FB_VN_WriteCalibrationResult

Syntax

Definition:

FUNCTION_BLOCK FB_VN_WriteCalibrationResult
VAR_INPUT
    sFilePath               : STRING;
    aCameraMatrix           : Reference To  TcVnMatrix3x3_LREAL;
    aDistortionCoefficients : Reference To  TcVnArray8_LREAL;
    aRotationMatrix         : Reference To  TcVnMatrix3x3_LREAL;
    aTranslationVector      : Reference To  TcVnVector3_LREAL;
    bWrite                  : BOOL;
    nTimeout                : TIME;
END_VAR
VAR_OUTPUT
    bBusy                   : BOOL;
    bError                  : BOOL;
    nErrorId                : UDINT;
END_VAR

Inputs

Name	Type	Default	Description
sFilePath	STRING		Full path of the file or relative path to the default directory on the target pc (e.g. only a file name). If the string is empty, a file name will be generated (containing the current time).
aCameraMatrix	Reference To TcVnMatrix3x3_LREAL		Returns the camera matrix
aDistortionCoefficients	Reference To TcVnArray8_LREAL		Returns the distortion coefficients
aRotationMatrix	Reference To TcVnMatrix3x3_LREAL		Returns the rotation matrix
aTranslationVector	Reference To TcVnVector3_LREAL		Returns the translation vector
bWrite	BOOL		Writing the container is triggered by a rising edge at this input.
nTimeout	TIME	VISION_ADS_TIMEOUT	Indicates the time before the function is cancelled.

Outputs

Name	Type	Description
bBusy	BOOL	This output remains TRUE until the function block has executed a command, but at the longest for the duration supplied to the 'nTimeout' input. While bBusy = TRUE, no new command will be accepted at the inputs.
bError	BOOL	This output is switched to TRUE as soon as an error occurs during the execution of a command. The command-specific error code is contained in ‘nErrorId’. If the function block has a timeout error, 'bError' is TRUE and 'nErrorId' is 1861 (hexadecimal 0x745). Is reset to FALSE by the execution of a command at the inputs.
nErrorId	UDINT	Contains the ADS error code or the command-specific error code of the last executed command. Is reset to 0 by the execution of a command at the inputs.

Further information

The function block FB_VN_WriteCalibrationResult saves the calibration results from the PLC asynchronously in a file.

Parameter

Some parameters are described centrally in the section File Access Parameters.

Calibration results

The following results of the calibration functions are saved under the specified file path in JSON format.

// Calibration results
aCameraMatrix            : TcVnMatrix3x3_LREAL;
aDistortionCoefficients  : TcVnArray8_LREAL;
aRotationMatrix          : TcVnMatrix3x3_LREAL;
aTranslationVector       : TcVnVector3_LREAL;

File path and format

If sFilePath is empty, a file name with the current time is generated and the extension json is used.

Application

Saving the calibration results to the C:\TcVision\CalibrationResult.json file looks like this, for example:

fbWriteCalibrationResult(
    sFilePath               := 'C:\TcVision\CalibrationResult.json',
    aCameraMatrix           := aCameraMatrix,
    aDistortionCoefficients := aDistortionCoefficients,
    aRotationMatrix         := aRotationMatrix,
    aTranslationVector      := aTranslationVector,
    bWrite                  := TRUE,
    nTimeout                := T#500MS);

IF NOT fbWriteCalibrationResult.bBusy AND NOT fbWriteCalibrationResult.bError THEN
    // Calibration result was written successfully to file
END_IF

Related function block: FB_VN_ReadCalibrationResult.

Required License

TC3 Vision Base

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