F_VN_TransformCoordinatesWorldToImage_Point

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

Inputs

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

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

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