Returns a Location Object containing the position and orientation information from a vision result object.
...visresult_object.Loc
Prerequisites
Only returns meaningful data for results generated by a vision tool whose output includes the ResultAngle, ResultXPos, and ResultYPos properties in PreciseVision.
Parameters
None
Remarks
This property returns the position and orientation results data from a vision tool and provides the information in the form of a Cartesian Location Object. The position and orientation data are derived from the PreciseVision ResultXPos, ResultYPos and ResultAngle tool properties.
While not all vision tools generate position and orientation data, many do. For example, the general purpose object Finder tool returns the position and orientation of matched parts. Likewise, the Point-Line Frame tool returns the position and orientation of its computed reference frame.
To allow this data to be easily utilized within a GPL procedure, the Loc property returns a Cartesian Location Object that is computed from the PreciseVision tool results but has been translated into the robot's world reference frame. This translation is a defined by PreciseVision's camera calibration data and the camera mounting (e.g., stationary, or mounted on the robot). This Location can then be used as the reference frame for gripping a part or can be combined with other data to perform further analysis.
Please see the PreciseVision manual for information on which vision tools return these properties and how to interpret this data.
Examples
Dim vresult As VisResult
Dim visloc As Location
Dim x, y, z As Double
vresult = vobject.Result() ' Get a tool's results
visloc = vresult.Loc ' Get position/orientation output
x = visloc.X ' Vision "ResultXPos"
y = visloc.Y ' Vision "ResultYPos"
z = visloc.Roll ' Vision "ResultAngle"
See Also