TransformCoordinatesWorldToImage (Container)

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

Syntax

Definition:

HRESULT TransformCoordinatesWorldToImage(
    HRESULT              hrPrev,
    ITcVnContainer*      ipSrcPoints3D,
    ITcVnContainer*&     ipDestPoints2D,
    TcVnMatrix3x3_LREAL& aCameraMatrix,
    TcVnArray8_LREAL&    aDistortionCoefficients,
    TcVnMatrix3x3_LREAL& aRotationMatrix,
    TcVnVector3_LREAL&   aTranslationVector,
    bool                 bInteger
)

Parameters

Name

Type

Description

hrPrev

HRESULT

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

ipSrcPoints3D

ITcVnContainer*

Container with 3D source points (TcVnPoint3_LREAL)

ipDestPoints2D

ITcVnContainer*&

Returns the transformed 2D points (TcVnPoint2_REAL or TcVnPoint2_DINT, depending on bInteger)

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

bInteger

bool

Selects whether the function returns a container of TcVnPoint2_DINT or TcVnPoint2_REAL

TransformCoordinatesWorldToImage (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