F_VN_FindReferenceKeyPointsInImageORB
Searches a reference image, represented by its ORB keypoints and corresponding descriptors, in a given source image (uses the default TcVnParamsORB parameters).
Can use available TwinCAT Job Tasks for executing parallel code regions.
Syntax
Definition:
FUNCTION F_VN_FindReferenceKeyPointsInImageORB : HRESULT
VAR_INPUT
ipSrcImage : ITcVnImage;
ipRefKeyPoints : ITcVnContainer;
ipRefDescriptors : ITcVnImage;
nRefImageWidth : UDINT;
nRefImageHeight : UDINT;
ipEdgePoints : Reference To ITcVnContainer;
fMaxDist : REAL;
fMaxKnnRatio : REAL;
hrPrev : HRESULT;
END_VAR
VAR_OUTPUT
aPerspectiveTransform : TcVnMatrix3x3_LREAL;
nNumberOfGoodMatches : UDINT;
nNumberOfInliers : UDINT;
END_VAR
Inputs
|
Name |
Type |
Description |
|---|---|---|
|
ipSrcImage |
Source image | |
|
ipRefKeyPoints |
KeyPoints of the reference image, e.g. computed with F_VN_KeyPointsAndDescriptorsORB (ContainerType_Vector_TcVnKeyPoint) | |
|
ipRefDescriptors |
Descriptors of the reference image KeyPoints, e.g. computed with F_VN_KeyPointsAndDescriptorsORB | |
|
nRefImageWidth |
UDINT |
Width of the reference image in pixels |
|
nRefImageHeight |
UDINT |
Height of the reference image in pixels |
|
ipEdgePoints |
Reference To ITcVnContainer |
Returns a container with the 4 edge points of the reference image transformed into ipSrcImage coordinates (ContainerType_Vector_TcVnPoint2_REAL) |
|
fMaxDist |
REAL |
Maximum allowed descriptor distance (-1 disables this filter criterion) |
|
fMaxKnnRatio |
REAL |
Maximum allowed distance ratio between first and second best match ([0..1], -1 disables this filter criterion) |
|
hrPrev |
HRESULT indicating the result of previous operations (If SUCCEEDED(hrPrev) equals false, no operation is executed.) |
Outputs
|
Name |
Type |
Description |
|---|---|---|
|
aPerspectiveTransform |
Returns the perspective transformation matrix, which transforms the reference points to the source points | |
|
nNumberOfGoodMatches |
UDINT |
Return the number of good matches |
|
nNumberOfInliers |
UDINT |
Return the number of inlier matches |
Required License
TC3 Vision Matching