F_VN_TransformCoordinatesWorldToImage_Point

F_VN_TransformCoordinatesWorldToImage_Point 1:

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

Syntax

Definition:

FUNCTION F_VN_TransformCoordinatesWorldToImage_Point : HRESULT
VAR_IN_OUT
    aSrcPoint               : TcVnPoint3_LREAL;
    aDestPoint              : TcVnPoint2_REAL;
    aCameraMatrix           : TcVnMatrix3x3_LREAL;
    aDistortionCoefficients : TcVnArray8_LREAL;
    aRotationMatrix         : TcVnMatrix3x3_LREAL;
    aTranslationVector      : TcVnVector3_LREAL;
END_VAR
VAR_INPUT
    hrPrev                  : HRESULT;
END_VAR

F_VN_TransformCoordinatesWorldToImage_Point 2: Inputs

Name

Type

Description

hrPrev

HRESULT

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

F_VN_TransformCoordinatesWorldToImage_Point 3: In/Outputs

Name

Type

Description

aSrcPoint

TcVnPoint3_LREAL

3D source point (world coordinate system)

aDestPoint

TcVnPoint2_REAL

Returns the transformed 2D point (image 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_TransformCoordinatesWorldToImage_Point 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