResult(
        sFilePath                := 'C:\TcVision\ CalibrationResult.json',
        aCameraMatrix            := aCameraMatrix,
        aDistortionCoefficients  := aDistortionCoefficients,
        aRotationMatrix          := aRotationMatrix,
        aTranslationVector       := aTranslationVector,
        bRead                    := TRUE,
        nTimeout                 := T#500MS);

IF NOT fbReadCalibrationResult.bBusy AND NOT fbReadCalibrationResult.bError THEN
    // calibration results are accessible
END_IF

Verwandter Funktionsblock: FB_VN_WriteCalibrationResult.

Required 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