F_VN_ImagePointsWorldDistance

F_VN_ImagePointsWorldDistance 1:

Computes the distance in the world coordinate system between two points (in the same world coordinate z layer) given in image coordinates.

Syntax

Definition:

FUNCTION F_VN_ImagePointsWorldDistance : HRESULT
VAR_IN_OUT
    aImagePoint1            : TcVnPoint2_REAL;
    aImagePoint2            : TcVnPoint2_REAL;
    fWorldDistance          : LREAL;
    aCameraMatrix           : TcVnMatrix3x3_LREAL;
    aDistortionCoefficients : TcVnArray8_LREAL;
    aRotationMatrix         : TcVnMatrix3x3_LREAL;
    aTranslationVector      : TcVnVector3_LREAL;
END_VAR
VAR_INPUT
    fZ                      : LREAL;
    hrPrev                  : HRESULT;
END_VAR

F_VN_ImagePointsWorldDistance 2: Inputs

Name

Type

Description

fZ

LREAL

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

hrPrev

HRESULT

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

F_VN_ImagePointsWorldDistance 3: In/Outputs

Name

Type

Description

aImagePoint1

TcVnPoint2_REAL

First point in the image coordinate system

aImagePoint2

TcVnPoint2_REAL

Second point in the image coordinate system

fWorldDistance

LREAL

Returns the distance between aImagePoint1 and aImagePoint2 in the world coordinate system

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

F_VN_ImagePointsWorldDistance 4: Return value

HRESULT

Required License

TC3 Vision Metrology 2D

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