KeyPointsAndDescriptorsORB

Detect keypoints and compute descriptors using the ORB method.
Can use available TwinCAT Job Tasks for executing parallel code regions.

Syntax

Definition:

HRESULT KeyPointsAndDescriptorsORB(
    HRESULT          hrPrev,
    ITcVnImage*      ipSrcImage,
    ITcVnContainer*& ipKeyPoints,
    ITcVnImage*&     ipDescriptors,
    ITcVnImage*      ipMask = nullptr,
    TcVnParamsORB&   stParams = {500, 1.2f, 8, 31, 0, 2, FST_ORB_HARRIS, 31, 20}
)

Parameters

Name

Type

Default

Description

hrPrev

HRESULT

 

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

ipSrcImage

ITcVnImage*

 

Source image

ipKeyPoints

ITcVnContainer*&

 

Returns a container which is filled with the keypoints (ContainerType_Vector_TcVnKeyPoint; Non-zero interface pointers are reused.)

ipDescriptors

ITcVnImage*&

 

Descriptor image (set to 0 if not required; 1 descriptor in each row; An appropriate image will be created if required.)

ipMask

ITcVnImage*

nullptr

Mask to specify, where to look for keypoints (set to 0 if no mask required)

stParams

TcVnParamsORB&

{500, 1.2f, 8, 31, 0, 2, FST_ORB_HARRIS, 31, 20}

Additional expert parameters

KeyPointsAndDescriptorsORB 1: Return value

HRESULT

Required License

TC3 Vision Matching

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