using HalconDotNet; using System; using System.Collections.Generic; using System.Linq; using System.Text; using System.Threading.Tasks; namespace LB_VisionProcesses.Alogrithms.Halcon { public partial class HDevelopExport { public static HTuple gIsSinglePose; public static HTuple gTerminationButtonLabel; public static HTuple gInfoDecor; public static HTuple gInfoPos; public static HTuple gTitlePos; public static HTuple gTitleDecor; public static HTuple gAlphaDeselected; public static HTuple gDispObjOffset; public static HTuple gLabelsDecor; public static HTuple gUsesOpenGL; public static HTuple ExpGetGlobalVar_gIsSinglePose() { return gIsSinglePose; } public static void ExpSetGlobalVar_gIsSinglePose(HTuple val) { if (gIsSinglePose != val) { if (gIsSinglePose != null) { gIsSinglePose.Dispose(); } gIsSinglePose = val; } } public static HTuple ExpGetGlobalVar_gTerminationButtonLabel() { return gTerminationButtonLabel; } public static void ExpSetGlobalVar_gTerminationButtonLabel(HTuple val) { if (gTerminationButtonLabel != val) { if (gTerminationButtonLabel != null) { gTerminationButtonLabel.Dispose(); } gTerminationButtonLabel = val; } } public static HTuple ExpGetGlobalVar_gInfoDecor() { return gInfoDecor; } public static void ExpSetGlobalVar_gInfoDecor(HTuple val) { if (gInfoDecor != val) { if (gInfoDecor != null) { gInfoDecor.Dispose(); } gInfoDecor = val; } } public static HTuple ExpGetGlobalVar_gInfoPos() { return gInfoPos; } public static void ExpSetGlobalVar_gInfoPos(HTuple val) { if (gInfoPos != val) { if (gInfoPos != null) { gInfoPos.Dispose(); } gInfoPos = val; } } public static HTuple ExpGetGlobalVar_gTitlePos() { return gTitlePos; } public static void ExpSetGlobalVar_gTitlePos(HTuple val) { if (gTitlePos != val) { if (gTitlePos != null) { gTitlePos.Dispose(); } gTitlePos = val; } } public static HTuple ExpGetGlobalVar_gTitleDecor() { return gTitleDecor; } public static void ExpSetGlobalVar_gTitleDecor(HTuple val) { if (gTitleDecor != val) { if (gTitleDecor != null) { gTitleDecor.Dispose(); } gTitleDecor = val; } } public static HTuple ExpGetGlobalVar_gAlphaDeselected() { return gAlphaDeselected; } public static void ExpSetGlobalVar_gAlphaDeselected(HTuple val) { if (gAlphaDeselected != val) { if (gAlphaDeselected != null) { gAlphaDeselected.Dispose(); } gAlphaDeselected = val; } } public static HTuple ExpGetGlobalVar_gDispObjOffset() { return gDispObjOffset; } public static void ExpSetGlobalVar_gDispObjOffset(HTuple val) { if (gDispObjOffset != val) { if (gDispObjOffset != null) { gDispObjOffset.Dispose(); } gDispObjOffset = val; } } public static HTuple ExpGetGlobalVar_gLabelsDecor() { return gLabelsDecor; } public static void ExpSetGlobalVar_gLabelsDecor(HTuple val) { if (gLabelsDecor != val) { if (gLabelsDecor != null) { gLabelsDecor.Dispose(); } gLabelsDecor = val; } } public static HTuple ExpGetGlobalVar_gUsesOpenGL() { return gUsesOpenGL; } public static void ExpSetGlobalVar_gUsesOpenGL(HTuple val) { if (gUsesOpenGL != val) { if (gUsesOpenGL != null) { gUsesOpenGL.Dispose(); } gUsesOpenGL = val; } } // Procedures // External procedures // Chapter: Graphics / Output // Short Description: Reflect the pose change that was introduced by the user by moving the mouse public static void analyze_graph_event(HObject ho_BackgroundImage, HTuple hv_MouseMapping, HTuple hv_Button, HTuple hv_Row, HTuple hv_Column, HTuple hv_WindowHandle, HTuple hv_WindowHandleBuffer, HTuple hv_VirtualTrackball, HTuple hv_TrackballSize, HTuple hv_SelectedObjectIn, HTuple hv_Scene3D, HTuple hv_AlphaOrig, HTuple hv_ObjectModel3DID, HTuple hv_CamParam, HTuple hv_Labels, HTuple hv_Title, HTuple hv_Information, HTuple hv_GenParamName, HTuple hv_GenParamValue, HTuple hv_PosesIn, HTuple hv_ButtonHoldIn, HTuple hv_TBCenter, HTuple hv_TBSize, HTuple hv_WindowCenteredRotationlIn, HTuple hv_MaxNumModels, out HTuple hv_PosesOut, out HTuple hv_SelectedObjectOut, out HTuple hv_ButtonHoldOut, out HTuple hv_WindowCenteredRotationOut) { // Local iconic variables HObject ho_ImageDump = null; // Local control variables HTuple ExpTmpLocalVar_gIsSinglePose = new HTuple(); HTuple hv_VisualizeTB = new HTuple(), hv_InvLog2 = new HTuple(); HTuple hv_Seconds = new HTuple(), hv_ModelIndex = new HTuple(); HTuple hv_Exception1 = new HTuple(), hv_HomMat3DIdentity = new HTuple(); HTuple hv_NumModels = new HTuple(), hv_Width = new HTuple(); HTuple hv_Height = new HTuple(), hv_MinImageSize = new HTuple(); HTuple hv_TrackballRadiusPixel = new HTuple(), hv_TrackballCenterRow = new HTuple(); HTuple hv_TrackballCenterCol = new HTuple(), hv_NumChannels = new HTuple(); HTuple hv_ColorImage = new HTuple(), hv_BAnd = new HTuple(); HTuple hv_SensFactor = new HTuple(), hv_IsButtonTrans = new HTuple(); HTuple hv_IsButtonRot = new HTuple(), hv_IsButtonDist = new HTuple(); HTuple hv_MRow1 = new HTuple(), hv_MCol1 = new HTuple(); HTuple hv_ButtonLoop = new HTuple(), hv_MRow2 = new HTuple(); HTuple hv_MCol2 = new HTuple(), hv_PX = new HTuple(), hv_PY = new HTuple(); HTuple hv_PZ = new HTuple(), hv_QX1 = new HTuple(), hv_QY1 = new HTuple(); HTuple hv_QZ1 = new HTuple(), hv_QX2 = new HTuple(), hv_QY2 = new HTuple(); HTuple hv_QZ2 = new HTuple(), hv_Len = new HTuple(), hv_Dist = new HTuple(); HTuple hv_Translate = new HTuple(), hv_Index = new HTuple(); HTuple hv_PoseIn = new HTuple(), hv_HomMat3DIn = new HTuple(); HTuple hv_HomMat3DOut = new HTuple(), hv_PoseOut = new HTuple(); HTuple hv_Indices = new HTuple(), hv_Sequence = new HTuple(); HTuple hv_Mod = new HTuple(), hv_SequenceReal = new HTuple(); HTuple hv_Sequence2Int = new HTuple(), hv_Selected = new HTuple(); HTuple hv_InvSelected = new HTuple(), hv_Exception = new HTuple(); HTuple hv_DRow = new HTuple(), hv_TranslateZ = new HTuple(); HTuple hv_MX1 = new HTuple(), hv_MY1 = new HTuple(), hv_MX2 = new HTuple(); HTuple hv_MY2 = new HTuple(), hv_RelQuaternion = new HTuple(); HTuple hv_HomMat3DRotRel = new HTuple(), hv_HomMat3DInTmp1 = new HTuple(); HTuple hv_HomMat3DInTmp = new HTuple(), hv_PosesOut2 = new HTuple(); HTuple hv_Column_COPY_INP_TMP = new HTuple(hv_Column); HTuple hv_PosesIn_COPY_INP_TMP = new HTuple(hv_PosesIn); HTuple hv_Row_COPY_INP_TMP = new HTuple(hv_Row); HTuple hv_TBCenter_COPY_INP_TMP = new HTuple(hv_TBCenter); HTuple hv_TBSize_COPY_INP_TMP = new HTuple(hv_TBSize); // Initialize local and output iconic variables HOperatorSet.GenEmptyObj(out ho_ImageDump); hv_PosesOut = new HTuple(); hv_SelectedObjectOut = new HTuple(); hv_ButtonHoldOut = new HTuple(); hv_WindowCenteredRotationOut = new HTuple(); try { //This procedure reflects //- the pose change that was introduced by the user by // moving the mouse //- the selection of a single object // //global tuple gIsSinglePose // hv_ButtonHoldOut.Dispose(); hv_ButtonHoldOut = new HTuple(hv_ButtonHoldIn); hv_PosesOut.Dispose(); hv_PosesOut = new HTuple(hv_PosesIn_COPY_INP_TMP); hv_SelectedObjectOut.Dispose(); hv_SelectedObjectOut = new HTuple(hv_SelectedObjectIn); hv_WindowCenteredRotationOut.Dispose(); hv_WindowCenteredRotationOut = new HTuple(hv_WindowCenteredRotationlIn); hv_VisualizeTB.Dispose(); using (HDevDisposeHelper dh = new HDevDisposeHelper()) { hv_VisualizeTB = new HTuple(hv_SelectedObjectOut.TupleMax() .TupleNotEqual(0)); } hv_InvLog2.Dispose(); using (HDevDisposeHelper dh = new HDevDisposeHelper()) { hv_InvLog2 = 1.0 / new HTuple(2).TupleLog() ; } // if ((int)new HTuple(hv_Button.TupleEqual(hv_MouseMapping.TupleSelect(6))) != 0) { if ((int)hv_ButtonHoldOut != 0) { 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; } //Ctrl (16) + Alt (32) + left mouse button (1) => Toggle rotation center position //If WindowCenteredRotation is not 1, set it to 1, otherwise, set it to 2 hv_Seconds.Dispose(); HOperatorSet.CountSeconds(out hv_Seconds); if ((int)new HTuple(hv_WindowCenteredRotationOut.TupleEqual(1)) != 0) { hv_WindowCenteredRotationOut.Dispose(); hv_WindowCenteredRotationOut = 2; } else { hv_WindowCenteredRotationOut.Dispose(); hv_WindowCenteredRotationOut = 1; } hv_ButtonHoldOut.Dispose(); hv_ButtonHoldOut = 1; 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; } if ((int)new HTuple(hv_Button.TupleEqual(hv_MouseMapping.TupleSelect(5))).TupleAnd( new HTuple(new HTuple(hv_ObjectModel3DID.TupleLength()).TupleLessEqual( hv_MaxNumModels))) != 0) { if ((int)hv_ButtonHoldOut != 0) { 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; } //Ctrl (16) + left mouse button (1) => Select an object try { HOperatorSet.SetScene3dParam(hv_Scene3D, "object_index_persistence", "true"); HOperatorSet.DisplayScene3d(hv_WindowHandleBuffer, hv_Scene3D, 0); hv_ModelIndex.Dispose(); HOperatorSet.GetDisplayScene3dInfo(hv_WindowHandleBuffer, hv_Scene3D, hv_Row_COPY_INP_TMP, hv_Column_COPY_INP_TMP, "object_index", out hv_ModelIndex); HOperatorSet.SetScene3dParam(hv_Scene3D, "object_index_persistence", "false"); } // catch (Exception1) catch (HalconException HDevExpDefaultException1) { HDevExpDefaultException1.ToHTuple(out hv_Exception1); //* NO OpenGL, no selection possible 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; } 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 } }