Vis.GetCalData

应用示例

'!TITLE "获取指定Cal编号的变换矩阵"
' 获取Cal编号1的变换矩阵
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 )

  ' 校准视觉坐标和机器人坐标
  Vis.CalTrans ggg, aaa( 0 ), aaa( 1 ), ddd, bbb( 0 ), bbb( 1 ),
               eee, ccc( 0 ), ccc( 1 ), fff

  ' 在hhh中代入Cal编号1的变换矩阵
  hhh = Vis.GetCalData( 1 )

  For iii = 0 To 11

    ' 在讯息输出视窗中显示Cal编号1的变换矩阵
    PrintDbg hhh( iii )

  Next

End Sub