F_VN_TransformCoordinatesWorldToImage_Container

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

Syntax

Definition:

FUNCTION F_VN_TransformCoordinatesWorldToImage_Container : HRESULT
VAR_INPUT
    ipSrcPoints3D           : ITcVnContainer;
    ipDestPoints2D          : Reference To  ITcVnContainer;
END_VAR
VAR_IN_OUT
    aCameraMatrix           : TcVnMatrix3x3_LREAL;
    aDistortionCoefficients : TcVnArray8_LREAL;
    aRotationMatrix         : TcVnMatrix3x3_LREAL;
    aTranslationVector      : TcVnVector3_LREAL;
END_VAR
VAR_INPUT
    bInteger                : BOOL;
    hrPrev                  : HRESULT;
END_VAR

Inputs

Name	Type	Description
ipSrcPoints3D	ITcVnContainer	Container with 3D source points (TcVnPoint3_LREAL)
ipDestPoints2D	Reference To ITcVnContainer	Returns the transformed 2D points (TcVnPoint2_REAL or TcVnPoint2_DINT, depending on bInteger)
bInteger	BOOL	Selects whether the function returns a container of TcVnPoint2_DINT or TcVnPoint2_REAL
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