using HalconDotNet;
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text;
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using System.Threading.Tasks;
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namespace LB_VisionProcesses.Alogrithms.Halcon
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{
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public partial class HDevelopExport
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{
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public static HTuple gIsSinglePose;
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public static HTuple gTerminationButtonLabel;
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public static HTuple gInfoDecor;
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public static HTuple gInfoPos;
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public static HTuple gTitlePos;
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public static HTuple gTitleDecor;
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public static HTuple gAlphaDeselected;
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public static HTuple gDispObjOffset;
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public static HTuple gLabelsDecor;
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public static HTuple gUsesOpenGL;
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public static HTuple ExpGetGlobalVar_gIsSinglePose()
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{
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return gIsSinglePose;
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}
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public static void ExpSetGlobalVar_gIsSinglePose(HTuple val)
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{
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if (gIsSinglePose != val)
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{
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if (gIsSinglePose != null)
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gIsSinglePose.Dispose();
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gIsSinglePose = val;
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}
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}
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public static HTuple ExpGetGlobalVar_gTerminationButtonLabel()
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{
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return gTerminationButtonLabel;
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}
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public static void ExpSetGlobalVar_gTerminationButtonLabel(HTuple val)
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{
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if (gTerminationButtonLabel != val)
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{
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if (gTerminationButtonLabel != null)
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gTerminationButtonLabel.Dispose();
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gTerminationButtonLabel = val;
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}
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}
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public static HTuple ExpGetGlobalVar_gInfoDecor()
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{
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return gInfoDecor;
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}
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public static void ExpSetGlobalVar_gInfoDecor(HTuple val)
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{
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if (gInfoDecor != val)
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{
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if (gInfoDecor != null)
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gInfoDecor.Dispose();
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gInfoDecor = val;
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}
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}
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public static HTuple ExpGetGlobalVar_gInfoPos()
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{
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return gInfoPos;
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}
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public static void ExpSetGlobalVar_gInfoPos(HTuple val)
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{
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if (gInfoPos != val)
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{
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if (gInfoPos != null)
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gInfoPos.Dispose();
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gInfoPos = val;
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}
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}
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public static HTuple ExpGetGlobalVar_gTitlePos()
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{
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return gTitlePos;
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}
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public static void ExpSetGlobalVar_gTitlePos(HTuple val)
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{
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if (gTitlePos != val)
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{
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if (gTitlePos != null)
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gTitlePos.Dispose();
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gTitlePos = val;
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}
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}
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public static HTuple ExpGetGlobalVar_gTitleDecor()
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{
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return gTitleDecor;
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}
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public static void ExpSetGlobalVar_gTitleDecor(HTuple val)
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{
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if (gTitleDecor != val)
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{
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if (gTitleDecor != null)
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gTitleDecor.Dispose();
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gTitleDecor = val;
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}
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}
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public static HTuple ExpGetGlobalVar_gAlphaDeselected()
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{
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return gAlphaDeselected;
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}
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public static void ExpSetGlobalVar_gAlphaDeselected(HTuple val)
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{
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if (gAlphaDeselected != val)
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{
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if (gAlphaDeselected != null)
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gAlphaDeselected.Dispose();
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gAlphaDeselected = val;
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}
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}
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public static HTuple ExpGetGlobalVar_gDispObjOffset()
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{
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return gDispObjOffset;
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}
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public static void ExpSetGlobalVar_gDispObjOffset(HTuple val)
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{
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if (gDispObjOffset != val)
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{
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if (gDispObjOffset != null)
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gDispObjOffset.Dispose();
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gDispObjOffset = val;
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}
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}
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public static HTuple ExpGetGlobalVar_gLabelsDecor()
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{
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return gLabelsDecor;
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}
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public static void ExpSetGlobalVar_gLabelsDecor(HTuple val)
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{
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if (gLabelsDecor != val)
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{
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if (gLabelsDecor != null)
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gLabelsDecor.Dispose();
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gLabelsDecor = val;
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}
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}
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public static HTuple ExpGetGlobalVar_gUsesOpenGL()
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{
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return gUsesOpenGL;
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}
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public static void ExpSetGlobalVar_gUsesOpenGL(HTuple val)
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{
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if (gUsesOpenGL != val)
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{
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if (gUsesOpenGL != null)
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gUsesOpenGL.Dispose();
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gUsesOpenGL = val;
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}
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}
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// Procedures
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// External procedures
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// Chapter: Graphics / Output
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// Short Description: Reflect the pose change that was introduced by the user by moving the mouse
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public static void analyze_graph_event(HObject ho_BackgroundImage, HTuple hv_MouseMapping,
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HTuple hv_Button, HTuple hv_Row, HTuple hv_Column, HTuple hv_WindowHandle, HTuple hv_WindowHandleBuffer,
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HTuple hv_VirtualTrackball, HTuple hv_TrackballSize, HTuple hv_SelectedObjectIn,
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HTuple hv_Scene3D, HTuple hv_AlphaOrig, HTuple hv_ObjectModel3DID, HTuple hv_CamParam,
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HTuple hv_Labels, HTuple hv_Title, HTuple hv_Information, HTuple hv_GenParamName,
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HTuple hv_GenParamValue, HTuple hv_PosesIn, HTuple hv_ButtonHoldIn, HTuple hv_TBCenter,
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HTuple hv_TBSize, HTuple hv_WindowCenteredRotationlIn, HTuple hv_MaxNumModels,
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out HTuple hv_PosesOut, out HTuple hv_SelectedObjectOut, out HTuple hv_ButtonHoldOut,
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out HTuple hv_WindowCenteredRotationOut)
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{
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// Local iconic variables
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HObject ho_ImageDump = null;
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// Local control variables
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HTuple ExpTmpLocalVar_gIsSinglePose = new HTuple();
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HTuple hv_VisualizeTB = new HTuple(), hv_InvLog2 = new HTuple();
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HTuple hv_Seconds = new HTuple(), hv_ModelIndex = new HTuple();
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HTuple hv_Exception1 = new HTuple(), hv_HomMat3DIdentity = new HTuple();
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HTuple hv_NumModels = new HTuple(), hv_Width = new HTuple();
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HTuple hv_Height = new HTuple(), hv_MinImageSize = new HTuple();
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HTuple hv_TrackballRadiusPixel = new HTuple(), hv_TrackballCenterRow = new HTuple();
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HTuple hv_TrackballCenterCol = new HTuple(), hv_NumChannels = new HTuple();
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HTuple hv_ColorImage = new HTuple(), hv_BAnd = new HTuple();
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HTuple hv_SensFactor = new HTuple(), hv_IsButtonTrans = new HTuple();
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HTuple hv_IsButtonRot = new HTuple(), hv_IsButtonDist = new HTuple();
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HTuple hv_MRow1 = new HTuple(), hv_MCol1 = new HTuple();
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HTuple hv_ButtonLoop = new HTuple(), hv_MRow2 = new HTuple();
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HTuple hv_MCol2 = new HTuple(), hv_PX = new HTuple(), hv_PY = new HTuple();
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HTuple hv_PZ = new HTuple(), hv_QX1 = new HTuple(), hv_QY1 = new HTuple();
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HTuple hv_QZ1 = new HTuple(), hv_QX2 = new HTuple(), hv_QY2 = new HTuple();
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HTuple hv_QZ2 = new HTuple(), hv_Len = new HTuple(), hv_Dist = new HTuple();
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HTuple hv_Translate = new HTuple(), hv_Index = new HTuple();
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HTuple hv_PoseIn = new HTuple(), hv_HomMat3DIn = new HTuple();
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HTuple hv_HomMat3DOut = new HTuple(), hv_PoseOut = new HTuple();
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HTuple hv_Indices = new HTuple(), hv_Sequence = new HTuple();
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HTuple hv_Mod = new HTuple(), hv_SequenceReal = new HTuple();
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HTuple hv_Sequence2Int = new HTuple(), hv_Selected = new HTuple();
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HTuple hv_InvSelected = new HTuple(), hv_Exception = new HTuple();
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HTuple hv_DRow = new HTuple(), hv_TranslateZ = new HTuple();
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HTuple hv_MX1 = new HTuple(), hv_MY1 = new HTuple(), hv_MX2 = new HTuple();
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HTuple hv_MY2 = new HTuple(), hv_RelQuaternion = new HTuple();
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HTuple hv_HomMat3DRotRel = new HTuple(), hv_HomMat3DInTmp1 = new HTuple();
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HTuple hv_HomMat3DInTmp = new HTuple(), hv_PosesOut2 = new HTuple();
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HTuple hv_Column_COPY_INP_TMP = new HTuple(hv_Column);
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HTuple hv_PosesIn_COPY_INP_TMP = new HTuple(hv_PosesIn);
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HTuple hv_Row_COPY_INP_TMP = new HTuple(hv_Row);
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HTuple hv_TBCenter_COPY_INP_TMP = new HTuple(hv_TBCenter);
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HTuple hv_TBSize_COPY_INP_TMP = new HTuple(hv_TBSize);
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// Initialize local and output iconic variables
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HOperatorSet.GenEmptyObj(out ho_ImageDump);
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hv_PosesOut = new HTuple();
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hv_SelectedObjectOut = new HTuple();
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hv_ButtonHoldOut = new HTuple();
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hv_WindowCenteredRotationOut = new HTuple();
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try
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{
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//This procedure reflects
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//- the pose change that was introduced by the user by
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// moving the mouse
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//- the selection of a single object
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//
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//global tuple gIsSinglePose
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//
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hv_ButtonHoldOut.Dispose();
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hv_ButtonHoldOut = new HTuple(hv_ButtonHoldIn);
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hv_PosesOut.Dispose();
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hv_PosesOut = new HTuple(hv_PosesIn_COPY_INP_TMP);
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hv_SelectedObjectOut.Dispose();
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hv_SelectedObjectOut = new HTuple(hv_SelectedObjectIn);
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hv_WindowCenteredRotationOut.Dispose();
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hv_WindowCenteredRotationOut = new HTuple(hv_WindowCenteredRotationlIn);
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hv_VisualizeTB.Dispose();
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using (HDevDisposeHelper dh = new HDevDisposeHelper())
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{
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hv_VisualizeTB = new HTuple(hv_SelectedObjectOut.TupleMax()
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.TupleNotEqual(0));
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}
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hv_InvLog2.Dispose();
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using (HDevDisposeHelper dh = new HDevDisposeHelper())
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{
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hv_InvLog2 = 1.0 / new HTuple(2).TupleLog()
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;
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}
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//
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if ((int)new HTuple(hv_Button.TupleEqual(hv_MouseMapping.TupleSelect(6))) != 0)
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{
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if ((int)hv_ButtonHoldOut != 0)
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{
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ho_ImageDump.Dispose();
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hv_Column_COPY_INP_TMP.Dispose();
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hv_PosesIn_COPY_INP_TMP.Dispose();
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hv_Row_COPY_INP_TMP.Dispose();
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hv_TBCenter_COPY_INP_TMP.Dispose();
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hv_TBSize_COPY_INP_TMP.Dispose();
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hv_VisualizeTB.Dispose();
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hv_InvLog2.Dispose();
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hv_Seconds.Dispose();
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hv_ModelIndex.Dispose();
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hv_Exception1.Dispose();
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hv_HomMat3DIdentity.Dispose();
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hv_NumModels.Dispose();
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hv_Width.Dispose();
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hv_Height.Dispose();
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hv_MinImageSize.Dispose();
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hv_TrackballRadiusPixel.Dispose();
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hv_TrackballCenterRow.Dispose();
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hv_TrackballCenterCol.Dispose();
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hv_NumChannels.Dispose();
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hv_ColorImage.Dispose();
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hv_BAnd.Dispose();
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hv_SensFactor.Dispose();
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hv_IsButtonTrans.Dispose();
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hv_IsButtonRot.Dispose();
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hv_IsButtonDist.Dispose();
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hv_MRow1.Dispose();
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hv_MCol1.Dispose();
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hv_ButtonLoop.Dispose();
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hv_MRow2.Dispose();
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hv_MCol2.Dispose();
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hv_PX.Dispose();
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hv_PY.Dispose();
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hv_PZ.Dispose();
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hv_QX1.Dispose();
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hv_QY1.Dispose();
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hv_QZ1.Dispose();
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hv_QX2.Dispose();
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hv_QY2.Dispose();
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hv_QZ2.Dispose();
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hv_Len.Dispose();
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hv_Dist.Dispose();
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hv_Translate.Dispose();
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hv_Index.Dispose();
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hv_PoseIn.Dispose();
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hv_HomMat3DIn.Dispose();
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hv_HomMat3DOut.Dispose();
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hv_PoseOut.Dispose();
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hv_Indices.Dispose();
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hv_Sequence.Dispose();
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hv_Mod.Dispose();
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hv_SequenceReal.Dispose();
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hv_Sequence2Int.Dispose();
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hv_Selected.Dispose();
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hv_InvSelected.Dispose();
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hv_Exception.Dispose();
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hv_DRow.Dispose();
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hv_TranslateZ.Dispose();
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hv_MX1.Dispose();
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hv_MY1.Dispose();
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hv_MX2.Dispose();
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hv_MY2.Dispose();
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hv_RelQuaternion.Dispose();
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hv_HomMat3DRotRel.Dispose();
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hv_HomMat3DInTmp1.Dispose();
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hv_HomMat3DInTmp.Dispose();
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hv_PosesOut2.Dispose();
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return;
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}
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//Ctrl (16) + Alt (32) + left mouse button (1) => Toggle rotation center position
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//If WindowCenteredRotation is not 1, set it to 1, otherwise, set it to 2
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hv_Seconds.Dispose();
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HOperatorSet.CountSeconds(out hv_Seconds);
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if ((int)new HTuple(hv_WindowCenteredRotationOut.TupleEqual(1)) != 0)
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{
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hv_WindowCenteredRotationOut.Dispose();
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hv_WindowCenteredRotationOut = 2;
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}
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else
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{
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hv_WindowCenteredRotationOut.Dispose();
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hv_WindowCenteredRotationOut = 1;
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}
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hv_ButtonHoldOut.Dispose();
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hv_ButtonHoldOut = 1;
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ho_ImageDump.Dispose();
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hv_Column_COPY_INP_TMP.Dispose();
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hv_PosesIn_COPY_INP_TMP.Dispose();
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hv_Row_COPY_INP_TMP.Dispose();
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hv_TBCenter_COPY_INP_TMP.Dispose();
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hv_TBSize_COPY_INP_TMP.Dispose();
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hv_VisualizeTB.Dispose();
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hv_InvLog2.Dispose();
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hv_Seconds.Dispose();
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hv_ModelIndex.Dispose();
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hv_Exception1.Dispose();
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hv_HomMat3DIdentity.Dispose();
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hv_NumModels.Dispose();
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hv_Width.Dispose();
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hv_Height.Dispose();
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hv_MinImageSize.Dispose();
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hv_TrackballRadiusPixel.Dispose();
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hv_TrackballCenterRow.Dispose();
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hv_TrackballCenterCol.Dispose();
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hv_NumChannels.Dispose();
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hv_ColorImage.Dispose();
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hv_BAnd.Dispose();
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hv_SensFactor.Dispose();
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hv_IsButtonTrans.Dispose();
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hv_IsButtonRot.Dispose();
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hv_IsButtonDist.Dispose();
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hv_MRow1.Dispose();
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hv_MCol1.Dispose();
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hv_ButtonLoop.Dispose();
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hv_MRow2.Dispose();
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hv_MCol2.Dispose();
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hv_PX.Dispose();
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hv_PY.Dispose();
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hv_PZ.Dispose();
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hv_QX1.Dispose();
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hv_QY1.Dispose();
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hv_QZ1.Dispose();
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hv_QX2.Dispose();
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hv_QY2.Dispose();
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hv_QZ2.Dispose();
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hv_Len.Dispose();
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hv_Dist.Dispose();
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hv_Translate.Dispose();
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hv_Index.Dispose();
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hv_PoseIn.Dispose();
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hv_HomMat3DIn.Dispose();
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hv_HomMat3DOut.Dispose();
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hv_PoseOut.Dispose();
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hv_Indices.Dispose();
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hv_Sequence.Dispose();
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hv_Mod.Dispose();
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hv_SequenceReal.Dispose();
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hv_Sequence2Int.Dispose();
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hv_Selected.Dispose();
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hv_InvSelected.Dispose();
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hv_Exception.Dispose();
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hv_DRow.Dispose();
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hv_TranslateZ.Dispose();
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hv_MX1.Dispose();
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hv_MY1.Dispose();
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hv_MX2.Dispose();
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hv_MY2.Dispose();
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hv_RelQuaternion.Dispose();
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hv_HomMat3DRotRel.Dispose();
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hv_HomMat3DInTmp1.Dispose();
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hv_HomMat3DInTmp.Dispose();
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hv_PosesOut2.Dispose();
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return;
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}
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if ((int)new HTuple(hv_Button.TupleEqual(hv_MouseMapping.TupleSelect(5))).TupleAnd(
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new HTuple(new HTuple(hv_ObjectModel3DID.TupleLength()).TupleLessEqual(
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hv_MaxNumModels))) != 0)
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{
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if ((int)hv_ButtonHoldOut != 0)
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{
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ho_ImageDump.Dispose();
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hv_Column_COPY_INP_TMP.Dispose();
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hv_PosesIn_COPY_INP_TMP.Dispose();
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hv_Row_COPY_INP_TMP.Dispose();
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hv_TBCenter_COPY_INP_TMP.Dispose();
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hv_TBSize_COPY_INP_TMP.Dispose();
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hv_VisualizeTB.Dispose();
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hv_InvLog2.Dispose();
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hv_Seconds.Dispose();
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hv_ModelIndex.Dispose();
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hv_Exception1.Dispose();
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hv_HomMat3DIdentity.Dispose();
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hv_NumModels.Dispose();
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hv_Width.Dispose();
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hv_Height.Dispose();
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hv_MinImageSize.Dispose();
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hv_TrackballRadiusPixel.Dispose();
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hv_TrackballCenterRow.Dispose();
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hv_TrackballCenterCol.Dispose();
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hv_NumChannels.Dispose();
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hv_ColorImage.Dispose();
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hv_BAnd.Dispose();
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hv_SensFactor.Dispose();
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hv_IsButtonTrans.Dispose();
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hv_IsButtonRot.Dispose();
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hv_IsButtonDist.Dispose();
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hv_MRow1.Dispose();
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hv_MCol1.Dispose();
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hv_ButtonLoop.Dispose();
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hv_MRow2.Dispose();
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hv_MCol2.Dispose();
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hv_PX.Dispose();
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hv_PY.Dispose();
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hv_PZ.Dispose();
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hv_QX1.Dispose();
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hv_QY1.Dispose();
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hv_QZ1.Dispose();
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hv_QX2.Dispose();
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hv_QY2.Dispose();
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hv_QZ2.Dispose();
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hv_Len.Dispose();
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hv_Dist.Dispose();
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hv_Translate.Dispose();
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hv_Index.Dispose();
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hv_PoseIn.Dispose();
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hv_HomMat3DIn.Dispose();
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hv_HomMat3DOut.Dispose();
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hv_PoseOut.Dispose();
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hv_Indices.Dispose();
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hv_Sequence.Dispose();
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hv_Mod.Dispose();
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hv_SequenceReal.Dispose();
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hv_Sequence2Int.Dispose();
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hv_Selected.Dispose();
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hv_InvSelected.Dispose();
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hv_Exception.Dispose();
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hv_DRow.Dispose();
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hv_TranslateZ.Dispose();
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hv_MX1.Dispose();
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hv_MY1.Dispose();
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hv_MX2.Dispose();
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hv_MY2.Dispose();
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hv_RelQuaternion.Dispose();
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hv_HomMat3DRotRel.Dispose();
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hv_HomMat3DInTmp1.Dispose();
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hv_HomMat3DInTmp.Dispose();
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hv_PosesOut2.Dispose();
|
|
return;
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}
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//Ctrl (16) + left mouse button (1) => Select an object
|
try
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{
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HOperatorSet.SetScene3dParam(hv_Scene3D, "object_index_persistence", "true");
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HOperatorSet.DisplayScene3d(hv_WindowHandleBuffer, hv_Scene3D, 0);
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hv_ModelIndex.Dispose();
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HOperatorSet.GetDisplayScene3dInfo(hv_WindowHandleBuffer, hv_Scene3D, hv_Row_COPY_INP_TMP,
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hv_Column_COPY_INP_TMP, "object_index", out hv_ModelIndex);
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HOperatorSet.SetScene3dParam(hv_Scene3D, "object_index_persistence", "false");
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}
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// catch (Exception1)
|
catch (HalconException HDevExpDefaultException1)
|
{
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HDevExpDefaultException1.ToHTuple(out hv_Exception1);
|
//* NO OpenGL, no selection possible
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ho_ImageDump.Dispose();
|
|
hv_Column_COPY_INP_TMP.Dispose();
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hv_PosesIn_COPY_INP_TMP.Dispose();
|
hv_Row_COPY_INP_TMP.Dispose();
|
hv_TBCenter_COPY_INP_TMP.Dispose();
|
hv_TBSize_COPY_INP_TMP.Dispose();
|
hv_VisualizeTB.Dispose();
|
hv_InvLog2.Dispose();
|
hv_Seconds.Dispose();
|
hv_ModelIndex.Dispose();
|
hv_Exception1.Dispose();
|
hv_HomMat3DIdentity.Dispose();
|
hv_NumModels.Dispose();
|
hv_Width.Dispose();
|
hv_Height.Dispose();
|
hv_MinImageSize.Dispose();
|
hv_TrackballRadiusPixel.Dispose();
|
hv_TrackballCenterRow.Dispose();
|
hv_TrackballCenterCol.Dispose();
|
hv_NumChannels.Dispose();
|
hv_ColorImage.Dispose();
|
hv_BAnd.Dispose();
|
hv_SensFactor.Dispose();
|
hv_IsButtonTrans.Dispose();
|
hv_IsButtonRot.Dispose();
|
hv_IsButtonDist.Dispose();
|
hv_MRow1.Dispose();
|
hv_MCol1.Dispose();
|
hv_ButtonLoop.Dispose();
|
hv_MRow2.Dispose();
|
hv_MCol2.Dispose();
|
hv_PX.Dispose();
|
hv_PY.Dispose();
|
hv_PZ.Dispose();
|
hv_QX1.Dispose();
|
hv_QY1.Dispose();
|
hv_QZ1.Dispose();
|
hv_QX2.Dispose();
|
hv_QY2.Dispose();
|
hv_QZ2.Dispose();
|
hv_Len.Dispose();
|
hv_Dist.Dispose();
|
hv_Translate.Dispose();
|
hv_Index.Dispose();
|
hv_PoseIn.Dispose();
|
hv_HomMat3DIn.Dispose();
|
hv_HomMat3DOut.Dispose();
|
hv_PoseOut.Dispose();
|
hv_Indices.Dispose();
|
hv_Sequence.Dispose();
|
hv_Mod.Dispose();
|
hv_SequenceReal.Dispose();
|
hv_Sequence2Int.Dispose();
|
hv_Selected.Dispose();
|
hv_InvSelected.Dispose();
|
hv_Exception.Dispose();
|
hv_DRow.Dispose();
|
hv_TranslateZ.Dispose();
|
hv_MX1.Dispose();
|
hv_MY1.Dispose();
|
hv_MX2.Dispose();
|
hv_MY2.Dispose();
|
hv_RelQuaternion.Dispose();
|
hv_HomMat3DRotRel.Dispose();
|
hv_HomMat3DInTmp1.Dispose();
|
hv_HomMat3DInTmp.Dispose();
|
hv_PosesOut2.Dispose();
|
|
return;
|
}
|
if ((int)new HTuple(hv_ModelIndex.TupleEqual(-1)) != 0)
|
{
|
//Background click:
|
if ((int)new HTuple(hv_SelectedObjectOut.TupleSum().TupleEqual(new HTuple(hv_SelectedObjectOut.TupleLength()
|
))) != 0)
|
{
|
//If all objects are already selected, deselect all
|
hv_SelectedObjectOut.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_SelectedObjectOut = HTuple.TupleGenConst(
|
new HTuple(hv_ObjectModel3DID.TupleLength()), 0);
|
}
|
}
|
else
|
{
|
//Otherwise select all
|
hv_SelectedObjectOut.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_SelectedObjectOut = HTuple.TupleGenConst(
|
new HTuple(hv_ObjectModel3DID.TupleLength()), 1);
|
}
|
}
|
}
|
else
|
{
|
//Object click:
|
if (hv_SelectedObjectOut == null)
|
hv_SelectedObjectOut = new HTuple();
|
hv_SelectedObjectOut[hv_ModelIndex] = hv_SelectedObjectOut.TupleSelect(
|
hv_ModelIndex).TupleNot();
|
}
|
hv_ButtonHoldOut.Dispose();
|
hv_ButtonHoldOut = 1;
|
}
|
else
|
{
|
//Change the pose
|
hv_HomMat3DIdentity.Dispose();
|
HOperatorSet.HomMat3dIdentity(out hv_HomMat3DIdentity);
|
hv_NumModels.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_NumModels = new HTuple(hv_ObjectModel3DID.TupleLength()
|
);
|
}
|
hv_Width.Dispose();
|
get_cam_par_data(hv_CamParam, "image_width", out hv_Width);
|
hv_Height.Dispose();
|
get_cam_par_data(hv_CamParam, "image_height", out hv_Height);
|
hv_MinImageSize.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_MinImageSize = hv_Width.TupleConcat(
|
hv_Height).TupleMin();
|
}
|
hv_TrackballRadiusPixel.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_TrackballRadiusPixel = hv_TrackballSize * hv_MinImageSize / 2.0;
|
}
|
//Set trackball fixed in the center of the window
|
hv_TrackballCenterRow.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_TrackballCenterRow = hv_Height / 2;
|
}
|
hv_TrackballCenterCol.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_TrackballCenterCol = hv_Width / 2;
|
}
|
if ((int)new HTuple(new HTuple(hv_ObjectModel3DID.TupleLength()).TupleLess(
|
hv_MaxNumModels)) != 0)
|
{
|
if ((int)new HTuple(hv_WindowCenteredRotationOut.TupleEqual(1)) != 0)
|
{
|
hv_TBCenter_COPY_INP_TMP.Dispose(); hv_TBSize_COPY_INP_TMP.Dispose();
|
get_trackball_center_fixed(hv_SelectedObjectIn, hv_TrackballCenterRow,
|
hv_TrackballCenterCol, hv_TrackballRadiusPixel, hv_Scene3D, hv_ObjectModel3DID,
|
hv_PosesIn_COPY_INP_TMP, hv_WindowHandleBuffer, hv_CamParam, hv_GenParamName,
|
hv_GenParamValue, out hv_TBCenter_COPY_INP_TMP, out hv_TBSize_COPY_INP_TMP);
|
}
|
else
|
{
|
hv_TBCenter_COPY_INP_TMP.Dispose(); hv_TBSize_COPY_INP_TMP.Dispose();
|
get_trackball_center(hv_SelectedObjectIn, hv_TrackballRadiusPixel, hv_ObjectModel3DID,
|
hv_PosesIn_COPY_INP_TMP, out hv_TBCenter_COPY_INP_TMP, out hv_TBSize_COPY_INP_TMP);
|
}
|
}
|
if ((int)new HTuple(hv_SelectedObjectOut.TupleMin().TupleEqual(0)).TupleAnd(
|
new HTuple(hv_SelectedObjectOut.TupleMax().TupleEqual(1))) != 0)
|
{
|
//At this point, multiple objects do not necessary have the same
|
//pose any more. Consequently, we have to return a tuple of poses
|
//as output of visualize_object_model_3d
|
ExpTmpLocalVar_gIsSinglePose = 0;
|
ExpSetGlobalVar_gIsSinglePose(ExpTmpLocalVar_gIsSinglePose);
|
}
|
hv_NumChannels.Dispose();
|
HOperatorSet.CountChannels(ho_BackgroundImage, out hv_NumChannels);
|
hv_ColorImage.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_ColorImage = new HTuple(hv_NumChannels.TupleEqual(
|
3));
|
}
|
//Alt (32) => lower sensitivity
|
hv_BAnd.Dispose();
|
HOperatorSet.TupleRsh(hv_Button, 5, out hv_BAnd);
|
if ((int)(hv_BAnd % 2) != 0)
|
{
|
hv_SensFactor.Dispose();
|
hv_SensFactor = 0.1;
|
}
|
else
|
{
|
hv_SensFactor.Dispose();
|
hv_SensFactor = 1.0;
|
}
|
hv_IsButtonTrans.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_IsButtonTrans = new HTuple(hv_MouseMapping.TupleSelect(
|
0).TupleEqual(hv_Button)).TupleOr(new HTuple((32 + hv_MouseMapping.TupleSelect(
|
0)).TupleEqual(hv_Button)));
|
}
|
hv_IsButtonRot.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_IsButtonRot = new HTuple(hv_MouseMapping.TupleSelect(
|
1).TupleEqual(hv_Button)).TupleOr(new HTuple((32 + hv_MouseMapping.TupleSelect(
|
1)).TupleEqual(hv_Button)));
|
}
|
hv_IsButtonDist.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_IsButtonDist = new HTuple(new HTuple(new HTuple(new HTuple(new HTuple(hv_MouseMapping.TupleSelect(
|
2).TupleEqual(hv_Button)).TupleOr(new HTuple((32 + hv_MouseMapping.TupleSelect(
|
2)).TupleEqual(hv_Button)))).TupleOr(new HTuple(hv_MouseMapping.TupleSelect(
|
3).TupleEqual(hv_Button)))).TupleOr(new HTuple((32 + hv_MouseMapping.TupleSelect(
|
3)).TupleEqual(hv_Button)))).TupleOr(new HTuple(hv_MouseMapping.TupleSelect(
|
4).TupleEqual(hv_Button)))).TupleOr(new HTuple((32 + hv_MouseMapping.TupleSelect(
|
4)).TupleEqual(hv_Button)));
|
}
|
if ((int)hv_IsButtonTrans != 0)
|
{
|
//Translate in XY-direction
|
hv_MRow1.Dispose();
|
hv_MRow1 = new HTuple(hv_Row_COPY_INP_TMP);
|
hv_MCol1.Dispose();
|
hv_MCol1 = new HTuple(hv_Column_COPY_INP_TMP);
|
while ((int)hv_IsButtonTrans != 0)
|
{
|
try
|
{
|
hv_Row_COPY_INP_TMP.Dispose(); hv_Column_COPY_INP_TMP.Dispose(); hv_ButtonLoop.Dispose();
|
HOperatorSet.GetMpositionSubPix(hv_WindowHandle, out hv_Row_COPY_INP_TMP,
|
out hv_Column_COPY_INP_TMP, out hv_ButtonLoop);
|
hv_IsButtonTrans.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_IsButtonTrans = new HTuple(hv_ButtonLoop.TupleEqual(
|
hv_Button));
|
}
|
hv_MRow2.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_MRow2 = hv_MRow1 + (hv_Row_COPY_INP_TMP - hv_MRow1) * hv_SensFactor;
|
}
|
hv_MCol2.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_MCol2 = hv_MCol1 + (hv_Column_COPY_INP_TMP - hv_MCol1) * hv_SensFactor;
|
}
|
hv_PX.Dispose(); hv_PY.Dispose(); hv_PZ.Dispose(); hv_QX1.Dispose(); hv_QY1.Dispose(); hv_QZ1.Dispose();
|
HOperatorSet.GetLineOfSight(hv_MRow1, hv_MCol1, hv_CamParam, out hv_PX,
|
out hv_PY, out hv_PZ, out hv_QX1, out hv_QY1, out hv_QZ1);
|
hv_PX.Dispose(); hv_PY.Dispose(); hv_PZ.Dispose(); hv_QX2.Dispose(); hv_QY2.Dispose(); hv_QZ2.Dispose();
|
HOperatorSet.GetLineOfSight(hv_MRow2, hv_MCol2, hv_CamParam, out hv_PX,
|
out hv_PY, out hv_PZ, out hv_QX2, out hv_QY2, out hv_QZ2);
|
hv_Len.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_Len = (hv_QX1 * hv_QX1 + hv_QY1 * hv_QY1 + hv_QZ1 * hv_QZ1).TupleSqrt()
|
;
|
}
|
hv_Dist.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_Dist = (hv_TBCenter_COPY_INP_TMP.TupleSelect(
|
0) * hv_TBCenter_COPY_INP_TMP.TupleSelect(0) + hv_TBCenter_COPY_INP_TMP.TupleSelect(
|
1) * hv_TBCenter_COPY_INP_TMP.TupleSelect(1) + hv_TBCenter_COPY_INP_TMP.TupleSelect(
|
2) * hv_TBCenter_COPY_INP_TMP.TupleSelect(2)).TupleSqrt();
|
}
|
hv_Translate.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_Translate = (hv_QX2 - hv_QX1).TupleConcat(
|
hv_QY2 - hv_QY1).TupleConcat(hv_QZ2 - hv_QZ1) * hv_Dist / hv_Len;
|
}
|
hv_PosesOut.Dispose();
|
hv_PosesOut = new HTuple();
|
if ((int)new HTuple(hv_NumModels.TupleLessEqual(hv_MaxNumModels)) != 0)
|
{
|
HTuple end_val110 = hv_NumModels - 1;
|
HTuple step_val110 = 1;
|
for (hv_Index = 0; hv_Index.Continue(end_val110, step_val110); hv_Index = hv_Index.TupleAdd(step_val110))
|
{
|
hv_PoseIn.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_PoseIn = hv_PosesIn_COPY_INP_TMP.TupleSelectRange(
|
hv_Index * 7, hv_Index * 7 + 6);
|
}
|
if ((int)hv_SelectedObjectOut.TupleSelect(hv_Index) != 0)
|
{
|
hv_HomMat3DIn.Dispose();
|
HOperatorSet.PoseToHomMat3d(hv_PoseIn, out hv_HomMat3DIn);
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_HomMat3DOut.Dispose();
|
HOperatorSet.HomMat3dTranslate(hv_HomMat3DIn, hv_Translate.TupleSelect(
|
0), hv_Translate.TupleSelect(1), hv_Translate.TupleSelect(
|
2), out hv_HomMat3DOut);
|
}
|
hv_PoseOut.Dispose();
|
HOperatorSet.HomMat3dToPose(hv_HomMat3DOut, out hv_PoseOut);
|
HOperatorSet.SetScene3dInstancePose(hv_Scene3D, hv_Index, hv_PoseOut);
|
}
|
else
|
{
|
hv_PoseOut.Dispose();
|
hv_PoseOut = new HTuple(hv_PoseIn);
|
}
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
{
|
HTuple
|
ExpTmpLocalVar_PosesOut = hv_PosesOut.TupleConcat(
|
hv_PoseOut);
|
hv_PosesOut.Dispose();
|
hv_PosesOut = ExpTmpLocalVar_PosesOut;
|
}
|
}
|
}
|
}
|
else
|
{
|
hv_Indices.Dispose();
|
HOperatorSet.TupleFind(hv_SelectedObjectOut, 1, out hv_Indices);
|
hv_PoseIn.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_PoseIn = hv_PosesIn_COPY_INP_TMP.TupleSelectRange(
|
hv_Indices.TupleSelect(0) * 7, hv_Indices.TupleSelect(0) * 7 + 6);
|
}
|
hv_HomMat3DIn.Dispose();
|
HOperatorSet.PoseToHomMat3d(hv_PoseIn, out hv_HomMat3DIn);
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_HomMat3DOut.Dispose();
|
HOperatorSet.HomMat3dTranslate(hv_HomMat3DIn, hv_Translate.TupleSelect(
|
0), hv_Translate.TupleSelect(1), hv_Translate.TupleSelect(2),
|
out hv_HomMat3DOut);
|
}
|
hv_PoseOut.Dispose();
|
HOperatorSet.HomMat3dToPose(hv_HomMat3DOut, out hv_PoseOut);
|
hv_Sequence.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_Sequence = HTuple.TupleGenSequence(
|
0, hv_NumModels * 7 - 1, 1);
|
}
|
hv_Mod.Dispose();
|
HOperatorSet.TupleMod(hv_Sequence, 7, out hv_Mod);
|
hv_SequenceReal.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_SequenceReal = HTuple.TupleGenSequence(
|
0, hv_NumModels - 1.0 / 7.0, 1.0 / 7.0);
|
}
|
hv_Sequence2Int.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_Sequence2Int = hv_SequenceReal.TupleInt()
|
;
|
}
|
hv_Selected.Dispose();
|
HOperatorSet.TupleSelect(hv_SelectedObjectOut, hv_Sequence2Int, out hv_Selected);
|
hv_InvSelected.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_InvSelected = 1 - hv_Selected;
|
}
|
hv_PosesOut.Dispose();
|
HOperatorSet.TupleSelect(hv_PoseOut, hv_Mod, out hv_PosesOut);
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
{
|
HTuple
|
ExpTmpLocalVar_PosesOut = hv_PosesOut * hv_Selected + hv_PosesIn_COPY_INP_TMP * hv_InvSelected;
|
hv_PosesOut.Dispose();
|
hv_PosesOut = ExpTmpLocalVar_PosesOut;
|
}
|
}
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
HOperatorSet.SetScene3dInstancePose(hv_Scene3D, HTuple.TupleGenSequence(
|
0, hv_NumModels - 1, 1), hv_PosesOut);
|
}
|
}
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
dump_image_output(ho_BackgroundImage, hv_WindowHandleBuffer, hv_Scene3D,
|
hv_AlphaOrig, hv_ObjectModel3DID, hv_GenParamName, hv_GenParamValue,
|
hv_CamParam, hv_PosesOut, hv_ColorImage, hv_Title, hv_Information,
|
hv_Labels, hv_VisualizeTB, "true", hv_TrackballCenterRow, hv_TrackballCenterCol,
|
hv_TBSize_COPY_INP_TMP, hv_SelectedObjectOut, new HTuple(hv_WindowCenteredRotationOut.TupleEqual(
|
1)), hv_TBCenter_COPY_INP_TMP);
|
}
|
ho_ImageDump.Dispose();
|
HOperatorSet.DumpWindowImage(out ho_ImageDump, hv_WindowHandleBuffer);
|
HDevWindowStack.SetActive(hv_WindowHandle);
|
if (HDevWindowStack.IsOpen())
|
{
|
HOperatorSet.DispObj(ho_ImageDump, HDevWindowStack.GetActive());
|
}
|
//
|
hv_MRow1.Dispose();
|
hv_MRow1 = new HTuple(hv_Row_COPY_INP_TMP);
|
hv_MCol1.Dispose();
|
hv_MCol1 = new HTuple(hv_Column_COPY_INP_TMP);
|
hv_PosesIn_COPY_INP_TMP.Dispose();
|
hv_PosesIn_COPY_INP_TMP = new HTuple(hv_PosesOut);
|
}
|
// catch (Exception)
|
catch (HalconException HDevExpDefaultException1)
|
{
|
HDevExpDefaultException1.ToHTuple(out hv_Exception);
|
//Keep waiting
|
}
|
}
|
}
|
else if ((int)hv_IsButtonDist != 0)
|
{
|
//Change the Z distance
|
hv_MRow1.Dispose();
|
hv_MRow1 = new HTuple(hv_Row_COPY_INP_TMP);
|
while ((int)hv_IsButtonDist != 0)
|
{
|
try
|
{
|
hv_Row_COPY_INP_TMP.Dispose(); hv_Column_COPY_INP_TMP.Dispose(); hv_ButtonLoop.Dispose();
|
HOperatorSet.GetMpositionSubPix(hv_WindowHandle, out hv_Row_COPY_INP_TMP,
|
out hv_Column_COPY_INP_TMP, out hv_ButtonLoop);
|
hv_IsButtonDist.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_IsButtonDist = new HTuple(hv_ButtonLoop.TupleEqual(
|
hv_Button));
|
}
|
hv_MRow2.Dispose();
|
hv_MRow2 = new HTuple(hv_Row_COPY_INP_TMP);
|
hv_DRow.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_DRow = hv_MRow2 - hv_MRow1;
|
}
|
hv_Dist.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_Dist = (hv_TBCenter_COPY_INP_TMP.TupleSelect(
|
0) * hv_TBCenter_COPY_INP_TMP.TupleSelect(0) + hv_TBCenter_COPY_INP_TMP.TupleSelect(
|
1) * hv_TBCenter_COPY_INP_TMP.TupleSelect(1) + hv_TBCenter_COPY_INP_TMP.TupleSelect(
|
2) * hv_TBCenter_COPY_INP_TMP.TupleSelect(2)).TupleSqrt();
|
}
|
hv_TranslateZ.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_TranslateZ = -hv_Dist * hv_DRow * 0.003 * hv_SensFactor;
|
}
|
if (hv_TBCenter_COPY_INP_TMP == null)
|
hv_TBCenter_COPY_INP_TMP = new HTuple();
|
hv_TBCenter_COPY_INP_TMP[2] = hv_TBCenter_COPY_INP_TMP.TupleSelect(
|
2) + hv_TranslateZ;
|
hv_PosesOut.Dispose();
|
hv_PosesOut = new HTuple();
|
if ((int)new HTuple(hv_NumModels.TupleLessEqual(hv_MaxNumModels)) != 0)
|
{
|
HTuple end_val164 = hv_NumModels - 1;
|
HTuple step_val164 = 1;
|
for (hv_Index = 0; hv_Index.Continue(end_val164, step_val164); hv_Index = hv_Index.TupleAdd(step_val164))
|
{
|
hv_PoseIn.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_PoseIn = hv_PosesIn_COPY_INP_TMP.TupleSelectRange(
|
hv_Index * 7, hv_Index * 7 + 6);
|
}
|
if ((int)hv_SelectedObjectOut.TupleSelect(hv_Index) != 0)
|
{
|
//Transform the whole scene or selected object only
|
hv_HomMat3DIn.Dispose();
|
HOperatorSet.PoseToHomMat3d(hv_PoseIn, out hv_HomMat3DIn);
|
hv_HomMat3DOut.Dispose();
|
HOperatorSet.HomMat3dTranslate(hv_HomMat3DIn, 0, 0, hv_TranslateZ,
|
out hv_HomMat3DOut);
|
hv_PoseOut.Dispose();
|
HOperatorSet.HomMat3dToPose(hv_HomMat3DOut, out hv_PoseOut);
|
HOperatorSet.SetScene3dInstancePose(hv_Scene3D, hv_Index, hv_PoseOut);
|
}
|
else
|
{
|
hv_PoseOut.Dispose();
|
hv_PoseOut = new HTuple(hv_PoseIn);
|
}
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
{
|
HTuple
|
ExpTmpLocalVar_PosesOut = hv_PosesOut.TupleConcat(
|
hv_PoseOut);
|
hv_PosesOut.Dispose();
|
hv_PosesOut = ExpTmpLocalVar_PosesOut;
|
}
|
}
|
}
|
}
|
else
|
{
|
hv_Indices.Dispose();
|
HOperatorSet.TupleFind(hv_SelectedObjectOut, 1, out hv_Indices);
|
hv_PoseIn.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_PoseIn = hv_PosesIn_COPY_INP_TMP.TupleSelectRange(
|
hv_Indices.TupleSelect(0) * 7, hv_Indices.TupleSelect(0) * 7 + 6);
|
}
|
hv_HomMat3DIn.Dispose();
|
HOperatorSet.PoseToHomMat3d(hv_PoseIn, out hv_HomMat3DIn);
|
hv_HomMat3DOut.Dispose();
|
HOperatorSet.HomMat3dTranslate(hv_HomMat3DIn, 0, 0, hv_TranslateZ,
|
out hv_HomMat3DOut);
|
hv_PoseOut.Dispose();
|
HOperatorSet.HomMat3dToPose(hv_HomMat3DOut, out hv_PoseOut);
|
hv_Sequence.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_Sequence = HTuple.TupleGenSequence(
|
0, hv_NumModels * 7 - 1, 1);
|
}
|
hv_Mod.Dispose();
|
HOperatorSet.TupleMod(hv_Sequence, 7, out hv_Mod);
|
hv_SequenceReal.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_SequenceReal = HTuple.TupleGenSequence(
|
0, hv_NumModels - 1.0 / 7.0, 1.0 / 7.0);
|
}
|
hv_Sequence2Int.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_Sequence2Int = hv_SequenceReal.TupleInt()
|
;
|
}
|
hv_Selected.Dispose();
|
HOperatorSet.TupleSelect(hv_SelectedObjectOut, hv_Sequence2Int, out hv_Selected);
|
hv_InvSelected.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_InvSelected = 1 - hv_Selected;
|
}
|
hv_PosesOut.Dispose();
|
HOperatorSet.TupleSelect(hv_PoseOut, hv_Mod, out hv_PosesOut);
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
{
|
HTuple
|
ExpTmpLocalVar_PosesOut = hv_PosesOut * hv_Selected + hv_PosesIn_COPY_INP_TMP * hv_InvSelected;
|
hv_PosesOut.Dispose();
|
hv_PosesOut = ExpTmpLocalVar_PosesOut;
|
}
|
}
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
HOperatorSet.SetScene3dInstancePose(hv_Scene3D, HTuple.TupleGenSequence(
|
0, hv_NumModels - 1, 1), hv_PosesOut);
|
}
|
}
|
dump_image_output(ho_BackgroundImage, hv_WindowHandleBuffer, hv_Scene3D,
|
hv_AlphaOrig, hv_ObjectModel3DID, hv_GenParamName, hv_GenParamValue,
|
hv_CamParam, hv_PosesOut, hv_ColorImage, hv_Title, hv_Information,
|
hv_Labels, hv_VisualizeTB, "true", hv_TrackballCenterRow, hv_TrackballCenterCol,
|
hv_TBSize_COPY_INP_TMP, hv_SelectedObjectOut, hv_WindowCenteredRotationOut,
|
hv_TBCenter_COPY_INP_TMP);
|
ho_ImageDump.Dispose();
|
HOperatorSet.DumpWindowImage(out ho_ImageDump, hv_WindowHandleBuffer);
|
HDevWindowStack.SetActive(hv_WindowHandle);
|
if (HDevWindowStack.IsOpen())
|
{
|
HOperatorSet.DispObj(ho_ImageDump, HDevWindowStack.GetActive());
|
}
|
//
|
hv_MRow1.Dispose();
|
hv_MRow1 = new HTuple(hv_Row_COPY_INP_TMP);
|
hv_PosesIn_COPY_INP_TMP.Dispose();
|
hv_PosesIn_COPY_INP_TMP = new HTuple(hv_PosesOut);
|
}
|
// catch (Exception)
|
catch (HalconException HDevExpDefaultException1)
|
{
|
HDevExpDefaultException1.ToHTuple(out hv_Exception);
|
//Keep waiting
|
}
|
}
|
}
|
else if ((int)hv_IsButtonRot != 0)
|
{
|
//Rotate the object
|
hv_MRow1.Dispose();
|
hv_MRow1 = new HTuple(hv_Row_COPY_INP_TMP);
|
hv_MCol1.Dispose();
|
hv_MCol1 = new HTuple(hv_Column_COPY_INP_TMP);
|
while ((int)hv_IsButtonRot != 0)
|
{
|
try
|
{
|
hv_Row_COPY_INP_TMP.Dispose(); hv_Column_COPY_INP_TMP.Dispose(); hv_ButtonLoop.Dispose();
|
HOperatorSet.GetMpositionSubPix(hv_WindowHandle, out hv_Row_COPY_INP_TMP,
|
out hv_Column_COPY_INP_TMP, out hv_ButtonLoop);
|
hv_IsButtonRot.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_IsButtonRot = new HTuple(hv_ButtonLoop.TupleEqual(
|
hv_Button));
|
}
|
hv_MRow2.Dispose();
|
hv_MRow2 = new HTuple(hv_Row_COPY_INP_TMP);
|
hv_MCol2.Dispose();
|
hv_MCol2 = new HTuple(hv_Column_COPY_INP_TMP);
|
//Transform the pixel coordinates to relative image coordinates
|
hv_MX1.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_MX1 = (hv_TrackballCenterCol - hv_MCol1) / (0.5 * hv_MinImageSize);
|
}
|
hv_MY1.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_MY1 = (hv_TrackballCenterRow - hv_MRow1) / (0.5 * hv_MinImageSize);
|
}
|
hv_MX2.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_MX2 = (hv_TrackballCenterCol - hv_MCol2) / (0.5 * hv_MinImageSize);
|
}
|
hv_MY2.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_MY2 = (hv_TrackballCenterRow - hv_MRow2) / (0.5 * hv_MinImageSize);
|
}
|
//Compute the quaternion rotation that corresponds to the mouse
|
//movement
|
hv_RelQuaternion.Dispose();
|
trackball(hv_MX1, hv_MY1, hv_MX2, hv_MY2, hv_VirtualTrackball, hv_TrackballSize,
|
hv_SensFactor, out hv_RelQuaternion);
|
//Transform the quaternion to a rotation matrix
|
hv_HomMat3DRotRel.Dispose();
|
HOperatorSet.QuatToHomMat3d(hv_RelQuaternion, out hv_HomMat3DRotRel);
|
hv_PosesOut.Dispose();
|
hv_PosesOut = new HTuple();
|
if ((int)new HTuple(hv_NumModels.TupleLessEqual(hv_MaxNumModels)) != 0)
|
{
|
HTuple end_val226 = hv_NumModels - 1;
|
HTuple step_val226 = 1;
|
for (hv_Index = 0; hv_Index.Continue(end_val226, step_val226); hv_Index = hv_Index.TupleAdd(step_val226))
|
{
|
hv_PoseIn.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_PoseIn = hv_PosesIn_COPY_INP_TMP.TupleSelectRange(
|
hv_Index * 7, hv_Index * 7 + 6);
|
}
|
if ((int)hv_SelectedObjectOut.TupleSelect(hv_Index) != 0)
|
{
|
//Transform the whole scene or selected object only
|
hv_HomMat3DIn.Dispose();
|
HOperatorSet.PoseToHomMat3d(hv_PoseIn, out hv_HomMat3DIn);
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
HTuple ExpTmpOutVar_0;
|
HOperatorSet.HomMat3dTranslate(hv_HomMat3DIn, -hv_TBCenter_COPY_INP_TMP.TupleSelect(
|
0), -hv_TBCenter_COPY_INP_TMP.TupleSelect(1), -hv_TBCenter_COPY_INP_TMP.TupleSelect(
|
2), out ExpTmpOutVar_0);
|
hv_HomMat3DIn.Dispose();
|
hv_HomMat3DIn = ExpTmpOutVar_0;
|
}
|
{
|
HTuple ExpTmpOutVar_0;
|
HOperatorSet.HomMat3dCompose(hv_HomMat3DRotRel, hv_HomMat3DIn,
|
out ExpTmpOutVar_0);
|
hv_HomMat3DIn.Dispose();
|
hv_HomMat3DIn = ExpTmpOutVar_0;
|
}
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_HomMat3DOut.Dispose();
|
HOperatorSet.HomMat3dTranslate(hv_HomMat3DIn, hv_TBCenter_COPY_INP_TMP.TupleSelect(
|
0), hv_TBCenter_COPY_INP_TMP.TupleSelect(1), hv_TBCenter_COPY_INP_TMP.TupleSelect(
|
2), out hv_HomMat3DOut);
|
}
|
hv_PoseOut.Dispose();
|
HOperatorSet.HomMat3dToPose(hv_HomMat3DOut, out hv_PoseOut);
|
HOperatorSet.SetScene3dInstancePose(hv_Scene3D, hv_Index, hv_PoseOut);
|
}
|
else
|
{
|
hv_PoseOut.Dispose();
|
hv_PoseOut = new HTuple(hv_PoseIn);
|
}
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
{
|
HTuple
|
ExpTmpLocalVar_PosesOut = hv_PosesOut.TupleConcat(
|
hv_PoseOut);
|
hv_PosesOut.Dispose();
|
hv_PosesOut = ExpTmpLocalVar_PosesOut;
|
}
|
}
|
}
|
}
|
else
|
{
|
hv_Indices.Dispose();
|
HOperatorSet.TupleFind(hv_SelectedObjectOut, 1, out hv_Indices);
|
hv_PoseIn.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_PoseIn = hv_PosesIn_COPY_INP_TMP.TupleSelectRange(
|
hv_Indices.TupleSelect(0) * 7, hv_Indices.TupleSelect(0) * 7 + 6);
|
}
|
hv_HomMat3DIn.Dispose();
|
HOperatorSet.PoseToHomMat3d(hv_PoseIn, out hv_HomMat3DIn);
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_HomMat3DInTmp1.Dispose();
|
HOperatorSet.HomMat3dTranslate(hv_HomMat3DIn, -hv_TBCenter_COPY_INP_TMP.TupleSelect(
|
0), -hv_TBCenter_COPY_INP_TMP.TupleSelect(1), -hv_TBCenter_COPY_INP_TMP.TupleSelect(
|
2), out hv_HomMat3DInTmp1);
|
}
|
hv_HomMat3DInTmp.Dispose();
|
HOperatorSet.HomMat3dCompose(hv_HomMat3DRotRel, hv_HomMat3DInTmp1,
|
out hv_HomMat3DInTmp);
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_HomMat3DOut.Dispose();
|
HOperatorSet.HomMat3dTranslate(hv_HomMat3DInTmp, hv_TBCenter_COPY_INP_TMP.TupleSelect(
|
0), hv_TBCenter_COPY_INP_TMP.TupleSelect(1), hv_TBCenter_COPY_INP_TMP.TupleSelect(
|
2), out hv_HomMat3DOut);
|
}
|
hv_PoseOut.Dispose();
|
HOperatorSet.HomMat3dToPose(hv_HomMat3DOut, out hv_PoseOut);
|
hv_Sequence.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_Sequence = HTuple.TupleGenSequence(
|
0, hv_NumModels * 7 - 1, 1);
|
}
|
hv_Mod.Dispose();
|
HOperatorSet.TupleMod(hv_Sequence, 7, out hv_Mod);
|
hv_SequenceReal.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_SequenceReal = HTuple.TupleGenSequence(
|
0, hv_NumModels - 1.0 / 7.0, 1.0 / 7.0);
|
}
|
hv_Sequence2Int.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_Sequence2Int = hv_SequenceReal.TupleInt()
|
;
|
}
|
hv_Selected.Dispose();
|
HOperatorSet.TupleSelect(hv_SelectedObjectOut, hv_Sequence2Int, out hv_Selected);
|
hv_InvSelected.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_InvSelected = 1 - hv_Selected;
|
}
|
hv_PosesOut.Dispose();
|
HOperatorSet.TupleSelect(hv_PoseOut, hv_Mod, out hv_PosesOut);
|
hv_PosesOut2.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_PosesOut2 = hv_PosesOut * hv_Selected + hv_PosesIn_COPY_INP_TMP * hv_InvSelected;
|
}
|
hv_PosesOut.Dispose();
|
hv_PosesOut = new HTuple(hv_PosesOut2);
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
HOperatorSet.SetScene3dInstancePose(hv_Scene3D, HTuple.TupleGenSequence(
|
0, hv_NumModels - 1, 1), hv_PosesOut);
|
}
|
}
|
dump_image_output(ho_BackgroundImage, hv_WindowHandleBuffer, hv_Scene3D,
|
hv_AlphaOrig, hv_ObjectModel3DID, hv_GenParamName, hv_GenParamValue,
|
hv_CamParam, hv_PosesOut, hv_ColorImage, hv_Title, hv_Information,
|
hv_Labels, hv_VisualizeTB, "true", hv_TrackballCenterRow, hv_TrackballCenterCol,
|
hv_TBSize_COPY_INP_TMP, hv_SelectedObjectOut, hv_WindowCenteredRotationOut,
|
hv_TBCenter_COPY_INP_TMP);
|
ho_ImageDump.Dispose();
|
HOperatorSet.DumpWindowImage(out ho_ImageDump, hv_WindowHandleBuffer);
|
HDevWindowStack.SetActive(hv_WindowHandle);
|
if (HDevWindowStack.IsOpen())
|
{
|
HOperatorSet.DispObj(ho_ImageDump, HDevWindowStack.GetActive());
|
}
|
//
|
hv_MRow1.Dispose();
|
hv_MRow1 = new HTuple(hv_Row_COPY_INP_TMP);
|
hv_MCol1.Dispose();
|
hv_MCol1 = new HTuple(hv_Column_COPY_INP_TMP);
|
hv_PosesIn_COPY_INP_TMP.Dispose();
|
hv_PosesIn_COPY_INP_TMP = new HTuple(hv_PosesOut);
|
}
|
// catch (Exception)
|
catch (HalconException HDevExpDefaultException1)
|
{
|
HDevExpDefaultException1.ToHTuple(out hv_Exception);
|
//Keep waiting
|
}
|
}
|
}
|
hv_PosesOut.Dispose();
|
hv_PosesOut = new HTuple(hv_PosesIn_COPY_INP_TMP);
|
}
|
ho_ImageDump.Dispose();
|
|
hv_Column_COPY_INP_TMP.Dispose();
|
hv_PosesIn_COPY_INP_TMP.Dispose();
|
hv_Row_COPY_INP_TMP.Dispose();
|
hv_TBCenter_COPY_INP_TMP.Dispose();
|
hv_TBSize_COPY_INP_TMP.Dispose();
|
hv_VisualizeTB.Dispose();
|
hv_InvLog2.Dispose();
|
hv_Seconds.Dispose();
|
hv_ModelIndex.Dispose();
|
hv_Exception1.Dispose();
|
hv_HomMat3DIdentity.Dispose();
|
hv_NumModels.Dispose();
|
hv_Width.Dispose();
|
hv_Height.Dispose();
|
hv_MinImageSize.Dispose();
|
hv_TrackballRadiusPixel.Dispose();
|
hv_TrackballCenterRow.Dispose();
|
hv_TrackballCenterCol.Dispose();
|
hv_NumChannels.Dispose();
|
hv_ColorImage.Dispose();
|
hv_BAnd.Dispose();
|
hv_SensFactor.Dispose();
|
hv_IsButtonTrans.Dispose();
|
hv_IsButtonRot.Dispose();
|
hv_IsButtonDist.Dispose();
|
hv_MRow1.Dispose();
|
hv_MCol1.Dispose();
|
hv_ButtonLoop.Dispose();
|
hv_MRow2.Dispose();
|
hv_MCol2.Dispose();
|
hv_PX.Dispose();
|
hv_PY.Dispose();
|
hv_PZ.Dispose();
|
hv_QX1.Dispose();
|
hv_QY1.Dispose();
|
hv_QZ1.Dispose();
|
hv_QX2.Dispose();
|
hv_QY2.Dispose();
|
hv_QZ2.Dispose();
|
hv_Len.Dispose();
|
hv_Dist.Dispose();
|
hv_Translate.Dispose();
|
hv_Index.Dispose();
|
hv_PoseIn.Dispose();
|
hv_HomMat3DIn.Dispose();
|
hv_HomMat3DOut.Dispose();
|
hv_PoseOut.Dispose();
|
hv_Indices.Dispose();
|
hv_Sequence.Dispose();
|
hv_Mod.Dispose();
|
hv_SequenceReal.Dispose();
|
hv_Sequence2Int.Dispose();
|
hv_Selected.Dispose();
|
hv_InvSelected.Dispose();
|
hv_Exception.Dispose();
|
hv_DRow.Dispose();
|
hv_TranslateZ.Dispose();
|
hv_MX1.Dispose();
|
hv_MY1.Dispose();
|
hv_MX2.Dispose();
|
hv_MY2.Dispose();
|
hv_RelQuaternion.Dispose();
|
hv_HomMat3DRotRel.Dispose();
|
hv_HomMat3DInTmp1.Dispose();
|
hv_HomMat3DInTmp.Dispose();
|
hv_PosesOut2.Dispose();
|
|
return;
|
}
|
catch (HalconException HDevExpDefaultException)
|
{
|
ho_ImageDump.Dispose();
|
|
hv_Column_COPY_INP_TMP.Dispose();
|
hv_PosesIn_COPY_INP_TMP.Dispose();
|
hv_Row_COPY_INP_TMP.Dispose();
|
hv_TBCenter_COPY_INP_TMP.Dispose();
|
hv_TBSize_COPY_INP_TMP.Dispose();
|
hv_VisualizeTB.Dispose();
|
hv_InvLog2.Dispose();
|
hv_Seconds.Dispose();
|
hv_ModelIndex.Dispose();
|
hv_Exception1.Dispose();
|
hv_HomMat3DIdentity.Dispose();
|
hv_NumModels.Dispose();
|
hv_Width.Dispose();
|
hv_Height.Dispose();
|
hv_MinImageSize.Dispose();
|
hv_TrackballRadiusPixel.Dispose();
|
hv_TrackballCenterRow.Dispose();
|
hv_TrackballCenterCol.Dispose();
|
hv_NumChannels.Dispose();
|
hv_ColorImage.Dispose();
|
hv_BAnd.Dispose();
|
hv_SensFactor.Dispose();
|
hv_IsButtonTrans.Dispose();
|
hv_IsButtonRot.Dispose();
|
hv_IsButtonDist.Dispose();
|
hv_MRow1.Dispose();
|
hv_MCol1.Dispose();
|
hv_ButtonLoop.Dispose();
|
hv_MRow2.Dispose();
|
hv_MCol2.Dispose();
|
hv_PX.Dispose();
|
hv_PY.Dispose();
|
hv_PZ.Dispose();
|
hv_QX1.Dispose();
|
hv_QY1.Dispose();
|
hv_QZ1.Dispose();
|
hv_QX2.Dispose();
|
hv_QY2.Dispose();
|
hv_QZ2.Dispose();
|
hv_Len.Dispose();
|
hv_Dist.Dispose();
|
hv_Translate.Dispose();
|
hv_Index.Dispose();
|
hv_PoseIn.Dispose();
|
hv_HomMat3DIn.Dispose();
|
hv_HomMat3DOut.Dispose();
|
hv_PoseOut.Dispose();
|
hv_Indices.Dispose();
|
hv_Sequence.Dispose();
|
hv_Mod.Dispose();
|
hv_SequenceReal.Dispose();
|
hv_Sequence2Int.Dispose();
|
hv_Selected.Dispose();
|
hv_InvSelected.Dispose();
|
hv_Exception.Dispose();
|
hv_DRow.Dispose();
|
hv_TranslateZ.Dispose();
|
hv_MX1.Dispose();
|
hv_MY1.Dispose();
|
hv_MX2.Dispose();
|
hv_MY2.Dispose();
|
hv_RelQuaternion.Dispose();
|
hv_HomMat3DRotRel.Dispose();
|
hv_HomMat3DInTmp1.Dispose();
|
hv_HomMat3DInTmp.Dispose();
|
hv_PosesOut2.Dispose();
|
|
throw HDevExpDefaultException;
|
}
|
}
|
|
// Chapter: Graphics / Parameters
|
public static void color_string_to_rgb(HTuple hv_Color, out HTuple hv_RGB)
|
{
|
|
|
|
// Local iconic variables
|
|
HObject ho_Rectangle, ho_Image;
|
|
// Local control variables
|
|
HTuple hv_WindowHandleBuffer = new HTuple();
|
HTuple hv_Exception = new HTuple();
|
// Initialize local and output iconic variables
|
HOperatorSet.GenEmptyObj(out ho_Rectangle);
|
HOperatorSet.GenEmptyObj(out ho_Image);
|
hv_RGB = new HTuple();
|
try
|
{
|
hv_WindowHandleBuffer.Dispose();
|
HOperatorSet.OpenWindow(0, 0, 1, 1, 0, "buffer", "", out hv_WindowHandleBuffer);
|
HOperatorSet.SetPart(hv_WindowHandleBuffer, 0, 0, -1, -1);
|
ho_Rectangle.Dispose();
|
HOperatorSet.GenRectangle1(out ho_Rectangle, 0, 0, 0, 0);
|
try
|
{
|
HOperatorSet.SetColor(hv_WindowHandleBuffer, hv_Color);
|
}
|
// catch (Exception)
|
catch (HalconException HDevExpDefaultException1)
|
{
|
HDevExpDefaultException1.ToHTuple(out hv_Exception);
|
hv_Exception.Dispose();
|
hv_Exception = "Wrong value of control parameter Color (must be a valid color string)";
|
throw new HalconException(hv_Exception);
|
}
|
HOperatorSet.DispObj(ho_Rectangle, hv_WindowHandleBuffer);
|
ho_Image.Dispose();
|
HOperatorSet.DumpWindowImage(out ho_Image, hv_WindowHandleBuffer);
|
HOperatorSet.CloseWindow(hv_WindowHandleBuffer);
|
hv_RGB.Dispose();
|
HOperatorSet.GetGrayval(ho_Image, 0, 0, out hv_RGB);
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
{
|
HTuple
|
ExpTmpLocalVar_RGB = hv_RGB +
|
new HTuple(0).TupleConcat(0).TupleConcat(0);
|
hv_RGB.Dispose();
|
hv_RGB = ExpTmpLocalVar_RGB;
|
}
|
}
|
ho_Rectangle.Dispose();
|
ho_Image.Dispose();
|
|
hv_WindowHandleBuffer.Dispose();
|
hv_Exception.Dispose();
|
|
return;
|
}
|
catch (HalconException HDevExpDefaultException)
|
{
|
ho_Rectangle.Dispose();
|
ho_Image.Dispose();
|
|
hv_WindowHandleBuffer.Dispose();
|
hv_Exception.Dispose();
|
|
throw HDevExpDefaultException;
|
}
|
}
|
|
// Chapter: Graphics / Output
|
// Short Description: Determine the optimum distance of the object to obtain a reasonable visualization
|
public static void determine_optimum_pose_distance(HTuple hv_ObjectModel3DID, HTuple hv_CamParam,
|
HTuple hv_ImageCoverage, HTuple hv_PoseIn, out HTuple hv_PoseOut)
|
{
|
|
|
|
// Local iconic variables
|
|
// Local control variables
|
|
HTuple hv_Rows = new HTuple(), hv_Cols = new HTuple();
|
HTuple hv_MinMinZ = new HTuple(), hv_BB = new HTuple();
|
HTuple hv_Index = new HTuple(), hv_CurrBB = new HTuple();
|
HTuple hv_Exception = new HTuple(), hv_Seq = new HTuple();
|
HTuple hv_DXMax = new HTuple(), hv_DYMax = new HTuple();
|
HTuple hv_DZMax = new HTuple(), hv_Diameter = new HTuple();
|
HTuple hv_ZAdd = new HTuple(), hv_BBX0 = new HTuple();
|
HTuple hv_BBX1 = new HTuple(), hv_BBY0 = new HTuple();
|
HTuple hv_BBY1 = new HTuple(), hv_BBZ0 = new HTuple();
|
HTuple hv_BBZ1 = new HTuple(), hv_X = new HTuple(), hv_Y = new HTuple();
|
HTuple hv_Z = new HTuple(), hv_HomMat3DIn = new HTuple();
|
HTuple hv_QX_In = new HTuple(), hv_QY_In = new HTuple();
|
HTuple hv_QZ_In = new HTuple(), hv_PoseInter = new HTuple();
|
HTuple hv_HomMat3D = new HTuple(), hv_QX = new HTuple();
|
HTuple hv_QY = new HTuple(), hv_QZ = new HTuple(), hv_Cx = new HTuple();
|
HTuple hv_Cy = new HTuple(), hv_DR = new HTuple(), hv_DC = new HTuple();
|
HTuple hv_MaxDist = new HTuple(), hv_HomMat3DRotate = new HTuple();
|
HTuple hv_ImageWidth = new HTuple(), hv_ImageHeight = new HTuple();
|
HTuple hv_MinImageSize = new HTuple(), hv_Zs = new HTuple();
|
HTuple hv_ZDiff = new HTuple(), hv_ScaleZ = new HTuple();
|
HTuple hv_ZNew = new HTuple();
|
// Initialize local and output iconic variables
|
hv_PoseOut = new HTuple();
|
try
|
{
|
//Determine the optimum distance of the object to obtain
|
//a reasonable visualization
|
//
|
hv_Rows.Dispose();
|
hv_Rows = new HTuple();
|
hv_Cols.Dispose();
|
hv_Cols = new HTuple();
|
hv_MinMinZ.Dispose();
|
hv_MinMinZ = 1e30;
|
hv_BB.Dispose();
|
hv_BB = new HTuple();
|
for (hv_Index = 0; (int)hv_Index <= (int)(new HTuple(hv_ObjectModel3DID.TupleLength()
|
) - 1); hv_Index = (int)hv_Index + 1)
|
{
|
try
|
{
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_CurrBB.Dispose();
|
HOperatorSet.GetObjectModel3dParams(hv_ObjectModel3DID.TupleSelect(hv_Index),
|
"bounding_box1", out hv_CurrBB);
|
}
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
{
|
HTuple
|
ExpTmpLocalVar_BB = hv_BB.TupleConcat(
|
hv_CurrBB);
|
hv_BB.Dispose();
|
hv_BB = ExpTmpLocalVar_BB;
|
}
|
}
|
}
|
// catch (Exception)
|
catch (HalconException HDevExpDefaultException1)
|
{
|
HDevExpDefaultException1.ToHTuple(out hv_Exception);
|
//3D object model is empty / has no bounding box -> ignore it
|
}
|
}
|
if ((int)new HTuple(hv_BB.TupleAbs().TupleConcat(0).TupleSum().TupleEqual(
|
0.0)) != 0)
|
{
|
hv_BB.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_BB = new HTuple();
|
hv_BB = hv_BB.TupleConcat(-new HTuple(HTuple.TupleRand(
|
3) * 1e-20).TupleAbs());
|
hv_BB = hv_BB.TupleConcat(new HTuple(HTuple.TupleRand(
|
3) * 1e-20).TupleAbs());
|
}
|
}
|
//Calculate diameter over all objects to be visualized
|
hv_Seq.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_Seq = HTuple.TupleGenSequence(
|
0, new HTuple(hv_BB.TupleLength()) - 1, 6);
|
}
|
hv_DXMax.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_DXMax = hv_BB.TupleSelect(
|
hv_Seq + 3).TupleMax() - hv_BB.TupleSelect(hv_Seq).TupleMin();
|
}
|
hv_DYMax.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_DYMax = hv_BB.TupleSelect(
|
hv_Seq + 4).TupleMax() - hv_BB.TupleSelect(hv_Seq + 1).TupleMin();
|
}
|
hv_DZMax.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_DZMax = hv_BB.TupleSelect(
|
hv_Seq + 5).TupleMax() - hv_BB.TupleSelect(hv_Seq + 2).TupleMin();
|
}
|
hv_Diameter.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_Diameter = (hv_DXMax * hv_DXMax + hv_DYMax * hv_DYMax + hv_DZMax * hv_DZMax).TupleSqrt()
|
;
|
}
|
//Allow the visualization of single points or extremely small objects
|
hv_ZAdd.Dispose();
|
hv_ZAdd = 0.0;
|
if ((int)new HTuple(hv_Diameter.TupleMax().TupleLess(1e-10)) != 0)
|
{
|
hv_ZAdd.Dispose();
|
hv_ZAdd = 0.01;
|
}
|
//Set extremely small diameters to 1e-10 to avoid CZ == 0.0, which would lead
|
//to projection errors
|
if ((int)new HTuple(hv_Diameter.TupleMin().TupleLess(1e-10)) != 0)
|
{
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
{
|
HTuple
|
ExpTmpLocalVar_Diameter = hv_Diameter - ((hv_Diameter - 1e-10).TupleSgn()
|
- 1).TupleSgn() * 1e-10;
|
hv_Diameter.Dispose();
|
hv_Diameter = ExpTmpLocalVar_Diameter;
|
}
|
}
|
}
|
//Move all points in front of the camera
|
hv_BBX0.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_BBX0 = hv_BB.TupleSelect(
|
hv_Seq + 0);
|
}
|
hv_BBX1.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_BBX1 = hv_BB.TupleSelect(
|
hv_Seq + 3);
|
}
|
hv_BBY0.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_BBY0 = hv_BB.TupleSelect(
|
hv_Seq + 1);
|
}
|
hv_BBY1.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_BBY1 = hv_BB.TupleSelect(
|
hv_Seq + 4);
|
}
|
hv_BBZ0.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_BBZ0 = hv_BB.TupleSelect(
|
hv_Seq + 2);
|
}
|
hv_BBZ1.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_BBZ1 = hv_BB.TupleSelect(
|
hv_Seq + 5);
|
}
|
hv_X.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_X = new HTuple();
|
hv_X = hv_X.TupleConcat(hv_BBX0, hv_BBX0, hv_BBX0, hv_BBX0, hv_BBX1, hv_BBX1, hv_BBX1, hv_BBX1);
|
}
|
hv_Y.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_Y = new HTuple();
|
hv_Y = hv_Y.TupleConcat(hv_BBY0, hv_BBY0, hv_BBY1, hv_BBY1, hv_BBY0, hv_BBY0, hv_BBY1, hv_BBY1);
|
}
|
hv_Z.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_Z = new HTuple();
|
hv_Z = hv_Z.TupleConcat(hv_BBZ0, hv_BBZ1, hv_BBZ0, hv_BBZ1, hv_BBZ0, hv_BBZ1, hv_BBZ0, hv_BBZ1);
|
}
|
hv_HomMat3DIn.Dispose();
|
HOperatorSet.PoseToHomMat3d(hv_PoseIn, out hv_HomMat3DIn);
|
hv_QX_In.Dispose(); hv_QY_In.Dispose(); hv_QZ_In.Dispose();
|
HOperatorSet.AffineTransPoint3d(hv_HomMat3DIn, hv_X, hv_Y, hv_Z, out hv_QX_In,
|
out hv_QY_In, out hv_QZ_In);
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_PoseInter.Dispose();
|
HOperatorSet.PoseCompose(new HTuple(0).TupleConcat(0).TupleConcat(-hv_QZ_In.TupleMin()
|
+ 2 * hv_Diameter.TupleMax()).TupleConcat(new HTuple(0).TupleConcat(
|
0).TupleConcat(0).TupleConcat(0)), hv_PoseIn, out hv_PoseInter);
|
}
|
hv_HomMat3D.Dispose();
|
HOperatorSet.PoseToHomMat3d(hv_PoseInter, out hv_HomMat3D);
|
//Determine the maximum extension of the projection
|
hv_QX.Dispose(); hv_QY.Dispose(); hv_QZ.Dispose();
|
HOperatorSet.AffineTransPoint3d(hv_HomMat3D, hv_X, hv_Y, hv_Z, out hv_QX, out hv_QY,
|
out hv_QZ);
|
hv_Rows.Dispose(); hv_Cols.Dispose();
|
HOperatorSet.Project3dPoint(hv_QX, hv_QY, hv_QZ, hv_CamParam, out hv_Rows,
|
out hv_Cols);
|
hv_MinMinZ.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_MinMinZ = hv_QZ.TupleMin()
|
;
|
}
|
hv_Cx.Dispose();
|
get_cam_par_data(hv_CamParam, "cx", out hv_Cx);
|
hv_Cy.Dispose();
|
get_cam_par_data(hv_CamParam, "cy", out hv_Cy);
|
hv_DR.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_DR = hv_Rows - hv_Cy;
|
}
|
hv_DC.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_DC = hv_Cols - hv_Cx;
|
}
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
{
|
HTuple
|
ExpTmpLocalVar_DR = hv_DR.TupleMax()
|
- hv_DR.TupleMin();
|
hv_DR.Dispose();
|
hv_DR = ExpTmpLocalVar_DR;
|
}
|
}
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
{
|
HTuple
|
ExpTmpLocalVar_DC = hv_DC.TupleMax()
|
- hv_DC.TupleMin();
|
hv_DC.Dispose();
|
hv_DC = ExpTmpLocalVar_DC;
|
}
|
}
|
hv_MaxDist.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_MaxDist = (hv_DR * hv_DR + hv_DC * hv_DC).TupleSqrt()
|
;
|
}
|
//
|
if ((int)new HTuple(hv_MaxDist.TupleLess(1e-10)) != 0)
|
{
|
//If the object has no extension in the above projection (looking along
|
//a line), we determine the extension of the object in a rotated view
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_HomMat3DRotate.Dispose();
|
HOperatorSet.HomMat3dRotateLocal(hv_HomMat3D, new HTuple(90).TupleRad()
|
, "x", out hv_HomMat3DRotate);
|
}
|
hv_QX.Dispose(); hv_QY.Dispose(); hv_QZ.Dispose();
|
HOperatorSet.AffineTransPoint3d(hv_HomMat3DRotate, hv_X, hv_Y, hv_Z, out hv_QX,
|
out hv_QY, out hv_QZ);
|
hv_Rows.Dispose(); hv_Cols.Dispose();
|
HOperatorSet.Project3dPoint(hv_QX, hv_QY, hv_QZ, hv_CamParam, out hv_Rows,
|
out hv_Cols);
|
hv_DR.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_DR = hv_Rows - hv_Cy;
|
}
|
hv_DC.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_DC = hv_Cols - hv_Cx;
|
}
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
{
|
HTuple
|
ExpTmpLocalVar_DR = hv_DR.TupleMax()
|
- hv_DR.TupleMin();
|
hv_DR.Dispose();
|
hv_DR = ExpTmpLocalVar_DR;
|
}
|
}
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
{
|
HTuple
|
ExpTmpLocalVar_DC = hv_DC.TupleMax()
|
- hv_DC.TupleMin();
|
hv_DC.Dispose();
|
hv_DC = ExpTmpLocalVar_DC;
|
}
|
}
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
{
|
HTuple
|
ExpTmpLocalVar_MaxDist = hv_MaxDist.TupleConcat(
|
(hv_DR * hv_DR + hv_DC * hv_DC).TupleSqrt()).TupleMax();
|
hv_MaxDist.Dispose();
|
hv_MaxDist = ExpTmpLocalVar_MaxDist;
|
}
|
}
|
}
|
//
|
hv_ImageWidth.Dispose();
|
get_cam_par_data(hv_CamParam, "image_width", out hv_ImageWidth);
|
hv_ImageHeight.Dispose();
|
get_cam_par_data(hv_CamParam, "image_height", out hv_ImageHeight);
|
hv_MinImageSize.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_MinImageSize = hv_ImageWidth.TupleConcat(
|
hv_ImageHeight).TupleMin();
|
}
|
//
|
hv_Z.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_Z = hv_PoseInter.TupleSelect(
|
2);
|
}
|
hv_Zs.Dispose();
|
hv_Zs = new HTuple(hv_MinMinZ);
|
hv_ZDiff.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_ZDiff = hv_Z - hv_Zs;
|
}
|
hv_ScaleZ.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_ScaleZ = hv_MaxDist / (0.5 * hv_MinImageSize * hv_ImageCoverage * 2.0);
|
}
|
hv_ZNew.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_ZNew = hv_ScaleZ * hv_Zs + hv_ZDiff + hv_ZAdd;
|
}
|
hv_PoseOut.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_PoseOut = hv_PoseInter.TupleReplace(
|
2, hv_ZNew);
|
}
|
//
|
|
hv_Rows.Dispose();
|
hv_Cols.Dispose();
|
hv_MinMinZ.Dispose();
|
hv_BB.Dispose();
|
hv_Index.Dispose();
|
hv_CurrBB.Dispose();
|
hv_Exception.Dispose();
|
hv_Seq.Dispose();
|
hv_DXMax.Dispose();
|
hv_DYMax.Dispose();
|
hv_DZMax.Dispose();
|
hv_Diameter.Dispose();
|
hv_ZAdd.Dispose();
|
hv_BBX0.Dispose();
|
hv_BBX1.Dispose();
|
hv_BBY0.Dispose();
|
hv_BBY1.Dispose();
|
hv_BBZ0.Dispose();
|
hv_BBZ1.Dispose();
|
hv_X.Dispose();
|
hv_Y.Dispose();
|
hv_Z.Dispose();
|
hv_HomMat3DIn.Dispose();
|
hv_QX_In.Dispose();
|
hv_QY_In.Dispose();
|
hv_QZ_In.Dispose();
|
hv_PoseInter.Dispose();
|
hv_HomMat3D.Dispose();
|
hv_QX.Dispose();
|
hv_QY.Dispose();
|
hv_QZ.Dispose();
|
hv_Cx.Dispose();
|
hv_Cy.Dispose();
|
hv_DR.Dispose();
|
hv_DC.Dispose();
|
hv_MaxDist.Dispose();
|
hv_HomMat3DRotate.Dispose();
|
hv_ImageWidth.Dispose();
|
hv_ImageHeight.Dispose();
|
hv_MinImageSize.Dispose();
|
hv_Zs.Dispose();
|
hv_ZDiff.Dispose();
|
hv_ScaleZ.Dispose();
|
hv_ZNew.Dispose();
|
|
return;
|
}
|
catch (HalconException HDevExpDefaultException)
|
{
|
|
hv_Rows.Dispose();
|
hv_Cols.Dispose();
|
hv_MinMinZ.Dispose();
|
hv_BB.Dispose();
|
hv_Index.Dispose();
|
hv_CurrBB.Dispose();
|
hv_Exception.Dispose();
|
hv_Seq.Dispose();
|
hv_DXMax.Dispose();
|
hv_DYMax.Dispose();
|
hv_DZMax.Dispose();
|
hv_Diameter.Dispose();
|
hv_ZAdd.Dispose();
|
hv_BBX0.Dispose();
|
hv_BBX1.Dispose();
|
hv_BBY0.Dispose();
|
hv_BBY1.Dispose();
|
hv_BBZ0.Dispose();
|
hv_BBZ1.Dispose();
|
hv_X.Dispose();
|
hv_Y.Dispose();
|
hv_Z.Dispose();
|
hv_HomMat3DIn.Dispose();
|
hv_QX_In.Dispose();
|
hv_QY_In.Dispose();
|
hv_QZ_In.Dispose();
|
hv_PoseInter.Dispose();
|
hv_HomMat3D.Dispose();
|
hv_QX.Dispose();
|
hv_QY.Dispose();
|
hv_QZ.Dispose();
|
hv_Cx.Dispose();
|
hv_Cy.Dispose();
|
hv_DR.Dispose();
|
hv_DC.Dispose();
|
hv_MaxDist.Dispose();
|
hv_HomMat3DRotate.Dispose();
|
hv_ImageWidth.Dispose();
|
hv_ImageHeight.Dispose();
|
hv_MinImageSize.Dispose();
|
hv_Zs.Dispose();
|
hv_ZDiff.Dispose();
|
hv_ScaleZ.Dispose();
|
hv_ZNew.Dispose();
|
|
throw HDevExpDefaultException;
|
}
|
}
|
|
// Chapter: Develop
|
// Short Description: Switch dev_update_pc, dev_update_var, and dev_update_window to 'off'.
|
public static void dev_update_off()
|
{
|
|
// Initialize local and output iconic variables
|
//This procedure sets different update settings to 'off'.
|
//This is useful to get the best performance and reduce overhead.
|
//
|
// dev_update_pc(...); only in hdevelop
|
// dev_update_var(...); only in hdevelop
|
// dev_update_window(...); only in hdevelop
|
|
|
return;
|
}
|
|
// Chapter: Graphics / Output
|
// Short Description: Display a continue button.
|
public static void disp_continue_button(HTuple hv_WindowHandle)
|
{
|
|
|
|
// Local iconic variables
|
|
// Local control variables
|
|
HTuple hv_ContinueMessage = new HTuple(), hv_Exception = new HTuple();
|
HTuple hv_Row = new HTuple(), hv_Column = new HTuple();
|
HTuple hv_Width = new HTuple(), hv_Height = new HTuple();
|
HTuple hv_Ascent = new HTuple(), hv_Descent = new HTuple();
|
HTuple hv_TextWidth = new HTuple(), hv_TextHeight = new HTuple();
|
// Initialize local and output iconic variables
|
try
|
{
|
//This procedure displays a 'Continue' text button
|
//in the lower right corner of the screen.
|
//It uses the procedure disp_message.
|
//
|
//Input parameters:
|
//WindowHandle: The window, where the text shall be displayed
|
//
|
//Use the continue message set in the global variable gTerminationButtonLabel.
|
//If this variable is not defined, set a standard text instead.
|
//global tuple gTerminationButtonLabel
|
try
|
{
|
hv_ContinueMessage.Dispose();
|
hv_ContinueMessage = new HTuple(ExpGetGlobalVar_gTerminationButtonLabel());
|
}
|
// catch (Exception)
|
catch (HalconException HDevExpDefaultException1)
|
{
|
HDevExpDefaultException1.ToHTuple(out hv_Exception);
|
hv_ContinueMessage.Dispose();
|
hv_ContinueMessage = "Continue";
|
}
|
//Display the continue button
|
hv_Row.Dispose(); hv_Column.Dispose(); hv_Width.Dispose(); hv_Height.Dispose();
|
HOperatorSet.GetWindowExtents(hv_WindowHandle, out hv_Row, out hv_Column, out hv_Width,
|
out hv_Height);
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_Ascent.Dispose(); hv_Descent.Dispose(); hv_TextWidth.Dispose(); hv_TextHeight.Dispose();
|
HOperatorSet.GetStringExtents(hv_WindowHandle, " " + hv_ContinueMessage + " ",
|
out hv_Ascent, out hv_Descent, out hv_TextWidth, out hv_TextHeight);
|
}
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
disp_text_button(hv_WindowHandle, hv_ContinueMessage, "window", hv_Height - hv_TextHeight - 22,
|
hv_Width - hv_TextWidth - 12, "black", "#f28f26");
|
}
|
|
hv_ContinueMessage.Dispose();
|
hv_Exception.Dispose();
|
hv_Row.Dispose();
|
hv_Column.Dispose();
|
hv_Width.Dispose();
|
hv_Height.Dispose();
|
hv_Ascent.Dispose();
|
hv_Descent.Dispose();
|
hv_TextWidth.Dispose();
|
hv_TextHeight.Dispose();
|
|
return;
|
}
|
catch (HalconException HDevExpDefaultException)
|
{
|
|
hv_ContinueMessage.Dispose();
|
hv_Exception.Dispose();
|
hv_Row.Dispose();
|
hv_Column.Dispose();
|
hv_Width.Dispose();
|
hv_Height.Dispose();
|
hv_Ascent.Dispose();
|
hv_Descent.Dispose();
|
hv_TextWidth.Dispose();
|
hv_TextHeight.Dispose();
|
|
throw HDevExpDefaultException;
|
}
|
}
|
|
// Chapter: Graphics / Text
|
// Short Description: Write one or multiple text messages.
|
public static void disp_message(HTuple hv_WindowHandle, HTuple hv_String, HTuple hv_CoordSystem,
|
HTuple hv_Row, HTuple hv_Column, HTuple hv_Color, HTuple hv_Box)
|
{
|
|
|
|
// Local iconic variables
|
|
// Local control variables
|
|
HTuple hv_GenParamName = new HTuple(), hv_GenParamValue = new HTuple();
|
HTuple hv_Color_COPY_INP_TMP = new HTuple(hv_Color);
|
HTuple hv_Column_COPY_INP_TMP = new HTuple(hv_Column);
|
HTuple hv_CoordSystem_COPY_INP_TMP = new HTuple(hv_CoordSystem);
|
HTuple hv_Row_COPY_INP_TMP = new HTuple(hv_Row);
|
|
// Initialize local and output iconic variables
|
try
|
{
|
//This procedure displays text in a graphics window.
|
//
|
//Input parameters:
|
//WindowHandle: The WindowHandle of the graphics window, where
|
// the message should be displayed.
|
//String: A tuple of strings containing the text messages to be displayed.
|
//CoordSystem: If set to 'window', the text position is given
|
// with respect to the window coordinate system.
|
// If set to 'image', image coordinates are used.
|
// (This may be useful in zoomed images.)
|
//Row: The row coordinate of the desired text position.
|
// You can pass a single value or a tuple of values.
|
// See the explanation below.
|
// Default: 12.
|
//Column: The column coordinate of the desired text position.
|
// You can pass a single value or a tuple of values.
|
// See the explanation below.
|
// Default: 12.
|
//Color: defines the color of the text as string.
|
// If set to [] or '' the currently set color is used.
|
// If a tuple of strings is passed, the colors are used cyclically
|
// for every text position defined by Row and Column,
|
// or every new text line in case of |Row| == |Column| == 1.
|
//Box: A tuple controlling a possible box surrounding the text.
|
// Its entries:
|
// - Box[0]: Controls the box and its color. Possible values:
|
// -- 'true' (Default): An orange box is displayed.
|
// -- 'false': No box is displayed.
|
// -- color string: A box is displayed in the given color, e.g., 'white', '#FF00CC'.
|
// - Box[1] (Optional): Controls the shadow of the box. Possible values:
|
// -- 'true' (Default): A shadow is displayed in
|
// darker orange if Box[0] is not a color and in 'white' otherwise.
|
// -- 'false': No shadow is displayed.
|
// -- color string: A shadow is displayed in the given color, e.g., 'white', '#FF00CC'.
|
//
|
//It is possible to display multiple text strings in a single call.
|
//In this case, some restrictions apply on the
|
//parameters String, Row, and Column:
|
//They can only have either 1 entry or n entries.
|
//Behavior in the different cases:
|
// - Multiple text positions are specified, i.e.,
|
// - |Row| == n, |Column| == n
|
// - |Row| == n, |Column| == 1
|
// - |Row| == 1, |Column| == n
|
// In this case we distinguish:
|
// - |String| == n: Each element of String is displayed
|
// at the corresponding position.
|
// - |String| == 1: String is displayed n times
|
// at the corresponding positions.
|
// - Exactly one text position is specified,
|
// i.e., |Row| == |Column| == 1:
|
// Each element of String is display in a new textline.
|
//
|
//
|
//Convert the parameters for disp_text.
|
if ((int)new HTuple(hv_Row_COPY_INP_TMP.TupleEqual(new HTuple())).TupleOr(
|
new HTuple(hv_Column_COPY_INP_TMP.TupleEqual(new HTuple()))) != 0)
|
{
|
|
hv_Color_COPY_INP_TMP.Dispose();
|
hv_Column_COPY_INP_TMP.Dispose();
|
hv_CoordSystem_COPY_INP_TMP.Dispose();
|
hv_Row_COPY_INP_TMP.Dispose();
|
hv_GenParamName.Dispose();
|
hv_GenParamValue.Dispose();
|
|
return;
|
}
|
if ((int)new HTuple(hv_Row_COPY_INP_TMP.TupleEqual(-1)) != 0)
|
{
|
hv_Row_COPY_INP_TMP.Dispose();
|
hv_Row_COPY_INP_TMP = 12;
|
}
|
if ((int)new HTuple(hv_Column_COPY_INP_TMP.TupleEqual(-1)) != 0)
|
{
|
hv_Column_COPY_INP_TMP.Dispose();
|
hv_Column_COPY_INP_TMP = 12;
|
}
|
//
|
//Convert the parameter Box to generic parameters.
|
hv_GenParamName.Dispose();
|
hv_GenParamName = new HTuple();
|
hv_GenParamValue.Dispose();
|
hv_GenParamValue = new HTuple();
|
if ((int)new HTuple(new HTuple(hv_Box.TupleLength()).TupleGreater(0)) != 0)
|
{
|
if ((int)new HTuple(hv_Box.TupleSelect(0).TupleEqual("false")) != 0)
|
{
|
//Display no box
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
{
|
HTuple
|
ExpTmpLocalVar_GenParamName = hv_GenParamName.TupleConcat(
|
"box");
|
hv_GenParamName.Dispose();
|
hv_GenParamName = ExpTmpLocalVar_GenParamName;
|
}
|
}
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
{
|
HTuple
|
ExpTmpLocalVar_GenParamValue = hv_GenParamValue.TupleConcat(
|
"false");
|
hv_GenParamValue.Dispose();
|
hv_GenParamValue = ExpTmpLocalVar_GenParamValue;
|
}
|
}
|
}
|
else if ((int)new HTuple(hv_Box.TupleSelect(0).TupleNotEqual(
|
"true")) != 0)
|
{
|
//Set a color other than the default.
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
{
|
HTuple
|
ExpTmpLocalVar_GenParamName = hv_GenParamName.TupleConcat(
|
"box_color");
|
hv_GenParamName.Dispose();
|
hv_GenParamName = ExpTmpLocalVar_GenParamName;
|
}
|
}
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
{
|
HTuple
|
ExpTmpLocalVar_GenParamValue = hv_GenParamValue.TupleConcat(
|
hv_Box.TupleSelect(0));
|
hv_GenParamValue.Dispose();
|
hv_GenParamValue = ExpTmpLocalVar_GenParamValue;
|
}
|
}
|
}
|
}
|
if ((int)new HTuple(new HTuple(hv_Box.TupleLength()).TupleGreater(1)) != 0)
|
{
|
if ((int)new HTuple(hv_Box.TupleSelect(1).TupleEqual("false")) != 0)
|
{
|
//Display no shadow.
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
{
|
HTuple
|
ExpTmpLocalVar_GenParamName = hv_GenParamName.TupleConcat(
|
"shadow");
|
hv_GenParamName.Dispose();
|
hv_GenParamName = ExpTmpLocalVar_GenParamName;
|
}
|
}
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
{
|
HTuple
|
ExpTmpLocalVar_GenParamValue = hv_GenParamValue.TupleConcat(
|
"false");
|
hv_GenParamValue.Dispose();
|
hv_GenParamValue = ExpTmpLocalVar_GenParamValue;
|
}
|
}
|
}
|
else if ((int)new HTuple(hv_Box.TupleSelect(1).TupleNotEqual(
|
"true")) != 0)
|
{
|
//Set a shadow color other than the default.
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
{
|
HTuple
|
ExpTmpLocalVar_GenParamName = hv_GenParamName.TupleConcat(
|
"shadow_color");
|
hv_GenParamName.Dispose();
|
hv_GenParamName = ExpTmpLocalVar_GenParamName;
|
}
|
}
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
{
|
HTuple
|
ExpTmpLocalVar_GenParamValue = hv_GenParamValue.TupleConcat(
|
hv_Box.TupleSelect(1));
|
hv_GenParamValue.Dispose();
|
hv_GenParamValue = ExpTmpLocalVar_GenParamValue;
|
}
|
}
|
}
|
}
|
//Restore default CoordSystem behavior.
|
if ((int)new HTuple(hv_CoordSystem_COPY_INP_TMP.TupleNotEqual("window")) != 0)
|
{
|
hv_CoordSystem_COPY_INP_TMP.Dispose();
|
hv_CoordSystem_COPY_INP_TMP = "image";
|
}
|
//
|
if ((int)new HTuple(hv_Color_COPY_INP_TMP.TupleEqual("")) != 0)
|
{
|
//disp_text does not accept an empty string for Color.
|
hv_Color_COPY_INP_TMP.Dispose();
|
hv_Color_COPY_INP_TMP = new HTuple();
|
}
|
//
|
HOperatorSet.DispText(hv_WindowHandle, hv_String, hv_CoordSystem_COPY_INP_TMP,
|
hv_Row_COPY_INP_TMP, hv_Column_COPY_INP_TMP, hv_Color_COPY_INP_TMP, hv_GenParamName,
|
hv_GenParamValue);
|
|
hv_Color_COPY_INP_TMP.Dispose();
|
hv_Column_COPY_INP_TMP.Dispose();
|
hv_CoordSystem_COPY_INP_TMP.Dispose();
|
hv_Row_COPY_INP_TMP.Dispose();
|
hv_GenParamName.Dispose();
|
hv_GenParamValue.Dispose();
|
|
return;
|
}
|
catch (HalconException HDevExpDefaultException)
|
{
|
|
hv_Color_COPY_INP_TMP.Dispose();
|
hv_Column_COPY_INP_TMP.Dispose();
|
hv_CoordSystem_COPY_INP_TMP.Dispose();
|
hv_Row_COPY_INP_TMP.Dispose();
|
hv_GenParamName.Dispose();
|
hv_GenParamValue.Dispose();
|
|
throw HDevExpDefaultException;
|
}
|
}
|
|
// Chapter: Graphics / Output
|
// Short Description: Replace disp_object_model_3d if there is no OpenGL available.
|
public static void disp_object_model_no_opengl(out HObject ho_ModelContours, HTuple hv_ObjectModel3DID,
|
HTuple hv_GenParamName, HTuple hv_GenParamValue, HTuple hv_WindowHandleBuffer,
|
HTuple hv_CamParam, HTuple hv_PosesOut)
|
{
|
|
|
|
// Local iconic variables
|
|
// Local control variables
|
|
HTuple hv_Idx = new HTuple(), hv_CustomParamName = new HTuple();
|
HTuple hv_CustomParamValue = new HTuple(), hv_Font = new HTuple();
|
HTuple hv_IndicesDispBackGround = new HTuple(), hv_Indices = new HTuple();
|
HTuple hv_ImageWidth = new HTuple(), hv_HasPolygons = new HTuple();
|
HTuple hv_HasTri = new HTuple(), hv_HasPoints = new HTuple();
|
HTuple hv_HasLines = new HTuple(), hv_NumPoints = new HTuple();
|
HTuple hv_IsPrimitive = new HTuple(), hv_Center = new HTuple();
|
HTuple hv_Diameter = new HTuple(), hv_OpenGlHiddenSurface = new HTuple();
|
HTuple hv_CenterX = new HTuple(), hv_CenterY = new HTuple();
|
HTuple hv_CenterZ = new HTuple(), hv_PosObjectsZ = new HTuple();
|
HTuple hv_I = new HTuple(), hv_Pose = new HTuple(), hv_HomMat3DObj = new HTuple();
|
HTuple hv_PosObjCenterX = new HTuple(), hv_PosObjCenterY = new HTuple();
|
HTuple hv_PosObjCenterZ = new HTuple(), hv_PosObjectsX = new HTuple();
|
HTuple hv_PosObjectsY = new HTuple(), hv_Color = new HTuple();
|
HTuple hv_Indices1 = new HTuple(), hv_Indices2 = new HTuple();
|
HTuple hv_J = new HTuple(), hv_Indices3 = new HTuple();
|
HTuple hv_HomMat3D = new HTuple(), hv_SampledObjectModel3D = new HTuple();
|
HTuple hv_X = new HTuple(), hv_Y = new HTuple(), hv_Z = new HTuple();
|
HTuple hv_HomMat3D1 = new HTuple(), hv_Qx = new HTuple();
|
HTuple hv_Qy = new HTuple(), hv_Qz = new HTuple(), hv_Row = new HTuple();
|
HTuple hv_Column = new HTuple(), hv_ObjectModel3DConvexHull = new HTuple();
|
HTuple hv_Exception = new HTuple();
|
// Initialize local and output iconic variables
|
HOperatorSet.GenEmptyObj(out ho_ModelContours);
|
try
|
{
|
//This procedure allows to use project_object_model_3d to simulate a disp_object_model_3d
|
//call for small objects. Large objects are sampled down to display.
|
hv_Idx.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_Idx = hv_GenParamName.TupleFind(
|
"point_size");
|
}
|
if ((int)new HTuple(hv_Idx.TupleLength()).TupleAnd(new HTuple(hv_Idx.TupleNotEqual(
|
-1))) != 0)
|
{
|
hv_CustomParamName.Dispose();
|
hv_CustomParamName = "point_size";
|
hv_CustomParamValue.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_CustomParamValue = hv_GenParamValue.TupleSelect(
|
hv_Idx);
|
}
|
if ((int)new HTuple(hv_CustomParamValue.TupleEqual(1)) != 0)
|
{
|
hv_CustomParamValue.Dispose();
|
hv_CustomParamValue = 0;
|
}
|
}
|
else
|
{
|
hv_CustomParamName.Dispose();
|
hv_CustomParamName = new HTuple();
|
hv_CustomParamValue.Dispose();
|
hv_CustomParamValue = new HTuple();
|
}
|
hv_Font.Dispose();
|
HOperatorSet.GetFont(hv_WindowHandleBuffer, out hv_Font);
|
hv_IndicesDispBackGround.Dispose();
|
HOperatorSet.TupleFind(hv_GenParamName, "disp_background", out hv_IndicesDispBackGround);
|
if ((int)new HTuple(hv_IndicesDispBackGround.TupleNotEqual(-1)) != 0)
|
{
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_Indices.Dispose();
|
HOperatorSet.TupleFind(hv_GenParamName.TupleSelect(hv_IndicesDispBackGround),
|
"false", out hv_Indices);
|
}
|
if ((int)new HTuple(hv_Indices.TupleNotEqual(-1)) != 0)
|
{
|
HOperatorSet.ClearWindow(hv_WindowHandleBuffer);
|
}
|
}
|
set_display_font(hv_WindowHandleBuffer, 11, "mono", "false", "false");
|
hv_ImageWidth.Dispose();
|
get_cam_par_data(hv_CamParam, "image_width", out hv_ImageWidth);
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
disp_message(hv_WindowHandleBuffer, "OpenGL missing!", "image", 5, hv_ImageWidth - 130,
|
"red", "false");
|
}
|
HOperatorSet.SetFont(hv_WindowHandleBuffer, hv_Font);
|
hv_HasPolygons.Dispose();
|
HOperatorSet.GetObjectModel3dParams(hv_ObjectModel3DID, "has_polygons", out hv_HasPolygons);
|
hv_HasTri.Dispose();
|
HOperatorSet.GetObjectModel3dParams(hv_ObjectModel3DID, "has_triangles", out hv_HasTri);
|
hv_HasPoints.Dispose();
|
HOperatorSet.GetObjectModel3dParams(hv_ObjectModel3DID, "has_points", out hv_HasPoints);
|
hv_HasLines.Dispose();
|
HOperatorSet.GetObjectModel3dParams(hv_ObjectModel3DID, "has_lines", out hv_HasLines);
|
hv_NumPoints.Dispose();
|
HOperatorSet.GetObjectModel3dParams(hv_ObjectModel3DID, "num_points", out hv_NumPoints);
|
hv_IsPrimitive.Dispose();
|
HOperatorSet.GetObjectModel3dParams(hv_ObjectModel3DID, "has_primitive_data",
|
out hv_IsPrimitive);
|
hv_Center.Dispose();
|
HOperatorSet.GetObjectModel3dParams(hv_ObjectModel3DID, "center", out hv_Center);
|
hv_Diameter.Dispose();
|
HOperatorSet.GetObjectModel3dParams(hv_ObjectModel3DID, "diameter", out hv_Diameter);
|
hv_OpenGlHiddenSurface.Dispose();
|
HOperatorSet.GetSystem("opengl_hidden_surface_removal_enable", out hv_OpenGlHiddenSurface);
|
HOperatorSet.SetSystem("opengl_hidden_surface_removal_enable", "false");
|
//Sort the objects by inverse z
|
hv_CenterX.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_CenterX = hv_Center.TupleSelect(
|
HTuple.TupleGenSequence(0, new HTuple(hv_Center.TupleLength()) - 1, 3));
|
}
|
hv_CenterY.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_CenterY = hv_Center.TupleSelect(
|
HTuple.TupleGenSequence(0, new HTuple(hv_Center.TupleLength()) - 1, 3) + 1);
|
}
|
hv_CenterZ.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_CenterZ = hv_Center.TupleSelect(
|
HTuple.TupleGenSequence(0, new HTuple(hv_Center.TupleLength()) - 1, 3) + 2);
|
}
|
hv_PosObjectsZ.Dispose();
|
hv_PosObjectsZ = new HTuple();
|
if ((int)new HTuple(new HTuple(hv_PosesOut.TupleLength()).TupleGreater(7)) != 0)
|
{
|
for (hv_I = 0; (int)hv_I <= (int)(new HTuple(hv_ObjectModel3DID.TupleLength()
|
) - 1); hv_I = (int)hv_I + 1)
|
{
|
hv_Pose.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_Pose = hv_PosesOut.TupleSelectRange(
|
hv_I * 7, hv_I * 7 + 6);
|
}
|
hv_HomMat3DObj.Dispose();
|
HOperatorSet.PoseToHomMat3d(hv_Pose, out hv_HomMat3DObj);
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_PosObjCenterX.Dispose(); hv_PosObjCenterY.Dispose(); hv_PosObjCenterZ.Dispose();
|
HOperatorSet.AffineTransPoint3d(hv_HomMat3DObj, hv_CenterX.TupleSelect(
|
hv_I), hv_CenterY.TupleSelect(hv_I), hv_CenterZ.TupleSelect(hv_I),
|
out hv_PosObjCenterX, out hv_PosObjCenterY, out hv_PosObjCenterZ);
|
}
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
{
|
HTuple
|
ExpTmpLocalVar_PosObjectsZ = hv_PosObjectsZ.TupleConcat(
|
hv_PosObjCenterZ);
|
hv_PosObjectsZ.Dispose();
|
hv_PosObjectsZ = ExpTmpLocalVar_PosObjectsZ;
|
}
|
}
|
}
|
}
|
else
|
{
|
hv_Pose.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_Pose = hv_PosesOut.TupleSelectRange(
|
0, 6);
|
}
|
hv_HomMat3DObj.Dispose();
|
HOperatorSet.PoseToHomMat3d(hv_Pose, out hv_HomMat3DObj);
|
hv_PosObjectsX.Dispose(); hv_PosObjectsY.Dispose(); hv_PosObjectsZ.Dispose();
|
HOperatorSet.AffineTransPoint3d(hv_HomMat3DObj, hv_CenterX, hv_CenterY, hv_CenterZ,
|
out hv_PosObjectsX, out hv_PosObjectsY, out hv_PosObjectsZ);
|
}
|
hv_Idx.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_Idx = new HTuple(hv_PosObjectsZ.TupleSortIndex()
|
).TupleInverse();
|
}
|
hv_Color.Dispose();
|
hv_Color = "white";
|
HOperatorSet.SetColor(hv_WindowHandleBuffer, hv_Color);
|
if ((int)new HTuple(new HTuple(hv_GenParamName.TupleLength()).TupleGreater(
|
0)) != 0)
|
{
|
hv_Indices1.Dispose();
|
HOperatorSet.TupleFind(hv_GenParamName, "colored", out hv_Indices1);
|
hv_Indices2.Dispose();
|
HOperatorSet.TupleFind(hv_GenParamName, "color", out hv_Indices2);
|
if ((int)new HTuple(hv_Indices1.TupleSelect(0).TupleNotEqual(-1)) != 0)
|
{
|
if ((int)new HTuple(hv_GenParamValue.TupleSelect(hv_Indices1.TupleSelect(
|
0)).TupleEqual(3)) != 0)
|
{
|
hv_Color.Dispose();
|
hv_Color = new HTuple();
|
hv_Color[0] = "red";
|
hv_Color[1] = "green";
|
hv_Color[2] = "blue";
|
}
|
else if ((int)new HTuple(hv_GenParamValue.TupleSelect(hv_Indices1.TupleSelect(
|
0)).TupleEqual(6)) != 0)
|
{
|
hv_Color.Dispose();
|
hv_Color = new HTuple();
|
hv_Color[0] = "red";
|
hv_Color[1] = "green";
|
hv_Color[2] = "blue";
|
hv_Color[3] = "cyan";
|
hv_Color[4] = "magenta";
|
hv_Color[5] = "yellow";
|
}
|
else if ((int)new HTuple(hv_GenParamValue.TupleSelect(hv_Indices1.TupleSelect(
|
0)).TupleEqual(12)) != 0)
|
{
|
hv_Color.Dispose();
|
hv_Color = new HTuple();
|
hv_Color[0] = "red";
|
hv_Color[1] = "green";
|
hv_Color[2] = "blue";
|
hv_Color[3] = "cyan";
|
hv_Color[4] = "magenta";
|
hv_Color[5] = "yellow";
|
hv_Color[6] = "coral";
|
hv_Color[7] = "slate blue";
|
hv_Color[8] = "spring green";
|
hv_Color[9] = "orange red";
|
hv_Color[10] = "pink";
|
hv_Color[11] = "gold";
|
}
|
}
|
else if ((int)new HTuple(hv_Indices2.TupleSelect(0).TupleNotEqual(
|
-1)) != 0)
|
{
|
hv_Color.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_Color = hv_GenParamValue.TupleSelect(
|
hv_Indices2.TupleSelect(0));
|
}
|
}
|
}
|
for (hv_J = 0; (int)hv_J <= (int)(new HTuple(hv_ObjectModel3DID.TupleLength()) - 1); hv_J = (int)hv_J + 1)
|
{
|
hv_I.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_I = hv_Idx.TupleSelect(
|
hv_J);
|
}
|
if ((int)new HTuple(new HTuple(new HTuple(hv_HasPolygons.TupleSelect(
|
hv_I).TupleEqual("true")).TupleOr(new HTuple(hv_HasTri.TupleSelect(
|
hv_I).TupleEqual("true")))).TupleOr(new HTuple(hv_HasPoints.TupleSelect(
|
hv_I).TupleEqual("true")))).TupleOr(new HTuple(hv_HasLines.TupleSelect(
|
hv_I).TupleEqual("true"))) != 0)
|
{
|
if ((int)new HTuple(new HTuple(hv_GenParamName.TupleLength()).TupleGreater(
|
0)) != 0)
|
{
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_Indices3.Dispose();
|
HOperatorSet.TupleFind(hv_GenParamName, "color_" + hv_I, out hv_Indices3);
|
}
|
if ((int)new HTuple(hv_Indices3.TupleSelect(0).TupleNotEqual(-1)) != 0)
|
{
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
HOperatorSet.SetColor(hv_WindowHandleBuffer, hv_GenParamValue.TupleSelect(
|
hv_Indices3.TupleSelect(0)));
|
}
|
}
|
else
|
{
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
HOperatorSet.SetColor(hv_WindowHandleBuffer, hv_Color.TupleSelect(hv_I % new HTuple(hv_Color.TupleLength()
|
)));
|
}
|
}
|
}
|
if ((int)new HTuple(new HTuple(hv_PosesOut.TupleLength()).TupleGreaterEqual(
|
hv_I * 7 + 6)) != 0)
|
{
|
hv_Pose.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_Pose = hv_PosesOut.TupleSelectRange(
|
hv_I * 7, hv_I * 7 + 6);
|
}
|
}
|
else
|
{
|
hv_Pose.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_Pose = hv_PosesOut.TupleSelectRange(
|
0, 6);
|
}
|
}
|
if ((int)new HTuple(hv_NumPoints.TupleSelect(hv_I).TupleLess(10000)) != 0)
|
{
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
ho_ModelContours.Dispose();
|
HOperatorSet.ProjectObjectModel3d(out ho_ModelContours, hv_ObjectModel3DID.TupleSelect(
|
hv_I), hv_CamParam, hv_Pose, hv_CustomParamName, hv_CustomParamValue);
|
}
|
HOperatorSet.DispObj(ho_ModelContours, hv_WindowHandleBuffer);
|
}
|
else
|
{
|
hv_HomMat3D.Dispose();
|
HOperatorSet.PoseToHomMat3d(hv_Pose, out hv_HomMat3D);
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_SampledObjectModel3D.Dispose();
|
HOperatorSet.SampleObjectModel3d(hv_ObjectModel3DID.TupleSelect(hv_I),
|
"fast", 0.01 * hv_Diameter.TupleSelect(hv_I), new HTuple(), new HTuple(),
|
out hv_SampledObjectModel3D);
|
}
|
ho_ModelContours.Dispose();
|
HOperatorSet.ProjectObjectModel3d(out ho_ModelContours, hv_SampledObjectModel3D,
|
hv_CamParam, hv_Pose, "point_size", 1);
|
hv_X.Dispose();
|
HOperatorSet.GetObjectModel3dParams(hv_SampledObjectModel3D, "point_coord_x",
|
out hv_X);
|
hv_Y.Dispose();
|
HOperatorSet.GetObjectModel3dParams(hv_SampledObjectModel3D, "point_coord_y",
|
out hv_Y);
|
hv_Z.Dispose();
|
HOperatorSet.GetObjectModel3dParams(hv_SampledObjectModel3D, "point_coord_z",
|
out hv_Z);
|
hv_HomMat3D1.Dispose();
|
HOperatorSet.PoseToHomMat3d(hv_Pose, out hv_HomMat3D1);
|
hv_Qx.Dispose(); hv_Qy.Dispose(); hv_Qz.Dispose();
|
HOperatorSet.AffineTransPoint3d(hv_HomMat3D1, hv_X, hv_Y, hv_Z, out hv_Qx,
|
out hv_Qy, out hv_Qz);
|
hv_Row.Dispose(); hv_Column.Dispose();
|
HOperatorSet.Project3dPoint(hv_Qx, hv_Qy, hv_Qz, hv_CamParam, out hv_Row,
|
out hv_Column);
|
HOperatorSet.DispObj(ho_ModelContours, hv_WindowHandleBuffer);
|
HOperatorSet.ClearObjectModel3d(hv_SampledObjectModel3D);
|
}
|
}
|
else
|
{
|
if ((int)new HTuple(new HTuple(hv_GenParamName.TupleLength()).TupleGreater(
|
0)) != 0)
|
{
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_Indices3.Dispose();
|
HOperatorSet.TupleFind(hv_GenParamName, "color_" + hv_I, out hv_Indices3);
|
}
|
if ((int)new HTuple(hv_Indices3.TupleSelect(0).TupleNotEqual(-1)) != 0)
|
{
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
HOperatorSet.SetColor(hv_WindowHandleBuffer, hv_GenParamValue.TupleSelect(
|
hv_Indices3.TupleSelect(0)));
|
}
|
}
|
else
|
{
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
HOperatorSet.SetColor(hv_WindowHandleBuffer, hv_Color.TupleSelect(hv_I % new HTuple(hv_Color.TupleLength()
|
)));
|
}
|
}
|
}
|
if ((int)new HTuple(new HTuple(hv_PosesOut.TupleLength()).TupleGreaterEqual(
|
hv_I * 7 + 6)) != 0)
|
{
|
hv_Pose.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_Pose = hv_PosesOut.TupleSelectRange(
|
hv_I * 7, hv_I * 7 + 6);
|
}
|
}
|
else
|
{
|
hv_Pose.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_Pose = hv_PosesOut.TupleSelectRange(
|
0, 6);
|
}
|
}
|
if ((int)new HTuple(hv_IsPrimitive.TupleSelect(hv_I).TupleEqual("true")) != 0)
|
{
|
try
|
{
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_ObjectModel3DConvexHull.Dispose();
|
HOperatorSet.ConvexHullObjectModel3d(hv_ObjectModel3DID.TupleSelect(
|
hv_I), out hv_ObjectModel3DConvexHull);
|
}
|
if ((int)new HTuple(hv_NumPoints.TupleSelect(hv_I).TupleLess(10000)) != 0)
|
{
|
ho_ModelContours.Dispose();
|
HOperatorSet.ProjectObjectModel3d(out ho_ModelContours, hv_ObjectModel3DConvexHull,
|
hv_CamParam, hv_Pose, hv_CustomParamName, hv_CustomParamValue);
|
HOperatorSet.DispObj(ho_ModelContours, hv_WindowHandleBuffer);
|
}
|
else
|
{
|
hv_HomMat3D.Dispose();
|
HOperatorSet.PoseToHomMat3d(hv_Pose, out hv_HomMat3D);
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_SampledObjectModel3D.Dispose();
|
HOperatorSet.SampleObjectModel3d(hv_ObjectModel3DConvexHull, "fast",
|
0.01 * hv_Diameter.TupleSelect(hv_I), new HTuple(), new HTuple(),
|
out hv_SampledObjectModel3D);
|
}
|
ho_ModelContours.Dispose();
|
HOperatorSet.ProjectObjectModel3d(out ho_ModelContours, hv_SampledObjectModel3D,
|
hv_CamParam, hv_Pose, "point_size", 1);
|
HOperatorSet.DispObj(ho_ModelContours, hv_WindowHandleBuffer);
|
HOperatorSet.ClearObjectModel3d(hv_SampledObjectModel3D);
|
}
|
HOperatorSet.ClearObjectModel3d(hv_ObjectModel3DConvexHull);
|
}
|
// catch (Exception)
|
catch (HalconException HDevExpDefaultException1)
|
{
|
HDevExpDefaultException1.ToHTuple(out hv_Exception);
|
}
|
}
|
}
|
}
|
HOperatorSet.SetSystem("opengl_hidden_surface_removal_enable", hv_OpenGlHiddenSurface);
|
|
hv_Idx.Dispose();
|
hv_CustomParamName.Dispose();
|
hv_CustomParamValue.Dispose();
|
hv_Font.Dispose();
|
hv_IndicesDispBackGround.Dispose();
|
hv_Indices.Dispose();
|
hv_ImageWidth.Dispose();
|
hv_HasPolygons.Dispose();
|
hv_HasTri.Dispose();
|
hv_HasPoints.Dispose();
|
hv_HasLines.Dispose();
|
hv_NumPoints.Dispose();
|
hv_IsPrimitive.Dispose();
|
hv_Center.Dispose();
|
hv_Diameter.Dispose();
|
hv_OpenGlHiddenSurface.Dispose();
|
hv_CenterX.Dispose();
|
hv_CenterY.Dispose();
|
hv_CenterZ.Dispose();
|
hv_PosObjectsZ.Dispose();
|
hv_I.Dispose();
|
hv_Pose.Dispose();
|
hv_HomMat3DObj.Dispose();
|
hv_PosObjCenterX.Dispose();
|
hv_PosObjCenterY.Dispose();
|
hv_PosObjCenterZ.Dispose();
|
hv_PosObjectsX.Dispose();
|
hv_PosObjectsY.Dispose();
|
hv_Color.Dispose();
|
hv_Indices1.Dispose();
|
hv_Indices2.Dispose();
|
hv_J.Dispose();
|
hv_Indices3.Dispose();
|
hv_HomMat3D.Dispose();
|
hv_SampledObjectModel3D.Dispose();
|
hv_X.Dispose();
|
hv_Y.Dispose();
|
hv_Z.Dispose();
|
hv_HomMat3D1.Dispose();
|
hv_Qx.Dispose();
|
hv_Qy.Dispose();
|
hv_Qz.Dispose();
|
hv_Row.Dispose();
|
hv_Column.Dispose();
|
hv_ObjectModel3DConvexHull.Dispose();
|
hv_Exception.Dispose();
|
|
return;
|
}
|
catch (HalconException HDevExpDefaultException)
|
{
|
|
hv_Idx.Dispose();
|
hv_CustomParamName.Dispose();
|
hv_CustomParamValue.Dispose();
|
hv_Font.Dispose();
|
hv_IndicesDispBackGround.Dispose();
|
hv_Indices.Dispose();
|
hv_ImageWidth.Dispose();
|
hv_HasPolygons.Dispose();
|
hv_HasTri.Dispose();
|
hv_HasPoints.Dispose();
|
hv_HasLines.Dispose();
|
hv_NumPoints.Dispose();
|
hv_IsPrimitive.Dispose();
|
hv_Center.Dispose();
|
hv_Diameter.Dispose();
|
hv_OpenGlHiddenSurface.Dispose();
|
hv_CenterX.Dispose();
|
hv_CenterY.Dispose();
|
hv_CenterZ.Dispose();
|
hv_PosObjectsZ.Dispose();
|
hv_I.Dispose();
|
hv_Pose.Dispose();
|
hv_HomMat3DObj.Dispose();
|
hv_PosObjCenterX.Dispose();
|
hv_PosObjCenterY.Dispose();
|
hv_PosObjCenterZ.Dispose();
|
hv_PosObjectsX.Dispose();
|
hv_PosObjectsY.Dispose();
|
hv_Color.Dispose();
|
hv_Indices1.Dispose();
|
hv_Indices2.Dispose();
|
hv_J.Dispose();
|
hv_Indices3.Dispose();
|
hv_HomMat3D.Dispose();
|
hv_SampledObjectModel3D.Dispose();
|
hv_X.Dispose();
|
hv_Y.Dispose();
|
hv_Z.Dispose();
|
hv_HomMat3D1.Dispose();
|
hv_Qx.Dispose();
|
hv_Qy.Dispose();
|
hv_Qz.Dispose();
|
hv_Row.Dispose();
|
hv_Column.Dispose();
|
hv_ObjectModel3DConvexHull.Dispose();
|
hv_Exception.Dispose();
|
|
throw HDevExpDefaultException;
|
}
|
}
|
|
// Chapter: Graphics / Text
|
// Short Description: Display a text message.
|
public static void disp_text_button(HTuple hv_WindowHandle, HTuple hv_String, HTuple hv_CoordSystem,
|
HTuple hv_Row, HTuple hv_Column, HTuple hv_TextColor, HTuple hv_ButtonColor)
|
{
|
|
|
|
// Local iconic variables
|
|
HObject ho_UpperLeft, ho_LowerRight, ho_Rectangle;
|
|
// Local control variables
|
|
HTuple hv_Red = new HTuple(), hv_Green = new HTuple();
|
HTuple hv_Blue = new HTuple(), hv_Row1Part = new HTuple();
|
HTuple hv_Column1Part = new HTuple(), hv_Row2Part = new HTuple();
|
HTuple hv_Column2Part = new HTuple(), hv_RowWin = new HTuple();
|
HTuple hv_ColumnWin = new HTuple(), hv_WidthWin = new HTuple();
|
HTuple hv_HeightWin = new HTuple(), hv_RGB = new HTuple();
|
HTuple hv_Exception = new HTuple(), hv_Fac = new HTuple();
|
HTuple hv_RGBL = new HTuple(), hv_RGBD = new HTuple();
|
HTuple hv_ButtonColorBorderL = new HTuple(), hv_ButtonColorBorderD = new HTuple();
|
HTuple hv_MaxAscent = new HTuple(), hv_MaxDescent = new HTuple();
|
HTuple hv_MaxWidth = new HTuple(), hv_MaxHeight = new HTuple();
|
HTuple hv_R1 = new HTuple(), hv_C1 = new HTuple(), hv_FactorRow = new HTuple();
|
HTuple hv_FactorColumn = new HTuple(), hv_Width = new HTuple();
|
HTuple hv_Index = new HTuple(), hv_Ascent = new HTuple();
|
HTuple hv_Descent = new HTuple(), hv_W = new HTuple();
|
HTuple hv_H = new HTuple(), hv_FrameHeight = new HTuple();
|
HTuple hv_FrameWidth = new HTuple(), hv_R2 = new HTuple();
|
HTuple hv_C2 = new HTuple(), hv_ClipRegion = new HTuple();
|
HTuple hv_DrawMode = new HTuple(), hv_BorderWidth = new HTuple();
|
HTuple hv_CurrentColor = new HTuple();
|
HTuple hv_Column_COPY_INP_TMP = new HTuple(hv_Column);
|
HTuple hv_Row_COPY_INP_TMP = new HTuple(hv_Row);
|
HTuple hv_String_COPY_INP_TMP = new HTuple(hv_String);
|
HTuple hv_TextColor_COPY_INP_TMP = new HTuple(hv_TextColor);
|
|
// Initialize local and output iconic variables
|
HOperatorSet.GenEmptyObj(out ho_UpperLeft);
|
HOperatorSet.GenEmptyObj(out ho_LowerRight);
|
HOperatorSet.GenEmptyObj(out ho_Rectangle);
|
try
|
{
|
//This procedure displays text in a graphics window.
|
//
|
//Input parameters:
|
//WindowHandle: The WindowHandle of the graphics window, where
|
// the message should be displayed
|
//String: A tuple of strings containing the text message to be displayed
|
//CoordSystem: If set to 'window', the text position is given
|
// with respect to the window coordinate system.
|
// If set to 'image', image coordinates are used.
|
// (This may be useful in zoomed images.)
|
//Row: The row coordinate of the desired text position
|
// If set to -1, a default value of 12 is used.
|
//Column: The column coordinate of the desired text position
|
// If set to -1, a default value of 12 is used.
|
//Color: defines the color of the text as string.
|
// If set to [], '' or 'auto' the currently set color is used.
|
// If a tuple of strings is passed, the colors are used cyclically
|
// for each new textline.
|
//ButtonColor: Must be set to a color string (e.g. 'white', '#FF00CC', etc.).
|
// The text is written in a box of that color.
|
//
|
//Prepare window.
|
hv_Red.Dispose(); hv_Green.Dispose(); hv_Blue.Dispose();
|
HOperatorSet.GetRgb(hv_WindowHandle, out hv_Red, out hv_Green, out hv_Blue);
|
hv_Row1Part.Dispose(); hv_Column1Part.Dispose(); hv_Row2Part.Dispose(); hv_Column2Part.Dispose();
|
HOperatorSet.GetPart(hv_WindowHandle, out hv_Row1Part, out hv_Column1Part,
|
out hv_Row2Part, out hv_Column2Part);
|
hv_RowWin.Dispose(); hv_ColumnWin.Dispose(); hv_WidthWin.Dispose(); hv_HeightWin.Dispose();
|
HOperatorSet.GetWindowExtents(hv_WindowHandle, out hv_RowWin, out hv_ColumnWin,
|
out hv_WidthWin, out hv_HeightWin);
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
HOperatorSet.SetPart(hv_WindowHandle, 0, 0, hv_HeightWin - 1, hv_WidthWin - 1);
|
}
|
//
|
//Default settings.
|
if ((int)new HTuple(hv_Row_COPY_INP_TMP.TupleEqual(-1)) != 0)
|
{
|
hv_Row_COPY_INP_TMP.Dispose();
|
hv_Row_COPY_INP_TMP = 12;
|
}
|
if ((int)new HTuple(hv_Column_COPY_INP_TMP.TupleEqual(-1)) != 0)
|
{
|
hv_Column_COPY_INP_TMP.Dispose();
|
hv_Column_COPY_INP_TMP = 12;
|
}
|
if ((int)new HTuple(hv_TextColor_COPY_INP_TMP.TupleEqual(new HTuple())) != 0)
|
{
|
hv_TextColor_COPY_INP_TMP.Dispose();
|
hv_TextColor_COPY_INP_TMP = "";
|
}
|
//
|
try
|
{
|
hv_RGB.Dispose();
|
color_string_to_rgb(hv_ButtonColor, out hv_RGB);
|
}
|
// catch (Exception)
|
catch (HalconException HDevExpDefaultException1)
|
{
|
HDevExpDefaultException1.ToHTuple(out hv_Exception);
|
hv_Exception.Dispose();
|
hv_Exception = "Wrong value of control parameter ButtonColor (must be a valid color string)";
|
throw new HalconException(hv_Exception);
|
}
|
hv_Fac.Dispose();
|
hv_Fac = 0.4;
|
hv_RGBL.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_RGBL = hv_RGB + ((255.0 - hv_RGB) * hv_Fac + 0.5).TupleInt()
|
;
|
}
|
hv_RGBD.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_RGBD = hv_RGB - (hv_RGB * hv_Fac + 0.5).TupleInt()
|
;
|
}
|
hv_ButtonColorBorderL.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_ButtonColorBorderL = "#" + ("" + hv_RGBL.TupleString(
|
"02x")).TupleSum();
|
}
|
hv_ButtonColorBorderD.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_ButtonColorBorderD = "#" + ("" + hv_RGBD.TupleString(
|
"02x")).TupleSum();
|
}
|
//
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
{
|
HTuple
|
ExpTmpLocalVar_String = ("" + hv_String_COPY_INP_TMP + "").TupleSplit(
|
"\n");
|
hv_String_COPY_INP_TMP.Dispose();
|
hv_String_COPY_INP_TMP = ExpTmpLocalVar_String;
|
}
|
}
|
//
|
//Estimate extensions of text depending on font size.
|
hv_MaxAscent.Dispose(); hv_MaxDescent.Dispose(); hv_MaxWidth.Dispose(); hv_MaxHeight.Dispose();
|
HOperatorSet.GetFontExtents(hv_WindowHandle, out hv_MaxAscent, out hv_MaxDescent,
|
out hv_MaxWidth, out hv_MaxHeight);
|
if ((int)new HTuple(hv_CoordSystem.TupleEqual("window")) != 0)
|
{
|
hv_R1.Dispose();
|
hv_R1 = new HTuple(hv_Row_COPY_INP_TMP);
|
hv_C1.Dispose();
|
hv_C1 = new HTuple(hv_Column_COPY_INP_TMP);
|
}
|
else
|
{
|
//Transform image to window coordinates.
|
hv_FactorRow.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_FactorRow = 1.0 * hv_HeightWin / (hv_Row2Part - hv_Row1Part + 1);
|
}
|
hv_FactorColumn.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_FactorColumn = 1.0 * hv_WidthWin / (hv_Column2Part - hv_Column1Part + 1);
|
}
|
hv_R1.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_R1 = (hv_Row_COPY_INP_TMP - hv_Row1Part + 0.5) * hv_FactorRow;
|
}
|
hv_C1.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_C1 = (hv_Column_COPY_INP_TMP - hv_Column1Part + 0.5) * hv_FactorColumn;
|
}
|
}
|
//
|
//Display text box depending on text size.
|
//
|
//Calculate box extents.
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
{
|
HTuple
|
ExpTmpLocalVar_String = " " + hv_String_COPY_INP_TMP + " ";
|
hv_String_COPY_INP_TMP.Dispose();
|
hv_String_COPY_INP_TMP = ExpTmpLocalVar_String;
|
}
|
}
|
hv_Width.Dispose();
|
hv_Width = new HTuple();
|
for (hv_Index = 0; (int)hv_Index <= (int)(new HTuple(hv_String_COPY_INP_TMP.TupleLength()
|
) - 1); hv_Index = (int)hv_Index + 1)
|
{
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_Ascent.Dispose(); hv_Descent.Dispose(); hv_W.Dispose(); hv_H.Dispose();
|
HOperatorSet.GetStringExtents(hv_WindowHandle, hv_String_COPY_INP_TMP.TupleSelect(
|
hv_Index), out hv_Ascent, out hv_Descent, out hv_W, out hv_H);
|
}
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
{
|
HTuple
|
ExpTmpLocalVar_Width = hv_Width.TupleConcat(
|
hv_W);
|
hv_Width.Dispose();
|
hv_Width = ExpTmpLocalVar_Width;
|
}
|
}
|
}
|
hv_FrameHeight.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_FrameHeight = hv_MaxHeight * new HTuple(hv_String_COPY_INP_TMP.TupleLength()
|
);
|
}
|
hv_FrameWidth.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_FrameWidth = new HTuple(0).TupleConcat(
|
hv_Width).TupleMax();
|
}
|
hv_R2.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_R2 = hv_R1 + hv_FrameHeight;
|
}
|
hv_C2.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_C2 = hv_C1 + hv_FrameWidth;
|
}
|
//Display rectangles.
|
hv_ClipRegion.Dispose();
|
HOperatorSet.GetSystem("clip_region", out hv_ClipRegion);
|
HOperatorSet.SetSystem("clip_region", "false");
|
hv_DrawMode.Dispose();
|
HOperatorSet.GetDraw(hv_WindowHandle, out hv_DrawMode);
|
HOperatorSet.SetDraw(hv_WindowHandle, "fill");
|
hv_BorderWidth.Dispose();
|
hv_BorderWidth = 2;
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
ho_UpperLeft.Dispose();
|
HOperatorSet.GenRegionPolygonFilled(out ho_UpperLeft, (hv_R1 - hv_BorderWidth).TupleConcat(
|
hv_R1 - hv_BorderWidth).TupleConcat(hv_R1).TupleConcat(hv_R2).TupleConcat(
|
hv_R2 + hv_BorderWidth), (hv_C1 - hv_BorderWidth).TupleConcat(hv_C2 + hv_BorderWidth).TupleConcat(
|
hv_C2).TupleConcat(hv_C1).TupleConcat(hv_C1 - hv_BorderWidth));
|
}
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
ho_LowerRight.Dispose();
|
HOperatorSet.GenRegionPolygonFilled(out ho_LowerRight, (hv_R2 + hv_BorderWidth).TupleConcat(
|
hv_R1 - hv_BorderWidth).TupleConcat(hv_R1).TupleConcat(hv_R2).TupleConcat(
|
hv_R2 + hv_BorderWidth), (hv_C2 + hv_BorderWidth).TupleConcat(hv_C2 + hv_BorderWidth).TupleConcat(
|
hv_C2).TupleConcat(hv_C1).TupleConcat(hv_C1 - hv_BorderWidth));
|
}
|
ho_Rectangle.Dispose();
|
HOperatorSet.GenRectangle1(out ho_Rectangle, hv_R1, hv_C1, hv_R2, hv_C2);
|
HOperatorSet.SetColor(hv_WindowHandle, hv_ButtonColorBorderL);
|
HOperatorSet.DispObj(ho_UpperLeft, hv_WindowHandle);
|
HOperatorSet.SetColor(hv_WindowHandle, hv_ButtonColorBorderD);
|
HOperatorSet.DispObj(ho_LowerRight, hv_WindowHandle);
|
HOperatorSet.SetColor(hv_WindowHandle, hv_ButtonColor);
|
HOperatorSet.DispObj(ho_Rectangle, hv_WindowHandle);
|
HOperatorSet.SetDraw(hv_WindowHandle, hv_DrawMode);
|
HOperatorSet.SetSystem("clip_region", hv_ClipRegion);
|
//Write text.
|
for (hv_Index = 0; (int)hv_Index <= (int)(new HTuple(hv_String_COPY_INP_TMP.TupleLength()
|
) - 1); hv_Index = (int)hv_Index + 1)
|
{
|
hv_CurrentColor.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_CurrentColor = hv_TextColor_COPY_INP_TMP.TupleSelect(
|
hv_Index % new HTuple(hv_TextColor_COPY_INP_TMP.TupleLength()));
|
}
|
if ((int)new HTuple(hv_CurrentColor.TupleNotEqual("")).TupleAnd(new HTuple(hv_CurrentColor.TupleNotEqual(
|
"auto"))) != 0)
|
{
|
HOperatorSet.SetColor(hv_WindowHandle, hv_CurrentColor);
|
}
|
else
|
{
|
HOperatorSet.SetRgb(hv_WindowHandle, hv_Red, hv_Green, hv_Blue);
|
}
|
hv_Row_COPY_INP_TMP.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_Row_COPY_INP_TMP = hv_R1 + hv_MaxHeight * hv_Index;
|
}
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
HOperatorSet.DispText(hv_WindowHandle, hv_String_COPY_INP_TMP.TupleSelect(
|
hv_Index), "window", hv_Row_COPY_INP_TMP, hv_C1, hv_CurrentColor, "box",
|
"false");
|
}
|
}
|
//Reset changed window settings.
|
HOperatorSet.SetRgb(hv_WindowHandle, hv_Red, hv_Green, hv_Blue);
|
HOperatorSet.SetPart(hv_WindowHandle, hv_Row1Part, hv_Column1Part, hv_Row2Part,
|
hv_Column2Part);
|
ho_UpperLeft.Dispose();
|
ho_LowerRight.Dispose();
|
ho_Rectangle.Dispose();
|
|
hv_Column_COPY_INP_TMP.Dispose();
|
hv_Row_COPY_INP_TMP.Dispose();
|
hv_String_COPY_INP_TMP.Dispose();
|
hv_TextColor_COPY_INP_TMP.Dispose();
|
hv_Red.Dispose();
|
hv_Green.Dispose();
|
hv_Blue.Dispose();
|
hv_Row1Part.Dispose();
|
hv_Column1Part.Dispose();
|
hv_Row2Part.Dispose();
|
hv_Column2Part.Dispose();
|
hv_RowWin.Dispose();
|
hv_ColumnWin.Dispose();
|
hv_WidthWin.Dispose();
|
hv_HeightWin.Dispose();
|
hv_RGB.Dispose();
|
hv_Exception.Dispose();
|
hv_Fac.Dispose();
|
hv_RGBL.Dispose();
|
hv_RGBD.Dispose();
|
hv_ButtonColorBorderL.Dispose();
|
hv_ButtonColorBorderD.Dispose();
|
hv_MaxAscent.Dispose();
|
hv_MaxDescent.Dispose();
|
hv_MaxWidth.Dispose();
|
hv_MaxHeight.Dispose();
|
hv_R1.Dispose();
|
hv_C1.Dispose();
|
hv_FactorRow.Dispose();
|
hv_FactorColumn.Dispose();
|
hv_Width.Dispose();
|
hv_Index.Dispose();
|
hv_Ascent.Dispose();
|
hv_Descent.Dispose();
|
hv_W.Dispose();
|
hv_H.Dispose();
|
hv_FrameHeight.Dispose();
|
hv_FrameWidth.Dispose();
|
hv_R2.Dispose();
|
hv_C2.Dispose();
|
hv_ClipRegion.Dispose();
|
hv_DrawMode.Dispose();
|
hv_BorderWidth.Dispose();
|
hv_CurrentColor.Dispose();
|
|
return;
|
}
|
catch (HalconException HDevExpDefaultException)
|
{
|
ho_UpperLeft.Dispose();
|
ho_LowerRight.Dispose();
|
ho_Rectangle.Dispose();
|
|
hv_Column_COPY_INP_TMP.Dispose();
|
hv_Row_COPY_INP_TMP.Dispose();
|
hv_String_COPY_INP_TMP.Dispose();
|
hv_TextColor_COPY_INP_TMP.Dispose();
|
hv_Red.Dispose();
|
hv_Green.Dispose();
|
hv_Blue.Dispose();
|
hv_Row1Part.Dispose();
|
hv_Column1Part.Dispose();
|
hv_Row2Part.Dispose();
|
hv_Column2Part.Dispose();
|
hv_RowWin.Dispose();
|
hv_ColumnWin.Dispose();
|
hv_WidthWin.Dispose();
|
hv_HeightWin.Dispose();
|
hv_RGB.Dispose();
|
hv_Exception.Dispose();
|
hv_Fac.Dispose();
|
hv_RGBL.Dispose();
|
hv_RGBD.Dispose();
|
hv_ButtonColorBorderL.Dispose();
|
hv_ButtonColorBorderD.Dispose();
|
hv_MaxAscent.Dispose();
|
hv_MaxDescent.Dispose();
|
hv_MaxWidth.Dispose();
|
hv_MaxHeight.Dispose();
|
hv_R1.Dispose();
|
hv_C1.Dispose();
|
hv_FactorRow.Dispose();
|
hv_FactorColumn.Dispose();
|
hv_Width.Dispose();
|
hv_Index.Dispose();
|
hv_Ascent.Dispose();
|
hv_Descent.Dispose();
|
hv_W.Dispose();
|
hv_H.Dispose();
|
hv_FrameHeight.Dispose();
|
hv_FrameWidth.Dispose();
|
hv_R2.Dispose();
|
hv_C2.Dispose();
|
hv_ClipRegion.Dispose();
|
hv_DrawMode.Dispose();
|
hv_BorderWidth.Dispose();
|
hv_CurrentColor.Dispose();
|
|
throw HDevExpDefaultException;
|
}
|
}
|
|
// Chapter: Graphics / Output
|
public static void disp_title_and_information(HTuple hv_WindowHandle, HTuple hv_Title,
|
HTuple hv_Information)
|
{
|
|
|
|
// Local iconic variables
|
|
// Local control variables
|
|
HTuple hv_WinRow = new HTuple(), hv_WinColumn = new HTuple();
|
HTuple hv_WinWidth = new HTuple(), hv_WinHeight = new HTuple();
|
HTuple hv_NumTitleLines = new HTuple(), hv_Row = new HTuple();
|
HTuple hv_Column = new HTuple(), hv_TextWidth = new HTuple();
|
HTuple hv_NumInfoLines = new HTuple(), hv_Ascent = new HTuple();
|
HTuple hv_Descent = new HTuple(), hv_Width = new HTuple();
|
HTuple hv_Height = new HTuple();
|
HTuple hv_Information_COPY_INP_TMP = new HTuple(hv_Information);
|
HTuple hv_Title_COPY_INP_TMP = new HTuple(hv_Title);
|
|
// Initialize local and output iconic variables
|
try
|
{
|
//
|
//global tuple gInfoDecor
|
//global tuple gInfoPos
|
//global tuple gTitlePos
|
//global tuple gTitleDecor
|
//
|
hv_WinRow.Dispose(); hv_WinColumn.Dispose(); hv_WinWidth.Dispose(); hv_WinHeight.Dispose();
|
HOperatorSet.GetWindowExtents(hv_WindowHandle, out hv_WinRow, out hv_WinColumn,
|
out hv_WinWidth, out hv_WinHeight);
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
{
|
HTuple
|
ExpTmpLocalVar_Title = ("" + hv_Title_COPY_INP_TMP + "").TupleSplit(
|
"\n");
|
hv_Title_COPY_INP_TMP.Dispose();
|
hv_Title_COPY_INP_TMP = ExpTmpLocalVar_Title;
|
}
|
}
|
hv_NumTitleLines.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_NumTitleLines = new HTuple(hv_Title_COPY_INP_TMP.TupleLength()
|
);
|
}
|
if ((int)new HTuple(hv_NumTitleLines.TupleGreater(0)) != 0)
|
{
|
hv_Row.Dispose();
|
hv_Row = 12;
|
if ((int)new HTuple(ExpGetGlobalVar_gTitlePos().TupleEqual("UpperLeft")) != 0)
|
{
|
hv_Column.Dispose();
|
hv_Column = 12;
|
}
|
else if ((int)new HTuple(ExpGetGlobalVar_gTitlePos().TupleEqual(
|
"UpperCenter")) != 0)
|
{
|
hv_TextWidth.Dispose();
|
max_line_width(hv_WindowHandle, hv_Title_COPY_INP_TMP, out hv_TextWidth);
|
hv_Column.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_Column = hv_WinWidth / 2 - hv_TextWidth / 2;
|
}
|
}
|
else if ((int)new HTuple(ExpGetGlobalVar_gTitlePos().TupleEqual(
|
"UpperRight")) != 0)
|
{
|
if ((int)new HTuple(ExpGetGlobalVar_gTitleDecor().TupleSelect(1).TupleEqual(
|
"true")) != 0)
|
{
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_TextWidth.Dispose();
|
max_line_width(hv_WindowHandle, hv_Title_COPY_INP_TMP + " ", out hv_TextWidth);
|
}
|
}
|
else
|
{
|
hv_TextWidth.Dispose();
|
max_line_width(hv_WindowHandle, hv_Title_COPY_INP_TMP, out hv_TextWidth);
|
}
|
hv_Column.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_Column = hv_WinWidth - hv_TextWidth - 10;
|
}
|
}
|
else
|
{
|
//Unknown position!
|
// stop(...); only in hdevelop
|
}
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
disp_message(hv_WindowHandle, hv_Title_COPY_INP_TMP, "window", hv_Row, hv_Column,
|
ExpGetGlobalVar_gTitleDecor().TupleSelect(0), ExpGetGlobalVar_gTitleDecor().TupleSelect(
|
1));
|
}
|
}
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
{
|
HTuple
|
ExpTmpLocalVar_Information = ("" + hv_Information_COPY_INP_TMP + "").TupleSplit(
|
"\n");
|
hv_Information_COPY_INP_TMP.Dispose();
|
hv_Information_COPY_INP_TMP = ExpTmpLocalVar_Information;
|
}
|
}
|
hv_NumInfoLines.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_NumInfoLines = new HTuple(hv_Information_COPY_INP_TMP.TupleLength()
|
);
|
}
|
if ((int)new HTuple(hv_NumInfoLines.TupleGreater(0)) != 0)
|
{
|
if ((int)new HTuple(ExpGetGlobalVar_gInfoPos().TupleEqual("UpperLeft")) != 0)
|
{
|
hv_Row.Dispose();
|
hv_Row = 12;
|
hv_Column.Dispose();
|
hv_Column = 12;
|
}
|
else if ((int)new HTuple(ExpGetGlobalVar_gInfoPos().TupleEqual(
|
"UpperRight")) != 0)
|
{
|
if ((int)new HTuple(ExpGetGlobalVar_gInfoDecor().TupleSelect(1).TupleEqual(
|
"true")) != 0)
|
{
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_TextWidth.Dispose();
|
max_line_width(hv_WindowHandle, hv_Information_COPY_INP_TMP + " ", out hv_TextWidth);
|
}
|
}
|
else
|
{
|
hv_TextWidth.Dispose();
|
max_line_width(hv_WindowHandle, hv_Information_COPY_INP_TMP, out hv_TextWidth);
|
}
|
hv_Row.Dispose();
|
hv_Row = 12;
|
hv_Column.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_Column = hv_WinWidth - hv_TextWidth - 12;
|
}
|
}
|
else if ((int)new HTuple(ExpGetGlobalVar_gInfoPos().TupleEqual(
|
"LowerLeft")) != 0)
|
{
|
hv_Ascent.Dispose(); hv_Descent.Dispose(); hv_Width.Dispose(); hv_Height.Dispose();
|
HOperatorSet.GetStringExtents(hv_WindowHandle, hv_Information_COPY_INP_TMP,
|
out hv_Ascent, out hv_Descent, out hv_Width, out hv_Height);
|
hv_Row.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_Row = hv_WinHeight - (new HTuple(0).TupleMax2(
|
hv_NumInfoLines - 1) * (hv_Ascent + hv_Descent) + hv_Height) - 12;
|
}
|
hv_Column.Dispose();
|
hv_Column = 12;
|
}
|
else
|
{
|
//Unknown position!
|
// stop(...); only in hdevelop
|
}
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
disp_message(hv_WindowHandle, hv_Information_COPY_INP_TMP, "window", hv_Row,
|
hv_Column, ExpGetGlobalVar_gInfoDecor().TupleSelect(0), ExpGetGlobalVar_gInfoDecor().TupleSelect(
|
1));
|
}
|
}
|
//
|
|
hv_Information_COPY_INP_TMP.Dispose();
|
hv_Title_COPY_INP_TMP.Dispose();
|
hv_WinRow.Dispose();
|
hv_WinColumn.Dispose();
|
hv_WinWidth.Dispose();
|
hv_WinHeight.Dispose();
|
hv_NumTitleLines.Dispose();
|
hv_Row.Dispose();
|
hv_Column.Dispose();
|
hv_TextWidth.Dispose();
|
hv_NumInfoLines.Dispose();
|
hv_Ascent.Dispose();
|
hv_Descent.Dispose();
|
hv_Width.Dispose();
|
hv_Height.Dispose();
|
|
return;
|
}
|
catch (HalconException HDevExpDefaultException)
|
{
|
|
hv_Information_COPY_INP_TMP.Dispose();
|
hv_Title_COPY_INP_TMP.Dispose();
|
hv_WinRow.Dispose();
|
hv_WinColumn.Dispose();
|
hv_WinWidth.Dispose();
|
hv_WinHeight.Dispose();
|
hv_NumTitleLines.Dispose();
|
hv_Row.Dispose();
|
hv_Column.Dispose();
|
hv_TextWidth.Dispose();
|
hv_NumInfoLines.Dispose();
|
hv_Ascent.Dispose();
|
hv_Descent.Dispose();
|
hv_Width.Dispose();
|
hv_Height.Dispose();
|
|
throw HDevExpDefaultException;
|
}
|
}
|
|
// Chapter: Graphics / Output
|
// Short Description: Render 3D object models in a buffer window.
|
public static void dump_image_output(HObject ho_BackgroundImage, HTuple hv_WindowHandleBuffer,
|
HTuple hv_Scene3D, HTuple hv_AlphaOrig, HTuple hv_ObjectModel3DID, HTuple hv_GenParamName,
|
HTuple hv_GenParamValue, HTuple hv_CamParam, HTuple hv_Poses, HTuple hv_ColorImage,
|
HTuple hv_Title, HTuple hv_Information, HTuple hv_Labels, HTuple hv_VisualizeTrackball,
|
HTuple hv_DisplayContinueButton, HTuple hv_TrackballCenterRow, HTuple hv_TrackballCenterCol,
|
HTuple hv_TrackballRadiusPixel, HTuple hv_SelectedObject, HTuple hv_VisualizeRotationCenter,
|
HTuple hv_RotationCenter)
|
{
|
|
|
|
|
// Local iconic variables
|
|
HObject ho_ModelContours = null, ho_TrackballContour = null;
|
HObject ho_CrossRotCenter = null;
|
|
// Local control variables
|
|
HTuple ExpTmpLocalVar_gUsesOpenGL = new HTuple();
|
HTuple hv_Exception = new HTuple(), hv_Index = new HTuple();
|
HTuple hv_Exception1 = new HTuple(), hv_DeselectedIdx = new HTuple();
|
HTuple hv_DeselectedName = new HTuple(), hv_DeselectedValue = new HTuple();
|
HTuple hv_Pose = new HTuple(), hv_HomMat3D = new HTuple();
|
HTuple hv_Center = new HTuple(), hv_CenterCamX = new HTuple();
|
HTuple hv_CenterCamY = new HTuple(), hv_CenterCamZ = new HTuple();
|
HTuple hv_CenterRow = new HTuple(), hv_CenterCol = new HTuple();
|
HTuple hv_Label = new HTuple(), hv_Sublabels = new HTuple();
|
HTuple hv_Ascent = new HTuple(), hv_Descent = new HTuple();
|
HTuple hv_TextWidth = new HTuple(), hv_TextHeight = new HTuple();
|
HTuple hv_Index2 = new HTuple(), hv_TextWidth2 = new HTuple();
|
HTuple hv_TextHeight2 = new HTuple(), hv_RotCenterRow = new HTuple();
|
HTuple hv_RotCenterCol = new HTuple(), hv_Orientation = new HTuple();
|
HTuple hv_Colors = new HTuple();
|
HTuple hv_RotationCenter_COPY_INP_TMP = new HTuple(hv_RotationCenter);
|
|
// Initialize local and output iconic variables
|
HOperatorSet.GenEmptyObj(out ho_ModelContours);
|
HOperatorSet.GenEmptyObj(out ho_TrackballContour);
|
HOperatorSet.GenEmptyObj(out ho_CrossRotCenter);
|
try
|
{
|
//global tuple gAlphaDeselected
|
//global tuple gTerminationButtonLabel
|
//global tuple gDispObjOffset
|
//global tuple gLabelsDecor
|
//global tuple gUsesOpenGL
|
//
|
//Display background image
|
HOperatorSet.ClearWindow(hv_WindowHandleBuffer);
|
if ((int)hv_ColorImage != 0)
|
{
|
HOperatorSet.DispColor(ho_BackgroundImage, hv_WindowHandleBuffer);
|
}
|
else
|
{
|
HOperatorSet.DispImage(ho_BackgroundImage, hv_WindowHandleBuffer);
|
}
|
//
|
//Display objects
|
if ((int)new HTuple(hv_SelectedObject.TupleSum().TupleEqual(new HTuple(hv_SelectedObject.TupleLength()
|
))) != 0)
|
{
|
if ((int)new HTuple(ExpGetGlobalVar_gUsesOpenGL().TupleEqual("true")) != 0)
|
{
|
try
|
{
|
HOperatorSet.DisplayScene3d(hv_WindowHandleBuffer, hv_Scene3D, 0);
|
}
|
// catch (Exception)
|
catch (HalconException HDevExpDefaultException1)
|
{
|
HDevExpDefaultException1.ToHTuple(out hv_Exception);
|
if ((int)new HTuple(new HTuple(hv_Exception.TupleSelect(0).TupleEqual(
|
5185)).TupleOr(new HTuple(hv_Exception.TupleSelect(0).TupleEqual(
|
5188)))).TupleOr(new HTuple(hv_Exception.TupleSelect(0).TupleEqual(
|
5187))) != 0)
|
{
|
ExpTmpLocalVar_gUsesOpenGL = "false";
|
ExpSetGlobalVar_gUsesOpenGL(ExpTmpLocalVar_gUsesOpenGL);
|
}
|
else
|
{
|
throw new HalconException(hv_Exception);
|
}
|
}
|
}
|
if ((int)new HTuple(ExpGetGlobalVar_gUsesOpenGL().TupleEqual("false")) != 0)
|
{
|
//* NO OpenGL, use fallback
|
ho_ModelContours.Dispose();
|
disp_object_model_no_opengl(out ho_ModelContours, hv_ObjectModel3DID, hv_GenParamName,
|
hv_GenParamValue, hv_WindowHandleBuffer, hv_CamParam, hv_Poses);
|
}
|
}
|
else
|
{
|
for (hv_Index = 0; (int)hv_Index <= (int)(new HTuple(hv_AlphaOrig.TupleLength()
|
) - 1); hv_Index = (int)hv_Index + 1)
|
{
|
if ((int)new HTuple(hv_SelectedObject.TupleSelect(hv_Index).TupleEqual(
|
1)) != 0)
|
{
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
HOperatorSet.SetScene3dInstanceParam(hv_Scene3D, hv_Index, "alpha", hv_AlphaOrig.TupleSelect(
|
hv_Index));
|
}
|
}
|
else
|
{
|
HOperatorSet.SetScene3dInstanceParam(hv_Scene3D, hv_Index, "alpha", ExpGetGlobalVar_gAlphaDeselected());
|
}
|
}
|
try
|
{
|
if ((int)new HTuple(ExpGetGlobalVar_gUsesOpenGL().TupleEqual("false")) != 0)
|
{
|
throw new HalconException(new HTuple());
|
}
|
HOperatorSet.DisplayScene3d(hv_WindowHandleBuffer, hv_Scene3D, 0);
|
}
|
// catch (Exception1)
|
catch (HalconException HDevExpDefaultException1)
|
{
|
HDevExpDefaultException1.ToHTuple(out hv_Exception1);
|
//* NO OpenGL, use fallback
|
hv_DeselectedIdx.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_DeselectedIdx = hv_SelectedObject.TupleFind(
|
0);
|
}
|
if ((int)new HTuple(hv_DeselectedIdx.TupleNotEqual(-1)) != 0)
|
{
|
hv_DeselectedName.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_DeselectedName = "color_" + hv_DeselectedIdx;
|
}
|
hv_DeselectedValue.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_DeselectedValue = HTuple.TupleGenConst(
|
new HTuple(hv_DeselectedName.TupleLength()), "gray");
|
}
|
}
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
ho_ModelContours.Dispose();
|
disp_object_model_no_opengl(out ho_ModelContours, hv_ObjectModel3DID, hv_GenParamName.TupleConcat(
|
hv_DeselectedName), hv_GenParamValue.TupleConcat(hv_DeselectedValue),
|
hv_WindowHandleBuffer, hv_CamParam, hv_Poses);
|
}
|
}
|
for (hv_Index = 0; (int)hv_Index <= (int)(new HTuple(hv_AlphaOrig.TupleLength()
|
) - 1); hv_Index = (int)hv_Index + 1)
|
{
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
HOperatorSet.SetScene3dInstanceParam(hv_Scene3D, hv_Index, "alpha", hv_AlphaOrig.TupleSelect(
|
hv_Index));
|
}
|
}
|
}
|
//
|
//Display labels
|
if ((int)new HTuple(hv_Labels.TupleNotEqual(new HTuple())) != 0)
|
{
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
HOperatorSet.SetColor(hv_WindowHandleBuffer, ExpGetGlobalVar_gLabelsDecor().TupleSelect(
|
0));
|
}
|
for (hv_Index = 0; (int)hv_Index <= (int)(new HTuple(hv_ObjectModel3DID.TupleLength()
|
) - 1); hv_Index = (int)hv_Index + 1)
|
{
|
//Project the center point of the current model
|
hv_Pose.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_Pose = hv_Poses.TupleSelectRange(
|
hv_Index * 7, hv_Index * 7 + 6);
|
}
|
hv_HomMat3D.Dispose();
|
HOperatorSet.PoseToHomMat3d(hv_Pose, out hv_HomMat3D);
|
try
|
{
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_Center.Dispose();
|
HOperatorSet.GetObjectModel3dParams(hv_ObjectModel3DID.TupleSelect(hv_Index),
|
"center", out hv_Center);
|
}
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_CenterCamX.Dispose(); hv_CenterCamY.Dispose(); hv_CenterCamZ.Dispose();
|
HOperatorSet.AffineTransPoint3d(hv_HomMat3D, hv_Center.TupleSelect(0),
|
hv_Center.TupleSelect(1), hv_Center.TupleSelect(2), out hv_CenterCamX,
|
out hv_CenterCamY, out hv_CenterCamZ);
|
}
|
hv_CenterRow.Dispose(); hv_CenterCol.Dispose();
|
HOperatorSet.Project3dPoint(hv_CenterCamX, hv_CenterCamY, hv_CenterCamZ,
|
hv_CamParam, out hv_CenterRow, out hv_CenterCol);
|
hv_Label.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_Label = hv_Labels.TupleSelect(
|
hv_Index);
|
}
|
if ((int)new HTuple(hv_Label.TupleNotEqual("")) != 0)
|
{
|
//Work around the fact that get_string_extents() does not handle newlines as we want
|
hv_Sublabels.Dispose();
|
HOperatorSet.TupleSplit(hv_Label, "\n", out hv_Sublabels);
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_Ascent.Dispose(); hv_Descent.Dispose(); hv_TextWidth.Dispose(); hv_TextHeight.Dispose();
|
HOperatorSet.GetStringExtents(hv_WindowHandleBuffer, hv_Sublabels.TupleSelect(
|
0), out hv_Ascent, out hv_Descent, out hv_TextWidth, out hv_TextHeight);
|
}
|
for (hv_Index2 = 1; (int)hv_Index2 <= (int)(new HTuple(hv_Sublabels.TupleLength()
|
) - 1); hv_Index2 = (int)hv_Index2 + 1)
|
{
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_Ascent.Dispose(); hv_Descent.Dispose(); hv_TextWidth2.Dispose(); hv_TextHeight2.Dispose();
|
HOperatorSet.GetStringExtents(hv_WindowHandleBuffer, hv_Sublabels.TupleSelect(
|
hv_Index2), out hv_Ascent, out hv_Descent, out hv_TextWidth2,
|
out hv_TextHeight2);
|
}
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
{
|
HTuple
|
ExpTmpLocalVar_TextHeight = hv_TextHeight + hv_TextHeight2;
|
hv_TextHeight.Dispose();
|
hv_TextHeight = ExpTmpLocalVar_TextHeight;
|
}
|
}
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
{
|
HTuple
|
ExpTmpLocalVar_TextWidth = hv_TextWidth.TupleMax2(
|
hv_TextWidth2);
|
hv_TextWidth.Dispose();
|
hv_TextWidth = ExpTmpLocalVar_TextWidth;
|
}
|
}
|
}
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
disp_message(hv_WindowHandleBuffer, hv_Label, "window", hv_CenterRow - hv_TextHeight / 2 + ExpGetGlobalVar_gDispObjOffset().TupleSelect(
|
0), hv_CenterCol - hv_TextWidth / 2 + ExpGetGlobalVar_gDispObjOffset().TupleSelect(
|
1), new HTuple(), ExpGetGlobalVar_gLabelsDecor().TupleSelect(1));
|
}
|
}
|
}
|
// catch (Exception)
|
catch (HalconException HDevExpDefaultException1)
|
{
|
HDevExpDefaultException1.ToHTuple(out hv_Exception);
|
//The 3D object model might not have a center because it is empty
|
//-> do not display any label
|
}
|
}
|
}
|
//
|
//Visualize the trackball if desired
|
if ((int)hv_VisualizeTrackball != 0)
|
{
|
HOperatorSet.SetLineWidth(hv_WindowHandleBuffer, 1);
|
ho_TrackballContour.Dispose();
|
HOperatorSet.GenEllipseContourXld(out ho_TrackballContour, hv_TrackballCenterRow,
|
hv_TrackballCenterCol, 0, hv_TrackballRadiusPixel, hv_TrackballRadiusPixel,
|
0, 6.28318, "positive", 1.5);
|
HOperatorSet.SetColor(hv_WindowHandleBuffer, "dim gray");
|
HOperatorSet.DispXld(ho_TrackballContour, hv_WindowHandleBuffer);
|
}
|
//
|
//Visualize the rotation center if desired
|
if ((int)new HTuple(hv_VisualizeRotationCenter.TupleNotEqual(0)).TupleAnd(
|
new HTuple(new HTuple(hv_RotationCenter_COPY_INP_TMP.TupleLength()).TupleEqual(
|
3))) != 0)
|
{
|
if ((int)new HTuple(hv_RotationCenter_COPY_INP_TMP.TupleSelect(2).TupleLess(
|
1e-10)) != 0)
|
{
|
if (hv_RotationCenter_COPY_INP_TMP == null)
|
hv_RotationCenter_COPY_INP_TMP = new HTuple();
|
hv_RotationCenter_COPY_INP_TMP[2] = 1e-10;
|
}
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_RotCenterRow.Dispose(); hv_RotCenterCol.Dispose();
|
HOperatorSet.Project3dPoint(hv_RotationCenter_COPY_INP_TMP.TupleSelect(0),
|
hv_RotationCenter_COPY_INP_TMP.TupleSelect(1), hv_RotationCenter_COPY_INP_TMP.TupleSelect(
|
2), hv_CamParam, out hv_RotCenterRow, out hv_RotCenterCol);
|
}
|
hv_Orientation.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_Orientation = new HTuple(90).TupleRad()
|
;
|
}
|
if ((int)new HTuple(hv_VisualizeRotationCenter.TupleEqual(1)) != 0)
|
{
|
hv_Orientation.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_Orientation = new HTuple(45).TupleRad()
|
;
|
}
|
}
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
ho_CrossRotCenter.Dispose();
|
HOperatorSet.GenCrossContourXld(out ho_CrossRotCenter, hv_RotCenterRow, hv_RotCenterCol,
|
hv_TrackballRadiusPixel / 25.0, hv_Orientation);
|
}
|
HOperatorSet.SetLineWidth(hv_WindowHandleBuffer, 3);
|
hv_Colors.Dispose();
|
HOperatorSet.QueryColor(hv_WindowHandleBuffer, out hv_Colors);
|
HOperatorSet.SetColor(hv_WindowHandleBuffer, "light gray");
|
HOperatorSet.DispXld(ho_CrossRotCenter, hv_WindowHandleBuffer);
|
HOperatorSet.SetLineWidth(hv_WindowHandleBuffer, 1);
|
HOperatorSet.SetColor(hv_WindowHandleBuffer, "dim gray");
|
HOperatorSet.DispXld(ho_CrossRotCenter, hv_WindowHandleBuffer);
|
}
|
//
|
//Display title
|
disp_title_and_information(hv_WindowHandleBuffer, hv_Title, hv_Information);
|
//
|
//Display the 'Exit' button
|
if ((int)new HTuple(hv_DisplayContinueButton.TupleEqual("true")) != 0)
|
{
|
disp_continue_button(hv_WindowHandleBuffer);
|
}
|
//
|
ho_ModelContours.Dispose();
|
ho_TrackballContour.Dispose();
|
ho_CrossRotCenter.Dispose();
|
|
hv_RotationCenter_COPY_INP_TMP.Dispose();
|
hv_Exception.Dispose();
|
hv_Index.Dispose();
|
hv_Exception1.Dispose();
|
hv_DeselectedIdx.Dispose();
|
hv_DeselectedName.Dispose();
|
hv_DeselectedValue.Dispose();
|
hv_Pose.Dispose();
|
hv_HomMat3D.Dispose();
|
hv_Center.Dispose();
|
hv_CenterCamX.Dispose();
|
hv_CenterCamY.Dispose();
|
hv_CenterCamZ.Dispose();
|
hv_CenterRow.Dispose();
|
hv_CenterCol.Dispose();
|
hv_Label.Dispose();
|
hv_Sublabels.Dispose();
|
hv_Ascent.Dispose();
|
hv_Descent.Dispose();
|
hv_TextWidth.Dispose();
|
hv_TextHeight.Dispose();
|
hv_Index2.Dispose();
|
hv_TextWidth2.Dispose();
|
hv_TextHeight2.Dispose();
|
hv_RotCenterRow.Dispose();
|
hv_RotCenterCol.Dispose();
|
hv_Orientation.Dispose();
|
hv_Colors.Dispose();
|
|
return;
|
}
|
catch (HalconException HDevExpDefaultException)
|
{
|
ho_ModelContours.Dispose();
|
ho_TrackballContour.Dispose();
|
ho_CrossRotCenter.Dispose();
|
|
hv_RotationCenter_COPY_INP_TMP.Dispose();
|
hv_Exception.Dispose();
|
hv_Index.Dispose();
|
hv_Exception1.Dispose();
|
hv_DeselectedIdx.Dispose();
|
hv_DeselectedName.Dispose();
|
hv_DeselectedValue.Dispose();
|
hv_Pose.Dispose();
|
hv_HomMat3D.Dispose();
|
hv_Center.Dispose();
|
hv_CenterCamX.Dispose();
|
hv_CenterCamY.Dispose();
|
hv_CenterCamZ.Dispose();
|
hv_CenterRow.Dispose();
|
hv_CenterCol.Dispose();
|
hv_Label.Dispose();
|
hv_Sublabels.Dispose();
|
hv_Ascent.Dispose();
|
hv_Descent.Dispose();
|
hv_TextWidth.Dispose();
|
hv_TextHeight.Dispose();
|
hv_Index2.Dispose();
|
hv_TextWidth2.Dispose();
|
hv_TextHeight2.Dispose();
|
hv_RotCenterRow.Dispose();
|
hv_RotCenterCol.Dispose();
|
hv_Orientation.Dispose();
|
hv_Colors.Dispose();
|
|
throw HDevExpDefaultException;
|
}
|
}
|
|
// Chapter: Calibration / Camera Parameters
|
// Short Description: Generate a camera parameter tuple for an area scan camera with distortions modeled by the division model.
|
public static void gen_cam_par_area_scan_division(HTuple hv_Focus, HTuple hv_Kappa, HTuple hv_Sx,
|
HTuple hv_Sy, HTuple hv_Cx, HTuple hv_Cy, HTuple hv_ImageWidth, HTuple hv_ImageHeight,
|
out HTuple hv_CameraParam)
|
{
|
|
|
|
// Local iconic variables
|
// Initialize local and output iconic variables
|
hv_CameraParam = new HTuple();
|
//Generate a camera parameter tuple for an area scan camera
|
//with distortions modeled by the division model.
|
//
|
hv_CameraParam.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_CameraParam = new HTuple();
|
hv_CameraParam[0] = "area_scan_division";
|
hv_CameraParam = hv_CameraParam.TupleConcat(hv_Focus, hv_Kappa, hv_Sx, hv_Sy, hv_Cx, hv_Cy, hv_ImageWidth, hv_ImageHeight);
|
}
|
|
|
return;
|
}
|
|
// Chapter: Calibration / Camera Parameters
|
// Short Description: Get the value of a specified camera parameter from the camera parameter tuple.
|
public static void get_cam_par_data(HTuple hv_CameraParam, HTuple hv_ParamName, out HTuple hv_ParamValue)
|
{
|
|
|
|
// Local iconic variables
|
|
// Local control variables
|
|
HTuple hv_CameraType = new HTuple(), hv_CameraParamNames = new HTuple();
|
HTuple hv_Index = new HTuple(), hv_ParamNameInd = new HTuple();
|
HTuple hv_I = new HTuple();
|
// Initialize local and output iconic variables
|
hv_ParamValue = new HTuple();
|
try
|
{
|
//get_cam_par_data returns in ParamValue the value of the
|
//parameter that is given in ParamName from the tuple of
|
//camera parameters that is given in CameraParam.
|
//
|
//Get the parameter names that correspond to the
|
//elements in the input camera parameter tuple.
|
hv_CameraType.Dispose(); hv_CameraParamNames.Dispose();
|
get_cam_par_names(hv_CameraParam, out hv_CameraType, out hv_CameraParamNames);
|
//
|
//Find the index of the requested camera data and return
|
//the corresponding value.
|
hv_ParamValue.Dispose();
|
hv_ParamValue = new HTuple();
|
for (hv_Index = 0; (int)hv_Index <= (int)(new HTuple(hv_ParamName.TupleLength()
|
) - 1); hv_Index = (int)hv_Index + 1)
|
{
|
hv_ParamNameInd.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_ParamNameInd = hv_ParamName.TupleSelect(
|
hv_Index);
|
}
|
if ((int)new HTuple(hv_ParamNameInd.TupleEqual("camera_type")) != 0)
|
{
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
{
|
HTuple
|
ExpTmpLocalVar_ParamValue = hv_ParamValue.TupleConcat(
|
hv_CameraType);
|
hv_ParamValue.Dispose();
|
hv_ParamValue = ExpTmpLocalVar_ParamValue;
|
}
|
}
|
continue;
|
}
|
hv_I.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_I = hv_CameraParamNames.TupleFind(
|
hv_ParamNameInd);
|
}
|
if ((int)new HTuple(hv_I.TupleNotEqual(-1)) != 0)
|
{
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
{
|
HTuple
|
ExpTmpLocalVar_ParamValue = hv_ParamValue.TupleConcat(
|
hv_CameraParam.TupleSelect(hv_I));
|
hv_ParamValue.Dispose();
|
hv_ParamValue = ExpTmpLocalVar_ParamValue;
|
}
|
}
|
}
|
else
|
{
|
throw new HalconException("Unknown camera parameter " + hv_ParamNameInd);
|
}
|
}
|
|
hv_CameraType.Dispose();
|
hv_CameraParamNames.Dispose();
|
hv_Index.Dispose();
|
hv_ParamNameInd.Dispose();
|
hv_I.Dispose();
|
|
return;
|
}
|
catch (HalconException HDevExpDefaultException)
|
{
|
|
hv_CameraType.Dispose();
|
hv_CameraParamNames.Dispose();
|
hv_Index.Dispose();
|
hv_ParamNameInd.Dispose();
|
hv_I.Dispose();
|
|
throw HDevExpDefaultException;
|
}
|
}
|
|
// Chapter: Calibration / Camera Parameters
|
// Short Description: Get the names of the parameters in a camera parameter tuple.
|
public static void get_cam_par_names(HTuple hv_CameraParam, out HTuple hv_CameraType,
|
out HTuple hv_ParamNames)
|
{
|
|
|
|
// Local iconic variables
|
|
// Local control variables
|
|
HTuple hv_CameraParamAreaScanDivision = new HTuple();
|
HTuple hv_CameraParamAreaScanPolynomial = new HTuple();
|
HTuple hv_CameraParamAreaScanTelecentricDivision = new HTuple();
|
HTuple hv_CameraParamAreaScanTelecentricPolynomial = new HTuple();
|
HTuple hv_CameraParamAreaScanTiltDivision = new HTuple();
|
HTuple hv_CameraParamAreaScanTiltPolynomial = new HTuple();
|
HTuple hv_CameraParamAreaScanImageSideTelecentricTiltDivision = new HTuple();
|
HTuple hv_CameraParamAreaScanImageSideTelecentricTiltPolynomial = new HTuple();
|
HTuple hv_CameraParamAreaScanBilateralTelecentricTiltDivision = new HTuple();
|
HTuple hv_CameraParamAreaScanBilateralTelecentricTiltPolynomial = new HTuple();
|
HTuple hv_CameraParamAreaScanObjectSideTelecentricTiltDivision = new HTuple();
|
HTuple hv_CameraParamAreaScanObjectSideTelecentricTiltPolynomial = new HTuple();
|
HTuple hv_CameraParamAreaScanHypercentricDivision = new HTuple();
|
HTuple hv_CameraParamAreaScanHypercentricPolynomial = new HTuple();
|
HTuple hv_CameraParamLinesScanDivision = new HTuple();
|
HTuple hv_CameraParamLinesScanPolynomial = new HTuple();
|
HTuple hv_CameraParamLinesScanTelecentricDivision = new HTuple();
|
HTuple hv_CameraParamLinesScanTelecentricPolynomial = new HTuple();
|
HTuple hv_CameraParamAreaScanTiltDivisionLegacy = new HTuple();
|
HTuple hv_CameraParamAreaScanTiltPolynomialLegacy = new HTuple();
|
HTuple hv_CameraParamAreaScanTelecentricDivisionLegacy = new HTuple();
|
HTuple hv_CameraParamAreaScanTelecentricPolynomialLegacy = new HTuple();
|
HTuple hv_CameraParamAreaScanBilateralTelecentricTiltDivisionLegacy = new HTuple();
|
HTuple hv_CameraParamAreaScanBilateralTelecentricTiltPolynomialLegacy = new HTuple();
|
// Initialize local and output iconic variables
|
hv_CameraType = new HTuple();
|
hv_ParamNames = new HTuple();
|
try
|
{
|
//get_cam_par_names returns for each element in the camera
|
//parameter tuple that is passed in CameraParam the name
|
//of the respective camera parameter. The parameter names
|
//are returned in ParamNames. Additionally, the camera
|
//type is returned in CameraType. Alternatively, instead of
|
//the camera parameters, the camera type can be passed in
|
//CameraParam in form of one of the following strings:
|
// - 'area_scan_division'
|
// - 'area_scan_polynomial'
|
// - 'area_scan_tilt_division'
|
// - 'area_scan_tilt_polynomial'
|
// - 'area_scan_telecentric_division'
|
// - 'area_scan_telecentric_polynomial'
|
// - 'area_scan_tilt_bilateral_telecentric_division'
|
// - 'area_scan_tilt_bilateral_telecentric_polynomial'
|
// - 'area_scan_tilt_object_side_telecentric_division'
|
// - 'area_scan_tilt_object_side_telecentric_polynomial'
|
// - 'area_scan_hypercentric_division'
|
// - 'area_scan_hypercentric_polynomial'
|
// - 'line_scan_division'
|
// - 'line_scan_polynomial'
|
// - 'line_scan_telecentric_division'
|
// - 'line_scan_telecentric_polynomial'
|
//
|
hv_CameraParamAreaScanDivision.Dispose();
|
hv_CameraParamAreaScanDivision = new HTuple();
|
hv_CameraParamAreaScanDivision[0] = "focus";
|
hv_CameraParamAreaScanDivision[1] = "kappa";
|
hv_CameraParamAreaScanDivision[2] = "sx";
|
hv_CameraParamAreaScanDivision[3] = "sy";
|
hv_CameraParamAreaScanDivision[4] = "cx";
|
hv_CameraParamAreaScanDivision[5] = "cy";
|
hv_CameraParamAreaScanDivision[6] = "image_width";
|
hv_CameraParamAreaScanDivision[7] = "image_height";
|
hv_CameraParamAreaScanPolynomial.Dispose();
|
hv_CameraParamAreaScanPolynomial = new HTuple();
|
hv_CameraParamAreaScanPolynomial[0] = "focus";
|
hv_CameraParamAreaScanPolynomial[1] = "k1";
|
hv_CameraParamAreaScanPolynomial[2] = "k2";
|
hv_CameraParamAreaScanPolynomial[3] = "k3";
|
hv_CameraParamAreaScanPolynomial[4] = "p1";
|
hv_CameraParamAreaScanPolynomial[5] = "p2";
|
hv_CameraParamAreaScanPolynomial[6] = "sx";
|
hv_CameraParamAreaScanPolynomial[7] = "sy";
|
hv_CameraParamAreaScanPolynomial[8] = "cx";
|
hv_CameraParamAreaScanPolynomial[9] = "cy";
|
hv_CameraParamAreaScanPolynomial[10] = "image_width";
|
hv_CameraParamAreaScanPolynomial[11] = "image_height";
|
hv_CameraParamAreaScanTelecentricDivision.Dispose();
|
hv_CameraParamAreaScanTelecentricDivision = new HTuple();
|
hv_CameraParamAreaScanTelecentricDivision[0] = "magnification";
|
hv_CameraParamAreaScanTelecentricDivision[1] = "kappa";
|
hv_CameraParamAreaScanTelecentricDivision[2] = "sx";
|
hv_CameraParamAreaScanTelecentricDivision[3] = "sy";
|
hv_CameraParamAreaScanTelecentricDivision[4] = "cx";
|
hv_CameraParamAreaScanTelecentricDivision[5] = "cy";
|
hv_CameraParamAreaScanTelecentricDivision[6] = "image_width";
|
hv_CameraParamAreaScanTelecentricDivision[7] = "image_height";
|
hv_CameraParamAreaScanTelecentricPolynomial.Dispose();
|
hv_CameraParamAreaScanTelecentricPolynomial = new HTuple();
|
hv_CameraParamAreaScanTelecentricPolynomial[0] = "magnification";
|
hv_CameraParamAreaScanTelecentricPolynomial[1] = "k1";
|
hv_CameraParamAreaScanTelecentricPolynomial[2] = "k2";
|
hv_CameraParamAreaScanTelecentricPolynomial[3] = "k3";
|
hv_CameraParamAreaScanTelecentricPolynomial[4] = "p1";
|
hv_CameraParamAreaScanTelecentricPolynomial[5] = "p2";
|
hv_CameraParamAreaScanTelecentricPolynomial[6] = "sx";
|
hv_CameraParamAreaScanTelecentricPolynomial[7] = "sy";
|
hv_CameraParamAreaScanTelecentricPolynomial[8] = "cx";
|
hv_CameraParamAreaScanTelecentricPolynomial[9] = "cy";
|
hv_CameraParamAreaScanTelecentricPolynomial[10] = "image_width";
|
hv_CameraParamAreaScanTelecentricPolynomial[11] = "image_height";
|
hv_CameraParamAreaScanTiltDivision.Dispose();
|
hv_CameraParamAreaScanTiltDivision = new HTuple();
|
hv_CameraParamAreaScanTiltDivision[0] = "focus";
|
hv_CameraParamAreaScanTiltDivision[1] = "kappa";
|
hv_CameraParamAreaScanTiltDivision[2] = "image_plane_dist";
|
hv_CameraParamAreaScanTiltDivision[3] = "tilt";
|
hv_CameraParamAreaScanTiltDivision[4] = "rot";
|
hv_CameraParamAreaScanTiltDivision[5] = "sx";
|
hv_CameraParamAreaScanTiltDivision[6] = "sy";
|
hv_CameraParamAreaScanTiltDivision[7] = "cx";
|
hv_CameraParamAreaScanTiltDivision[8] = "cy";
|
hv_CameraParamAreaScanTiltDivision[9] = "image_width";
|
hv_CameraParamAreaScanTiltDivision[10] = "image_height";
|
hv_CameraParamAreaScanTiltPolynomial.Dispose();
|
hv_CameraParamAreaScanTiltPolynomial = new HTuple();
|
hv_CameraParamAreaScanTiltPolynomial[0] = "focus";
|
hv_CameraParamAreaScanTiltPolynomial[1] = "k1";
|
hv_CameraParamAreaScanTiltPolynomial[2] = "k2";
|
hv_CameraParamAreaScanTiltPolynomial[3] = "k3";
|
hv_CameraParamAreaScanTiltPolynomial[4] = "p1";
|
hv_CameraParamAreaScanTiltPolynomial[5] = "p2";
|
hv_CameraParamAreaScanTiltPolynomial[6] = "image_plane_dist";
|
hv_CameraParamAreaScanTiltPolynomial[7] = "tilt";
|
hv_CameraParamAreaScanTiltPolynomial[8] = "rot";
|
hv_CameraParamAreaScanTiltPolynomial[9] = "sx";
|
hv_CameraParamAreaScanTiltPolynomial[10] = "sy";
|
hv_CameraParamAreaScanTiltPolynomial[11] = "cx";
|
hv_CameraParamAreaScanTiltPolynomial[12] = "cy";
|
hv_CameraParamAreaScanTiltPolynomial[13] = "image_width";
|
hv_CameraParamAreaScanTiltPolynomial[14] = "image_height";
|
hv_CameraParamAreaScanImageSideTelecentricTiltDivision.Dispose();
|
hv_CameraParamAreaScanImageSideTelecentricTiltDivision = new HTuple();
|
hv_CameraParamAreaScanImageSideTelecentricTiltDivision[0] = "focus";
|
hv_CameraParamAreaScanImageSideTelecentricTiltDivision[1] = "kappa";
|
hv_CameraParamAreaScanImageSideTelecentricTiltDivision[2] = "tilt";
|
hv_CameraParamAreaScanImageSideTelecentricTiltDivision[3] = "rot";
|
hv_CameraParamAreaScanImageSideTelecentricTiltDivision[4] = "sx";
|
hv_CameraParamAreaScanImageSideTelecentricTiltDivision[5] = "sy";
|
hv_CameraParamAreaScanImageSideTelecentricTiltDivision[6] = "cx";
|
hv_CameraParamAreaScanImageSideTelecentricTiltDivision[7] = "cy";
|
hv_CameraParamAreaScanImageSideTelecentricTiltDivision[8] = "image_width";
|
hv_CameraParamAreaScanImageSideTelecentricTiltDivision[9] = "image_height";
|
hv_CameraParamAreaScanImageSideTelecentricTiltPolynomial.Dispose();
|
hv_CameraParamAreaScanImageSideTelecentricTiltPolynomial = new HTuple();
|
hv_CameraParamAreaScanImageSideTelecentricTiltPolynomial[0] = "focus";
|
hv_CameraParamAreaScanImageSideTelecentricTiltPolynomial[1] = "k1";
|
hv_CameraParamAreaScanImageSideTelecentricTiltPolynomial[2] = "k2";
|
hv_CameraParamAreaScanImageSideTelecentricTiltPolynomial[3] = "k3";
|
hv_CameraParamAreaScanImageSideTelecentricTiltPolynomial[4] = "p1";
|
hv_CameraParamAreaScanImageSideTelecentricTiltPolynomial[5] = "p2";
|
hv_CameraParamAreaScanImageSideTelecentricTiltPolynomial[6] = "tilt";
|
hv_CameraParamAreaScanImageSideTelecentricTiltPolynomial[7] = "rot";
|
hv_CameraParamAreaScanImageSideTelecentricTiltPolynomial[8] = "sx";
|
hv_CameraParamAreaScanImageSideTelecentricTiltPolynomial[9] = "sy";
|
hv_CameraParamAreaScanImageSideTelecentricTiltPolynomial[10] = "cx";
|
hv_CameraParamAreaScanImageSideTelecentricTiltPolynomial[11] = "cy";
|
hv_CameraParamAreaScanImageSideTelecentricTiltPolynomial[12] = "image_width";
|
hv_CameraParamAreaScanImageSideTelecentricTiltPolynomial[13] = "image_height";
|
hv_CameraParamAreaScanBilateralTelecentricTiltDivision.Dispose();
|
hv_CameraParamAreaScanBilateralTelecentricTiltDivision = new HTuple();
|
hv_CameraParamAreaScanBilateralTelecentricTiltDivision[0] = "magnification";
|
hv_CameraParamAreaScanBilateralTelecentricTiltDivision[1] = "kappa";
|
hv_CameraParamAreaScanBilateralTelecentricTiltDivision[2] = "tilt";
|
hv_CameraParamAreaScanBilateralTelecentricTiltDivision[3] = "rot";
|
hv_CameraParamAreaScanBilateralTelecentricTiltDivision[4] = "sx";
|
hv_CameraParamAreaScanBilateralTelecentricTiltDivision[5] = "sy";
|
hv_CameraParamAreaScanBilateralTelecentricTiltDivision[6] = "cx";
|
hv_CameraParamAreaScanBilateralTelecentricTiltDivision[7] = "cy";
|
hv_CameraParamAreaScanBilateralTelecentricTiltDivision[8] = "image_width";
|
hv_CameraParamAreaScanBilateralTelecentricTiltDivision[9] = "image_height";
|
hv_CameraParamAreaScanBilateralTelecentricTiltPolynomial.Dispose();
|
hv_CameraParamAreaScanBilateralTelecentricTiltPolynomial = new HTuple();
|
hv_CameraParamAreaScanBilateralTelecentricTiltPolynomial[0] = "magnification";
|
hv_CameraParamAreaScanBilateralTelecentricTiltPolynomial[1] = "k1";
|
hv_CameraParamAreaScanBilateralTelecentricTiltPolynomial[2] = "k2";
|
hv_CameraParamAreaScanBilateralTelecentricTiltPolynomial[3] = "k3";
|
hv_CameraParamAreaScanBilateralTelecentricTiltPolynomial[4] = "p1";
|
hv_CameraParamAreaScanBilateralTelecentricTiltPolynomial[5] = "p2";
|
hv_CameraParamAreaScanBilateralTelecentricTiltPolynomial[6] = "tilt";
|
hv_CameraParamAreaScanBilateralTelecentricTiltPolynomial[7] = "rot";
|
hv_CameraParamAreaScanBilateralTelecentricTiltPolynomial[8] = "sx";
|
hv_CameraParamAreaScanBilateralTelecentricTiltPolynomial[9] = "sy";
|
hv_CameraParamAreaScanBilateralTelecentricTiltPolynomial[10] = "cx";
|
hv_CameraParamAreaScanBilateralTelecentricTiltPolynomial[11] = "cy";
|
hv_CameraParamAreaScanBilateralTelecentricTiltPolynomial[12] = "image_width";
|
hv_CameraParamAreaScanBilateralTelecentricTiltPolynomial[13] = "image_height";
|
hv_CameraParamAreaScanObjectSideTelecentricTiltDivision.Dispose();
|
hv_CameraParamAreaScanObjectSideTelecentricTiltDivision = new HTuple();
|
hv_CameraParamAreaScanObjectSideTelecentricTiltDivision[0] = "magnification";
|
hv_CameraParamAreaScanObjectSideTelecentricTiltDivision[1] = "kappa";
|
hv_CameraParamAreaScanObjectSideTelecentricTiltDivision[2] = "image_plane_dist";
|
hv_CameraParamAreaScanObjectSideTelecentricTiltDivision[3] = "tilt";
|
hv_CameraParamAreaScanObjectSideTelecentricTiltDivision[4] = "rot";
|
hv_CameraParamAreaScanObjectSideTelecentricTiltDivision[5] = "sx";
|
hv_CameraParamAreaScanObjectSideTelecentricTiltDivision[6] = "sy";
|
hv_CameraParamAreaScanObjectSideTelecentricTiltDivision[7] = "cx";
|
hv_CameraParamAreaScanObjectSideTelecentricTiltDivision[8] = "cy";
|
hv_CameraParamAreaScanObjectSideTelecentricTiltDivision[9] = "image_width";
|
hv_CameraParamAreaScanObjectSideTelecentricTiltDivision[10] = "image_height";
|
hv_CameraParamAreaScanObjectSideTelecentricTiltPolynomial.Dispose();
|
hv_CameraParamAreaScanObjectSideTelecentricTiltPolynomial = new HTuple();
|
hv_CameraParamAreaScanObjectSideTelecentricTiltPolynomial[0] = "magnification";
|
hv_CameraParamAreaScanObjectSideTelecentricTiltPolynomial[1] = "k1";
|
hv_CameraParamAreaScanObjectSideTelecentricTiltPolynomial[2] = "k2";
|
hv_CameraParamAreaScanObjectSideTelecentricTiltPolynomial[3] = "k3";
|
hv_CameraParamAreaScanObjectSideTelecentricTiltPolynomial[4] = "p1";
|
hv_CameraParamAreaScanObjectSideTelecentricTiltPolynomial[5] = "p2";
|
hv_CameraParamAreaScanObjectSideTelecentricTiltPolynomial[6] = "image_plane_dist";
|
hv_CameraParamAreaScanObjectSideTelecentricTiltPolynomial[7] = "tilt";
|
hv_CameraParamAreaScanObjectSideTelecentricTiltPolynomial[8] = "rot";
|
hv_CameraParamAreaScanObjectSideTelecentricTiltPolynomial[9] = "sx";
|
hv_CameraParamAreaScanObjectSideTelecentricTiltPolynomial[10] = "sy";
|
hv_CameraParamAreaScanObjectSideTelecentricTiltPolynomial[11] = "cx";
|
hv_CameraParamAreaScanObjectSideTelecentricTiltPolynomial[12] = "cy";
|
hv_CameraParamAreaScanObjectSideTelecentricTiltPolynomial[13] = "image_width";
|
hv_CameraParamAreaScanObjectSideTelecentricTiltPolynomial[14] = "image_height";
|
hv_CameraParamAreaScanHypercentricDivision.Dispose();
|
hv_CameraParamAreaScanHypercentricDivision = new HTuple();
|
hv_CameraParamAreaScanHypercentricDivision[0] = "focus";
|
hv_CameraParamAreaScanHypercentricDivision[1] = "kappa";
|
hv_CameraParamAreaScanHypercentricDivision[2] = "sx";
|
hv_CameraParamAreaScanHypercentricDivision[3] = "sy";
|
hv_CameraParamAreaScanHypercentricDivision[4] = "cx";
|
hv_CameraParamAreaScanHypercentricDivision[5] = "cy";
|
hv_CameraParamAreaScanHypercentricDivision[6] = "image_width";
|
hv_CameraParamAreaScanHypercentricDivision[7] = "image_height";
|
hv_CameraParamAreaScanHypercentricPolynomial.Dispose();
|
hv_CameraParamAreaScanHypercentricPolynomial = new HTuple();
|
hv_CameraParamAreaScanHypercentricPolynomial[0] = "focus";
|
hv_CameraParamAreaScanHypercentricPolynomial[1] = "k1";
|
hv_CameraParamAreaScanHypercentricPolynomial[2] = "k2";
|
hv_CameraParamAreaScanHypercentricPolynomial[3] = "k3";
|
hv_CameraParamAreaScanHypercentricPolynomial[4] = "p1";
|
hv_CameraParamAreaScanHypercentricPolynomial[5] = "p2";
|
hv_CameraParamAreaScanHypercentricPolynomial[6] = "sx";
|
hv_CameraParamAreaScanHypercentricPolynomial[7] = "sy";
|
hv_CameraParamAreaScanHypercentricPolynomial[8] = "cx";
|
hv_CameraParamAreaScanHypercentricPolynomial[9] = "cy";
|
hv_CameraParamAreaScanHypercentricPolynomial[10] = "image_width";
|
hv_CameraParamAreaScanHypercentricPolynomial[11] = "image_height";
|
hv_CameraParamLinesScanDivision.Dispose();
|
hv_CameraParamLinesScanDivision = new HTuple();
|
hv_CameraParamLinesScanDivision[0] = "focus";
|
hv_CameraParamLinesScanDivision[1] = "kappa";
|
hv_CameraParamLinesScanDivision[2] = "sx";
|
hv_CameraParamLinesScanDivision[3] = "sy";
|
hv_CameraParamLinesScanDivision[4] = "cx";
|
hv_CameraParamLinesScanDivision[5] = "cy";
|
hv_CameraParamLinesScanDivision[6] = "image_width";
|
hv_CameraParamLinesScanDivision[7] = "image_height";
|
hv_CameraParamLinesScanDivision[8] = "vx";
|
hv_CameraParamLinesScanDivision[9] = "vy";
|
hv_CameraParamLinesScanDivision[10] = "vz";
|
hv_CameraParamLinesScanPolynomial.Dispose();
|
hv_CameraParamLinesScanPolynomial = new HTuple();
|
hv_CameraParamLinesScanPolynomial[0] = "focus";
|
hv_CameraParamLinesScanPolynomial[1] = "k1";
|
hv_CameraParamLinesScanPolynomial[2] = "k2";
|
hv_CameraParamLinesScanPolynomial[3] = "k3";
|
hv_CameraParamLinesScanPolynomial[4] = "p1";
|
hv_CameraParamLinesScanPolynomial[5] = "p2";
|
hv_CameraParamLinesScanPolynomial[6] = "sx";
|
hv_CameraParamLinesScanPolynomial[7] = "sy";
|
hv_CameraParamLinesScanPolynomial[8] = "cx";
|
hv_CameraParamLinesScanPolynomial[9] = "cy";
|
hv_CameraParamLinesScanPolynomial[10] = "image_width";
|
hv_CameraParamLinesScanPolynomial[11] = "image_height";
|
hv_CameraParamLinesScanPolynomial[12] = "vx";
|
hv_CameraParamLinesScanPolynomial[13] = "vy";
|
hv_CameraParamLinesScanPolynomial[14] = "vz";
|
hv_CameraParamLinesScanTelecentricDivision.Dispose();
|
hv_CameraParamLinesScanTelecentricDivision = new HTuple();
|
hv_CameraParamLinesScanTelecentricDivision[0] = "magnification";
|
hv_CameraParamLinesScanTelecentricDivision[1] = "kappa";
|
hv_CameraParamLinesScanTelecentricDivision[2] = "sx";
|
hv_CameraParamLinesScanTelecentricDivision[3] = "sy";
|
hv_CameraParamLinesScanTelecentricDivision[4] = "cx";
|
hv_CameraParamLinesScanTelecentricDivision[5] = "cy";
|
hv_CameraParamLinesScanTelecentricDivision[6] = "image_width";
|
hv_CameraParamLinesScanTelecentricDivision[7] = "image_height";
|
hv_CameraParamLinesScanTelecentricDivision[8] = "vx";
|
hv_CameraParamLinesScanTelecentricDivision[9] = "vy";
|
hv_CameraParamLinesScanTelecentricDivision[10] = "vz";
|
hv_CameraParamLinesScanTelecentricPolynomial.Dispose();
|
hv_CameraParamLinesScanTelecentricPolynomial = new HTuple();
|
hv_CameraParamLinesScanTelecentricPolynomial[0] = "magnification";
|
hv_CameraParamLinesScanTelecentricPolynomial[1] = "k1";
|
hv_CameraParamLinesScanTelecentricPolynomial[2] = "k2";
|
hv_CameraParamLinesScanTelecentricPolynomial[3] = "k3";
|
hv_CameraParamLinesScanTelecentricPolynomial[4] = "p1";
|
hv_CameraParamLinesScanTelecentricPolynomial[5] = "p2";
|
hv_CameraParamLinesScanTelecentricPolynomial[6] = "sx";
|
hv_CameraParamLinesScanTelecentricPolynomial[7] = "sy";
|
hv_CameraParamLinesScanTelecentricPolynomial[8] = "cx";
|
hv_CameraParamLinesScanTelecentricPolynomial[9] = "cy";
|
hv_CameraParamLinesScanTelecentricPolynomial[10] = "image_width";
|
hv_CameraParamLinesScanTelecentricPolynomial[11] = "image_height";
|
hv_CameraParamLinesScanTelecentricPolynomial[12] = "vx";
|
hv_CameraParamLinesScanTelecentricPolynomial[13] = "vy";
|
hv_CameraParamLinesScanTelecentricPolynomial[14] = "vz";
|
//Legacy parameter names
|
hv_CameraParamAreaScanTiltDivisionLegacy.Dispose();
|
hv_CameraParamAreaScanTiltDivisionLegacy = new HTuple();
|
hv_CameraParamAreaScanTiltDivisionLegacy[0] = "focus";
|
hv_CameraParamAreaScanTiltDivisionLegacy[1] = "kappa";
|
hv_CameraParamAreaScanTiltDivisionLegacy[2] = "tilt";
|
hv_CameraParamAreaScanTiltDivisionLegacy[3] = "rot";
|
hv_CameraParamAreaScanTiltDivisionLegacy[4] = "sx";
|
hv_CameraParamAreaScanTiltDivisionLegacy[5] = "sy";
|
hv_CameraParamAreaScanTiltDivisionLegacy[6] = "cx";
|
hv_CameraParamAreaScanTiltDivisionLegacy[7] = "cy";
|
hv_CameraParamAreaScanTiltDivisionLegacy[8] = "image_width";
|
hv_CameraParamAreaScanTiltDivisionLegacy[9] = "image_height";
|
hv_CameraParamAreaScanTiltPolynomialLegacy.Dispose();
|
hv_CameraParamAreaScanTiltPolynomialLegacy = new HTuple();
|
hv_CameraParamAreaScanTiltPolynomialLegacy[0] = "focus";
|
hv_CameraParamAreaScanTiltPolynomialLegacy[1] = "k1";
|
hv_CameraParamAreaScanTiltPolynomialLegacy[2] = "k2";
|
hv_CameraParamAreaScanTiltPolynomialLegacy[3] = "k3";
|
hv_CameraParamAreaScanTiltPolynomialLegacy[4] = "p1";
|
hv_CameraParamAreaScanTiltPolynomialLegacy[5] = "p2";
|
hv_CameraParamAreaScanTiltPolynomialLegacy[6] = "tilt";
|
hv_CameraParamAreaScanTiltPolynomialLegacy[7] = "rot";
|
hv_CameraParamAreaScanTiltPolynomialLegacy[8] = "sx";
|
hv_CameraParamAreaScanTiltPolynomialLegacy[9] = "sy";
|
hv_CameraParamAreaScanTiltPolynomialLegacy[10] = "cx";
|
hv_CameraParamAreaScanTiltPolynomialLegacy[11] = "cy";
|
hv_CameraParamAreaScanTiltPolynomialLegacy[12] = "image_width";
|
hv_CameraParamAreaScanTiltPolynomialLegacy[13] = "image_height";
|
hv_CameraParamAreaScanTelecentricDivisionLegacy.Dispose();
|
hv_CameraParamAreaScanTelecentricDivisionLegacy = new HTuple();
|
hv_CameraParamAreaScanTelecentricDivisionLegacy[0] = "focus";
|
hv_CameraParamAreaScanTelecentricDivisionLegacy[1] = "kappa";
|
hv_CameraParamAreaScanTelecentricDivisionLegacy[2] = "sx";
|
hv_CameraParamAreaScanTelecentricDivisionLegacy[3] = "sy";
|
hv_CameraParamAreaScanTelecentricDivisionLegacy[4] = "cx";
|
hv_CameraParamAreaScanTelecentricDivisionLegacy[5] = "cy";
|
hv_CameraParamAreaScanTelecentricDivisionLegacy[6] = "image_width";
|
hv_CameraParamAreaScanTelecentricDivisionLegacy[7] = "image_height";
|
hv_CameraParamAreaScanTelecentricPolynomialLegacy.Dispose();
|
hv_CameraParamAreaScanTelecentricPolynomialLegacy = new HTuple();
|
hv_CameraParamAreaScanTelecentricPolynomialLegacy[0] = "focus";
|
hv_CameraParamAreaScanTelecentricPolynomialLegacy[1] = "k1";
|
hv_CameraParamAreaScanTelecentricPolynomialLegacy[2] = "k2";
|
hv_CameraParamAreaScanTelecentricPolynomialLegacy[3] = "k3";
|
hv_CameraParamAreaScanTelecentricPolynomialLegacy[4] = "p1";
|
hv_CameraParamAreaScanTelecentricPolynomialLegacy[5] = "p2";
|
hv_CameraParamAreaScanTelecentricPolynomialLegacy[6] = "sx";
|
hv_CameraParamAreaScanTelecentricPolynomialLegacy[7] = "sy";
|
hv_CameraParamAreaScanTelecentricPolynomialLegacy[8] = "cx";
|
hv_CameraParamAreaScanTelecentricPolynomialLegacy[9] = "cy";
|
hv_CameraParamAreaScanTelecentricPolynomialLegacy[10] = "image_width";
|
hv_CameraParamAreaScanTelecentricPolynomialLegacy[11] = "image_height";
|
hv_CameraParamAreaScanBilateralTelecentricTiltDivisionLegacy.Dispose();
|
hv_CameraParamAreaScanBilateralTelecentricTiltDivisionLegacy = new HTuple();
|
hv_CameraParamAreaScanBilateralTelecentricTiltDivisionLegacy[0] = "focus";
|
hv_CameraParamAreaScanBilateralTelecentricTiltDivisionLegacy[1] = "kappa";
|
hv_CameraParamAreaScanBilateralTelecentricTiltDivisionLegacy[2] = "tilt";
|
hv_CameraParamAreaScanBilateralTelecentricTiltDivisionLegacy[3] = "rot";
|
hv_CameraParamAreaScanBilateralTelecentricTiltDivisionLegacy[4] = "sx";
|
hv_CameraParamAreaScanBilateralTelecentricTiltDivisionLegacy[5] = "sy";
|
hv_CameraParamAreaScanBilateralTelecentricTiltDivisionLegacy[6] = "cx";
|
hv_CameraParamAreaScanBilateralTelecentricTiltDivisionLegacy[7] = "cy";
|
hv_CameraParamAreaScanBilateralTelecentricTiltDivisionLegacy[8] = "image_width";
|
hv_CameraParamAreaScanBilateralTelecentricTiltDivisionLegacy[9] = "image_height";
|
hv_CameraParamAreaScanBilateralTelecentricTiltPolynomialLegacy.Dispose();
|
hv_CameraParamAreaScanBilateralTelecentricTiltPolynomialLegacy = new HTuple();
|
hv_CameraParamAreaScanBilateralTelecentricTiltPolynomialLegacy[0] = "focus";
|
hv_CameraParamAreaScanBilateralTelecentricTiltPolynomialLegacy[1] = "k1";
|
hv_CameraParamAreaScanBilateralTelecentricTiltPolynomialLegacy[2] = "k2";
|
hv_CameraParamAreaScanBilateralTelecentricTiltPolynomialLegacy[3] = "k3";
|
hv_CameraParamAreaScanBilateralTelecentricTiltPolynomialLegacy[4] = "p1";
|
hv_CameraParamAreaScanBilateralTelecentricTiltPolynomialLegacy[5] = "p2";
|
hv_CameraParamAreaScanBilateralTelecentricTiltPolynomialLegacy[6] = "tilt";
|
hv_CameraParamAreaScanBilateralTelecentricTiltPolynomialLegacy[7] = "rot";
|
hv_CameraParamAreaScanBilateralTelecentricTiltPolynomialLegacy[8] = "sx";
|
hv_CameraParamAreaScanBilateralTelecentricTiltPolynomialLegacy[9] = "sy";
|
hv_CameraParamAreaScanBilateralTelecentricTiltPolynomialLegacy[10] = "cx";
|
hv_CameraParamAreaScanBilateralTelecentricTiltPolynomialLegacy[11] = "cy";
|
hv_CameraParamAreaScanBilateralTelecentricTiltPolynomialLegacy[12] = "image_width";
|
hv_CameraParamAreaScanBilateralTelecentricTiltPolynomialLegacy[13] = "image_height";
|
//
|
//If the camera type is passed in CameraParam
|
if ((int)new HTuple(new HTuple(hv_CameraParam.TupleLength()).TupleEqual(
|
1)) != 0)
|
{
|
if ((int)hv_CameraParam.TupleSelect(0).TupleIsString() != 0)
|
{
|
hv_CameraType.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_CameraType = hv_CameraParam.TupleSelect(
|
0);
|
}
|
if ((int)new HTuple(hv_CameraType.TupleEqual("area_scan_division")) != 0)
|
{
|
hv_ParamNames.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_ParamNames = new HTuple();
|
hv_ParamNames[0] = "camera_type";
|
hv_ParamNames = hv_ParamNames.TupleConcat(hv_CameraParamAreaScanDivision);
|
}
|
}
|
else if ((int)new HTuple(hv_CameraType.TupleEqual("area_scan_polynomial")) != 0)
|
{
|
hv_ParamNames.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_ParamNames = new HTuple();
|
hv_ParamNames[0] = "camera_type";
|
hv_ParamNames = hv_ParamNames.TupleConcat(hv_CameraParamAreaScanPolynomial);
|
}
|
}
|
else if ((int)new HTuple(hv_CameraType.TupleEqual("area_scan_telecentric_division")) != 0)
|
{
|
hv_ParamNames.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_ParamNames = new HTuple();
|
hv_ParamNames[0] = "camera_type";
|
hv_ParamNames = hv_ParamNames.TupleConcat(hv_CameraParamAreaScanTelecentricDivision);
|
}
|
}
|
else if ((int)new HTuple(hv_CameraType.TupleEqual("area_scan_telecentric_polynomial")) != 0)
|
{
|
hv_ParamNames.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_ParamNames = new HTuple();
|
hv_ParamNames[0] = "camera_type";
|
hv_ParamNames = hv_ParamNames.TupleConcat(hv_CameraParamAreaScanTelecentricPolynomial);
|
}
|
}
|
else if ((int)new HTuple(hv_CameraType.TupleEqual("area_scan_tilt_division")) != 0)
|
{
|
hv_ParamNames.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_ParamNames = new HTuple();
|
hv_ParamNames[0] = "camera_type";
|
hv_ParamNames = hv_ParamNames.TupleConcat(hv_CameraParamAreaScanTiltDivision);
|
}
|
}
|
else if ((int)new HTuple(hv_CameraType.TupleEqual("area_scan_tilt_polynomial")) != 0)
|
{
|
hv_ParamNames.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_ParamNames = new HTuple();
|
hv_ParamNames[0] = "camera_type";
|
hv_ParamNames = hv_ParamNames.TupleConcat(hv_CameraParamAreaScanTiltPolynomial);
|
}
|
}
|
else if ((int)new HTuple(hv_CameraType.TupleEqual("area_scan_tilt_image_side_telecentric_division")) != 0)
|
{
|
hv_ParamNames.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_ParamNames = new HTuple();
|
hv_ParamNames[0] = "camera_type";
|
hv_ParamNames = hv_ParamNames.TupleConcat(hv_CameraParamAreaScanImageSideTelecentricTiltDivision);
|
}
|
}
|
else if ((int)new HTuple(hv_CameraType.TupleEqual("area_scan_tilt_image_side_telecentric_polynomial")) != 0)
|
{
|
hv_ParamNames.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_ParamNames = new HTuple();
|
hv_ParamNames[0] = "camera_type";
|
hv_ParamNames = hv_ParamNames.TupleConcat(hv_CameraParamAreaScanImageSideTelecentricTiltPolynomial);
|
}
|
}
|
else if ((int)new HTuple(hv_CameraType.TupleEqual("area_scan_tilt_bilateral_telecentric_division")) != 0)
|
{
|
hv_ParamNames.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_ParamNames = new HTuple();
|
hv_ParamNames[0] = "camera_type";
|
hv_ParamNames = hv_ParamNames.TupleConcat(hv_CameraParamAreaScanBilateralTelecentricTiltDivision);
|
}
|
}
|
else if ((int)new HTuple(hv_CameraType.TupleEqual("area_scan_tilt_bilateral_telecentric_polynomial")) != 0)
|
{
|
hv_ParamNames.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_ParamNames = new HTuple();
|
hv_ParamNames[0] = "camera_type";
|
hv_ParamNames = hv_ParamNames.TupleConcat(hv_CameraParamAreaScanBilateralTelecentricTiltPolynomial);
|
}
|
}
|
else if ((int)new HTuple(hv_CameraType.TupleEqual("area_scan_tilt_object_side_telecentric_division")) != 0)
|
{
|
hv_ParamNames.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_ParamNames = new HTuple();
|
hv_ParamNames[0] = "camera_type";
|
hv_ParamNames = hv_ParamNames.TupleConcat(hv_CameraParamAreaScanObjectSideTelecentricTiltDivision);
|
}
|
}
|
else if ((int)new HTuple(hv_CameraType.TupleEqual("area_scan_tilt_object_side_telecentric_polynomial")) != 0)
|
{
|
hv_ParamNames.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_ParamNames = new HTuple();
|
hv_ParamNames[0] = "camera_type";
|
hv_ParamNames = hv_ParamNames.TupleConcat(hv_CameraParamAreaScanObjectSideTelecentricTiltPolynomial);
|
}
|
}
|
else if ((int)new HTuple(hv_CameraType.TupleEqual("area_scan_hypercentric_division")) != 0)
|
{
|
hv_ParamNames.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_ParamNames = new HTuple();
|
hv_ParamNames[0] = "camera_type";
|
hv_ParamNames = hv_ParamNames.TupleConcat(hv_CameraParamAreaScanHypercentricDivision);
|
}
|
}
|
else if ((int)new HTuple(hv_CameraType.TupleEqual("area_scan_hypercentric_polynomial")) != 0)
|
{
|
hv_ParamNames.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_ParamNames = new HTuple();
|
hv_ParamNames[0] = "camera_type";
|
hv_ParamNames = hv_ParamNames.TupleConcat(hv_CameraParamAreaScanHypercentricPolynomial);
|
}
|
}
|
else if ((int)new HTuple(hv_CameraType.TupleEqual("line_scan_division")).TupleOr(
|
new HTuple(hv_CameraType.TupleEqual("line_scan"))) != 0)
|
{
|
hv_ParamNames.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_ParamNames = new HTuple();
|
hv_ParamNames[0] = "camera_type";
|
hv_ParamNames = hv_ParamNames.TupleConcat(hv_CameraParamLinesScanDivision);
|
}
|
}
|
else if ((int)new HTuple(hv_CameraType.TupleEqual("line_scan_polynomial")) != 0)
|
{
|
hv_ParamNames.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_ParamNames = new HTuple();
|
hv_ParamNames[0] = "camera_type";
|
hv_ParamNames = hv_ParamNames.TupleConcat(hv_CameraParamLinesScanPolynomial);
|
}
|
}
|
else if ((int)new HTuple(hv_CameraType.TupleEqual("line_scan_telecentric_division")) != 0)
|
{
|
hv_ParamNames.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_ParamNames = new HTuple();
|
hv_ParamNames[0] = "camera_type";
|
hv_ParamNames = hv_ParamNames.TupleConcat(hv_CameraParamLinesScanTelecentricDivision);
|
}
|
}
|
else if ((int)new HTuple(hv_CameraType.TupleEqual("line_scan_telecentric_polynomial")) != 0)
|
{
|
hv_ParamNames.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_ParamNames = new HTuple();
|
hv_ParamNames[0] = "camera_type";
|
hv_ParamNames = hv_ParamNames.TupleConcat(hv_CameraParamLinesScanTelecentricPolynomial);
|
}
|
}
|
else
|
{
|
throw new HalconException("Unknown camera type '" + hv_CameraType + "' passed in CameraParam.");
|
}
|
|
hv_CameraParamAreaScanDivision.Dispose();
|
hv_CameraParamAreaScanPolynomial.Dispose();
|
hv_CameraParamAreaScanTelecentricDivision.Dispose();
|
hv_CameraParamAreaScanTelecentricPolynomial.Dispose();
|
hv_CameraParamAreaScanTiltDivision.Dispose();
|
hv_CameraParamAreaScanTiltPolynomial.Dispose();
|
hv_CameraParamAreaScanImageSideTelecentricTiltDivision.Dispose();
|
hv_CameraParamAreaScanImageSideTelecentricTiltPolynomial.Dispose();
|
hv_CameraParamAreaScanBilateralTelecentricTiltDivision.Dispose();
|
hv_CameraParamAreaScanBilateralTelecentricTiltPolynomial.Dispose();
|
hv_CameraParamAreaScanObjectSideTelecentricTiltDivision.Dispose();
|
hv_CameraParamAreaScanObjectSideTelecentricTiltPolynomial.Dispose();
|
hv_CameraParamAreaScanHypercentricDivision.Dispose();
|
hv_CameraParamAreaScanHypercentricPolynomial.Dispose();
|
hv_CameraParamLinesScanDivision.Dispose();
|
hv_CameraParamLinesScanPolynomial.Dispose();
|
hv_CameraParamLinesScanTelecentricDivision.Dispose();
|
hv_CameraParamLinesScanTelecentricPolynomial.Dispose();
|
hv_CameraParamAreaScanTiltDivisionLegacy.Dispose();
|
hv_CameraParamAreaScanTiltPolynomialLegacy.Dispose();
|
hv_CameraParamAreaScanTelecentricDivisionLegacy.Dispose();
|
hv_CameraParamAreaScanTelecentricPolynomialLegacy.Dispose();
|
hv_CameraParamAreaScanBilateralTelecentricTiltDivisionLegacy.Dispose();
|
hv_CameraParamAreaScanBilateralTelecentricTiltPolynomialLegacy.Dispose();
|
|
return;
|
}
|
}
|
//
|
//If the camera parameters are passed in CameraParam
|
if ((int)hv_CameraParam.TupleSelect(0).TupleIsString().TupleNot() != 0)
|
{
|
//Format of camera parameters for HALCON 12 and earlier
|
switch (new HTuple(hv_CameraParam.TupleLength()
|
).I)
|
{
|
//
|
//Area Scan
|
case 8:
|
//CameraType: 'area_scan_division' or 'area_scan_telecentric_division'
|
if ((int)new HTuple(hv_CameraParam.TupleSelect(0).TupleNotEqual(0.0)) != 0)
|
{
|
hv_ParamNames.Dispose();
|
hv_ParamNames = new HTuple(hv_CameraParamAreaScanDivision);
|
hv_CameraType.Dispose();
|
hv_CameraType = "area_scan_division";
|
}
|
else
|
{
|
hv_ParamNames.Dispose();
|
hv_ParamNames = new HTuple(hv_CameraParamAreaScanTelecentricDivisionLegacy);
|
hv_CameraType.Dispose();
|
hv_CameraType = "area_scan_telecentric_division";
|
}
|
break;
|
case 10:
|
//CameraType: 'area_scan_tilt_division' or 'area_scan_telecentric_tilt_division'
|
if ((int)new HTuple(hv_CameraParam.TupleSelect(0).TupleNotEqual(0.0)) != 0)
|
{
|
hv_ParamNames.Dispose();
|
hv_ParamNames = new HTuple(hv_CameraParamAreaScanTiltDivisionLegacy);
|
hv_CameraType.Dispose();
|
hv_CameraType = "area_scan_tilt_division";
|
}
|
else
|
{
|
hv_ParamNames.Dispose();
|
hv_ParamNames = new HTuple(hv_CameraParamAreaScanBilateralTelecentricTiltDivisionLegacy);
|
hv_CameraType.Dispose();
|
hv_CameraType = "area_scan_tilt_bilateral_telecentric_division";
|
}
|
break;
|
case 12:
|
//CameraType: 'area_scan_polynomial' or 'area_scan_telecentric_polynomial'
|
if ((int)new HTuple(hv_CameraParam.TupleSelect(0).TupleNotEqual(0.0)) != 0)
|
{
|
hv_ParamNames.Dispose();
|
hv_ParamNames = new HTuple(hv_CameraParamAreaScanPolynomial);
|
hv_CameraType.Dispose();
|
hv_CameraType = "area_scan_polynomial";
|
}
|
else
|
{
|
hv_ParamNames.Dispose();
|
hv_ParamNames = new HTuple(hv_CameraParamAreaScanTelecentricPolynomialLegacy);
|
hv_CameraType.Dispose();
|
hv_CameraType = "area_scan_telecentric_polynomial";
|
}
|
break;
|
case 14:
|
//CameraType: 'area_scan_tilt_polynomial' or 'area_scan_telecentric_tilt_polynomial'
|
if ((int)new HTuple(hv_CameraParam.TupleSelect(0).TupleNotEqual(0.0)) != 0)
|
{
|
hv_ParamNames.Dispose();
|
hv_ParamNames = new HTuple(hv_CameraParamAreaScanTiltPolynomialLegacy);
|
hv_CameraType.Dispose();
|
hv_CameraType = "area_scan_tilt_polynomial";
|
}
|
else
|
{
|
hv_ParamNames.Dispose();
|
hv_ParamNames = new HTuple(hv_CameraParamAreaScanBilateralTelecentricTiltPolynomialLegacy);
|
hv_CameraType.Dispose();
|
hv_CameraType = "area_scan_tilt_bilateral_telecentric_polynomial";
|
}
|
break;
|
//
|
//Line Scan
|
case 11:
|
//CameraType: 'line_scan' or 'line_scan_telecentric'
|
if ((int)new HTuple(hv_CameraParam.TupleSelect(0).TupleNotEqual(0.0)) != 0)
|
{
|
hv_ParamNames.Dispose();
|
hv_ParamNames = new HTuple(hv_CameraParamLinesScanDivision);
|
hv_CameraType.Dispose();
|
hv_CameraType = "line_scan_division";
|
}
|
else
|
{
|
hv_ParamNames.Dispose();
|
hv_ParamNames = new HTuple(hv_CameraParamLinesScanTelecentricDivision);
|
hv_CameraType.Dispose();
|
hv_CameraType = "line_scan_telecentric_division";
|
}
|
break;
|
default:
|
throw new HalconException("Wrong number of values in CameraParam.");
|
}
|
}
|
else
|
{
|
//Format of camera parameters since HALCON 13
|
hv_CameraType.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_CameraType = hv_CameraParam.TupleSelect(
|
0);
|
}
|
if ((int)new HTuple(hv_CameraType.TupleEqual("area_scan_division")) != 0)
|
{
|
if ((int)new HTuple(new HTuple(hv_CameraParam.TupleLength()).TupleNotEqual(
|
9)) != 0)
|
{
|
throw new HalconException("Wrong number of values in CameraParam.");
|
}
|
hv_ParamNames.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_ParamNames = new HTuple();
|
hv_ParamNames[0] = "camera_type";
|
hv_ParamNames = hv_ParamNames.TupleConcat(hv_CameraParamAreaScanDivision);
|
}
|
}
|
else if ((int)new HTuple(hv_CameraType.TupleEqual("area_scan_polynomial")) != 0)
|
{
|
if ((int)new HTuple(new HTuple(hv_CameraParam.TupleLength()).TupleNotEqual(
|
13)) != 0)
|
{
|
throw new HalconException("Wrong number of values in CameraParam.");
|
}
|
hv_ParamNames.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_ParamNames = new HTuple();
|
hv_ParamNames[0] = "camera_type";
|
hv_ParamNames = hv_ParamNames.TupleConcat(hv_CameraParamAreaScanPolynomial);
|
}
|
}
|
else if ((int)new HTuple(hv_CameraType.TupleEqual("area_scan_telecentric_division")) != 0)
|
{
|
if ((int)new HTuple(new HTuple(hv_CameraParam.TupleLength()).TupleNotEqual(
|
9)) != 0)
|
{
|
throw new HalconException("Wrong number of values in CameraParam.");
|
}
|
hv_ParamNames.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_ParamNames = new HTuple();
|
hv_ParamNames[0] = "camera_type";
|
hv_ParamNames = hv_ParamNames.TupleConcat(hv_CameraParamAreaScanTelecentricDivision);
|
}
|
}
|
else if ((int)new HTuple(hv_CameraType.TupleEqual("area_scan_telecentric_polynomial")) != 0)
|
{
|
if ((int)new HTuple(new HTuple(hv_CameraParam.TupleLength()).TupleNotEqual(
|
13)) != 0)
|
{
|
throw new HalconException("Wrong number of values in CameraParam.");
|
}
|
hv_ParamNames.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_ParamNames = new HTuple();
|
hv_ParamNames[0] = "camera_type";
|
hv_ParamNames = hv_ParamNames.TupleConcat(hv_CameraParamAreaScanTelecentricPolynomial);
|
}
|
}
|
else if ((int)new HTuple(hv_CameraType.TupleEqual("area_scan_tilt_division")) != 0)
|
{
|
if ((int)new HTuple(new HTuple(hv_CameraParam.TupleLength()).TupleNotEqual(
|
12)) != 0)
|
{
|
throw new HalconException("Wrong number of values in CameraParam.");
|
}
|
hv_ParamNames.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_ParamNames = new HTuple();
|
hv_ParamNames[0] = "camera_type";
|
hv_ParamNames = hv_ParamNames.TupleConcat(hv_CameraParamAreaScanTiltDivision);
|
}
|
}
|
else if ((int)new HTuple(hv_CameraType.TupleEqual("area_scan_tilt_polynomial")) != 0)
|
{
|
if ((int)new HTuple(new HTuple(hv_CameraParam.TupleLength()).TupleNotEqual(
|
16)) != 0)
|
{
|
throw new HalconException("Wrong number of values in CameraParam.");
|
}
|
hv_ParamNames.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_ParamNames = new HTuple();
|
hv_ParamNames[0] = "camera_type";
|
hv_ParamNames = hv_ParamNames.TupleConcat(hv_CameraParamAreaScanTiltPolynomial);
|
}
|
}
|
else if ((int)new HTuple(hv_CameraType.TupleEqual("area_scan_tilt_image_side_telecentric_division")) != 0)
|
{
|
if ((int)new HTuple(new HTuple(hv_CameraParam.TupleLength()).TupleNotEqual(
|
11)) != 0)
|
{
|
throw new HalconException("Wrong number of values in CameraParam.");
|
}
|
hv_ParamNames.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_ParamNames = new HTuple();
|
hv_ParamNames[0] = "camera_type";
|
hv_ParamNames = hv_ParamNames.TupleConcat(hv_CameraParamAreaScanImageSideTelecentricTiltDivision);
|
}
|
}
|
else if ((int)new HTuple(hv_CameraType.TupleEqual("area_scan_tilt_image_side_telecentric_polynomial")) != 0)
|
{
|
if ((int)new HTuple(new HTuple(hv_CameraParam.TupleLength()).TupleNotEqual(
|
15)) != 0)
|
{
|
throw new HalconException("Wrong number of values in CameraParam.");
|
}
|
hv_ParamNames.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_ParamNames = new HTuple();
|
hv_ParamNames[0] = "camera_type";
|
hv_ParamNames = hv_ParamNames.TupleConcat(hv_CameraParamAreaScanImageSideTelecentricTiltPolynomial);
|
}
|
}
|
else if ((int)new HTuple(hv_CameraType.TupleEqual("area_scan_tilt_bilateral_telecentric_division")) != 0)
|
{
|
if ((int)new HTuple(new HTuple(hv_CameraParam.TupleLength()).TupleNotEqual(
|
11)) != 0)
|
{
|
throw new HalconException("Wrong number of values in CameraParam.");
|
}
|
hv_ParamNames.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_ParamNames = new HTuple();
|
hv_ParamNames[0] = "camera_type";
|
hv_ParamNames = hv_ParamNames.TupleConcat(hv_CameraParamAreaScanBilateralTelecentricTiltDivision);
|
}
|
}
|
else if ((int)new HTuple(hv_CameraType.TupleEqual("area_scan_tilt_bilateral_telecentric_polynomial")) != 0)
|
{
|
if ((int)new HTuple(new HTuple(hv_CameraParam.TupleLength()).TupleNotEqual(
|
15)) != 0)
|
{
|
throw new HalconException("Wrong number of values in CameraParam.");
|
}
|
hv_ParamNames.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_ParamNames = new HTuple();
|
hv_ParamNames[0] = "camera_type";
|
hv_ParamNames = hv_ParamNames.TupleConcat(hv_CameraParamAreaScanBilateralTelecentricTiltPolynomial);
|
}
|
}
|
else if ((int)new HTuple(hv_CameraType.TupleEqual("area_scan_tilt_object_side_telecentric_division")) != 0)
|
{
|
if ((int)new HTuple(new HTuple(hv_CameraParam.TupleLength()).TupleNotEqual(
|
12)) != 0)
|
{
|
throw new HalconException("Wrong number of values in CameraParam.");
|
}
|
hv_ParamNames.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_ParamNames = new HTuple();
|
hv_ParamNames[0] = "camera_type";
|
hv_ParamNames = hv_ParamNames.TupleConcat(hv_CameraParamAreaScanObjectSideTelecentricTiltDivision);
|
}
|
}
|
else if ((int)new HTuple(hv_CameraType.TupleEqual("area_scan_tilt_object_side_telecentric_polynomial")) != 0)
|
{
|
if ((int)new HTuple(new HTuple(hv_CameraParam.TupleLength()).TupleNotEqual(
|
16)) != 0)
|
{
|
throw new HalconException("Wrong number of values in CameraParam.");
|
}
|
hv_ParamNames.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_ParamNames = new HTuple();
|
hv_ParamNames[0] = "camera_type";
|
hv_ParamNames = hv_ParamNames.TupleConcat(hv_CameraParamAreaScanObjectSideTelecentricTiltPolynomial);
|
}
|
}
|
else if ((int)new HTuple(hv_CameraType.TupleEqual("area_scan_hypercentric_division")) != 0)
|
{
|
if ((int)new HTuple(new HTuple(hv_CameraParam.TupleLength()).TupleNotEqual(
|
9)) != 0)
|
{
|
throw new HalconException("Wrong number of values in CameraParam.");
|
}
|
hv_ParamNames.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_ParamNames = new HTuple();
|
hv_ParamNames[0] = "camera_type";
|
hv_ParamNames = hv_ParamNames.TupleConcat(hv_CameraParamAreaScanHypercentricDivision);
|
}
|
}
|
else if ((int)new HTuple(hv_CameraType.TupleEqual("area_scan_hypercentric_polynomial")) != 0)
|
{
|
if ((int)new HTuple(new HTuple(hv_CameraParam.TupleLength()).TupleNotEqual(
|
13)) != 0)
|
{
|
throw new HalconException("Wrong number of values in CameraParam.");
|
}
|
hv_ParamNames.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_ParamNames = new HTuple();
|
hv_ParamNames[0] = "camera_type";
|
hv_ParamNames = hv_ParamNames.TupleConcat(hv_CameraParamAreaScanHypercentricPolynomial);
|
}
|
}
|
else if ((int)new HTuple(hv_CameraType.TupleEqual("line_scan_division")).TupleOr(
|
new HTuple(hv_CameraType.TupleEqual("line_scan"))) != 0)
|
{
|
if ((int)new HTuple(new HTuple(hv_CameraParam.TupleLength()).TupleNotEqual(
|
12)) != 0)
|
{
|
throw new HalconException("Wrong number of values in CameraParam.");
|
}
|
hv_ParamNames.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_ParamNames = new HTuple();
|
hv_ParamNames[0] = "camera_type";
|
hv_ParamNames = hv_ParamNames.TupleConcat(hv_CameraParamLinesScanDivision);
|
}
|
}
|
else if ((int)new HTuple(hv_CameraType.TupleEqual("line_scan_polynomial")) != 0)
|
{
|
if ((int)new HTuple(new HTuple(hv_CameraParam.TupleLength()).TupleNotEqual(
|
16)) != 0)
|
{
|
throw new HalconException("Wrong number of values in CameraParam.");
|
}
|
hv_ParamNames.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_ParamNames = new HTuple();
|
hv_ParamNames[0] = "camera_type";
|
hv_ParamNames = hv_ParamNames.TupleConcat(hv_CameraParamLinesScanPolynomial);
|
}
|
}
|
else if ((int)new HTuple(hv_CameraType.TupleEqual("line_scan_telecentric_division")) != 0)
|
{
|
if ((int)new HTuple(new HTuple(hv_CameraParam.TupleLength()).TupleNotEqual(
|
12)) != 0)
|
{
|
throw new HalconException("Wrong number of values in CameraParam.");
|
}
|
hv_ParamNames.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_ParamNames = new HTuple();
|
hv_ParamNames[0] = "camera_type";
|
hv_ParamNames = hv_ParamNames.TupleConcat(hv_CameraParamLinesScanTelecentricDivision);
|
}
|
}
|
else if ((int)new HTuple(hv_CameraType.TupleEqual("line_scan_telecentric_polynomial")) != 0)
|
{
|
if ((int)new HTuple(new HTuple(hv_CameraParam.TupleLength()).TupleNotEqual(
|
16)) != 0)
|
{
|
throw new HalconException("Wrong number of values in CameraParam.");
|
}
|
hv_ParamNames.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_ParamNames = new HTuple();
|
hv_ParamNames[0] = "camera_type";
|
hv_ParamNames = hv_ParamNames.TupleConcat(hv_CameraParamLinesScanTelecentricPolynomial);
|
}
|
}
|
else
|
{
|
throw new HalconException("Unknown camera type in CameraParam.");
|
}
|
}
|
|
hv_CameraParamAreaScanDivision.Dispose();
|
hv_CameraParamAreaScanPolynomial.Dispose();
|
hv_CameraParamAreaScanTelecentricDivision.Dispose();
|
hv_CameraParamAreaScanTelecentricPolynomial.Dispose();
|
hv_CameraParamAreaScanTiltDivision.Dispose();
|
hv_CameraParamAreaScanTiltPolynomial.Dispose();
|
hv_CameraParamAreaScanImageSideTelecentricTiltDivision.Dispose();
|
hv_CameraParamAreaScanImageSideTelecentricTiltPolynomial.Dispose();
|
hv_CameraParamAreaScanBilateralTelecentricTiltDivision.Dispose();
|
hv_CameraParamAreaScanBilateralTelecentricTiltPolynomial.Dispose();
|
hv_CameraParamAreaScanObjectSideTelecentricTiltDivision.Dispose();
|
hv_CameraParamAreaScanObjectSideTelecentricTiltPolynomial.Dispose();
|
hv_CameraParamAreaScanHypercentricDivision.Dispose();
|
hv_CameraParamAreaScanHypercentricPolynomial.Dispose();
|
hv_CameraParamLinesScanDivision.Dispose();
|
hv_CameraParamLinesScanPolynomial.Dispose();
|
hv_CameraParamLinesScanTelecentricDivision.Dispose();
|
hv_CameraParamLinesScanTelecentricPolynomial.Dispose();
|
hv_CameraParamAreaScanTiltDivisionLegacy.Dispose();
|
hv_CameraParamAreaScanTiltPolynomialLegacy.Dispose();
|
hv_CameraParamAreaScanTelecentricDivisionLegacy.Dispose();
|
hv_CameraParamAreaScanTelecentricPolynomialLegacy.Dispose();
|
hv_CameraParamAreaScanBilateralTelecentricTiltDivisionLegacy.Dispose();
|
hv_CameraParamAreaScanBilateralTelecentricTiltPolynomialLegacy.Dispose();
|
|
return;
|
}
|
catch (HalconException HDevExpDefaultException)
|
{
|
|
hv_CameraParamAreaScanDivision.Dispose();
|
hv_CameraParamAreaScanPolynomial.Dispose();
|
hv_CameraParamAreaScanTelecentricDivision.Dispose();
|
hv_CameraParamAreaScanTelecentricPolynomial.Dispose();
|
hv_CameraParamAreaScanTiltDivision.Dispose();
|
hv_CameraParamAreaScanTiltPolynomial.Dispose();
|
hv_CameraParamAreaScanImageSideTelecentricTiltDivision.Dispose();
|
hv_CameraParamAreaScanImageSideTelecentricTiltPolynomial.Dispose();
|
hv_CameraParamAreaScanBilateralTelecentricTiltDivision.Dispose();
|
hv_CameraParamAreaScanBilateralTelecentricTiltPolynomial.Dispose();
|
hv_CameraParamAreaScanObjectSideTelecentricTiltDivision.Dispose();
|
hv_CameraParamAreaScanObjectSideTelecentricTiltPolynomial.Dispose();
|
hv_CameraParamAreaScanHypercentricDivision.Dispose();
|
hv_CameraParamAreaScanHypercentricPolynomial.Dispose();
|
hv_CameraParamLinesScanDivision.Dispose();
|
hv_CameraParamLinesScanPolynomial.Dispose();
|
hv_CameraParamLinesScanTelecentricDivision.Dispose();
|
hv_CameraParamLinesScanTelecentricPolynomial.Dispose();
|
hv_CameraParamAreaScanTiltDivisionLegacy.Dispose();
|
hv_CameraParamAreaScanTiltPolynomialLegacy.Dispose();
|
hv_CameraParamAreaScanTelecentricDivisionLegacy.Dispose();
|
hv_CameraParamAreaScanTelecentricPolynomialLegacy.Dispose();
|
hv_CameraParamAreaScanBilateralTelecentricTiltDivisionLegacy.Dispose();
|
hv_CameraParamAreaScanBilateralTelecentricTiltPolynomialLegacy.Dispose();
|
|
throw HDevExpDefaultException;
|
}
|
}
|
|
// Chapter: Graphics / Output
|
// Short Description: Compute the center of all given 3D object models.
|
public static void get_object_models_center(HTuple hv_ObjectModel3DID, out HTuple hv_Center)
|
{
|
|
|
|
// Local iconic variables
|
|
// Local control variables
|
|
HTuple hv_Diameters = new HTuple(), hv_Index = new HTuple();
|
HTuple hv_Diameter = new HTuple(), hv_C = new HTuple();
|
HTuple hv_Exception = new HTuple(), hv_MD = new HTuple();
|
HTuple hv_Weight = new HTuple(), hv_SumW = new HTuple();
|
HTuple hv_ObjectModel3DIDSelected = new HTuple(), hv_InvSum = new HTuple();
|
// Initialize local and output iconic variables
|
hv_Center = new HTuple();
|
try
|
{
|
//Compute the mean of all model centers (weighted by the diameter of the object models)
|
hv_Diameters.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_Diameters = HTuple.TupleGenConst(
|
new HTuple(hv_ObjectModel3DID.TupleLength()), 0.0);
|
}
|
for (hv_Index = 0; (int)hv_Index <= (int)(new HTuple(hv_ObjectModel3DID.TupleLength()
|
) - 1); hv_Index = (int)hv_Index + 1)
|
{
|
try
|
{
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_Diameter.Dispose();
|
HOperatorSet.GetObjectModel3dParams(hv_ObjectModel3DID.TupleSelect(hv_Index),
|
"diameter_axis_aligned_bounding_box", out hv_Diameter);
|
}
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_C.Dispose();
|
HOperatorSet.GetObjectModel3dParams(hv_ObjectModel3DID.TupleSelect(hv_Index),
|
"center", out hv_C);
|
}
|
if (hv_Diameters == null)
|
hv_Diameters = new HTuple();
|
hv_Diameters[hv_Index] = hv_Diameter;
|
}
|
// catch (Exception)
|
catch (HalconException HDevExpDefaultException1)
|
{
|
HDevExpDefaultException1.ToHTuple(out hv_Exception);
|
//Object model is empty, has no center etc. -> ignore it by leaving its diameter at zero
|
}
|
}
|
|
if ((int)new HTuple(hv_Diameters.TupleSum().TupleGreater(0)) != 0)
|
{
|
//Normalize Diameter to use it as weights for a weighted mean of the individual centers
|
hv_MD.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_MD = hv_Diameters.TupleSelectMask(
|
hv_Diameters.TupleGreaterElem(0)).TupleMean();
|
}
|
if ((int)new HTuple(hv_MD.TupleGreater(1e-10)) != 0)
|
{
|
hv_Weight.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_Weight = hv_Diameters / hv_MD;
|
}
|
}
|
else
|
{
|
hv_Weight.Dispose();
|
hv_Weight = new HTuple(hv_Diameters);
|
}
|
hv_SumW.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_SumW = hv_Weight.TupleSum()
|
;
|
}
|
if ((int)new HTuple(hv_SumW.TupleLess(1e-10)) != 0)
|
{
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
{
|
HTuple
|
ExpTmpLocalVar_Weight = HTuple.TupleGenConst(
|
new HTuple(hv_Weight.TupleLength()), 1.0);
|
hv_Weight.Dispose();
|
hv_Weight = ExpTmpLocalVar_Weight;
|
}
|
}
|
hv_SumW.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_SumW = hv_Weight.TupleSum()
|
;
|
}
|
}
|
hv_Center.Dispose();
|
hv_Center = new HTuple();
|
hv_Center[0] = 0;
|
hv_Center[1] = 0;
|
hv_Center[2] = 0;
|
for (hv_Index = 0; (int)hv_Index <= (int)(new HTuple(hv_ObjectModel3DID.TupleLength()
|
) - 1); hv_Index = (int)hv_Index + 1)
|
{
|
if ((int)new HTuple(hv_Diameters.TupleSelect(hv_Index).TupleGreater(
|
0)) != 0)
|
{
|
hv_ObjectModel3DIDSelected.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_ObjectModel3DIDSelected = hv_ObjectModel3DID.TupleSelect(
|
hv_Index);
|
}
|
hv_C.Dispose();
|
HOperatorSet.GetObjectModel3dParams(hv_ObjectModel3DIDSelected, "center",
|
out hv_C);
|
if (hv_Center == null)
|
hv_Center = new HTuple();
|
hv_Center[0] = hv_Center.TupleSelect(0) + hv_C.TupleSelect(0) * hv_Weight.TupleSelect(
|
hv_Index);
|
if (hv_Center == null)
|
hv_Center = new HTuple();
|
hv_Center[1] = hv_Center.TupleSelect(1) + hv_C.TupleSelect(1) * hv_Weight.TupleSelect(
|
hv_Index);
|
if (hv_Center == null)
|
hv_Center = new HTuple();
|
hv_Center[2] = hv_Center.TupleSelect(2) + hv_C.TupleSelect(2) * hv_Weight.TupleSelect(
|
hv_Index);
|
}
|
}
|
hv_InvSum.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_InvSum = 1.0 / hv_SumW;
|
}
|
if (hv_Center == null)
|
hv_Center = new HTuple();
|
hv_Center[0] = hv_Center.TupleSelect(0) * hv_InvSum;
|
if (hv_Center == null)
|
hv_Center = new HTuple();
|
hv_Center[1] = hv_Center.TupleSelect(1) * hv_InvSum;
|
if (hv_Center == null)
|
hv_Center = new HTuple();
|
hv_Center[2] = hv_Center.TupleSelect(2) * hv_InvSum;
|
}
|
else
|
{
|
hv_Center.Dispose();
|
hv_Center = new HTuple();
|
}
|
|
hv_Diameters.Dispose();
|
hv_Index.Dispose();
|
hv_Diameter.Dispose();
|
hv_C.Dispose();
|
hv_Exception.Dispose();
|
hv_MD.Dispose();
|
hv_Weight.Dispose();
|
hv_SumW.Dispose();
|
hv_ObjectModel3DIDSelected.Dispose();
|
hv_InvSum.Dispose();
|
|
return;
|
}
|
catch (HalconException HDevExpDefaultException)
|
{
|
|
hv_Diameters.Dispose();
|
hv_Index.Dispose();
|
hv_Diameter.Dispose();
|
hv_C.Dispose();
|
hv_Exception.Dispose();
|
hv_MD.Dispose();
|
hv_Weight.Dispose();
|
hv_SumW.Dispose();
|
hv_ObjectModel3DIDSelected.Dispose();
|
hv_InvSum.Dispose();
|
|
throw HDevExpDefaultException;
|
}
|
}
|
|
// Chapter: Graphics / Output
|
// Short Description: Get the center of the virtual trackback that is used to move the camera.
|
public static void get_trackball_center(HTuple hv_SelectedObject, HTuple hv_TrackballRadiusPixel,
|
HTuple hv_ObjectModel3D, HTuple hv_Poses, out HTuple hv_TBCenter, out HTuple hv_TBSize)
|
{
|
|
|
|
// Local iconic variables
|
|
// Local control variables
|
|
HTuple hv_NumModels = new HTuple(), hv_Diameter = new HTuple();
|
HTuple hv_Index = new HTuple(), hv_Center = new HTuple();
|
HTuple hv_CurrDiameter = new HTuple(), hv_Exception = new HTuple();
|
HTuple hv_MD = new HTuple(), hv_Weight = new HTuple();
|
HTuple hv_SumW = new HTuple(), hv_PoseSelected = new HTuple();
|
HTuple hv_HomMat3D = new HTuple(), hv_TBCenterCamX = new HTuple();
|
HTuple hv_TBCenterCamY = new HTuple(), hv_TBCenterCamZ = new HTuple();
|
HTuple hv_InvSum = new HTuple();
|
// Initialize local and output iconic variables
|
hv_TBCenter = new HTuple();
|
hv_TBSize = new HTuple();
|
try
|
{
|
//
|
hv_NumModels.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_NumModels = new HTuple(hv_ObjectModel3D.TupleLength()
|
);
|
}
|
if (hv_TBCenter == null)
|
hv_TBCenter = new HTuple();
|
hv_TBCenter[0] = 0;
|
if (hv_TBCenter == null)
|
hv_TBCenter = new HTuple();
|
hv_TBCenter[1] = 0;
|
if (hv_TBCenter == null)
|
hv_TBCenter = new HTuple();
|
hv_TBCenter[2] = 0;
|
hv_Diameter.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_Diameter = HTuple.TupleGenConst(
|
new HTuple(hv_ObjectModel3D.TupleLength()), 0.0);
|
}
|
for (hv_Index = 0; (int)hv_Index <= (int)(new HTuple(hv_ObjectModel3D.TupleLength()
|
) - 1); hv_Index = (int)hv_Index + 1)
|
{
|
try
|
{
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_Center.Dispose();
|
HOperatorSet.GetObjectModel3dParams(hv_ObjectModel3D.TupleSelect(hv_Index),
|
"center", out hv_Center);
|
}
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_CurrDiameter.Dispose();
|
HOperatorSet.GetObjectModel3dParams(hv_ObjectModel3D.TupleSelect(hv_Index),
|
"diameter_axis_aligned_bounding_box", out hv_CurrDiameter);
|
}
|
if (hv_Diameter == null)
|
hv_Diameter = new HTuple();
|
hv_Diameter[hv_Index] = hv_CurrDiameter;
|
}
|
// catch (Exception)
|
catch (HalconException HDevExpDefaultException1)
|
{
|
HDevExpDefaultException1.ToHTuple(out hv_Exception);
|
//3D object model is empty or otherwise malformed -> ignore
|
}
|
}
|
//Normalize Diameter to use it as weights for a weighted mean of the individual centers
|
hv_MD.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_MD = hv_Diameter.TupleMean()
|
;
|
}
|
if ((int)new HTuple(hv_MD.TupleGreater(1e-10)) != 0)
|
{
|
hv_Weight.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_Weight = hv_Diameter / hv_MD;
|
}
|
}
|
else
|
{
|
hv_Weight.Dispose();
|
hv_Weight = new HTuple(hv_Diameter);
|
}
|
hv_SumW.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_SumW = hv_Weight.TupleSelectMask(
|
hv_SelectedObject.TupleSgn().TupleAbs()).TupleSum();
|
}
|
if ((int)new HTuple(hv_SumW.TupleLess(1e-10)) != 0)
|
{
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
{
|
HTuple
|
ExpTmpLocalVar_Weight = HTuple.TupleGenConst(
|
new HTuple(hv_Weight.TupleLength()), 1.0);
|
hv_Weight.Dispose();
|
hv_Weight = ExpTmpLocalVar_Weight;
|
}
|
}
|
hv_SumW.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_SumW = hv_Weight.TupleSelectMask(
|
hv_SelectedObject.TupleSgn().TupleAbs()).TupleSum();
|
}
|
}
|
if ((int)new HTuple(hv_SumW.TupleLess(1e-10)) != 0)
|
{
|
hv_SumW.Dispose();
|
hv_SumW = 1.0;
|
}
|
HTuple end_val30 = hv_NumModels - 1;
|
HTuple step_val30 = 1;
|
for (hv_Index = 0; hv_Index.Continue(end_val30, step_val30); hv_Index = hv_Index.TupleAdd(step_val30))
|
{
|
if ((int)hv_SelectedObject.TupleSelect(hv_Index).TupleAnd(new HTuple(hv_Diameter.TupleSelect(
|
hv_Index).TupleGreater(0))) != 0)
|
{
|
hv_PoseSelected.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_PoseSelected = hv_Poses.TupleSelectRange(
|
hv_Index * 7, hv_Index * 7 + 6);
|
}
|
hv_HomMat3D.Dispose();
|
HOperatorSet.PoseToHomMat3d(hv_PoseSelected, out hv_HomMat3D);
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_Center.Dispose();
|
HOperatorSet.GetObjectModel3dParams(hv_ObjectModel3D.TupleSelect(hv_Index),
|
"center", out hv_Center);
|
}
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_TBCenterCamX.Dispose(); hv_TBCenterCamY.Dispose(); hv_TBCenterCamZ.Dispose();
|
HOperatorSet.AffineTransPoint3d(hv_HomMat3D, hv_Center.TupleSelect(0),
|
hv_Center.TupleSelect(1), hv_Center.TupleSelect(2), out hv_TBCenterCamX,
|
out hv_TBCenterCamY, out hv_TBCenterCamZ);
|
}
|
if (hv_TBCenter == null)
|
hv_TBCenter = new HTuple();
|
hv_TBCenter[0] = hv_TBCenter.TupleSelect(0) + hv_TBCenterCamX * hv_Weight.TupleSelect(
|
hv_Index);
|
if (hv_TBCenter == null)
|
hv_TBCenter = new HTuple();
|
hv_TBCenter[1] = hv_TBCenter.TupleSelect(1) + hv_TBCenterCamY * hv_Weight.TupleSelect(
|
hv_Index);
|
if (hv_TBCenter == null)
|
hv_TBCenter = new HTuple();
|
hv_TBCenter[2] = hv_TBCenter.TupleSelect(2) + hv_TBCenterCamZ * hv_Weight.TupleSelect(
|
hv_Index);
|
}
|
}
|
if ((int)new HTuple(hv_SelectedObject.TupleMax().TupleNotEqual(0)) != 0)
|
{
|
hv_InvSum.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_InvSum = 1.0 / hv_SumW;
|
}
|
if (hv_TBCenter == null)
|
hv_TBCenter = new HTuple();
|
hv_TBCenter[0] = hv_TBCenter.TupleSelect(0) * hv_InvSum;
|
if (hv_TBCenter == null)
|
hv_TBCenter = new HTuple();
|
hv_TBCenter[1] = hv_TBCenter.TupleSelect(1) * hv_InvSum;
|
if (hv_TBCenter == null)
|
hv_TBCenter = new HTuple();
|
hv_TBCenter[2] = hv_TBCenter.TupleSelect(2) * hv_InvSum;
|
hv_TBSize.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_TBSize = (0.5 + 0.5 * hv_SelectedObject.TupleSum()
|
/ hv_NumModels) * hv_TrackballRadiusPixel;
|
}
|
}
|
else
|
{
|
hv_TBCenter.Dispose();
|
hv_TBCenter = new HTuple();
|
hv_TBSize.Dispose();
|
hv_TBSize = 0;
|
}
|
|
hv_NumModels.Dispose();
|
hv_Diameter.Dispose();
|
hv_Index.Dispose();
|
hv_Center.Dispose();
|
hv_CurrDiameter.Dispose();
|
hv_Exception.Dispose();
|
hv_MD.Dispose();
|
hv_Weight.Dispose();
|
hv_SumW.Dispose();
|
hv_PoseSelected.Dispose();
|
hv_HomMat3D.Dispose();
|
hv_TBCenterCamX.Dispose();
|
hv_TBCenterCamY.Dispose();
|
hv_TBCenterCamZ.Dispose();
|
hv_InvSum.Dispose();
|
|
return;
|
}
|
catch (HalconException HDevExpDefaultException)
|
{
|
|
hv_NumModels.Dispose();
|
hv_Diameter.Dispose();
|
hv_Index.Dispose();
|
hv_Center.Dispose();
|
hv_CurrDiameter.Dispose();
|
hv_Exception.Dispose();
|
hv_MD.Dispose();
|
hv_Weight.Dispose();
|
hv_SumW.Dispose();
|
hv_PoseSelected.Dispose();
|
hv_HomMat3D.Dispose();
|
hv_TBCenterCamX.Dispose();
|
hv_TBCenterCamY.Dispose();
|
hv_TBCenterCamZ.Dispose();
|
hv_InvSum.Dispose();
|
|
throw HDevExpDefaultException;
|
}
|
}
|
|
// Chapter: Graphics / Output
|
// Short Description: Get the center of the virtual trackback that is used to move the camera (version for inspection_mode = 'surface').
|
public static void get_trackball_center_fixed(HTuple hv_SelectedObject, HTuple hv_TrackballCenterRow,
|
HTuple hv_TrackballCenterCol, HTuple hv_TrackballRadiusPixel, HTuple hv_Scene3D,
|
HTuple hv_ObjectModel3DID, HTuple hv_Poses, HTuple hv_WindowHandleBuffer, HTuple hv_CamParam,
|
HTuple hv_GenParamName, HTuple hv_GenParamValue, out HTuple hv_TBCenter, out HTuple hv_TBSize)
|
{
|
|
|
|
// Local iconic variables
|
|
HObject ho_RegionCenter, ho_DistanceImage;
|
HObject ho_Domain;
|
|
// Local control variables
|
|
HTuple hv_NumModels = new HTuple(), hv_Width = new HTuple();
|
HTuple hv_Height = new HTuple(), hv_SelectPose = new HTuple();
|
HTuple hv_Index1 = new HTuple(), hv_Rows = new HTuple();
|
HTuple hv_Columns = new HTuple(), hv_Grayval = new HTuple();
|
HTuple hv_IndicesG = new HTuple(), hv_Value = new HTuple();
|
HTuple hv_Pos = new HTuple();
|
// Initialize local and output iconic variables
|
HOperatorSet.GenEmptyObj(out ho_RegionCenter);
|
HOperatorSet.GenEmptyObj(out ho_DistanceImage);
|
HOperatorSet.GenEmptyObj(out ho_Domain);
|
hv_TBCenter = new HTuple();
|
hv_TBSize = new HTuple();
|
try
|
{
|
//
|
//Determine the trackball center for the fixed trackball
|
hv_NumModels.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_NumModels = new HTuple(hv_ObjectModel3DID.TupleLength()
|
);
|
}
|
hv_Width.Dispose();
|
get_cam_par_data(hv_CamParam, "image_width", out hv_Width);
|
hv_Height.Dispose();
|
get_cam_par_data(hv_CamParam, "image_height", out hv_Height);
|
//
|
//Project the selected objects
|
hv_SelectPose.Dispose();
|
hv_SelectPose = new HTuple();
|
for (hv_Index1 = 0; (int)hv_Index1 <= (int)(new HTuple(hv_SelectedObject.TupleLength()
|
) - 1); hv_Index1 = (int)hv_Index1 + 1)
|
{
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
{
|
HTuple
|
ExpTmpLocalVar_SelectPose = hv_SelectPose.TupleConcat(
|
HTuple.TupleGenConst(7, hv_SelectedObject.TupleSelect(hv_Index1)));
|
hv_SelectPose.Dispose();
|
hv_SelectPose = ExpTmpLocalVar_SelectPose;
|
}
|
}
|
if ((int)new HTuple(hv_SelectedObject.TupleSelect(hv_Index1).TupleEqual(
|
0)) != 0)
|
{
|
HOperatorSet.SetScene3dInstanceParam(hv_Scene3D, hv_Index1, "visible",
|
"false");
|
}
|
}
|
HOperatorSet.SetScene3dParam(hv_Scene3D, "depth_persistence", "true");
|
HOperatorSet.DisplayScene3d(hv_WindowHandleBuffer, hv_Scene3D, 0);
|
HOperatorSet.SetScene3dParam(hv_Scene3D, "visible", "true");
|
//
|
//determine the depth of the object point that appears closest to the trackball
|
//center
|
ho_RegionCenter.Dispose();
|
HOperatorSet.GenRegionPoints(out ho_RegionCenter, hv_TrackballCenterRow, hv_TrackballCenterCol);
|
ho_DistanceImage.Dispose();
|
HOperatorSet.DistanceTransform(ho_RegionCenter, out ho_DistanceImage, "chamfer-3-4-unnormalized",
|
"false", hv_Width, hv_Height);
|
ho_Domain.Dispose();
|
HOperatorSet.GetDomain(ho_DistanceImage, out ho_Domain);
|
hv_Rows.Dispose(); hv_Columns.Dispose();
|
HOperatorSet.GetRegionPoints(ho_Domain, out hv_Rows, out hv_Columns);
|
hv_Grayval.Dispose();
|
HOperatorSet.GetGrayval(ho_DistanceImage, hv_Rows, hv_Columns, out hv_Grayval);
|
hv_IndicesG.Dispose();
|
HOperatorSet.TupleSortIndex(hv_Grayval, out hv_IndicesG);
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_Value.Dispose();
|
HOperatorSet.GetDisplayScene3dInfo(hv_WindowHandleBuffer, hv_Scene3D, hv_Rows.TupleSelect(
|
hv_IndicesG), hv_Columns.TupleSelect(hv_IndicesG), "depth", out hv_Value);
|
}
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_Pos.Dispose();
|
HOperatorSet.TupleFind(hv_Value.TupleSgn(), 1, out hv_Pos);
|
}
|
//
|
HOperatorSet.SetScene3dParam(hv_Scene3D, "depth_persistence", "false");
|
//
|
//
|
//set TBCenter
|
if ((int)new HTuple(hv_Pos.TupleNotEqual(-1)) != 0)
|
{
|
//if the object is visible in the image
|
hv_TBCenter.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_TBCenter = new HTuple();
|
hv_TBCenter[0] = 0;
|
hv_TBCenter[1] = 0;
|
hv_TBCenter = hv_TBCenter.TupleConcat(hv_Value.TupleSelect(
|
hv_Pos.TupleSelect(0)));
|
}
|
}
|
else
|
{
|
//if the object is not visible in the image, set the z coordinate to -1
|
//to indicate, that the previous z value should be used instead
|
hv_TBCenter.Dispose();
|
hv_TBCenter = new HTuple();
|
hv_TBCenter[0] = 0;
|
hv_TBCenter[1] = 0;
|
hv_TBCenter[2] = -1;
|
}
|
//
|
if ((int)new HTuple(hv_SelectedObject.TupleMax().TupleNotEqual(0)) != 0)
|
{
|
hv_TBSize.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_TBSize = (0.5 + 0.5 * hv_SelectedObject.TupleSum()
|
/ hv_NumModels) * hv_TrackballRadiusPixel;
|
}
|
}
|
else
|
{
|
hv_TBCenter.Dispose();
|
hv_TBCenter = new HTuple();
|
hv_TBSize.Dispose();
|
hv_TBSize = 0;
|
}
|
ho_RegionCenter.Dispose();
|
ho_DistanceImage.Dispose();
|
ho_Domain.Dispose();
|
|
hv_NumModels.Dispose();
|
hv_Width.Dispose();
|
hv_Height.Dispose();
|
hv_SelectPose.Dispose();
|
hv_Index1.Dispose();
|
hv_Rows.Dispose();
|
hv_Columns.Dispose();
|
hv_Grayval.Dispose();
|
hv_IndicesG.Dispose();
|
hv_Value.Dispose();
|
hv_Pos.Dispose();
|
|
return;
|
}
|
catch (HalconException HDevExpDefaultException)
|
{
|
ho_RegionCenter.Dispose();
|
ho_DistanceImage.Dispose();
|
ho_Domain.Dispose();
|
|
hv_NumModels.Dispose();
|
hv_Width.Dispose();
|
hv_Height.Dispose();
|
hv_SelectPose.Dispose();
|
hv_Index1.Dispose();
|
hv_Rows.Dispose();
|
hv_Columns.Dispose();
|
hv_Grayval.Dispose();
|
hv_IndicesG.Dispose();
|
hv_Value.Dispose();
|
hv_Pos.Dispose();
|
|
throw HDevExpDefaultException;
|
}
|
}
|
|
// Chapter: Graphics / Output
|
// Short Description: Get string extends of several lines.
|
public static void max_line_width(HTuple hv_WindowHandle, HTuple hv_Lines, out HTuple hv_MaxWidth)
|
{
|
|
|
|
// Local iconic variables
|
|
// Local control variables
|
|
HTuple hv_Index = new HTuple(), hv_Ascent = new HTuple();
|
HTuple hv_Descent = new HTuple(), hv_LineWidth = new HTuple();
|
HTuple hv_LineHeight = new HTuple();
|
// Initialize local and output iconic variables
|
hv_MaxWidth = new HTuple();
|
try
|
{
|
//
|
hv_MaxWidth.Dispose();
|
hv_MaxWidth = 0;
|
for (hv_Index = 0; (int)hv_Index <= (int)(new HTuple(hv_Lines.TupleLength()) - 1); hv_Index = (int)hv_Index + 1)
|
{
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_Ascent.Dispose(); hv_Descent.Dispose(); hv_LineWidth.Dispose(); hv_LineHeight.Dispose();
|
HOperatorSet.GetStringExtents(hv_WindowHandle, hv_Lines.TupleSelect(hv_Index),
|
out hv_Ascent, out hv_Descent, out hv_LineWidth, out hv_LineHeight);
|
}
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
{
|
HTuple
|
ExpTmpLocalVar_MaxWidth = hv_LineWidth.TupleConcat(
|
hv_MaxWidth).TupleMax();
|
hv_MaxWidth.Dispose();
|
hv_MaxWidth = ExpTmpLocalVar_MaxWidth;
|
}
|
}
|
}
|
|
hv_Index.Dispose();
|
hv_Ascent.Dispose();
|
hv_Descent.Dispose();
|
hv_LineWidth.Dispose();
|
hv_LineHeight.Dispose();
|
|
return;
|
}
|
catch (HalconException HDevExpDefaultException)
|
{
|
|
hv_Index.Dispose();
|
hv_Ascent.Dispose();
|
hv_Descent.Dispose();
|
hv_LineWidth.Dispose();
|
hv_LineHeight.Dispose();
|
|
throw HDevExpDefaultException;
|
}
|
}
|
|
// Chapter: Graphics / Output
|
// Short Description: Project an image point onto the trackball
|
public static void project_point_on_trackball(HTuple hv_X, HTuple hv_Y, HTuple hv_VirtualTrackball,
|
HTuple hv_TrackballSize, out HTuple hv_V)
|
{
|
|
|
|
// Local iconic variables
|
|
// Local control variables
|
|
HTuple hv_R = new HTuple(), hv_XP = new HTuple();
|
HTuple hv_YP = new HTuple(), hv_ZP = new HTuple();
|
// Initialize local and output iconic variables
|
hv_V = new HTuple();
|
try
|
{
|
//
|
if ((int)new HTuple(hv_VirtualTrackball.TupleEqual("shoemake")) != 0)
|
{
|
//Virtual Trackball according to Shoemake
|
hv_R.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_R = (hv_X * hv_X + hv_Y * hv_Y).TupleSqrt()
|
;
|
}
|
if ((int)new HTuple(hv_R.TupleLessEqual(hv_TrackballSize)) != 0)
|
{
|
hv_XP.Dispose();
|
hv_XP = new HTuple(hv_X);
|
hv_YP.Dispose();
|
hv_YP = new HTuple(hv_Y);
|
hv_ZP.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_ZP = (hv_TrackballSize * hv_TrackballSize - hv_R * hv_R).TupleSqrt()
|
;
|
}
|
}
|
else
|
{
|
hv_XP.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_XP = hv_X * hv_TrackballSize / hv_R;
|
}
|
hv_YP.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_YP = hv_Y * hv_TrackballSize / hv_R;
|
}
|
hv_ZP.Dispose();
|
hv_ZP = 0;
|
}
|
}
|
else
|
{
|
//Virtual Trackball according to Bell
|
hv_R.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_R = (hv_X * hv_X + hv_Y * hv_Y).TupleSqrt()
|
;
|
}
|
if ((int)new HTuple(hv_R.TupleLessEqual(hv_TrackballSize * 0.70710678)) != 0)
|
{
|
hv_XP.Dispose();
|
hv_XP = new HTuple(hv_X);
|
hv_YP.Dispose();
|
hv_YP = new HTuple(hv_Y);
|
hv_ZP.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_ZP = (hv_TrackballSize * hv_TrackballSize - hv_R * hv_R).TupleSqrt()
|
;
|
}
|
}
|
else
|
{
|
hv_XP.Dispose();
|
hv_XP = new HTuple(hv_X);
|
hv_YP.Dispose();
|
hv_YP = new HTuple(hv_Y);
|
hv_ZP.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_ZP = 0.6 * hv_TrackballSize * hv_TrackballSize / hv_R;
|
}
|
}
|
}
|
hv_V.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_V = new HTuple();
|
hv_V = hv_V.TupleConcat(hv_XP, hv_YP, hv_ZP);
|
}
|
|
hv_R.Dispose();
|
hv_XP.Dispose();
|
hv_YP.Dispose();
|
hv_ZP.Dispose();
|
|
return;
|
}
|
catch (HalconException HDevExpDefaultException)
|
{
|
|
hv_R.Dispose();
|
hv_XP.Dispose();
|
hv_YP.Dispose();
|
hv_ZP.Dispose();
|
|
throw HDevExpDefaultException;
|
}
|
}
|
|
// Chapter: Calibration / Camera Parameters
|
// Short Description: Set the value of a specified camera parameter in the camera parameter tuple.
|
public void set_cam_par_data(HTuple hv_CameraParamIn, HTuple hv_ParamName, HTuple hv_ParamValue,
|
out HTuple hv_CameraParamOut)
|
{
|
|
|
|
// Local iconic variables
|
|
// Local control variables
|
|
HTuple hv_CameraType = new HTuple(), hv_CameraParamNames = new HTuple();
|
HTuple hv_Index = new HTuple(), hv_ParamNameInd = new HTuple();
|
HTuple hv_I = new HTuple(), hv_IsTelecentric = new HTuple();
|
// Initialize local and output iconic variables
|
hv_CameraParamOut = new HTuple();
|
try
|
{
|
//set_cam_par_data sets the value of the parameter that
|
//is given in ParamName in the tuple of camera parameters
|
//given in CameraParamIn. The modified camera parameters
|
//are returned in CameraParamOut.
|
//
|
//Check for consistent length of input parameters
|
if ((int)new HTuple(new HTuple(hv_ParamName.TupleLength()).TupleNotEqual(
|
new HTuple(hv_ParamValue.TupleLength()))) != 0)
|
{
|
throw new HalconException("Different number of values in ParamName and ParamValue");
|
}
|
//First, get the parameter names that correspond to the
|
//elements in the input camera parameter tuple.
|
hv_CameraType.Dispose(); hv_CameraParamNames.Dispose();
|
get_cam_par_names(hv_CameraParamIn, out hv_CameraType, out hv_CameraParamNames);
|
//
|
//Find the index of the requested camera data and return
|
//the corresponding value.
|
hv_CameraParamOut.Dispose();
|
hv_CameraParamOut = new HTuple(hv_CameraParamIn);
|
for (hv_Index = 0; (int)hv_Index <= (int)(new HTuple(hv_ParamName.TupleLength()
|
) - 1); hv_Index = (int)hv_Index + 1)
|
{
|
hv_ParamNameInd.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_ParamNameInd = hv_ParamName.TupleSelect(
|
hv_Index);
|
}
|
hv_I.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_I = hv_CameraParamNames.TupleFind(
|
hv_ParamNameInd);
|
}
|
if ((int)new HTuple(hv_I.TupleNotEqual(-1)) != 0)
|
{
|
if (hv_CameraParamOut == null)
|
hv_CameraParamOut = new HTuple();
|
hv_CameraParamOut[hv_I] = hv_ParamValue.TupleSelect(hv_Index);
|
}
|
else
|
{
|
throw new HalconException("Wrong ParamName " + hv_ParamNameInd);
|
}
|
//Check the consistency of focus and telecentricity
|
if ((int)new HTuple(hv_ParamNameInd.TupleEqual("focus")) != 0)
|
{
|
hv_IsTelecentric.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_IsTelecentric = new HTuple(hv_CameraType.TupleStrstr(
|
"telecentric").TupleNotEqual(-1)).TupleAnd(new HTuple(hv_CameraType.TupleStrstr(
|
"image_side_telecentric").TupleEqual(-1)));
|
}
|
if ((int)hv_IsTelecentric != 0)
|
{
|
throw new HalconException(new HTuple("Focus for telecentric lenses is always 0, and hence, cannot be changed."));
|
}
|
if ((int)new HTuple(hv_IsTelecentric.TupleNot()).TupleAnd(new HTuple(hv_ParamValue.TupleSelect(
|
hv_Index).TupleEqual(0.0))) != 0)
|
{
|
throw new HalconException("Focus for non-telecentric lenses must not be 0.");
|
}
|
}
|
}
|
|
hv_CameraType.Dispose();
|
hv_CameraParamNames.Dispose();
|
hv_Index.Dispose();
|
hv_ParamNameInd.Dispose();
|
hv_I.Dispose();
|
hv_IsTelecentric.Dispose();
|
|
return;
|
}
|
catch (HalconException HDevExpDefaultException)
|
{
|
|
hv_CameraType.Dispose();
|
hv_CameraParamNames.Dispose();
|
hv_Index.Dispose();
|
hv_ParamNameInd.Dispose();
|
hv_I.Dispose();
|
hv_IsTelecentric.Dispose();
|
|
throw HDevExpDefaultException;
|
}
|
}
|
|
// Chapter: Graphics / Text
|
// Short Description: Set font independent of OS
|
public static void set_display_font(HTuple hv_WindowHandle, HTuple hv_Size, HTuple hv_Font,
|
HTuple hv_Bold, HTuple hv_Slant)
|
{
|
|
|
|
// Local iconic variables
|
|
// Local control variables
|
|
HTuple hv_OS = new HTuple(), hv_Fonts = new HTuple();
|
HTuple hv_Style = new HTuple(), hv_Exception = new HTuple();
|
HTuple hv_AvailableFonts = new HTuple(), hv_Fdx = new HTuple();
|
HTuple hv_Indices = new HTuple();
|
HTuple hv_Font_COPY_INP_TMP = new HTuple(hv_Font);
|
HTuple hv_Size_COPY_INP_TMP = new HTuple(hv_Size);
|
|
// Initialize local and output iconic variables
|
try
|
{
|
//This procedure sets the text font of the current window with
|
//the specified attributes.
|
//
|
//Input parameters:
|
//WindowHandle: The graphics window for which the font will be set
|
//Size: The font size. If Size=-1, the default of 16 is used.
|
//Bold: If set to 'true', a bold font is used
|
//Slant: If set to 'true', a slanted font is used
|
//
|
hv_OS.Dispose();
|
HOperatorSet.GetSystem("operating_system", out hv_OS);
|
if ((int)new HTuple(hv_Size_COPY_INP_TMP.TupleEqual(new HTuple())).TupleOr(
|
new HTuple(hv_Size_COPY_INP_TMP.TupleEqual(-1))) != 0)
|
{
|
hv_Size_COPY_INP_TMP.Dispose();
|
hv_Size_COPY_INP_TMP = 16;
|
}
|
if ((int)new HTuple(hv_OS.TupleSubstr(0, 2).TupleEqual("Win")) != 0)
|
{
|
//Restore previous behavior
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
{
|
HTuple
|
ExpTmpLocalVar_Size = (1.13677 * hv_Size_COPY_INP_TMP).TupleInt()
|
;
|
hv_Size_COPY_INP_TMP.Dispose();
|
hv_Size_COPY_INP_TMP = ExpTmpLocalVar_Size;
|
}
|
}
|
}
|
else
|
{
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
{
|
HTuple
|
ExpTmpLocalVar_Size = hv_Size_COPY_INP_TMP.TupleInt()
|
;
|
hv_Size_COPY_INP_TMP.Dispose();
|
hv_Size_COPY_INP_TMP = ExpTmpLocalVar_Size;
|
}
|
}
|
}
|
if ((int)new HTuple(hv_Font_COPY_INP_TMP.TupleEqual("Courier")) != 0)
|
{
|
hv_Fonts.Dispose();
|
hv_Fonts = new HTuple();
|
hv_Fonts[0] = "Courier";
|
hv_Fonts[1] = "Courier 10 Pitch";
|
hv_Fonts[2] = "Courier New";
|
hv_Fonts[3] = "CourierNew";
|
hv_Fonts[4] = "Liberation Mono";
|
}
|
else if ((int)new HTuple(hv_Font_COPY_INP_TMP.TupleEqual("mono")) != 0)
|
{
|
hv_Fonts.Dispose();
|
hv_Fonts = new HTuple();
|
hv_Fonts[0] = "Consolas";
|
hv_Fonts[1] = "Menlo";
|
hv_Fonts[2] = "Courier";
|
hv_Fonts[3] = "Courier 10 Pitch";
|
hv_Fonts[4] = "FreeMono";
|
hv_Fonts[5] = "Liberation Mono";
|
}
|
else if ((int)new HTuple(hv_Font_COPY_INP_TMP.TupleEqual("sans")) != 0)
|
{
|
hv_Fonts.Dispose();
|
hv_Fonts = new HTuple();
|
hv_Fonts[0] = "Luxi Sans";
|
hv_Fonts[1] = "DejaVu Sans";
|
hv_Fonts[2] = "FreeSans";
|
hv_Fonts[3] = "Arial";
|
hv_Fonts[4] = "Liberation Sans";
|
}
|
else if ((int)new HTuple(hv_Font_COPY_INP_TMP.TupleEqual("serif")) != 0)
|
{
|
hv_Fonts.Dispose();
|
hv_Fonts = new HTuple();
|
hv_Fonts[0] = "Times New Roman";
|
hv_Fonts[1] = "Luxi Serif";
|
hv_Fonts[2] = "DejaVu Serif";
|
hv_Fonts[3] = "FreeSerif";
|
hv_Fonts[4] = "Utopia";
|
hv_Fonts[5] = "Liberation Serif";
|
}
|
else
|
{
|
hv_Fonts.Dispose();
|
hv_Fonts = new HTuple(hv_Font_COPY_INP_TMP);
|
}
|
hv_Style.Dispose();
|
hv_Style = "";
|
if ((int)new HTuple(hv_Bold.TupleEqual("true")) != 0)
|
{
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
{
|
HTuple
|
ExpTmpLocalVar_Style = hv_Style + "Bold";
|
hv_Style.Dispose();
|
hv_Style = ExpTmpLocalVar_Style;
|
}
|
}
|
}
|
else if ((int)new HTuple(hv_Bold.TupleNotEqual("false")) != 0)
|
{
|
hv_Exception.Dispose();
|
hv_Exception = "Wrong value of control parameter Bold";
|
throw new HalconException(hv_Exception);
|
}
|
if ((int)new HTuple(hv_Slant.TupleEqual("true")) != 0)
|
{
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
{
|
HTuple
|
ExpTmpLocalVar_Style = hv_Style + "Italic";
|
hv_Style.Dispose();
|
hv_Style = ExpTmpLocalVar_Style;
|
}
|
}
|
}
|
else if ((int)new HTuple(hv_Slant.TupleNotEqual("false")) != 0)
|
{
|
hv_Exception.Dispose();
|
hv_Exception = "Wrong value of control parameter Slant";
|
throw new HalconException(hv_Exception);
|
}
|
if ((int)new HTuple(hv_Style.TupleEqual("")) != 0)
|
{
|
hv_Style.Dispose();
|
hv_Style = "Normal";
|
}
|
hv_AvailableFonts.Dispose();
|
HOperatorSet.QueryFont(hv_WindowHandle, out hv_AvailableFonts);
|
hv_Font_COPY_INP_TMP.Dispose();
|
hv_Font_COPY_INP_TMP = "";
|
for (hv_Fdx = 0; (int)hv_Fdx <= (int)(new HTuple(hv_Fonts.TupleLength()) - 1); hv_Fdx = (int)hv_Fdx + 1)
|
{
|
hv_Indices.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_Indices = hv_AvailableFonts.TupleFind(
|
hv_Fonts.TupleSelect(hv_Fdx));
|
}
|
if ((int)new HTuple(new HTuple(hv_Indices.TupleLength()).TupleGreater(
|
0)) != 0)
|
{
|
if ((int)new HTuple(hv_Indices.TupleSelect(0).TupleGreaterEqual(0)) != 0)
|
{
|
hv_Font_COPY_INP_TMP.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_Font_COPY_INP_TMP = hv_Fonts.TupleSelect(
|
hv_Fdx);
|
}
|
break;
|
}
|
}
|
}
|
if ((int)new HTuple(hv_Font_COPY_INP_TMP.TupleEqual("")) != 0)
|
{
|
throw new HalconException("Wrong value of control parameter Font");
|
}
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
{
|
HTuple
|
ExpTmpLocalVar_Font = hv_Font_COPY_INP_TMP + "-" + hv_Style + "-" + hv_Size_COPY_INP_TMP;
|
hv_Font_COPY_INP_TMP.Dispose();
|
hv_Font_COPY_INP_TMP = ExpTmpLocalVar_Font;
|
}
|
}
|
HOperatorSet.SetFont(hv_WindowHandle, hv_Font_COPY_INP_TMP);
|
|
hv_Font_COPY_INP_TMP.Dispose();
|
hv_Size_COPY_INP_TMP.Dispose();
|
hv_OS.Dispose();
|
hv_Fonts.Dispose();
|
hv_Style.Dispose();
|
hv_Exception.Dispose();
|
hv_AvailableFonts.Dispose();
|
hv_Fdx.Dispose();
|
hv_Indices.Dispose();
|
|
return;
|
}
|
catch (HalconException HDevExpDefaultException)
|
{
|
|
hv_Font_COPY_INP_TMP.Dispose();
|
hv_Size_COPY_INP_TMP.Dispose();
|
hv_OS.Dispose();
|
hv_Fonts.Dispose();
|
hv_Style.Dispose();
|
hv_Exception.Dispose();
|
hv_AvailableFonts.Dispose();
|
hv_Fdx.Dispose();
|
hv_Indices.Dispose();
|
|
throw HDevExpDefaultException;
|
}
|
}
|
|
// Chapter: Graphics / Output
|
// Short Description: Compute the 3D rotation from the mouse movement
|
public static void trackball(HTuple hv_MX1, HTuple hv_MY1, HTuple hv_MX2, HTuple hv_MY2,
|
HTuple hv_VirtualTrackball, HTuple hv_TrackballSize, HTuple hv_SensFactor, out HTuple hv_QuatRotation)
|
{
|
|
|
|
// Local iconic variables
|
|
// Local control variables
|
|
HTuple hv_P1 = new HTuple(), hv_P2 = new HTuple();
|
HTuple hv_RotAxis = new HTuple(), hv_D = new HTuple();
|
HTuple hv_T = new HTuple(), hv_RotAngle = new HTuple();
|
HTuple hv_Len = new HTuple();
|
// Initialize local and output iconic variables
|
hv_QuatRotation = new HTuple();
|
try
|
{
|
//
|
//Compute the 3D rotation from the mouse movement
|
//
|
if ((int)new HTuple(hv_MX1.TupleEqual(hv_MX2)).TupleAnd(new HTuple(hv_MY1.TupleEqual(
|
hv_MY2))) != 0)
|
{
|
hv_QuatRotation.Dispose();
|
hv_QuatRotation = new HTuple();
|
hv_QuatRotation[0] = 1;
|
hv_QuatRotation[1] = 0;
|
hv_QuatRotation[2] = 0;
|
hv_QuatRotation[3] = 0;
|
|
hv_P1.Dispose();
|
hv_P2.Dispose();
|
hv_RotAxis.Dispose();
|
hv_D.Dispose();
|
hv_T.Dispose();
|
hv_RotAngle.Dispose();
|
hv_Len.Dispose();
|
|
return;
|
}
|
//Project the image point onto the trackball
|
hv_P1.Dispose();
|
project_point_on_trackball(hv_MX1, hv_MY1, hv_VirtualTrackball, hv_TrackballSize,
|
out hv_P1);
|
hv_P2.Dispose();
|
project_point_on_trackball(hv_MX2, hv_MY2, hv_VirtualTrackball, hv_TrackballSize,
|
out hv_P2);
|
//The cross product of the projected points defines the rotation axis
|
hv_RotAxis.Dispose();
|
tuple_vector_cross_product(hv_P1, hv_P2, out hv_RotAxis);
|
//Compute the rotation angle
|
hv_D.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_D = hv_P2 - hv_P1;
|
}
|
hv_T.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_T = (hv_D * hv_D).TupleSum()
|
.TupleSqrt() / (2.0 * hv_TrackballSize);
|
}
|
if ((int)new HTuple(hv_T.TupleGreater(1.0)) != 0)
|
{
|
hv_T.Dispose();
|
hv_T = 1.0;
|
}
|
if ((int)new HTuple(hv_T.TupleLess(-1.0)) != 0)
|
{
|
hv_T.Dispose();
|
hv_T = -1.0;
|
}
|
hv_RotAngle.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_RotAngle = 2.0 * hv_T.TupleAsin()
|
* hv_SensFactor;
|
}
|
hv_Len.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_Len = (hv_RotAxis * hv_RotAxis).TupleSum()
|
.TupleSqrt();
|
}
|
if ((int)new HTuple(hv_Len.TupleGreater(0.0)) != 0)
|
{
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
{
|
HTuple
|
ExpTmpLocalVar_RotAxis = hv_RotAxis / hv_Len;
|
hv_RotAxis.Dispose();
|
hv_RotAxis = ExpTmpLocalVar_RotAxis;
|
}
|
}
|
}
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_QuatRotation.Dispose();
|
HOperatorSet.AxisAngleToQuat(hv_RotAxis.TupleSelect(0), hv_RotAxis.TupleSelect(
|
1), hv_RotAxis.TupleSelect(2), hv_RotAngle, out hv_QuatRotation);
|
}
|
|
hv_P1.Dispose();
|
hv_P2.Dispose();
|
hv_RotAxis.Dispose();
|
hv_D.Dispose();
|
hv_T.Dispose();
|
hv_RotAngle.Dispose();
|
hv_Len.Dispose();
|
|
return;
|
}
|
catch (HalconException HDevExpDefaultException)
|
{
|
|
hv_P1.Dispose();
|
hv_P2.Dispose();
|
hv_RotAxis.Dispose();
|
hv_D.Dispose();
|
hv_T.Dispose();
|
hv_RotAngle.Dispose();
|
hv_Len.Dispose();
|
|
throw HDevExpDefaultException;
|
}
|
}
|
|
// Chapter: Tuple / Arithmetic
|
// Short Description: Calculate the cross product of two vectors of length 3.
|
public static void tuple_vector_cross_product(HTuple hv_V1, HTuple hv_V2, out HTuple hv_VC)
|
{
|
|
|
|
// Local iconic variables
|
// Initialize local and output iconic variables
|
hv_VC = new HTuple();
|
//The caller must ensure that the length of both input vectors is 3
|
hv_VC.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_VC = hv_V1.TupleSelect(
|
1) * hv_V2.TupleSelect(2) - hv_V1.TupleSelect(2) * hv_V2.TupleSelect(1);
|
}
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
{
|
HTuple
|
ExpTmpLocalVar_VC = hv_VC.TupleConcat(
|
hv_V1.TupleSelect(2) * hv_V2.TupleSelect(0) - hv_V1.TupleSelect(0) * hv_V2.TupleSelect(
|
2));
|
hv_VC.Dispose();
|
hv_VC = ExpTmpLocalVar_VC;
|
}
|
}
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
{
|
HTuple
|
ExpTmpLocalVar_VC = hv_VC.TupleConcat(
|
hv_V1.TupleSelect(0) * hv_V2.TupleSelect(1) - hv_V1.TupleSelect(1) * hv_V2.TupleSelect(
|
0));
|
hv_VC.Dispose();
|
hv_VC = ExpTmpLocalVar_VC;
|
}
|
}
|
|
|
return;
|
}
|
|
// Chapter: Graphics / Output
|
// Short Description: Display 3D object models
|
public void visualize_object_model_3d(HTuple hv_WindowHandle, HTuple hv_ObjectModel3D,
|
HTuple hv_CamParam, HTuple hv_PoseIn, HTuple hv_GenParamName, HTuple hv_GenParamValue,
|
HTuple hv_Title, HTuple hv_Label, HTuple hv_Information, out HTuple hv_PoseOut)
|
{
|
|
|
|
// Local iconic variables
|
|
HObject ho_Image = null, ho_ImageDump = null;
|
|
// Local control variables
|
|
HTuple ExpTmpLocalVar_gDispObjOffset = new HTuple();
|
HTuple ExpTmpLocalVar_gLabelsDecor = new HTuple(), ExpTmpLocalVar_gInfoDecor = new HTuple();
|
HTuple ExpTmpLocalVar_gInfoPos = new HTuple(), ExpTmpLocalVar_gTitlePos = new HTuple();
|
HTuple ExpTmpLocalVar_gTitleDecor = new HTuple(), ExpTmpLocalVar_gTerminationButtonLabel = new HTuple();
|
HTuple ExpTmpLocalVar_gAlphaDeselected = new HTuple();
|
HTuple ExpTmpLocalVar_gIsSinglePose = new HTuple(), ExpTmpLocalVar_gUsesOpenGL = new HTuple();
|
HTuple hv_Scene3DTest = new HTuple(), hv_Scene3D = new HTuple();
|
HTuple hv_WindowHandleBuffer = new HTuple(), hv_TrackballSize = new HTuple();
|
HTuple hv_VirtualTrackball = new HTuple(), hv_MouseMapping = new HTuple();
|
HTuple hv_WaitForButtonRelease = new HTuple(), hv_MaxNumModels = new HTuple();
|
HTuple hv_WindowCenteredRotation = new HTuple(), hv_NumModels = new HTuple();
|
HTuple hv_SelectedObject = new HTuple(), hv_ClipRegion = new HTuple();
|
HTuple hv_CPLength = new HTuple(), hv_RowNotUsed = new HTuple();
|
HTuple hv_ColumnNotUsed = new HTuple(), hv_Width = new HTuple();
|
HTuple hv_Height = new HTuple(), hv_WPRow1 = new HTuple();
|
HTuple hv_WPColumn1 = new HTuple(), hv_WPRow2 = new HTuple();
|
HTuple hv_WPColumn2 = new HTuple(), hv_CamParamValue = new HTuple();
|
HTuple hv_CamWidth = new HTuple(), hv_CamHeight = new HTuple();
|
HTuple hv_Scale = new HTuple(), hv_Indices = new HTuple();
|
HTuple hv_DispBackground = new HTuple(), hv_Mask = new HTuple();
|
HTuple hv_Center = new HTuple(), hv_PoseEstimated = new HTuple();
|
HTuple hv_Poses = new HTuple(), hv_HomMat3Ds = new HTuple();
|
HTuple hv_Sequence = new HTuple(), hv_Font = new HTuple();
|
HTuple hv_Exception = new HTuple(), hv_OpenGLInfo = new HTuple();
|
HTuple hv_DummyObjectModel3D = new HTuple(), hv_CameraIndexTest = new HTuple();
|
HTuple hv_PoseTest = new HTuple(), hv_InstanceIndexTest = new HTuple();
|
HTuple hv_MinImageSize = new HTuple(), hv_TrackballRadiusPixel = new HTuple();
|
HTuple hv_Ascent = new HTuple(), hv_Descent = new HTuple();
|
HTuple hv_TextWidth = new HTuple(), hv_TextHeight = new HTuple();
|
HTuple hv_NumChannels = new HTuple(), hv_ColorImage = new HTuple();
|
HTuple hv_CameraIndex = new HTuple(), hv_AllInstances = new HTuple();
|
HTuple hv_SetLight = new HTuple(), hv_LightParam = new HTuple();
|
HTuple hv_LightPosition = new HTuple(), hv_LightKind = new HTuple();
|
HTuple hv_LightIndex = new HTuple(), hv_PersistenceParamName = new HTuple();
|
HTuple hv_PersistenceParamValue = new HTuple(), hv_AlphaOrig = new HTuple();
|
HTuple hv_I = new HTuple(), hv_ParamName = new HTuple();
|
HTuple hv_ParamValue = new HTuple(), hv_ParamNameTrunk = new HTuple();
|
HTuple hv_Instance = new HTuple(), hv_HomMat3D = new HTuple();
|
HTuple hv_Qx = new HTuple(), hv_Qy = new HTuple(), hv_Qz = new HTuple();
|
HTuple hv_TBCenter = new HTuple(), hv_TBSize = new HTuple();
|
HTuple hv_ButtonHold = new HTuple(), hv_VisualizeTB = new HTuple();
|
HTuple hv_MaxIndex = new HTuple(), hv_TrackballCenterRow = new HTuple();
|
HTuple hv_TrackballCenterCol = new HTuple(), hv_GraphEvent = new HTuple();
|
HTuple hv_Exit = new HTuple(), hv_GraphButtonRow = new HTuple();
|
HTuple hv_GraphButtonColumn = new HTuple(), hv_GraphButton = new HTuple();
|
HTuple hv_ButtonReleased = new HTuple(), hv_e = new HTuple();
|
HTuple hv_CamParam_COPY_INP_TMP = new HTuple(hv_CamParam);
|
HTuple hv_GenParamName_COPY_INP_TMP = new HTuple(hv_GenParamName);
|
HTuple hv_GenParamValue_COPY_INP_TMP = new HTuple(hv_GenParamValue);
|
HTuple hv_Label_COPY_INP_TMP = new HTuple(hv_Label);
|
HTuple hv_PoseIn_COPY_INP_TMP = new HTuple(hv_PoseIn);
|
|
// Initialize local and output iconic variables
|
HOperatorSet.GenEmptyObj(out ho_Image);
|
HOperatorSet.GenEmptyObj(out ho_ImageDump);
|
hv_PoseOut = new HTuple();
|
try
|
{
|
//The procedure visualize_object_model_3d can be used to display
|
//one or more 3d object models and to interactively modify
|
//the object poses by using the mouse.
|
//
|
//The pose can be modified by moving the mouse while
|
//pressing a mouse button. The default settings are:
|
//
|
// Rotate: Left mouse button
|
// Zoom: Shift + Left mouse button (or Center mouse button)
|
// Pan: Ctrl + Left mouse button
|
//
|
//Furthermore, it is possible to select and deselect objects,
|
//to decrease the mouse sensitivity, and to toggle the
|
//inspection mode (see the description of the generic parameter
|
//'inspection_mode' below):
|
//
|
// (De-)select object(s): Right mouse button
|
// Low mouse sensitivity: Alt + mouse button
|
// Toggle inspection mode: Ctrl + Alt + Left mouse button
|
//
|
//In GenParamName and GenParamValue all generic Parameters
|
//of disp_object_model_3d are supported.
|
//
|
//**********************************************************
|
//Define global variables
|
//**********************************************************
|
//
|
//global def tuple gDispObjOffset
|
//global def tuple gLabelsDecor
|
//global def tuple gInfoDecor
|
//global def tuple gInfoPos
|
//global def tuple gTitlePos
|
//global def tuple gTitleDecor
|
//global def tuple gTerminationButtonLabel
|
//global def tuple gAlphaDeselected
|
//global def tuple gIsSinglePose
|
//global def tuple gUsesOpenGL
|
//
|
//**********************************************************
|
//Initialize Handles to enable correct handling in error case
|
//**********************************************************
|
hv_Scene3DTest.Dispose();
|
hv_Scene3DTest = new HTuple();
|
hv_Scene3D.Dispose();
|
hv_Scene3D = new HTuple();
|
hv_WindowHandleBuffer.Dispose();
|
hv_WindowHandleBuffer = new HTuple();
|
|
//**********************************************************
|
//Some user defines that may be adapted if desired
|
//**********************************************************
|
//
|
//TrackballSize defines the diameter of the trackball in
|
//the image with respect to the smaller image dimension.
|
hv_TrackballSize.Dispose();
|
hv_TrackballSize = 0.8;
|
//
|
//VirtualTrackball defines the type of virtual trackball that
|
//shall be used ('shoemake' or 'bell').
|
hv_VirtualTrackball.Dispose();
|
hv_VirtualTrackball = "shoemake";
|
//VirtualTrackball := 'bell'
|
//
|
//Functionality of mouse buttons
|
// 1: Left mouse button
|
// 2: Middle mouse button
|
// 4: Right mouse button
|
// 5: Left+Right mouse button
|
// 8+x: Shift + mouse button
|
// 16+x: Ctrl + mouse button
|
// 48+x: Ctrl + Alt + mouse button
|
//in the order [Translate, Rotate, Scale, ScaleAlternative1, ScaleAlternative2, SelectObjects, ToggleSelectionMode]
|
hv_MouseMapping.Dispose();
|
hv_MouseMapping = new HTuple();
|
hv_MouseMapping[0] = 17;
|
hv_MouseMapping[1] = 1;
|
hv_MouseMapping[2] = 2;
|
hv_MouseMapping[3] = 5;
|
hv_MouseMapping[4] = 9;
|
hv_MouseMapping[5] = 4;
|
hv_MouseMapping[6] = 49;
|
//
|
//The labels of the objects appear next to their projected
|
//center. With gDispObjOffset a fixed offset is added
|
// R, C
|
ExpTmpLocalVar_gDispObjOffset = new HTuple();
|
ExpTmpLocalVar_gDispObjOffset[0] = -30;
|
ExpTmpLocalVar_gDispObjOffset[1] = 0;
|
ExpSetGlobalVar_gDispObjOffset(ExpTmpLocalVar_gDispObjOffset);
|
//
|
//Customize the decoration of the different text elements
|
// Color, Box
|
ExpTmpLocalVar_gInfoDecor = new HTuple();
|
ExpTmpLocalVar_gInfoDecor[0] = "white";
|
ExpTmpLocalVar_gInfoDecor[1] = "false";
|
ExpSetGlobalVar_gInfoDecor(ExpTmpLocalVar_gInfoDecor);
|
ExpTmpLocalVar_gLabelsDecor = new HTuple();
|
ExpTmpLocalVar_gLabelsDecor[0] = "white";
|
ExpTmpLocalVar_gLabelsDecor[1] = "false";
|
ExpSetGlobalVar_gLabelsDecor(ExpTmpLocalVar_gLabelsDecor);
|
ExpTmpLocalVar_gTitleDecor = new HTuple();
|
ExpTmpLocalVar_gTitleDecor[0] = "black";
|
ExpTmpLocalVar_gTitleDecor[1] = "true";
|
ExpSetGlobalVar_gTitleDecor(ExpTmpLocalVar_gTitleDecor);
|
//
|
//Customize the position of some text elements
|
// gInfoPos has one of the values
|
// {'UpperLeft', 'LowerLeft', 'UpperRight'}
|
ExpTmpLocalVar_gInfoPos = "LowerLeft";
|
ExpSetGlobalVar_gInfoPos(ExpTmpLocalVar_gInfoPos);
|
// gTitlePos has one of the values
|
// {'UpperLeft', 'UpperCenter', 'UpperRight'}
|
ExpTmpLocalVar_gTitlePos = "UpperLeft";
|
ExpSetGlobalVar_gTitlePos(ExpTmpLocalVar_gTitlePos);
|
//Alpha value (=1-transparency) that is used for visualizing
|
//the objects that are not selected
|
ExpTmpLocalVar_gAlphaDeselected = 0.3;
|
ExpSetGlobalVar_gAlphaDeselected(ExpTmpLocalVar_gAlphaDeselected);
|
//Customize the label of the continue button
|
ExpTmpLocalVar_gTerminationButtonLabel = " Continue ";
|
ExpSetGlobalVar_gTerminationButtonLabel(ExpTmpLocalVar_gTerminationButtonLabel);
|
//Define if the continue button responds to a single click event or
|
//if it responds only if the mouse button is released while being placed
|
//over the continue button.
|
//'true': Wait until the continue button has been released.
|
// This should be used to avoid unwanted continuations of
|
// subsequent calls of visualize_object_model_3d, which can
|
// otherwise occur if the mouse button remains pressed while the
|
// next visualization is active.
|
//'false': Continue the execution already if the continue button is
|
// pressed. This option allows a fast forwarding through
|
// subsequent calls of visualize_object_model_3d.
|
hv_WaitForButtonRelease.Dispose();
|
hv_WaitForButtonRelease = "true";
|
//Number of 3D Object models that can be selected and handled individually.
|
//If there are more models passed then this number, some calculations
|
//are performed differently and the individual selection and handling
|
//of models is not supported anymore. Note that the value of MaxNumModels
|
//can be overwritten with the generic parameter max_num_selectable_models.
|
hv_MaxNumModels.Dispose();
|
hv_MaxNumModels = 1000;
|
//Defines the default for the initial state of the rotation center:
|
//(1) The rotation center is fixed in the center of the image and lies
|
// on the surface of the object.
|
//(2) The rotation center lies in the center of the object.
|
hv_WindowCenteredRotation.Dispose();
|
hv_WindowCenteredRotation = 2;
|
//
|
//**********************************************************
|
//
|
//Initialize some values
|
hv_NumModels.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_NumModels = new HTuple(hv_ObjectModel3D.TupleLength()
|
);
|
}
|
hv_SelectedObject.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_SelectedObject = HTuple.TupleGenConst(
|
hv_NumModels, 1);
|
}
|
//
|
//Apply some system settings
|
// dev_get_preferences(...); only in hdevelop
|
// dev_set_preferences(...); only in hdevelop
|
// dev_get_preferences(...); only in hdevelop
|
// dev_set_preferences(...); only in hdevelop
|
hv_ClipRegion.Dispose();
|
HOperatorSet.GetSystem("clip_region", out hv_ClipRegion);
|
HOperatorSet.SetSystem("clip_region", "false");
|
dev_update_off();
|
//
|
//Check if GenParamName matches GenParamValue
|
if ((int)new HTuple(new HTuple(hv_GenParamName_COPY_INP_TMP.TupleLength()
|
).TupleNotEqual(new HTuple(hv_GenParamValue_COPY_INP_TMP.TupleLength()
|
))) != 0)
|
{
|
throw new HalconException("Number of generic parameters does not match number of generic parameter values");
|
}
|
//
|
try
|
{
|
//
|
//Refactor camera parameters to fit to window size
|
//
|
hv_CPLength.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_CPLength = new HTuple(hv_CamParam_COPY_INP_TMP.TupleLength()
|
);
|
}
|
hv_RowNotUsed.Dispose(); hv_ColumnNotUsed.Dispose(); hv_Width.Dispose(); hv_Height.Dispose();
|
HOperatorSet.GetWindowExtents(hv_WindowHandle, out hv_RowNotUsed, out hv_ColumnNotUsed,
|
out hv_Width, out hv_Height);
|
hv_WPRow1.Dispose(); hv_WPColumn1.Dispose(); hv_WPRow2.Dispose(); hv_WPColumn2.Dispose();
|
HOperatorSet.GetPart(hv_WindowHandle, out hv_WPRow1, out hv_WPColumn1, out hv_WPRow2,
|
out hv_WPColumn2);
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
HOperatorSet.SetPart(hv_WindowHandle, 0, 0, hv_Height - 1, hv_Width - 1);
|
}
|
if ((int)new HTuple(hv_CPLength.TupleEqual(0)) != 0)
|
{
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_CamParam_COPY_INP_TMP.Dispose();
|
gen_cam_par_area_scan_division(0.06, 0, 8.5e-6, 8.5e-6, hv_Width / 2, hv_Height / 2,
|
hv_Width, hv_Height, out hv_CamParam_COPY_INP_TMP);
|
}
|
}
|
else
|
{
|
hv_CamParamValue.Dispose();
|
get_cam_par_data(hv_CamParam_COPY_INP_TMP, new HTuple("sx").TupleConcat(
|
"sy").TupleConcat("cx").TupleConcat("cy").TupleConcat("image_width").TupleConcat(
|
"image_height"), out hv_CamParamValue);
|
hv_CamWidth.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_CamWidth = hv_CamParamValue.TupleSelect(
|
4).TupleReal();
|
}
|
hv_CamHeight.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_CamHeight = hv_CamParamValue.TupleSelect(
|
5).TupleReal();
|
}
|
hv_Scale.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_Scale = (hv_Width / hv_CamWidth).TupleConcat(
|
hv_Height / hv_CamHeight).TupleMin();
|
}
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
HTuple ExpTmpOutVar_0;
|
set_cam_par_data(hv_CamParam_COPY_INP_TMP, "sx", hv_CamParamValue.TupleSelect(
|
0) / hv_Scale, out ExpTmpOutVar_0);
|
hv_CamParam_COPY_INP_TMP.Dispose();
|
hv_CamParam_COPY_INP_TMP = ExpTmpOutVar_0;
|
}
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
HTuple ExpTmpOutVar_0;
|
set_cam_par_data(hv_CamParam_COPY_INP_TMP, "sy", hv_CamParamValue.TupleSelect(
|
1) / hv_Scale, out ExpTmpOutVar_0);
|
hv_CamParam_COPY_INP_TMP.Dispose();
|
hv_CamParam_COPY_INP_TMP = ExpTmpOutVar_0;
|
}
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
HTuple ExpTmpOutVar_0;
|
set_cam_par_data(hv_CamParam_COPY_INP_TMP, "cx", hv_CamParamValue.TupleSelect(
|
2) * hv_Scale, out ExpTmpOutVar_0);
|
hv_CamParam_COPY_INP_TMP.Dispose();
|
hv_CamParam_COPY_INP_TMP = ExpTmpOutVar_0;
|
}
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
HTuple ExpTmpOutVar_0;
|
set_cam_par_data(hv_CamParam_COPY_INP_TMP, "cy", hv_CamParamValue.TupleSelect(
|
3) * hv_Scale, out ExpTmpOutVar_0);
|
hv_CamParam_COPY_INP_TMP.Dispose();
|
hv_CamParam_COPY_INP_TMP = ExpTmpOutVar_0;
|
}
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
HTuple ExpTmpOutVar_0;
|
set_cam_par_data(hv_CamParam_COPY_INP_TMP, "image_width", (hv_CamParamValue.TupleSelect(
|
4) * hv_Scale).TupleInt(), out ExpTmpOutVar_0);
|
hv_CamParam_COPY_INP_TMP.Dispose();
|
hv_CamParam_COPY_INP_TMP = ExpTmpOutVar_0;
|
}
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
HTuple ExpTmpOutVar_0;
|
set_cam_par_data(hv_CamParam_COPY_INP_TMP, "image_height", (hv_CamParamValue.TupleSelect(
|
5) * hv_Scale).TupleInt(), out ExpTmpOutVar_0);
|
hv_CamParam_COPY_INP_TMP.Dispose();
|
hv_CamParam_COPY_INP_TMP = ExpTmpOutVar_0;
|
}
|
}
|
//
|
//Check the generic parameters for max_num_selectable_models
|
//(Note that the default is set above to MaxNumModels := 1000)
|
hv_Indices.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_Indices = hv_GenParamName_COPY_INP_TMP.TupleFind(
|
"max_num_selectable_models");
|
}
|
if ((int)new HTuple(hv_Indices.TupleNotEqual(-1)).TupleAnd(new HTuple(hv_Indices.TupleNotEqual(
|
new HTuple()))) != 0)
|
{
|
if ((int)hv_GenParamValue_COPY_INP_TMP.TupleSelect(hv_Indices.TupleSelect(
|
0)).TupleIsNumber() != 0)
|
{
|
if ((int)new HTuple(hv_GenParamValue_COPY_INP_TMP.TupleSelect(
|
hv_Indices.TupleSelect(0)).TupleNumber().TupleInt().TupleLess(
|
1)) != 0)
|
{
|
//Wrong parameter value: Only integer values greater than 0 are allowed
|
throw new HalconException("Wrong value for parameter 'max_num_selectable_models' (must be an integer value greater than 0)");
|
}
|
}
|
else
|
{
|
//Wrong parameter value: Only integer values greater than 0 are allowed
|
throw new HalconException("Wrong value for parameter 'max_num_selectable_models' (must be an integer value greater than 0)");
|
}
|
hv_MaxNumModels.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_MaxNumModels = hv_GenParamValue_COPY_INP_TMP.TupleSelect(
|
hv_Indices.TupleSelect(0)).TupleNumber().TupleInt();
|
}
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
{
|
HTuple
|
ExpTmpLocalVar_GenParamName = hv_GenParamName_COPY_INP_TMP.TupleRemove(
|
hv_Indices);
|
hv_GenParamName_COPY_INP_TMP.Dispose();
|
hv_GenParamName_COPY_INP_TMP = ExpTmpLocalVar_GenParamName;
|
}
|
}
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
{
|
HTuple
|
ExpTmpLocalVar_GenParamValue = hv_GenParamValue_COPY_INP_TMP.TupleRemove(
|
hv_Indices);
|
hv_GenParamValue_COPY_INP_TMP.Dispose();
|
hv_GenParamValue_COPY_INP_TMP = ExpTmpLocalVar_GenParamValue;
|
}
|
}
|
}
|
//
|
//Check the generic parameters for window_centered_rotation
|
//(Note that the default is set above to WindowCenteredRotation := 2)
|
hv_Indices.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_Indices = hv_GenParamName_COPY_INP_TMP.TupleFind(
|
"inspection_mode");
|
}
|
if ((int)new HTuple(hv_Indices.TupleNotEqual(-1)).TupleAnd(new HTuple(hv_Indices.TupleNotEqual(
|
new HTuple()))) != 0)
|
{
|
if ((int)new HTuple(hv_GenParamValue_COPY_INP_TMP.TupleSelect(hv_Indices.TupleSelect(
|
0)).TupleEqual("surface")) != 0)
|
{
|
hv_WindowCenteredRotation.Dispose();
|
hv_WindowCenteredRotation = 1;
|
}
|
else if ((int)new HTuple(hv_GenParamValue_COPY_INP_TMP.TupleSelect(
|
hv_Indices.TupleSelect(0)).TupleEqual("standard")) != 0)
|
{
|
hv_WindowCenteredRotation.Dispose();
|
hv_WindowCenteredRotation = 2;
|
}
|
else
|
{
|
//Wrong parameter value, use default value
|
}
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
{
|
HTuple
|
ExpTmpLocalVar_GenParamName = hv_GenParamName_COPY_INP_TMP.TupleRemove(
|
hv_Indices);
|
hv_GenParamName_COPY_INP_TMP.Dispose();
|
hv_GenParamName_COPY_INP_TMP = ExpTmpLocalVar_GenParamName;
|
}
|
}
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
{
|
HTuple
|
ExpTmpLocalVar_GenParamValue = hv_GenParamValue_COPY_INP_TMP.TupleRemove(
|
hv_Indices);
|
hv_GenParamValue_COPY_INP_TMP.Dispose();
|
hv_GenParamValue_COPY_INP_TMP = ExpTmpLocalVar_GenParamValue;
|
}
|
}
|
}
|
//
|
//Check the generic parameters for disp_background
|
//(The former parameter name 'use_background' is still supported
|
// for compatibility reasons)
|
hv_DispBackground.Dispose();
|
hv_DispBackground = "false";
|
if ((int)new HTuple(new HTuple(hv_GenParamName_COPY_INP_TMP.TupleLength()
|
).TupleGreater(0)) != 0)
|
{
|
hv_Mask.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_Mask = hv_GenParamName_COPY_INP_TMP.TupleEqualElem(
|
"disp_background").TupleOr(hv_GenParamName_COPY_INP_TMP.TupleEqualElem(
|
"use_background"));
|
}
|
hv_Indices.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_Indices = hv_Mask.TupleFind(
|
1);
|
}
|
}
|
else
|
{
|
hv_Indices.Dispose();
|
hv_Indices = -1;
|
}
|
if ((int)new HTuple(hv_Indices.TupleNotEqual(-1)).TupleAnd(new HTuple(hv_Indices.TupleNotEqual(
|
new HTuple()))) != 0)
|
{
|
hv_DispBackground.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_DispBackground = hv_GenParamValue_COPY_INP_TMP.TupleSelect(
|
hv_Indices.TupleSelect(0));
|
}
|
if ((int)new HTuple(hv_DispBackground.TupleNotEqual("true")).TupleAnd(
|
new HTuple(hv_DispBackground.TupleNotEqual("false"))) != 0)
|
{
|
//Wrong parameter value: Only 'true' and 'false' are allowed
|
throw new HalconException("Wrong value for parameter 'disp_background' (must be either 'true' or 'false')");
|
}
|
//Note that the background is handled explicitly in this procedure
|
//and therefore, the parameter is removed from the list of
|
//parameters and disp_background is always set to true (see below)
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
{
|
HTuple
|
ExpTmpLocalVar_GenParamName = hv_GenParamName_COPY_INP_TMP.TupleRemove(
|
hv_Indices);
|
hv_GenParamName_COPY_INP_TMP.Dispose();
|
hv_GenParamName_COPY_INP_TMP = ExpTmpLocalVar_GenParamName;
|
}
|
}
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
{
|
HTuple
|
ExpTmpLocalVar_GenParamValue = hv_GenParamValue_COPY_INP_TMP.TupleRemove(
|
hv_Indices);
|
hv_GenParamValue_COPY_INP_TMP.Dispose();
|
hv_GenParamValue_COPY_INP_TMP = ExpTmpLocalVar_GenParamValue;
|
}
|
}
|
}
|
//
|
//Read and check the parameter Label for each object
|
if ((int)new HTuple(new HTuple(hv_Label_COPY_INP_TMP.TupleLength()).TupleEqual(
|
0)) != 0)
|
{
|
//no labels set -> leave as []
|
}
|
else if ((int)new HTuple(new HTuple(hv_Label_COPY_INP_TMP.TupleLength()
|
).TupleEqual(1)) != 0)
|
{
|
//a single label set for all models
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
{
|
HTuple
|
ExpTmpLocalVar_Label = HTuple.TupleGenConst(
|
hv_NumModels, hv_Label_COPY_INP_TMP);
|
hv_Label_COPY_INP_TMP.Dispose();
|
hv_Label_COPY_INP_TMP = ExpTmpLocalVar_Label;
|
}
|
}
|
}
|
else
|
{
|
if ((int)new HTuple(new HTuple(hv_Label_COPY_INP_TMP.TupleLength()).TupleNotEqual(
|
hv_NumModels)) != 0)
|
{
|
//Number of elements in Label does not match
|
//the number of object models.
|
throw new HalconException(new HTuple(new HTuple("Number of elements in Label (") + new HTuple(hv_Label_COPY_INP_TMP.TupleLength()
|
)) + ") does not match the number of object models(" + hv_NumModels + ").");
|
}
|
}
|
//Convert labels into strings
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
{
|
HTuple
|
ExpTmpLocalVar_Label = "" + hv_Label_COPY_INP_TMP;
|
hv_Label_COPY_INP_TMP.Dispose();
|
hv_Label_COPY_INP_TMP = ExpTmpLocalVar_Label;
|
}
|
}
|
//
|
//Read and check the parameter PoseIn for each object
|
hv_Center.Dispose();
|
get_object_models_center(hv_ObjectModel3D, out hv_Center);
|
if ((int)new HTuple(hv_Center.TupleEqual(new HTuple())) != 0)
|
{
|
hv_Center.Dispose();
|
hv_Center = new HTuple();
|
hv_Center[0] = 0;
|
hv_Center[1] = 0;
|
hv_Center[2] = 0;
|
}
|
if ((int)new HTuple(new HTuple(hv_PoseIn_COPY_INP_TMP.TupleLength()).TupleEqual(
|
0)) != 0)
|
{
|
//If no pose was specified by the caller, automatically calculate
|
//a pose that is appropriate for the visualization.
|
//Set the initial model reference pose. The orientation is parallel
|
//to the object coordinate system, the position is at the center
|
//of gravity of all models.
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_PoseIn_COPY_INP_TMP.Dispose();
|
HOperatorSet.CreatePose(-hv_Center.TupleSelect(0), -hv_Center.TupleSelect(
|
1), -hv_Center.TupleSelect(2), 0, 0, 0, "Rp+T", "gba", "point",
|
out hv_PoseIn_COPY_INP_TMP);
|
}
|
hv_PoseEstimated.Dispose();
|
determine_optimum_pose_distance(hv_ObjectModel3D, hv_CamParam_COPY_INP_TMP,
|
0.9, hv_PoseIn_COPY_INP_TMP, out hv_PoseEstimated);
|
hv_Poses.Dispose();
|
hv_Poses = new HTuple();
|
hv_HomMat3Ds.Dispose();
|
hv_HomMat3Ds = new HTuple();
|
hv_Sequence.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_Sequence = HTuple.TupleGenSequence(
|
0, hv_NumModels * 7 - 1, 1);
|
}
|
hv_Poses.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_Poses = hv_PoseEstimated.TupleSelect(
|
hv_Sequence % 7);
|
}
|
ExpTmpLocalVar_gIsSinglePose = 1;
|
ExpSetGlobalVar_gIsSinglePose(ExpTmpLocalVar_gIsSinglePose);
|
}
|
else if ((int)new HTuple(new HTuple(hv_PoseIn_COPY_INP_TMP.TupleLength()
|
).TupleEqual(7)) != 0)
|
{
|
hv_Poses.Dispose();
|
hv_Poses = new HTuple();
|
hv_HomMat3Ds.Dispose();
|
hv_HomMat3Ds = new HTuple();
|
hv_Sequence.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_Sequence = HTuple.TupleGenSequence(
|
0, hv_NumModels * 7 - 1, 1);
|
}
|
hv_Poses.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_Poses = hv_PoseIn_COPY_INP_TMP.TupleSelect(
|
hv_Sequence % 7);
|
}
|
ExpTmpLocalVar_gIsSinglePose = 1;
|
ExpSetGlobalVar_gIsSinglePose(ExpTmpLocalVar_gIsSinglePose);
|
}
|
else
|
{
|
if ((int)new HTuple(new HTuple(hv_PoseIn_COPY_INP_TMP.TupleLength()).TupleNotEqual(
|
new HTuple(hv_ObjectModel3D.TupleLength()) * 7)) != 0)
|
{
|
//Wrong number of values of input control parameter 'PoseIn'
|
throw new HalconException("Wrong number of values of input control parameter 'PoseIn'.");
|
}
|
else
|
{
|
hv_Poses.Dispose();
|
hv_Poses = new HTuple(hv_PoseIn_COPY_INP_TMP);
|
}
|
ExpTmpLocalVar_gIsSinglePose = 0;
|
ExpSetGlobalVar_gIsSinglePose(ExpTmpLocalVar_gIsSinglePose);
|
}
|
//
|
//Open (invisible) buffer window to avoid flickering
|
hv_WindowHandleBuffer.Dispose();
|
HOperatorSet.OpenWindow(0, 0, hv_Width, hv_Height, 0, "buffer", "", out hv_WindowHandleBuffer);
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
HOperatorSet.SetPart(hv_WindowHandleBuffer, 0, 0, hv_Height - 1, hv_Width - 1);
|
}
|
hv_Font.Dispose();
|
HOperatorSet.GetFont(hv_WindowHandle, out hv_Font);
|
try
|
{
|
HOperatorSet.SetFont(hv_WindowHandleBuffer, hv_Font);
|
}
|
// catch (Exception)
|
catch (HalconException HDevExpDefaultException2)
|
{
|
HDevExpDefaultException2.ToHTuple(out hv_Exception);
|
}
|
//
|
// Is OpenGL available and should it be used?
|
ExpTmpLocalVar_gUsesOpenGL = "true";
|
ExpSetGlobalVar_gUsesOpenGL(ExpTmpLocalVar_gUsesOpenGL);
|
hv_Indices.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_Indices = hv_GenParamName_COPY_INP_TMP.TupleFind(
|
"opengl");
|
}
|
if ((int)new HTuple(hv_Indices.TupleNotEqual(-1)).TupleAnd(new HTuple(hv_Indices.TupleNotEqual(
|
new HTuple()))) != 0)
|
{
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
ExpTmpLocalVar_gUsesOpenGL = hv_GenParamValue_COPY_INP_TMP.TupleSelect(
|
hv_Indices.TupleSelect(0));
|
}
|
ExpSetGlobalVar_gUsesOpenGL(ExpTmpLocalVar_gUsesOpenGL);
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
{
|
HTuple
|
ExpTmpLocalVar_GenParamName = hv_GenParamName_COPY_INP_TMP.TupleRemove(
|
hv_Indices);
|
hv_GenParamName_COPY_INP_TMP.Dispose();
|
hv_GenParamName_COPY_INP_TMP = ExpTmpLocalVar_GenParamName;
|
}
|
}
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
{
|
HTuple
|
ExpTmpLocalVar_GenParamValue = hv_GenParamValue_COPY_INP_TMP.TupleRemove(
|
hv_Indices);
|
hv_GenParamValue_COPY_INP_TMP.Dispose();
|
hv_GenParamValue_COPY_INP_TMP = ExpTmpLocalVar_GenParamValue;
|
}
|
}
|
if ((int)new HTuple(ExpGetGlobalVar_gUsesOpenGL().TupleNotEqual("true")).TupleAnd(
|
new HTuple(ExpGetGlobalVar_gUsesOpenGL().TupleNotEqual("false"))) != 0)
|
{
|
//Wrong parameter value: Only 'true' and 'false' are allowed
|
throw new HalconException("Wrong value for parameter 'opengl' (must be either 'true' or 'false')");
|
}
|
}
|
if ((int)new HTuple(ExpGetGlobalVar_gUsesOpenGL().TupleEqual("true")) != 0)
|
{
|
hv_OpenGLInfo.Dispose();
|
HOperatorSet.GetSystem("opengl_info", out hv_OpenGLInfo);
|
if ((int)new HTuple(hv_OpenGLInfo.TupleEqual("No OpenGL support included.")) != 0)
|
{
|
ExpTmpLocalVar_gUsesOpenGL = "false";
|
ExpSetGlobalVar_gUsesOpenGL(ExpTmpLocalVar_gUsesOpenGL);
|
}
|
else
|
{
|
hv_DummyObjectModel3D.Dispose();
|
HOperatorSet.GenObjectModel3dFromPoints(0, 0, 0, out hv_DummyObjectModel3D);
|
hv_Scene3DTest.Dispose();
|
HOperatorSet.CreateScene3d(out hv_Scene3DTest);
|
hv_CameraIndexTest.Dispose();
|
HOperatorSet.AddScene3dCamera(hv_Scene3DTest, hv_CamParam_COPY_INP_TMP,
|
out hv_CameraIndexTest);
|
hv_PoseTest.Dispose();
|
determine_optimum_pose_distance(hv_DummyObjectModel3D, hv_CamParam_COPY_INP_TMP,
|
0.9, new HTuple(0).TupleConcat(0).TupleConcat(0).TupleConcat(
|
0).TupleConcat(0).TupleConcat(0).TupleConcat(0), out hv_PoseTest);
|
hv_InstanceIndexTest.Dispose();
|
HOperatorSet.AddScene3dInstance(hv_Scene3DTest, hv_DummyObjectModel3D,
|
hv_PoseTest, out hv_InstanceIndexTest);
|
try
|
{
|
HOperatorSet.DisplayScene3d(hv_WindowHandleBuffer, hv_Scene3DTest,
|
hv_InstanceIndexTest);
|
}
|
// catch (Exception)
|
catch (HalconException HDevExpDefaultException2)
|
{
|
HDevExpDefaultException2.ToHTuple(out hv_Exception);
|
ExpTmpLocalVar_gUsesOpenGL = "false";
|
ExpSetGlobalVar_gUsesOpenGL(ExpTmpLocalVar_gUsesOpenGL);
|
}
|
HOperatorSet.ClearScene3d(hv_Scene3DTest);
|
hv_Scene3DTest.Dispose();
|
hv_Scene3DTest = new HTuple();
|
HOperatorSet.ClearObjectModel3d(hv_DummyObjectModel3D);
|
}
|
}
|
//
|
//Compute the trackball
|
hv_MinImageSize.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_MinImageSize = hv_Width.TupleConcat(
|
hv_Height).TupleMin();
|
}
|
hv_TrackballRadiusPixel.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_TrackballRadiusPixel = hv_TrackballSize * hv_MinImageSize / 2.0;
|
}
|
//
|
//Measure the text extents for the continue button in the
|
//graphics window
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_Ascent.Dispose(); hv_Descent.Dispose(); hv_TextWidth.Dispose(); hv_TextHeight.Dispose();
|
HOperatorSet.GetStringExtents(hv_WindowHandleBuffer, ExpGetGlobalVar_gTerminationButtonLabel() + " ",
|
out hv_Ascent, out hv_Descent, out hv_TextWidth, out hv_TextHeight);
|
}
|
//
|
//Store background image
|
if ((int)new HTuple(hv_DispBackground.TupleEqual("false")) != 0)
|
{
|
HOperatorSet.ClearWindow(hv_WindowHandle);
|
}
|
ho_Image.Dispose();
|
HOperatorSet.DumpWindowImage(out ho_Image, hv_WindowHandle);
|
//Special treatment for color background images necessary
|
hv_NumChannels.Dispose();
|
HOperatorSet.CountChannels(ho_Image, out hv_NumChannels);
|
hv_ColorImage.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_ColorImage = new HTuple(hv_NumChannels.TupleEqual(
|
3));
|
}
|
//
|
hv_Scene3D.Dispose();
|
HOperatorSet.CreateScene3d(out hv_Scene3D);
|
hv_CameraIndex.Dispose();
|
HOperatorSet.AddScene3dCamera(hv_Scene3D, hv_CamParam_COPY_INP_TMP, out hv_CameraIndex);
|
hv_AllInstances.Dispose();
|
HOperatorSet.AddScene3dInstance(hv_Scene3D, hv_ObjectModel3D, hv_Poses, out hv_AllInstances);
|
//Always set 'disp_background' to true, because it is handled explicitly
|
//in this procedure (see above)
|
HOperatorSet.SetScene3dParam(hv_Scene3D, "disp_background", "true");
|
//Check if we have to set light specific parameters
|
hv_SetLight.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_SetLight = new HTuple(hv_GenParamName_COPY_INP_TMP.TupleRegexpTest(
|
"light_"));
|
}
|
if ((int)hv_SetLight != 0)
|
{
|
//set position of light source
|
hv_Indices.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_Indices = hv_GenParamName_COPY_INP_TMP.TupleFind(
|
"light_position");
|
}
|
if ((int)new HTuple(hv_Indices.TupleNotEqual(-1)).TupleAnd(new HTuple(hv_Indices.TupleNotEqual(
|
new HTuple()))) != 0)
|
{
|
//If multiple light positions are given, use the last one
|
hv_LightParam.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_LightParam = hv_GenParamValue_COPY_INP_TMP.TupleSelect(
|
hv_Indices.TupleSelect(new HTuple(hv_Indices.TupleLength()) - 1)).TupleSplit(
|
new HTuple(", ")).TupleNumber();
|
}
|
if ((int)new HTuple(new HTuple(hv_LightParam.TupleLength()).TupleNotEqual(
|
4)) != 0)
|
{
|
throw new HalconException("light_position must be given as a string that contains four space separated floating point numbers");
|
}
|
hv_LightPosition.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_LightPosition = hv_LightParam.TupleSelectRange(
|
0, 2);
|
}
|
hv_LightKind.Dispose();
|
hv_LightKind = "point_light";
|
if ((int)new HTuple(hv_LightParam.TupleSelect(3).TupleEqual(0)) != 0)
|
{
|
hv_LightKind.Dispose();
|
hv_LightKind = "directional_light";
|
}
|
//Currently, only one light source is supported
|
HOperatorSet.RemoveScene3dLight(hv_Scene3D, 0);
|
hv_LightIndex.Dispose();
|
HOperatorSet.AddScene3dLight(hv_Scene3D, hv_LightPosition, hv_LightKind,
|
out hv_LightIndex);
|
{
|
HTuple ExpTmpOutVar_0;
|
HOperatorSet.TupleRemove(hv_GenParamName_COPY_INP_TMP, hv_Indices, out ExpTmpOutVar_0);
|
hv_GenParamName_COPY_INP_TMP.Dispose();
|
hv_GenParamName_COPY_INP_TMP = ExpTmpOutVar_0;
|
}
|
{
|
HTuple ExpTmpOutVar_0;
|
HOperatorSet.TupleRemove(hv_GenParamValue_COPY_INP_TMP, hv_Indices, out ExpTmpOutVar_0);
|
hv_GenParamValue_COPY_INP_TMP.Dispose();
|
hv_GenParamValue_COPY_INP_TMP = ExpTmpOutVar_0;
|
}
|
}
|
//set ambient part of light source
|
hv_Indices.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_Indices = hv_GenParamName_COPY_INP_TMP.TupleFind(
|
"light_ambient");
|
}
|
if ((int)new HTuple(hv_Indices.TupleNotEqual(-1)).TupleAnd(new HTuple(hv_Indices.TupleNotEqual(
|
new HTuple()))) != 0)
|
{
|
//If the ambient part is set multiple times, use the last setting
|
hv_LightParam.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_LightParam = hv_GenParamValue_COPY_INP_TMP.TupleSelect(
|
hv_Indices.TupleSelect(new HTuple(hv_Indices.TupleLength()) - 1)).TupleSplit(
|
new HTuple(", ")).TupleNumber();
|
}
|
if ((int)new HTuple(new HTuple(hv_LightParam.TupleLength()).TupleLess(
|
3)) != 0)
|
{
|
throw new HalconException("light_ambient must be given as a string that contains three space separated floating point numbers");
|
}
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
HOperatorSet.SetScene3dLightParam(hv_Scene3D, 0, "ambient", hv_LightParam.TupleSelectRange(
|
0, 2));
|
}
|
{
|
HTuple ExpTmpOutVar_0;
|
HOperatorSet.TupleRemove(hv_GenParamName_COPY_INP_TMP, hv_Indices, out ExpTmpOutVar_0);
|
hv_GenParamName_COPY_INP_TMP.Dispose();
|
hv_GenParamName_COPY_INP_TMP = ExpTmpOutVar_0;
|
}
|
{
|
HTuple ExpTmpOutVar_0;
|
HOperatorSet.TupleRemove(hv_GenParamValue_COPY_INP_TMP, hv_Indices, out ExpTmpOutVar_0);
|
hv_GenParamValue_COPY_INP_TMP.Dispose();
|
hv_GenParamValue_COPY_INP_TMP = ExpTmpOutVar_0;
|
}
|
}
|
//Set diffuse part of light source
|
hv_Indices.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_Indices = hv_GenParamName_COPY_INP_TMP.TupleFind(
|
"light_diffuse");
|
}
|
if ((int)new HTuple(hv_Indices.TupleNotEqual(-1)).TupleAnd(new HTuple(hv_Indices.TupleNotEqual(
|
new HTuple()))) != 0)
|
{
|
//If the diffuse part is set multiple times, use the last setting
|
hv_LightParam.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_LightParam = hv_GenParamValue_COPY_INP_TMP.TupleSelect(
|
hv_Indices.TupleSelect(new HTuple(hv_Indices.TupleLength()) - 1)).TupleSplit(
|
new HTuple(", ")).TupleNumber();
|
}
|
if ((int)new HTuple(new HTuple(hv_LightParam.TupleLength()).TupleLess(
|
3)) != 0)
|
{
|
throw new HalconException("light_diffuse must be given as a string that contains three space separated floating point numbers");
|
}
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
HOperatorSet.SetScene3dLightParam(hv_Scene3D, 0, "diffuse", hv_LightParam.TupleSelectRange(
|
0, 2));
|
}
|
{
|
HTuple ExpTmpOutVar_0;
|
HOperatorSet.TupleRemove(hv_GenParamName_COPY_INP_TMP, hv_Indices, out ExpTmpOutVar_0);
|
hv_GenParamName_COPY_INP_TMP.Dispose();
|
hv_GenParamName_COPY_INP_TMP = ExpTmpOutVar_0;
|
}
|
{
|
HTuple ExpTmpOutVar_0;
|
HOperatorSet.TupleRemove(hv_GenParamValue_COPY_INP_TMP, hv_Indices, out ExpTmpOutVar_0);
|
hv_GenParamValue_COPY_INP_TMP.Dispose();
|
hv_GenParamValue_COPY_INP_TMP = ExpTmpOutVar_0;
|
}
|
}
|
}
|
//
|
//Handle persistence parameters separately because persistence will
|
//only be activated immediately before leaving the visualization
|
//procedure
|
hv_PersistenceParamName.Dispose();
|
hv_PersistenceParamName = new HTuple();
|
hv_PersistenceParamValue.Dispose();
|
hv_PersistenceParamValue = new HTuple();
|
//Set position of light source
|
hv_Indices.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_Indices = hv_GenParamName_COPY_INP_TMP.TupleFind(
|
"object_index_persistence");
|
}
|
if ((int)new HTuple(hv_Indices.TupleNotEqual(-1)).TupleAnd(new HTuple(hv_Indices.TupleNotEqual(
|
new HTuple()))) != 0)
|
{
|
if ((int)new HTuple(hv_GenParamValue_COPY_INP_TMP.TupleSelect(hv_Indices.TupleSelect(
|
new HTuple(hv_Indices.TupleLength()) - 1)).TupleEqual("true")) != 0)
|
{
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
{
|
HTuple
|
ExpTmpLocalVar_PersistenceParamName = hv_PersistenceParamName.TupleConcat(
|
"object_index_persistence");
|
hv_PersistenceParamName.Dispose();
|
hv_PersistenceParamName = ExpTmpLocalVar_PersistenceParamName;
|
}
|
}
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
{
|
HTuple
|
ExpTmpLocalVar_PersistenceParamValue = hv_PersistenceParamValue.TupleConcat(
|
"true");
|
hv_PersistenceParamValue.Dispose();
|
hv_PersistenceParamValue = ExpTmpLocalVar_PersistenceParamValue;
|
}
|
}
|
}
|
else if ((int)new HTuple(hv_GenParamValue_COPY_INP_TMP.TupleSelect(
|
hv_Indices.TupleSelect(new HTuple(hv_Indices.TupleLength()) - 1)).TupleEqual(
|
"false")) != 0)
|
{
|
}
|
else
|
{
|
throw new HalconException("Wrong value for parameter 'object_index_persistence' (must be either 'true' or 'false')");
|
}
|
{
|
HTuple ExpTmpOutVar_0;
|
HOperatorSet.TupleRemove(hv_GenParamName_COPY_INP_TMP, hv_Indices, out ExpTmpOutVar_0);
|
hv_GenParamName_COPY_INP_TMP.Dispose();
|
hv_GenParamName_COPY_INP_TMP = ExpTmpOutVar_0;
|
}
|
{
|
HTuple ExpTmpOutVar_0;
|
HOperatorSet.TupleRemove(hv_GenParamValue_COPY_INP_TMP, hv_Indices, out ExpTmpOutVar_0);
|
hv_GenParamValue_COPY_INP_TMP.Dispose();
|
hv_GenParamValue_COPY_INP_TMP = ExpTmpOutVar_0;
|
}
|
}
|
hv_Indices.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_Indices = hv_GenParamName_COPY_INP_TMP.TupleFind(
|
"depth_persistence");
|
}
|
if ((int)new HTuple(hv_Indices.TupleNotEqual(-1)).TupleAnd(new HTuple(hv_Indices.TupleNotEqual(
|
new HTuple()))) != 0)
|
{
|
if ((int)new HTuple(hv_GenParamValue_COPY_INP_TMP.TupleSelect(hv_Indices.TupleSelect(
|
new HTuple(hv_Indices.TupleLength()) - 1)).TupleEqual("true")) != 0)
|
{
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
{
|
HTuple
|
ExpTmpLocalVar_PersistenceParamName = hv_PersistenceParamName.TupleConcat(
|
"depth_persistence");
|
hv_PersistenceParamName.Dispose();
|
hv_PersistenceParamName = ExpTmpLocalVar_PersistenceParamName;
|
}
|
}
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
{
|
HTuple
|
ExpTmpLocalVar_PersistenceParamValue = hv_PersistenceParamValue.TupleConcat(
|
"true");
|
hv_PersistenceParamValue.Dispose();
|
hv_PersistenceParamValue = ExpTmpLocalVar_PersistenceParamValue;
|
}
|
}
|
}
|
else if ((int)new HTuple(hv_GenParamValue_COPY_INP_TMP.TupleSelect(
|
hv_Indices.TupleSelect(new HTuple(hv_Indices.TupleLength()) - 1)).TupleEqual(
|
"false")) != 0)
|
{
|
}
|
else
|
{
|
throw new HalconException("Wrong value for parameter 'depth_persistence' (must be either 'true' or 'false')");
|
}
|
{
|
HTuple ExpTmpOutVar_0;
|
HOperatorSet.TupleRemove(hv_GenParamName_COPY_INP_TMP, hv_Indices, out ExpTmpOutVar_0);
|
hv_GenParamName_COPY_INP_TMP.Dispose();
|
hv_GenParamName_COPY_INP_TMP = ExpTmpOutVar_0;
|
}
|
{
|
HTuple ExpTmpOutVar_0;
|
HOperatorSet.TupleRemove(hv_GenParamValue_COPY_INP_TMP, hv_Indices, out ExpTmpOutVar_0);
|
hv_GenParamValue_COPY_INP_TMP.Dispose();
|
hv_GenParamValue_COPY_INP_TMP = ExpTmpOutVar_0;
|
}
|
}
|
//
|
//Parse the generic parameters
|
//- First, all parameters that are understood by set_scene_3d_instance_param
|
hv_AlphaOrig.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_AlphaOrig = HTuple.TupleGenConst(
|
hv_NumModels, 1);
|
}
|
for (hv_I = 0; (int)hv_I <= (int)(new HTuple(hv_GenParamName_COPY_INP_TMP.TupleLength()
|
) - 1); hv_I = (int)hv_I + 1)
|
{
|
hv_ParamName.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_ParamName = hv_GenParamName_COPY_INP_TMP.TupleSelect(
|
hv_I);
|
}
|
hv_ParamValue.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_ParamValue = hv_GenParamValue_COPY_INP_TMP.TupleSelect(
|
hv_I);
|
}
|
//Check if this parameter is understood by set_scene_3d_param
|
if ((int)new HTuple(hv_ParamName.TupleEqual("alpha")) != 0)
|
{
|
hv_AlphaOrig.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_AlphaOrig = HTuple.TupleGenConst(
|
hv_NumModels, hv_ParamValue);
|
}
|
}
|
try
|
{
|
HOperatorSet.SetScene3dParam(hv_Scene3D, hv_ParamName, hv_ParamValue);
|
continue;
|
}
|
// catch (Exception)
|
catch (HalconException HDevExpDefaultException2)
|
{
|
HDevExpDefaultException2.ToHTuple(out hv_Exception);
|
if ((int)new HTuple(hv_Exception.TupleSelect(0).TupleEqual(1203)).TupleOr(
|
new HTuple(hv_Exception.TupleSelect(0).TupleEqual(1303))) != 0)
|
{
|
if ((int)new HTuple(new HTuple(new HTuple(hv_ParamName.TupleEqual(
|
"color_attrib")).TupleOr(new HTuple(hv_ParamName.TupleEqual("red_channel_attrib")))).TupleOr(
|
new HTuple(hv_ParamName.TupleEqual("green_channel_attrib")))).TupleOr(
|
new HTuple(hv_ParamName.TupleEqual("blue_channel_attrib"))) != 0)
|
{
|
throw new HalconException("Wrong type or value for parameter " + hv_ParamName + ": " + hv_ParamValue + ". " + hv_ParamValue + " may not be attached to the points of the 3D object model. Compare the parameter AttachExtAttribTo of set_object_model_3d_attrib.");
|
}
|
else
|
{
|
throw new HalconException("Wrong type or value for parameter " + hv_ParamName + ": " + hv_ParamValue);
|
}
|
}
|
}
|
//Check if it is a parameter that is valid for only one instance
|
//and therefore can be set only with set_scene_3d_instance_param
|
hv_ParamNameTrunk.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_ParamNameTrunk = hv_ParamName.TupleRegexpReplace(
|
"_\\d+$", "");
|
}
|
if ((int)new HTuple(hv_ParamName.TupleEqual(hv_ParamNameTrunk)) != 0)
|
{
|
hv_Instance.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_Instance = HTuple.TupleGenSequence(
|
0, hv_NumModels - 1, 1);
|
}
|
}
|
else
|
{
|
hv_Instance.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_Instance = hv_ParamName.TupleRegexpReplace(
|
"^" + hv_ParamNameTrunk + "_(\\d+)$", "$1").TupleNumber();
|
}
|
if ((int)new HTuple(hv_Instance.TupleLess(0)).TupleOr(new HTuple(hv_Instance.TupleGreater(
|
hv_NumModels - 1))) != 0)
|
{
|
throw new HalconException("Parameter " + hv_ParamName + " refers to a non existing 3D object model");
|
}
|
}
|
try
|
{
|
HOperatorSet.SetScene3dInstanceParam(hv_Scene3D, hv_Instance, hv_ParamNameTrunk,
|
hv_ParamValue);
|
}
|
// catch (Exception)
|
catch (HalconException HDevExpDefaultException2)
|
{
|
HDevExpDefaultException2.ToHTuple(out hv_Exception);
|
if ((int)new HTuple(hv_Exception.TupleSelect(0).TupleEqual(1204)).TupleOr(
|
new HTuple(hv_Exception.TupleSelect(0).TupleEqual(1304))) != 0)
|
{
|
if ((int)new HTuple(new HTuple(new HTuple(hv_ParamNameTrunk.TupleEqual(
|
"color_attrib")).TupleOr(new HTuple(hv_ParamNameTrunk.TupleEqual(
|
"red_channel_attrib")))).TupleOr(new HTuple(hv_ParamNameTrunk.TupleEqual(
|
"green_channel_attrib")))).TupleOr(new HTuple(hv_ParamNameTrunk.TupleEqual(
|
"blue_channel_attrib"))) != 0)
|
{
|
throw new HalconException("Wrong type or value for parameter " + hv_ParamName + ": " + hv_ParamValue + ". " + hv_ParamValue + " may not be attached to the points of the 3D object model. Compare the parameter AttachExtAttribTo of set_object_model_3d_attrib.");
|
}
|
else
|
{
|
throw new HalconException("Wrong type or value for parameter " + hv_ParamName + ": " + hv_ParamValue);
|
}
|
}
|
else if ((int)new HTuple(hv_Exception.TupleSelect(0).TupleEqual(
|
1203)).TupleOr(new HTuple(hv_Exception.TupleSelect(0).TupleEqual(
|
1303))) != 0)
|
{
|
throw new HalconException("Wrong parameter name " + hv_ParamName);
|
}
|
else
|
{
|
throw new HalconException(hv_Exception);
|
}
|
}
|
if ((int)new HTuple(hv_ParamNameTrunk.TupleEqual("alpha")) != 0)
|
{
|
if (hv_AlphaOrig == null)
|
hv_AlphaOrig = new HTuple();
|
hv_AlphaOrig[hv_Instance] = hv_ParamValue;
|
}
|
}
|
//
|
//Start the visualization loop
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_HomMat3D.Dispose();
|
HOperatorSet.PoseToHomMat3d(hv_Poses.TupleSelectRange(0, 6), out hv_HomMat3D);
|
}
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_Qx.Dispose(); hv_Qy.Dispose(); hv_Qz.Dispose();
|
HOperatorSet.AffineTransPoint3d(hv_HomMat3D, hv_Center.TupleSelect(0), hv_Center.TupleSelect(
|
1), hv_Center.TupleSelect(2), out hv_Qx, out hv_Qy, out hv_Qz);
|
}
|
hv_TBCenter.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_TBCenter = new HTuple();
|
hv_TBCenter = hv_TBCenter.TupleConcat(hv_Qx, hv_Qy, hv_Qz);
|
}
|
hv_TBSize.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_TBSize = (0.5 + 0.5 * hv_SelectedObject.TupleSum()
|
/ hv_NumModels) * hv_TrackballRadiusPixel;
|
}
|
hv_ButtonHold.Dispose();
|
hv_ButtonHold = 0;
|
while (1 != 0)
|
{
|
// 设置在死循环不卡主线程
|
|
hv_VisualizeTB.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_VisualizeTB = new HTuple(hv_SelectedObject.TupleMax()
|
.TupleNotEqual(0));
|
}
|
hv_MaxIndex.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_MaxIndex = new HTuple(hv_ObjectModel3D.TupleLength()
|
).TupleConcat(hv_MaxNumModels).TupleMin() - 1;
|
}
|
//Set trackball fixed in the center of the window
|
hv_TrackballCenterRow.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_TrackballCenterRow = hv_Height / 2;
|
}
|
hv_TrackballCenterCol.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_TrackballCenterCol = hv_Width / 2;
|
}
|
if ((int)new HTuple(hv_WindowCenteredRotation.TupleEqual(1)) != 0)
|
{
|
try
|
{
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_TBCenter.Dispose(); hv_TBSize.Dispose();
|
get_trackball_center_fixed(hv_SelectedObject.TupleSelectRange(0, hv_MaxIndex),
|
hv_TrackballCenterRow, hv_TrackballCenterCol, hv_TrackballRadiusPixel,
|
hv_Scene3D, hv_ObjectModel3D.TupleSelectRange(0, hv_MaxIndex), hv_Poses.TupleSelectRange(
|
0, (hv_MaxIndex + 1) * 7 - 1), hv_WindowHandleBuffer, hv_CamParam_COPY_INP_TMP,
|
hv_GenParamName_COPY_INP_TMP, hv_GenParamValue_COPY_INP_TMP, out hv_TBCenter,
|
out hv_TBSize);
|
}
|
}
|
// catch (Exception)
|
catch (HalconException HDevExpDefaultException2)
|
{
|
HDevExpDefaultException2.ToHTuple(out hv_Exception);
|
disp_message(hv_WindowHandle, "Surface inspection mode is not available.",
|
"image", 5, 20, "red", "true");
|
hv_WindowCenteredRotation.Dispose();
|
hv_WindowCenteredRotation = 2;
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_TBCenter.Dispose(); hv_TBSize.Dispose();
|
get_trackball_center(hv_SelectedObject.TupleSelectRange(0, hv_MaxIndex),
|
hv_TrackballRadiusPixel, hv_ObjectModel3D.TupleSelectRange(0, hv_MaxIndex),
|
hv_Poses.TupleSelectRange(0, (hv_MaxIndex + 1) * 7 - 1), out hv_TBCenter,
|
out hv_TBSize);
|
}
|
HOperatorSet.WaitSeconds(1);
|
}
|
}
|
else
|
{
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_TBCenter.Dispose(); hv_TBSize.Dispose();
|
get_trackball_center(hv_SelectedObject.TupleSelectRange(0, hv_MaxIndex),
|
hv_TrackballRadiusPixel, hv_ObjectModel3D.TupleSelectRange(0, hv_MaxIndex),
|
hv_Poses.TupleSelectRange(0, (hv_MaxIndex + 1) * 7 - 1), out hv_TBCenter,
|
out hv_TBSize);
|
}
|
}
|
dump_image_output(ho_Image, hv_WindowHandleBuffer, hv_Scene3D, hv_AlphaOrig,
|
hv_ObjectModel3D, hv_GenParamName_COPY_INP_TMP, hv_GenParamValue_COPY_INP_TMP,
|
hv_CamParam_COPY_INP_TMP, hv_Poses, hv_ColorImage, hv_Title, hv_Information,
|
hv_Label_COPY_INP_TMP, hv_VisualizeTB, "true", hv_TrackballCenterRow,
|
hv_TrackballCenterCol, hv_TBSize, hv_SelectedObject, hv_WindowCenteredRotation,
|
hv_TBCenter);
|
ho_ImageDump.Dispose();
|
HOperatorSet.DumpWindowImage(out ho_ImageDump, hv_WindowHandleBuffer);
|
HDevWindowStack.SetActive(hv_WindowHandle);
|
if (HDevWindowStack.IsOpen())
|
{
|
HOperatorSet.DispObj(ho_ImageDump, HDevWindowStack.GetActive());
|
}
|
//
|
//Check for mouse events
|
hv_GraphEvent.Dispose();
|
hv_GraphEvent = 0;
|
hv_Exit.Dispose();
|
hv_Exit = 0;
|
while (1 != 0)
|
{
|
// 设置在死循环不卡主线程
|
//
|
//Check graphic event
|
try
|
{
|
hv_GraphButtonRow.Dispose(); hv_GraphButtonColumn.Dispose(); hv_GraphButton.Dispose();
|
HOperatorSet.GetMpositionSubPix(hv_WindowHandle, out hv_GraphButtonRow,
|
out hv_GraphButtonColumn, out hv_GraphButton);
|
if ((int)new HTuple(hv_GraphButton.TupleNotEqual(0)) != 0)
|
{
|
if ((int)new HTuple(new HTuple(new HTuple(hv_GraphButtonRow.TupleGreater(
|
hv_Height - hv_TextHeight - 25)).TupleAnd(new HTuple(hv_GraphButtonRow.TupleLess(
|
hv_Height)))).TupleAnd(new HTuple(hv_GraphButtonColumn.TupleGreater(
|
hv_Width - hv_TextWidth - 15)))).TupleAnd(new HTuple(hv_GraphButtonColumn.TupleLess(
|
hv_Width))) != 0)
|
{
|
//Wait until the continue button has been released
|
if ((int)new HTuple(hv_WaitForButtonRelease.TupleEqual("true")) != 0)
|
{
|
while (1 != 0)
|
{
|
hv_GraphButtonRow.Dispose(); hv_GraphButtonColumn.Dispose(); hv_GraphButton.Dispose();
|
HOperatorSet.GetMpositionSubPix(hv_WindowHandle, out hv_GraphButtonRow,
|
out hv_GraphButtonColumn, out hv_GraphButton);
|
if ((int)new HTuple(hv_GraphButton.TupleEqual(0)).TupleOr(
|
new HTuple(hv_GraphButton.TupleEqual(new HTuple()))) != 0)
|
{
|
if ((int)new HTuple(new HTuple(new HTuple(hv_GraphButtonRow.TupleGreater(
|
hv_Height - hv_TextHeight - 25)).TupleAnd(new HTuple(hv_GraphButtonRow.TupleLess(
|
hv_Height)))).TupleAnd(new HTuple(hv_GraphButtonColumn.TupleGreater(
|
hv_Width - hv_TextWidth - 15)))).TupleAnd(new HTuple(hv_GraphButtonColumn.TupleLess(
|
hv_Width))) != 0)
|
{
|
hv_ButtonReleased.Dispose();
|
hv_ButtonReleased = 1;
|
}
|
else
|
{
|
hv_ButtonReleased.Dispose();
|
hv_ButtonReleased = 0;
|
}
|
//
|
break;
|
}
|
//Keep waiting until mouse button is released or moved out of the window
|
}
|
}
|
else
|
{
|
hv_ButtonReleased.Dispose();
|
hv_ButtonReleased = 1;
|
}
|
//Exit the visualization loop
|
if ((int)hv_ButtonReleased != 0)
|
{
|
hv_Exit.Dispose();
|
hv_Exit = 1;
|
break;
|
}
|
}
|
hv_GraphEvent.Dispose();
|
hv_GraphEvent = 1;
|
break;
|
}
|
else
|
{
|
hv_ButtonHold.Dispose();
|
hv_ButtonHold = 0;
|
}
|
}
|
// catch (Exception)
|
catch (HalconException HDevExpDefaultException2)
|
{
|
HDevExpDefaultException2.ToHTuple(out hv_Exception);
|
//Keep waiting
|
}
|
}
|
if ((int)hv_GraphEvent != 0)
|
{
|
{
|
HTuple ExpTmpOutVar_0; HTuple ExpTmpOutVar_1; HTuple ExpTmpOutVar_2; HTuple ExpTmpOutVar_3;
|
analyze_graph_event(ho_Image, hv_MouseMapping, hv_GraphButton, hv_GraphButtonRow,
|
hv_GraphButtonColumn, hv_WindowHandle, hv_WindowHandleBuffer, hv_VirtualTrackball,
|
hv_TrackballSize, hv_SelectedObject, hv_Scene3D, hv_AlphaOrig, hv_ObjectModel3D,
|
hv_CamParam_COPY_INP_TMP, hv_Label_COPY_INP_TMP, hv_Title, hv_Information,
|
hv_GenParamName_COPY_INP_TMP, hv_GenParamValue_COPY_INP_TMP, hv_Poses,
|
hv_ButtonHold, hv_TBCenter, hv_TBSize, hv_WindowCenteredRotation,
|
hv_MaxNumModels, out ExpTmpOutVar_0, out ExpTmpOutVar_1, out ExpTmpOutVar_2,
|
out ExpTmpOutVar_3);
|
hv_Poses.Dispose();
|
hv_Poses = ExpTmpOutVar_0;
|
hv_SelectedObject.Dispose();
|
hv_SelectedObject = ExpTmpOutVar_1;
|
hv_ButtonHold.Dispose();
|
hv_ButtonHold = ExpTmpOutVar_2;
|
hv_WindowCenteredRotation.Dispose();
|
hv_WindowCenteredRotation = ExpTmpOutVar_3;
|
}
|
}
|
if ((int)hv_Exit != 0)
|
{
|
break;
|
}
|
}
|
//
|
//Display final state with persistence, if requested
|
//Note that disp_object_model_3d must be used instead of the 3D scene
|
if ((int)new HTuple(new HTuple(hv_PersistenceParamName.TupleLength()).TupleGreater(
|
0)) != 0)
|
{
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
HOperatorSet.DispObjectModel3d(hv_WindowHandle, hv_ObjectModel3D, hv_CamParam_COPY_INP_TMP,
|
hv_Poses, new HTuple("disp_background").TupleConcat("alpha").TupleConcat(
|
hv_PersistenceParamName), new HTuple("true").TupleConcat(0.0).TupleConcat(
|
hv_PersistenceParamValue));
|
}
|
}
|
//
|
//Compute the output pose
|
if ((int)ExpGetGlobalVar_gIsSinglePose() != 0)
|
{
|
hv_PoseOut.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_PoseOut = hv_Poses.TupleSelectRange(
|
0, 6);
|
}
|
}
|
else
|
{
|
hv_PoseOut.Dispose();
|
hv_PoseOut = new HTuple(hv_Poses);
|
}
|
//
|
//Clean up.
|
HOperatorSet.SetSystem("clip_region", hv_ClipRegion);
|
// dev_set_preferences(...); only in hdevelop
|
// dev_set_preferences(...); only in hdevelop
|
dump_image_output(ho_Image, hv_WindowHandleBuffer, hv_Scene3D, hv_AlphaOrig,
|
hv_ObjectModel3D, hv_GenParamName_COPY_INP_TMP, hv_GenParamValue_COPY_INP_TMP,
|
hv_CamParam_COPY_INP_TMP, hv_Poses, hv_ColorImage, hv_Title, new HTuple(),
|
hv_Label_COPY_INP_TMP, 0, "false", hv_TrackballCenterRow, hv_TrackballCenterCol,
|
hv_TBSize, hv_SelectedObject, hv_WindowCenteredRotation, hv_TBCenter);
|
ho_ImageDump.Dispose();
|
HOperatorSet.DumpWindowImage(out ho_ImageDump, hv_WindowHandleBuffer);
|
HDevWindowStack.SetActive(hv_WindowHandle);
|
if (HDevWindowStack.IsOpen())
|
{
|
HOperatorSet.DispObj(ho_ImageDump, HDevWindowStack.GetActive());
|
}
|
HOperatorSet.CloseWindow(hv_WindowHandleBuffer);
|
HOperatorSet.SetPart(hv_WindowHandle, hv_WPRow1, hv_WPColumn1, hv_WPRow2,
|
hv_WPColumn2);
|
HOperatorSet.ClearScene3d(hv_Scene3D);
|
hv_Scene3D.Dispose();
|
hv_Scene3D = new HTuple();
|
}
|
// catch (Exception)
|
catch (HalconException HDevExpDefaultException1)
|
{
|
HDevExpDefaultException1.ToHTuple(out hv_Exception);
|
try
|
{
|
//Try to clean up as much as possible.
|
if ((int)new HTuple(new HTuple(0).TupleLess(new HTuple(hv_Scene3DTest.TupleLength()
|
))) != 0)
|
{
|
HOperatorSet.ClearScene3d(hv_Scene3DTest);
|
hv_Scene3DTest.Dispose();
|
hv_Scene3DTest = new HTuple();
|
}
|
if ((int)new HTuple(new HTuple(0).TupleLess(new HTuple(hv_Scene3D.TupleLength()
|
))) != 0)
|
{
|
HOperatorSet.ClearScene3d(hv_Scene3D);
|
hv_Scene3D.Dispose();
|
hv_Scene3D = new HTuple();
|
}
|
if ((int)new HTuple(new HTuple(0).TupleLess(new HTuple(hv_WindowHandleBuffer.TupleLength()
|
))) != 0)
|
{
|
HOperatorSet.CloseWindow(hv_WindowHandleBuffer);
|
hv_WindowHandleBuffer.Dispose();
|
hv_WindowHandleBuffer = new HTuple();
|
}
|
}
|
// catch (e)
|
catch (HalconException HDevExpDefaultException2)
|
{
|
HDevExpDefaultException2.ToHTuple(out hv_e);
|
//Suppress all further exceptions to return the original exception.
|
}
|
try
|
{
|
//Restore system settings.
|
HOperatorSet.SetSystem("clip_region", hv_ClipRegion);
|
// dev_set_preferences(...); only in hdevelop
|
// dev_set_preferences(...); only in hdevelop
|
}
|
// catch (e)
|
catch (HalconException HDevExpDefaultException2)
|
{
|
HDevExpDefaultException2.ToHTuple(out hv_e);
|
//Suppress all further exceptions to return the original exception.
|
}
|
//
|
throw new HalconException(hv_Exception);
|
}
|
ho_Image.Dispose();
|
ho_ImageDump.Dispose();
|
|
hv_CamParam_COPY_INP_TMP.Dispose();
|
hv_GenParamName_COPY_INP_TMP.Dispose();
|
hv_GenParamValue_COPY_INP_TMP.Dispose();
|
hv_Label_COPY_INP_TMP.Dispose();
|
hv_PoseIn_COPY_INP_TMP.Dispose();
|
hv_Scene3DTest.Dispose();
|
hv_Scene3D.Dispose();
|
hv_WindowHandleBuffer.Dispose();
|
hv_TrackballSize.Dispose();
|
hv_VirtualTrackball.Dispose();
|
hv_MouseMapping.Dispose();
|
hv_WaitForButtonRelease.Dispose();
|
hv_MaxNumModels.Dispose();
|
hv_WindowCenteredRotation.Dispose();
|
hv_NumModels.Dispose();
|
hv_SelectedObject.Dispose();
|
hv_ClipRegion.Dispose();
|
hv_CPLength.Dispose();
|
hv_RowNotUsed.Dispose();
|
hv_ColumnNotUsed.Dispose();
|
hv_Width.Dispose();
|
hv_Height.Dispose();
|
hv_WPRow1.Dispose();
|
hv_WPColumn1.Dispose();
|
hv_WPRow2.Dispose();
|
hv_WPColumn2.Dispose();
|
hv_CamParamValue.Dispose();
|
hv_CamWidth.Dispose();
|
hv_CamHeight.Dispose();
|
hv_Scale.Dispose();
|
hv_Indices.Dispose();
|
hv_DispBackground.Dispose();
|
hv_Mask.Dispose();
|
hv_Center.Dispose();
|
hv_PoseEstimated.Dispose();
|
hv_Poses.Dispose();
|
hv_HomMat3Ds.Dispose();
|
hv_Sequence.Dispose();
|
hv_Font.Dispose();
|
hv_Exception.Dispose();
|
hv_OpenGLInfo.Dispose();
|
hv_DummyObjectModel3D.Dispose();
|
hv_CameraIndexTest.Dispose();
|
hv_PoseTest.Dispose();
|
hv_InstanceIndexTest.Dispose();
|
hv_MinImageSize.Dispose();
|
hv_TrackballRadiusPixel.Dispose();
|
hv_Ascent.Dispose();
|
hv_Descent.Dispose();
|
hv_TextWidth.Dispose();
|
hv_TextHeight.Dispose();
|
hv_NumChannels.Dispose();
|
hv_ColorImage.Dispose();
|
hv_CameraIndex.Dispose();
|
hv_AllInstances.Dispose();
|
hv_SetLight.Dispose();
|
hv_LightParam.Dispose();
|
hv_LightPosition.Dispose();
|
hv_LightKind.Dispose();
|
hv_LightIndex.Dispose();
|
hv_PersistenceParamName.Dispose();
|
hv_PersistenceParamValue.Dispose();
|
hv_AlphaOrig.Dispose();
|
hv_I.Dispose();
|
hv_ParamName.Dispose();
|
hv_ParamValue.Dispose();
|
hv_ParamNameTrunk.Dispose();
|
hv_Instance.Dispose();
|
hv_HomMat3D.Dispose();
|
hv_Qx.Dispose();
|
hv_Qy.Dispose();
|
hv_Qz.Dispose();
|
hv_TBCenter.Dispose();
|
hv_TBSize.Dispose();
|
hv_ButtonHold.Dispose();
|
hv_VisualizeTB.Dispose();
|
hv_MaxIndex.Dispose();
|
hv_TrackballCenterRow.Dispose();
|
hv_TrackballCenterCol.Dispose();
|
hv_GraphEvent.Dispose();
|
hv_Exit.Dispose();
|
hv_GraphButtonRow.Dispose();
|
hv_GraphButtonColumn.Dispose();
|
hv_GraphButton.Dispose();
|
hv_ButtonReleased.Dispose();
|
hv_e.Dispose();
|
|
return;
|
}
|
catch (HalconException HDevExpDefaultException)
|
{
|
ho_Image.Dispose();
|
ho_ImageDump.Dispose();
|
|
hv_CamParam_COPY_INP_TMP.Dispose();
|
hv_GenParamName_COPY_INP_TMP.Dispose();
|
hv_GenParamValue_COPY_INP_TMP.Dispose();
|
hv_Label_COPY_INP_TMP.Dispose();
|
hv_PoseIn_COPY_INP_TMP.Dispose();
|
hv_Scene3DTest.Dispose();
|
hv_Scene3D.Dispose();
|
hv_WindowHandleBuffer.Dispose();
|
hv_TrackballSize.Dispose();
|
hv_VirtualTrackball.Dispose();
|
hv_MouseMapping.Dispose();
|
hv_WaitForButtonRelease.Dispose();
|
hv_MaxNumModels.Dispose();
|
hv_WindowCenteredRotation.Dispose();
|
hv_NumModels.Dispose();
|
hv_SelectedObject.Dispose();
|
hv_ClipRegion.Dispose();
|
hv_CPLength.Dispose();
|
hv_RowNotUsed.Dispose();
|
hv_ColumnNotUsed.Dispose();
|
hv_Width.Dispose();
|
hv_Height.Dispose();
|
hv_WPRow1.Dispose();
|
hv_WPColumn1.Dispose();
|
hv_WPRow2.Dispose();
|
hv_WPColumn2.Dispose();
|
hv_CamParamValue.Dispose();
|
hv_CamWidth.Dispose();
|
hv_CamHeight.Dispose();
|
hv_Scale.Dispose();
|
hv_Indices.Dispose();
|
hv_DispBackground.Dispose();
|
hv_Mask.Dispose();
|
hv_Center.Dispose();
|
hv_PoseEstimated.Dispose();
|
hv_Poses.Dispose();
|
hv_HomMat3Ds.Dispose();
|
hv_Sequence.Dispose();
|
hv_Font.Dispose();
|
hv_Exception.Dispose();
|
hv_OpenGLInfo.Dispose();
|
hv_DummyObjectModel3D.Dispose();
|
hv_CameraIndexTest.Dispose();
|
hv_PoseTest.Dispose();
|
hv_InstanceIndexTest.Dispose();
|
hv_MinImageSize.Dispose();
|
hv_TrackballRadiusPixel.Dispose();
|
hv_Ascent.Dispose();
|
hv_Descent.Dispose();
|
hv_TextWidth.Dispose();
|
hv_TextHeight.Dispose();
|
hv_NumChannels.Dispose();
|
hv_ColorImage.Dispose();
|
hv_CameraIndex.Dispose();
|
hv_AllInstances.Dispose();
|
hv_SetLight.Dispose();
|
hv_LightParam.Dispose();
|
hv_LightPosition.Dispose();
|
hv_LightKind.Dispose();
|
hv_LightIndex.Dispose();
|
hv_PersistenceParamName.Dispose();
|
hv_PersistenceParamValue.Dispose();
|
hv_AlphaOrig.Dispose();
|
hv_I.Dispose();
|
hv_ParamName.Dispose();
|
hv_ParamValue.Dispose();
|
hv_ParamNameTrunk.Dispose();
|
hv_Instance.Dispose();
|
hv_HomMat3D.Dispose();
|
hv_Qx.Dispose();
|
hv_Qy.Dispose();
|
hv_Qz.Dispose();
|
hv_TBCenter.Dispose();
|
hv_TBSize.Dispose();
|
hv_ButtonHold.Dispose();
|
hv_VisualizeTB.Dispose();
|
hv_MaxIndex.Dispose();
|
hv_TrackballCenterRow.Dispose();
|
hv_TrackballCenterCol.Dispose();
|
hv_GraphEvent.Dispose();
|
hv_Exit.Dispose();
|
hv_GraphButtonRow.Dispose();
|
hv_GraphButtonColumn.Dispose();
|
hv_GraphButton.Dispose();
|
hv_ButtonReleased.Dispose();
|
hv_e.Dispose();
|
|
throw HDevExpDefaultException;
|
}
|
}
|
|
#if !NO_EXPORT_MAIN
|
// Main procedure
|
private void action()
|
{
|
|
|
// Stack for temporary objects
|
HObject[] OTemp = new HObject[20];
|
|
// Local iconic variables
|
|
HObject ho_Image, ho_X, ho_Y, ho_Z;
|
|
// Local control variables
|
|
HTuple hv_ImagePath = new HTuple(), hv_ObjectModel3DID = new HTuple();
|
HTuple hv_Pose = new HTuple(), hv_Instructions = new HTuple();
|
HTuple hv_CamParam = new HTuple(), hv_GenParamName = new HTuple();
|
HTuple hv_GenParamValue = new HTuple(), hv_WindowHandle = new HTuple();
|
HTuple hv_GenParamValue1 = new HTuple(), hv_MinValue = new HTuple();
|
HTuple hv_MaxValue = new HTuple(), hv_ObjectModel3DIDReduced = new HTuple();
|
HTuple hv_ObjectModel3DIDConnections = new HTuple(), hv_Volume = new HTuple();
|
HTuple hv_Diameter = new HTuple(), hv_WindowHandle1 = new HTuple();
|
HTuple hv_Indices = new HTuple(), hv_ResultMessage = new HTuple();
|
HTuple hv_Sequence = new HTuple(), hv_MinVolume = new HTuple();
|
HTuple hv_MaxVolume = new HTuple(), hv_MinDiameter = new HTuple();
|
HTuple hv_MaxDiameter = new HTuple(), hv_HomMat3DIdentity = new HTuple();
|
HTuple hv_HomMat3DTranslation = new HTuple(), hv_HomMat3DInvert = new HTuple();
|
HTuple hv_ObjectModel3DTranslated = new HTuple(), hv_Index = new HTuple();
|
HTuple hv_Volume1 = new HTuple(), hv_ObjectModel3DSelected = new HTuple();
|
HTuple hv_Title = new HTuple(), hv_Label = new HTuple();
|
HTuple hv_FormerIndex = new HTuple(), hv_Message = new HTuple();
|
// Initialize local and output iconic variables
|
HOperatorSet.GenEmptyObj(out ho_Image);
|
HOperatorSet.GenEmptyObj(out ho_X);
|
HOperatorSet.GenEmptyObj(out ho_Y);
|
HOperatorSet.GenEmptyObj(out ho_Z);
|
try
|
{
|
dev_update_off();
|
if (HDevWindowStack.IsOpen())
|
{
|
HOperatorSet.CloseWindow(HDevWindowStack.Pop());
|
}
|
//1、加载X,Y, z数据，缩放到米，并生成一个3D对象模型
|
hv_ImagePath.Dispose();
|
hv_ImagePath = "time_of_flight/";
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
ho_Image.Dispose();
|
HOperatorSet.ReadImage(out ho_Image, hv_ImagePath + "engine_cover_xyz_01");
|
}
|
//缩放图像的灰度值
|
//将图像放大一个给定的倍数
|
{
|
HObject ExpTmpOutVar_0;
|
HOperatorSet.ScaleImage(ho_Image, out ExpTmpOutVar_0, .001, .0);
|
ho_Image.Dispose();
|
ho_Image = ExpTmpOutVar_0;
|
}
|
{
|
HObject ExpTmpOutVar_0;
|
HOperatorSet.ZoomImageFactor(ho_Image, out ExpTmpOutVar_0, 2, 2, "constant");
|
ho_Image.Dispose();
|
ho_Image = ExpTmpOutVar_0;
|
}
|
ho_X.Dispose(); ho_Y.Dispose(); ho_Z.Dispose();
|
HOperatorSet.Decompose3(ho_Image, out ho_X, out ho_Y, out ho_Z);
|
hv_ObjectModel3DID.Dispose();
|
HOperatorSet.XyzToObjectModel3d(ho_X, ho_Y, ho_Z, out hv_ObjectModel3DID);
|
//2、计算模型的网格（Delaunay三角测量）
|
//CamParam1 := ['area_scan_division',0.06,0,8.5e-06,8.5e-06,295,180,591,361]
|
//Pose1 := [-0.165397,-0.120794,12.7612,349.085,14.5769,176.361,0]
|
//GenParamName1 := ['colored','color_0']
|
//GenParamValue2 := [12,'light gray']
|
if (HDevWindowStack.IsOpen())
|
{
|
//dev_get_window (WindowHandle2)
|
}
|
//* disp_object_model_3d (WindowHandle2, ObjectModel3DID, CamParam1, Pose1, GenParamName1, GenParamValue2)
|
//为'segmentation'，准备一个3D对象模型（如果要对同一操作多次使用3D对象模型，这样做会更快）
|
HOperatorSet.PrepareObjectModel3d(hv_ObjectModel3DID, "segmentation", "true",
|
new HTuple(), new HTuple());
|
//
|
//3、准备可视化并显示3D对象模型
|
hv_Pose.Dispose();
|
HOperatorSet.CreatePose(0.058, -0.165, 0.660, 345.0, 355.0, 356.0, "Rp+T",
|
"gba", "point", out hv_Pose);
|
//
|
//Instructions for visualize_object_model_3d
|
if (hv_Instructions == null)
|
hv_Instructions = new HTuple();
|
hv_Instructions[0] = "Rotate: Left button";
|
if (hv_Instructions == null)
|
hv_Instructions = new HTuple();
|
hv_Instructions[1] = "Zoom: Shift + left button";
|
if (hv_Instructions == null)
|
hv_Instructions = new HTuple();
|
hv_Instructions[2] = "Move: Ctrl + left button";
|
//Configuration
|
//生成面阵相机初始参数，参数均为相机已知参数
|
//（: : 焦距, 畸变因子, Sx, Sy, Cx, Cy, 图像宽度, 图像高度 : CameraParam存储元组）
|
//（Sx, Sy为传感器芯片上两个相邻单元之间的水平竖直距离，也就是像素的大小，单位为m/像素；Cx, Cy为图像原点的行列坐标，单位为像素；）
|
hv_CamParam.Dispose();
|
gen_cam_par_area_scan_division(0.01, 0, 7e-6, 7e-6, 352, 288, 710, 576, out hv_CamParam);
|
hv_GenParamName.Dispose();
|
hv_GenParamName = new HTuple();
|
hv_GenParamName[0] = "color";
|
hv_GenParamName[1] = "disp_pose";
|
hv_GenParamName[2] = "alpha";
|
hv_GenParamValue.Dispose();
|
hv_GenParamValue = new HTuple();
|
hv_GenParamValue[0] = "green";
|
hv_GenParamValue[1] = "false";
|
hv_GenParamValue[2] = 0.8;
|
//
|
HOperatorSet.SetWindowAttr("background_color", "black");
|
HOperatorSet.OpenWindow(0, 0, 710, 576, 0, "visible", "", out hv_WindowHandle);
|
HDevWindowStack.Push(hv_WindowHandle);
|
set_display_font(hv_WindowHandle, 16, "mono", "true", "false");
|
//显示创建的3D模型
|
{
|
HTuple ExpTmpOutVar_0;
|
visualize_object_model_3d(hv_WindowHandle, hv_ObjectModel3DID, hv_CamParam,
|
hv_Pose, hv_GenParamName, hv_GenParamValue, "This scene will be segmented into single objects",
|
new HTuple(), hv_Instructions, out ExpTmpOutVar_0);
|
hv_Pose.Dispose();
|
hv_Pose = ExpTmpOutVar_0;
|
}
|
hv_GenParamValue1.Dispose();
|
HOperatorSet.GetObjectModel3dParams(hv_ObjectModel3DID, "point_coord_z", out hv_GenParamValue1);
|
//
|
//4、阈值三维对象模型
|
hv_MinValue.Dispose();
|
hv_MinValue = 0.500;
|
hv_MaxValue.Dispose();
|
hv_MaxValue = 0.670;
|
//对3D对象模型应用阈值
|
hv_ObjectModel3DIDReduced.Dispose();
|
HOperatorSet.SelectPointsObjectModel3d(hv_ObjectModel3DID, "point_coord_z",
|
hv_MinValue, hv_MaxValue, out hv_ObjectModel3DIDReduced);
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
HTuple ExpTmpOutVar_0;
|
visualize_object_model_3d(hv_WindowHandle, hv_ObjectModel3DIDReduced, hv_CamParam,
|
hv_Pose, hv_GenParamName, hv_GenParamValue, "Result after thresholding at z=" + (hv_MaxValue * 1e3).TupleString(
|
".3") + "mm from the camera", new HTuple(), hv_Instructions, out ExpTmpOutVar_0);
|
hv_Pose.Dispose();
|
hv_Pose = ExpTmpOutVar_0;
|
}
|
//
|
//Calculate the connected components and the volume and diameter
|
//of each of the resulting object
|
//5、计算连接分量和每个结果对象的体积和直径
|
if (hv_GenParamName == null)
|
hv_GenParamName = new HTuple();
|
hv_GenParamName[0] = "colored";
|
if (hv_GenParamValue == null)
|
hv_GenParamValue = new HTuple();
|
hv_GenParamValue[0] = 12;
|
//1）确定3D对象模型的连通分量 通过调节distance_3d参数，把一些噪点分离出来
|
//2）计算三维物体模型相对于平面[0,0,MaxValue,0,0,0,0]的体积 Volume
|
//3）计算3D对象模型的最大直径 Diameter
|
hv_ObjectModel3DIDConnections.Dispose();
|
HOperatorSet.ConnectionObjectModel3d(hv_ObjectModel3DIDReduced, "distance_3d",
|
0.01, out hv_ObjectModel3DIDConnections);
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_Volume.Dispose();
|
HOperatorSet.VolumeObjectModel3dRelativeToPlane(hv_ObjectModel3DIDConnections,
|
new HTuple(0).TupleConcat(0).TupleConcat(hv_MaxValue).TupleConcat(
|
new HTuple(0).TupleConcat(0).TupleConcat(0).TupleConcat(0)), "signed",
|
"true", out hv_Volume);
|
}
|
hv_Diameter.Dispose();
|
HOperatorSet.MaxDiameterObjectModel3d(hv_ObjectModel3DIDConnections, out hv_Diameter);
|
//
|
//6、显示结果
|
HOperatorSet.SetWindowAttr("background_color", "black");
|
HOperatorSet.OpenWindow(0, 720, 400, 576, 0, "visible", "", out hv_WindowHandle1);
|
HDevWindowStack.Push(hv_WindowHandle1);
|
set_display_font(hv_WindowHandle1, 14, "mono", "true", "false");
|
hv_Indices.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_Indices = HTuple.TupleGenSequence(
|
0, new HTuple(hv_ObjectModel3DIDConnections.TupleLength()) - 1, 1);
|
}
|
disp_message(hv_WindowHandle1, new HTuple("Features of the connected components:").TupleConcat(
|
" ").TupleConcat(" "), "window", 12, 12, "white", "false");
|
hv_ResultMessage.Dispose();
|
hv_ResultMessage = " # Max. diameter Volume";
|
hv_Sequence.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_Sequence = HTuple.TupleGenSequence(
|
0, new HTuple(hv_ObjectModel3DIDConnections.TupleLength()) - 1, 1);
|
}
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
{
|
HTuple
|
ExpTmpLocalVar_ResultMessage = hv_ResultMessage.TupleConcat(
|
hv_Sequence.TupleString(" 3") + " " + (hv_Diameter * 1e3).TupleString(
|
"7.1f") + " mm " + (hv_Volume * 1e3).TupleString("7.3f") + " dm³");
|
hv_ResultMessage.Dispose();
|
hv_ResultMessage = ExpTmpLocalVar_ResultMessage;
|
}
|
}
|
disp_message(hv_WindowHandle1, hv_ResultMessage, "window", 50, 12, "white",
|
"false");
|
HDevWindowStack.SetActive(hv_WindowHandle);
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
HTuple ExpTmpOutVar_0;
|
visualize_object_model_3d(hv_WindowHandle, hv_ObjectModel3DIDConnections, hv_CamParam,
|
hv_Pose, hv_GenParamName, hv_GenParamValue, new HTuple(new HTuple("Found ") + new HTuple(hv_ObjectModel3DIDConnections.TupleLength()
|
)) + " connected components", "#" + hv_Indices, hv_Instructions, out ExpTmpOutVar_0);
|
hv_Pose.Dispose();
|
hv_Pose = ExpTmpOutVar_0;
|
}
|
//
|
//7、根据组件的体积和最大直径选择组件
|
//
|
hv_MinVolume.Dispose();
|
hv_MinVolume = 0.35e-003;
|
hv_MaxVolume.Dispose();
|
hv_MaxVolume = 1.0e-003;
|
hv_MinDiameter.Dispose();
|
hv_MinDiameter = 185.0e-003;
|
hv_MaxDiameter.Dispose();
|
hv_MaxDiameter = 300.0e-003;
|
|
//**** 8、注意：
|
// select_object_model_3d使用平面[0,0,0,0,0,0]进行体积计算!
|
// 因此，我们必须转换3d对象模型，以便参考平面(如前面对volume_object_model_3d_relative_to_plane的调用中定义的那样)与默认平面重合。
|
//
|
//1）生成三维变换的齐次变换矩阵
|
//2）增加平移变换
|
//3）求齐次三维变换矩阵的逆
|
hv_HomMat3DIdentity.Dispose();
|
HOperatorSet.HomMat3dIdentity(out hv_HomMat3DIdentity);
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_HomMat3DTranslation.Dispose();
|
HOperatorSet.HomMat3dTranslate(hv_HomMat3DIdentity, 0, 0, -hv_MaxValue, out hv_HomMat3DTranslation);
|
}
|
hv_HomMat3DInvert.Dispose();
|
HOperatorSet.HomMat3dInvert(hv_HomMat3DTranslation, out hv_HomMat3DInvert);
|
hv_ObjectModel3DTranslated.Dispose();
|
HOperatorSet.AffineTransObjectModel3d(hv_ObjectModel3DIDConnections, hv_HomMat3DTranslation,
|
out hv_ObjectModel3DTranslated);
|
//4）为每个部分设置标签
|
for (hv_Index = 0; (int)hv_Index <= (int)(new HTuple(hv_ObjectModel3DIDConnections.TupleLength()
|
) - 1); hv_Index = (int)hv_Index + 1)
|
{
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
HOperatorSet.SetObjectModel3dAttribMod(hv_ObjectModel3DTranslated.TupleSelect(
|
hv_Index), "&Index", new HTuple(), hv_Index);
|
}
|
}
|
//5）再次计算三维物体模型相对于平面[0,0,0,0,0,0,0]的体积 Volume1
|
//6）从一组三维对象模型中选择三维对象模型（'volume'，'diameter_object'）
|
hv_Volume1.Dispose();
|
HOperatorSet.VolumeObjectModel3dRelativeToPlane(hv_ObjectModel3DTranslated,
|
new HTuple(0).TupleConcat(0).TupleConcat(0).TupleConcat(0).TupleConcat(
|
0).TupleConcat(0).TupleConcat(0), "signed", "true", out hv_Volume1);
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_ObjectModel3DSelected.Dispose();
|
HOperatorSet.SelectObjectModel3d(hv_ObjectModel3DTranslated, new HTuple("volume").TupleConcat(
|
"diameter_object"), "and", hv_MinVolume.TupleConcat(hv_MinDiameter), hv_MaxVolume.TupleConcat(
|
hv_MaxDiameter), out hv_ObjectModel3DSelected);
|
}
|
//
|
hv_Title.Dispose();
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_Title = new HTuple();
|
hv_Title[0] = "Parts selected by using the following features: ";
|
hv_Title = hv_Title.TupleConcat(" " + (hv_MinVolume * 1e3).TupleString(
|
"3.1f") + " dm³ <= volume <= " + (hv_MaxVolume * 1e3).TupleString("3.1f") + " dm³");
|
hv_Title = hv_Title.TupleConcat("and: " + (hv_MinDiameter * 1e3).TupleString(
|
".1f") + " mm <= max. diameter <= " + (hv_MaxDiameter * 1e3).TupleString(
|
".1f") + " mm");
|
}
|
//创建一个标签
|
hv_Label.Dispose();
|
hv_Label = new HTuple();
|
for (hv_Index = 0; (int)hv_Index <= (int)(new HTuple(hv_ObjectModel3DSelected.TupleLength()
|
) - 1); hv_Index = (int)hv_Index + 1)
|
{
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
hv_FormerIndex.Dispose();
|
HOperatorSet.GetObjectModel3dParams(hv_ObjectModel3DSelected.TupleSelect(
|
hv_Index), "&Index", out hv_FormerIndex);
|
}
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
{
|
HTuple
|
ExpTmpLocalVar_Label = hv_Label.TupleConcat(
|
"#" + hv_FormerIndex);
|
hv_Label.Dispose();
|
hv_Label = ExpTmpLocalVar_Label;
|
}
|
}
|
}
|
//
|
if ((int)new HTuple(new HTuple(hv_ObjectModel3DSelected.TupleLength()).TupleGreater(
|
1)) != 0)
|
{
|
hv_Pose.Dispose();
|
visualize_object_model_3d(hv_WindowHandle, hv_ObjectModel3DSelected, hv_CamParam,
|
new HTuple(), hv_GenParamName, hv_GenParamValue, hv_Title, hv_Label,
|
hv_Instructions, out hv_Pose);
|
}
|
else
|
{
|
hv_Message.Dispose();
|
hv_Message = "No object left after using the following features: ";
|
if (hv_Message == null)
|
hv_Message = new HTuple();
|
hv_Message[1] = " " + (hv_MinVolume * 1e3).TupleString("3.1f") + " dm³ <= volume <= " + (hv_MaxVolume * 1e3).TupleString(
|
"3.1f") + " dm³";
|
if (hv_Message == null)
|
hv_Message = new HTuple();
|
hv_Message[2] = "and: " + (hv_MinDiameter * 1e3).TupleString(".1f") + " mm <= max. diameter <= " + (hv_MaxDiameter * 1e3).TupleString(
|
".1f") + " mm";
|
disp_message(hv_WindowHandle, hv_Message, "window", 12, 12, "black", "true");
|
}
|
//
|
//Clear the 3d object models
|
HDevWindowStack.SetActive(hv_WindowHandle1);
|
if (HDevWindowStack.IsOpen())
|
{
|
HOperatorSet.CloseWindow(HDevWindowStack.Pop());
|
}
|
using (HDevDisposeHelper dh = new HDevDisposeHelper())
|
{
|
HOperatorSet.ClearObjectModel3d(hv_ObjectModel3DID.TupleConcat(hv_ObjectModel3DIDReduced).TupleConcat(
|
hv_ObjectModel3DSelected).TupleConcat(hv_ObjectModel3DTranslated).TupleConcat(
|
hv_ObjectModel3DIDConnections));
|
}
|
}
|
catch (HalconException HDevExpDefaultException)
|
{
|
ho_Image.Dispose();
|
ho_X.Dispose();
|
ho_Y.Dispose();
|
ho_Z.Dispose();
|
|
hv_ImagePath.Dispose();
|
hv_ObjectModel3DID.Dispose();
|
hv_Pose.Dispose();
|
hv_Instructions.Dispose();
|
hv_CamParam.Dispose();
|
hv_GenParamName.Dispose();
|
hv_GenParamValue.Dispose();
|
hv_WindowHandle.Dispose();
|
hv_GenParamValue1.Dispose();
|
hv_MinValue.Dispose();
|
hv_MaxValue.Dispose();
|
hv_ObjectModel3DIDReduced.Dispose();
|
hv_ObjectModel3DIDConnections.Dispose();
|
hv_Volume.Dispose();
|
hv_Diameter.Dispose();
|
hv_WindowHandle1.Dispose();
|
hv_Indices.Dispose();
|
hv_ResultMessage.Dispose();
|
hv_Sequence.Dispose();
|
hv_MinVolume.Dispose();
|
hv_MaxVolume.Dispose();
|
hv_MinDiameter.Dispose();
|
hv_MaxDiameter.Dispose();
|
hv_HomMat3DIdentity.Dispose();
|
hv_HomMat3DTranslation.Dispose();
|
hv_HomMat3DInvert.Dispose();
|
hv_ObjectModel3DTranslated.Dispose();
|
hv_Index.Dispose();
|
hv_Volume1.Dispose();
|
hv_ObjectModel3DSelected.Dispose();
|
hv_Title.Dispose();
|
hv_Label.Dispose();
|
hv_FormerIndex.Dispose();
|
hv_Message.Dispose();
|
|
throw HDevExpDefaultException;
|
}
|
ho_Image.Dispose();
|
ho_X.Dispose();
|
ho_Y.Dispose();
|
ho_Z.Dispose();
|
|
hv_ImagePath.Dispose();
|
hv_ObjectModel3DID.Dispose();
|
hv_Pose.Dispose();
|
hv_Instructions.Dispose();
|
hv_CamParam.Dispose();
|
hv_GenParamName.Dispose();
|
hv_GenParamValue.Dispose();
|
hv_WindowHandle.Dispose();
|
hv_GenParamValue1.Dispose();
|
hv_MinValue.Dispose();
|
hv_MaxValue.Dispose();
|
hv_ObjectModel3DIDReduced.Dispose();
|
hv_ObjectModel3DIDConnections.Dispose();
|
hv_Volume.Dispose();
|
hv_Diameter.Dispose();
|
hv_WindowHandle1.Dispose();
|
hv_Indices.Dispose();
|
hv_ResultMessage.Dispose();
|
hv_Sequence.Dispose();
|
hv_MinVolume.Dispose();
|
hv_MaxVolume.Dispose();
|
hv_MinDiameter.Dispose();
|
hv_MaxDiameter.Dispose();
|
hv_HomMat3DIdentity.Dispose();
|
hv_HomMat3DTranslation.Dispose();
|
hv_HomMat3DInvert.Dispose();
|
hv_ObjectModel3DTranslated.Dispose();
|
hv_Index.Dispose();
|
hv_Volume1.Dispose();
|
hv_ObjectModel3DSelected.Dispose();
|
hv_Title.Dispose();
|
hv_Label.Dispose();
|
hv_FormerIndex.Dispose();
|
hv_Message.Dispose();
|
|
}
|
|
internal void visualize_object_model_3d(object hv_WindowHandle, object hv_ObjectModel3DID, HTuple hv_CamParam, HTuple hv_Pose, HTuple hv_GenParamName, HTuple hv_GenParamValue, string v, HTuple hTuple1, HTuple hTuple2, out object postOut)
|
{
|
throw new NotImplementedException();
|
}
|
|
#endif
|
|
|
}
|
}
|
