F_VN_TransformCoordinatesImageToWorld_Container

F_VN_TransformCoordinatesImageToWorld_Container 1:

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

Syntax

Definition:

FUNCTION F_VN_TransformCoordinatesImageToWorld_Container : HRESULT
VAR_INPUT
    ipSrcPoints2D           : ITcVnContainer;
    ipDestPoints3D          : Reference To ITcVnContainer;
END_VAR
VAR_IN_OUT
    aCameraMatrix           : TcVnMatrix3x3_LREAL;
    aDistortionCoefficients : TcVnArray8_LREAL;
    aRotationMatrix         : TcVnMatrix3x3_LREAL;
    aTranslationVector      : TcVnVector3_LREAL;
END_VAR
VAR_INPUT
    fZ                      : LREAL;
    hrPrev                  : HRESULT;
END_VAR

F_VN_TransformCoordinatesImageToWorld_Container 2: Inputs

Name

Type

Description

ipSrcPoints2D

ITcVnContainer

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

ipDestPoints3D

Reference To ITcVnContainer

Returns the transformed 3D points (TcVnPoint3_LREAL)

fZ

LREAL

z coordinate (world coordinate system) of the transformed 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_TransformCoordinatesImageToWorld_Container 3: In/Outputs

Name

Type

Description

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_TransformCoordinatesImageToWorld_Container 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