TransformCoordinatesImageToWorld (Container)

Transform 2D image point coordinates to 3D world coordinates (using intrinsic + extrinsic calibration results).

Syntax

Definition:

HRESULT TransformCoordinatesImageToWorld(
    HRESULT              hrPrev,
    ITcVnContainer*      ipSrcPoints2D,
    ITcVnContainer*&     ipDestPoints3D,
    TcVnMatrix3x3_LREAL& aCameraMatrix,
    TcVnArray8_LREAL&    aDistortionCoefficients,
    TcVnMatrix3x3_LREAL& aRotationMatrix,
    TcVnVector3_LREAL&   aTranslationVector,
    double               fZ
)

Parameters

Name

Type

Description

hrPrev

HRESULT

HRESULT indicating the result of previous operations (If SUCCEEDED(hrPrev) equals false, no operation is executed.)

ipSrcPoints2D

ITcVnContainer*

Container with 2D source points (TcVnPoint2_DINT or TcVnPoint2_REAL or TcVnPoint2_LREAL)

ipDestPoints3D

ITcVnContainer*&

Returns the transformed 3D points (TcVnPoint3_LREAL)

aCameraMatrix

TcVnMatrix3x3_LREAL&

3x3 camera matrix containing the intrinsic parameters

aDistortionCoefficients

TcVnArray8_LREAL&

Lens distortion coefficients [k1, k2, p1, p2, k3, k4, k5, k6]

aRotationMatrix

TcVnMatrix3x3_LREAL&

3x3 rotation matrix

aTranslationVector

TcVnVector3_LREAL&

Translation vector

fZ

double

z coordinate (world coordinate system) of the transformed points (0 would be at (toplevel) calibration pattern)

TransformCoordinatesImageToWorld (Container) 1: Return value

HRESULT

Required License

TC3 Vision Metrology 2D

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