F_VN_TransformCoordinatesImageToWorld_Container

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

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.)

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

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