User`s guide

OpenCV Provider User’s Guide - 124 -
ORiN Forum
DENSO WAVE Inc.
Return value
<Description>
= VT_BSTR : Description
Explanation
Read robot calibration description from the database.
Related item
CalibrateRobot, SetRobCalDat, GetRobCalDat, SetRobDescription, GetPosFromRob,
GetRobPos, GetRobPosFromCam, GetCamPosFromRob
GetPosFromCam
Format
object .GetPosFromCam( <Xc>, <Yc>[, <ZOffset>, <Camera CAL ID>,
<Undistort>] )
Parameters
<Xc>
= VT_R8: X on camera coordinate
<Yc>
= VT_R8: Y on camera coordinate
<ZOffset>
=VT_R8: Z on world coordinate
<Camera CAL ID>
= VT_I4: Camera calibration ID (Default: 0)
<Undistort>
= VT_BOOL：Undistortion(Default: False)
Return value
<Xw>
= VT_R8: X on world coordinate
<Yw>
= VT_R8: Y on world coordinate
<Zw>
= VT_R8: Z on world coordinate (Same value as Zoffset parameter)
Explanation
Convert camera coordinate to world coordinate on the plane where Z=0.
Calibration data of <Camera ID> is used to convert.
When Camera ID=<ZOffset>, following value is used.
Image ID Used camera ID
Camera(1～10)
Image ID
Not camera(10～)
1
If <Undistort> is TRUE, the command first undistorts the image, and it converts
undistorted image coordinate to world coordinate. If <Undistort> is FALSE, the image
coordinate is directly converted to world coordinate, without correcting distortion.
Related item
CalibrateCamera, SetCamCalDat, GetCamCalDat, SetCamCalExtDat,
GetCamCalExtDat, ModifyCamCalExtDat, GetCamPos, GetRobPosFromCam,
Undistort2