ID : 642

Vis.GetCalData

Function

To return a transformation matrix of a designated Cal number.

Syntax

Vis.GetCalData(Cal number)

Guaranteed entry

Cal number: Designate a Cal data table number (0-31) by integer type data.

Return value

Return the stored transformation matrix with an array of variant data. Each elements are single precision real number type data.

Description

A transformation matrix of a designated Cal number is returned.

Attention

Example

'!TITLE "Acquiring Transformation Matrix of Designated Cal number"
' Acquire transformation matrix of Cal number 1
Sub Sample_VisGetCalData

  Dim aaa( 1 ) As Single
  Dim bbb( 1 ) As Single
  Dim ccc( 1 ) As Single
  Dim ddd As Vector
  Dim eee As Vector
  Dim fff As Vector
  Dim ggg As Integer
  Dim hhh As Variant
  Dim iii As Integer

  ggg = 1

  aaa( 0 ) = 50
  aaa( 1 ) = 50
  bbb( 0 ) = 50
  bbb( 1 ) = 300
  ccc( 0 ) = 500
  ccc( 1 ) = 300

  ddd = V( 325, 112.5, 279 )
  eee = V( 200, 112.5, 279 )
  fff = V( 200, -112.5, 279 )

  ' Calibration of visual coordinates and robot coordinates
  Vis.CalTrans ggg, aaa( 0 ), aaa( 1 ), ddd, bbb( 0 ), bbb( 1 ),
               eee, ccc( 0 ), ccc( 1 ), fff

  ' Assign transformation matrix of Cal number 1 to hhh
  hhh = Vis.GetCalData( 1 )

  For iii = 0 To 11

    ' Display transformation matrix of Cal number 1 on the message output window
    PrintDbg hhh( iii )

  Next

End Sub