#include "stdafx.h"
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#include "CornerDistProcess.h"
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#include "VisionBufferPro.h"
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#include "VisionRecipe.h"
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CCornerDistProcess::CCornerDistProcess(){
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/* code */
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m_eDir = DIMENSION_NONE;
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init();
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}
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CCornerDistProcess::~CCornerDistProcess(){
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/* code */
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release();
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}
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int CCornerDistProcess::init(void) {
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/* code */
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release();
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m_isTfConvert = FALSE;
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for (int i = 0; i < 6; i++) {
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m_stdPoint[i].x = 0;
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m_stdPoint[i].y = 0;
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}
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for (int i = 0; i < 4; i++) {
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m_aryMeasure[i].idxRefer = 0;
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m_aryMeasure[i].typePoint = 0;
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m_aryMeasure[i].modePoint = 0;
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m_aryMeasure[i].pointThres = 30;
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m_aryMeasure[i].modeNear = 0;
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m_aryMeasure[i].nearThres = 30;
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}
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return 0;
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}
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void CCornerDistProcess::release(void) {
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/* code */
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int nCount = (int)(m_vDosts.size());
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if (nCount > 0) {
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for (int i = 0; i < nCount; i++) {
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CDistDotProcess *dot = m_vDosts.at(i);
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if (NULL == dot) continue;
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delete dot;
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dot = NULL;
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}
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}
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m_vDosts.clear();
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}
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CDistDotProcess* CCornerDistProcess::getDot(int index) {
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/* code */
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int nCount = (int)(m_vDosts.size());
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if (index < 0 || index > nCount - 1) return nullptr;
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CDistDotProcess *dot = m_vDosts.at(index);
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return dot;
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}
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int CCornerDistProcess::addDot(void) {
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/* code */
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int nCount = (int)(m_vDosts.size());
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int id = -MAXINT;
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if (nCount < 1) {
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id = 0;
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}
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else {
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for (int i = 0; i < nCount; i++) {
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CDistDotProcess *dot = m_vDosts.at(i);
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if (NULL == dot) continue;
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if (dot->getID() <= id) continue;
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id = dot->getID();
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}
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id += 1;
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}
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CDistDotProcess *dot = new CDistDotProcess(m_eDir, id);
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m_vDosts.push_back(dot);
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return id;
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}
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Point2I CCornerDistProcess::getPoint(int nType) {
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/* code */
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Point2I result;
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result.x = 0;
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result.y = 0;
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if (nType < 0 || nType > 5) return result;
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result = m_stdPoint[nType];
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return result;
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}
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void CCornerDistProcess::setPoint(Point2I pos, int nType) {
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/* code */
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if (nType < 0 || nType > 5) return;
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m_stdPoint[nType] = pos;
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}
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int CCornerDistProcess::execute(DimensionDir eDir) {
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/* code */
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m_isTfConvert = FALSE;
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if (m_eDir != eDir) return -1;
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int nCount = (int)(m_vDosts.size());
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if (nCount < 1) return 0;
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Point2I offset;
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Point2I pose;
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int idxType = 0;
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MeasureInfo inf;
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for (int i = 0; i < nCount; i++) {
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CDistDotProcess *dot = m_vDosts.at(i);
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if (NULL == dot) continue;
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idxType = dot->m_idxRefer;
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if (idxType < 0 || idxType > 3) continue;
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inf = m_aryMeasure[idxType];
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pose = dot->getPose();
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offset = getOffset(inf.idxRefer, pose);
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dot->setPoint(m_stdPoint[0], 0);
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dot->setPoint(m_stdPoint[1], 1);
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dot->setPoint(tfCoordinate(m_stdPoint[4]), 2);
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dot->setPoint(tfCoordinate(m_stdPoint[5]), 3);
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dot->Execute(m_eDir, inf, offset);
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}
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return 0;
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}
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int CCornerDistProcess::Serialized(void* pBuffer, int size) {
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/* code */
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char* pTemp = (char*)pBuffer;
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int remainSize = size;
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int useSize = 0;
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int nRet = 0;
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#if 0
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//1. ±£´æmark
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int iValue = (int)(m_eDir);
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SERIALIZER_INT_32(iValue, pTemp, remainSize, useSize); //Type
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for (int i = 0; i < 6; i++) {
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SERIALIZER_INT_32(m_stdPoint[i].x, pTemp, remainSize, useSize);
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SERIALIZER_INT_32(m_stdPoint[i].y, pTemp, remainSize, useSize);
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}
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for (int i = 0; i < 4; i++) {
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SERIALIZER_INT_32(m_aryMeasure[i].idxRefer, pTemp, remainSize, useSize);
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SERIALIZER_INT_32(m_aryMeasure[i].typePoint, pTemp, remainSize, useSize);
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SERIALIZER_INT_32(m_aryMeasure[i].modePoint, pTemp, remainSize, useSize);
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SERIALIZER_INT_32(m_aryMeasure[i].pointThres, pTemp, remainSize, useSize);
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SERIALIZER_INT_32(m_aryMeasure[i].modeNear, pTemp, remainSize, useSize);
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SERIALIZER_INT_32(m_aryMeasure[i].nearThres, pTemp, remainSize, useSize);
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}
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//2. ±£´æµãµÄÊýÁ¿
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int nCount = (int)(m_vDosts.size());
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SERIALIZER_INT_32(nCount, pTemp, remainSize, useSize);
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if (nCount > 0) {
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for (int i = 0; i < nCount; i++) {
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CDistDotProcess *pDot = m_vDosts.at(i);
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if (NULL == pDot) continue;
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nRet = pDot->Serialized(pTemp, remainSize);
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if (nRet < 0) continue;
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pTemp += nRet;
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remainSize -= nRet;
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useSize += nRet;
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}
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}
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#endif
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return useSize;
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}
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int CCornerDistProcess::Deserialized(void* pBuffer, int size) {
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/* code */
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release();
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char* pTemp = (char*)pBuffer;
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int remainSize = size;
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int useSize = 0;
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int nRet = 0;
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#if 0
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//1. ¼ÓÔØMark
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int iValue = 0;
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DESERIALIZER_INT_32(iValue, pTemp, remainSize, useSize); //Type
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m_eDir = (DimensionDir)(iValue);
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for (int i = 0; i < 6; i++) {
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DESERIALIZER_INT_32(m_stdPoint[i].x, pTemp, remainSize, useSize);
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DESERIALIZER_INT_32(m_stdPoint[i].y, pTemp, remainSize, useSize);
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}
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for (int i = 0; i < 4; i++) {
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DESERIALIZER_INT_32(m_aryMeasure[i].idxRefer, pTemp, remainSize, useSize);
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DESERIALIZER_INT_32(m_aryMeasure[i].typePoint, pTemp, remainSize, useSize);
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DESERIALIZER_INT_32(m_aryMeasure[i].modePoint, pTemp, remainSize, useSize);
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DESERIALIZER_INT_32(m_aryMeasure[i].pointThres, pTemp, remainSize, useSize);
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DESERIALIZER_INT_32(m_aryMeasure[i].modeNear, pTemp, remainSize, useSize);
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DESERIALIZER_INT_32(m_aryMeasure[i].nearThres, pTemp, remainSize, useSize);
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}
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//2. ±£´æµãµÄÊýÁ¿
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int nCount = 0;
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DESERIALIZER_INT_32(nCount, pTemp, remainSize, useSize);
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for (int i = 0; i < nCount; i++) {
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CDistDotProcess *dot = new CDistDotProcess();
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nRet = dot->Deserialized(pTemp, remainSize);
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if (nRet < 0) continue;
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m_vDosts.push_back(dot);
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pTemp += nRet;
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remainSize -= nRet;
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useSize += nRet;
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}
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#endif
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return useSize;
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}
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std::vector<CDistDotProcess*>& CCornerDistProcess::getDots(void) {
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/* code */
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return m_vDosts;
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}
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int CCornerDistProcess::delDot(int id) {
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/* code */
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int nCount = (int)(m_vDosts.size());
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if (nCount < 1) return -1;
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bool isFind = false;
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for (auto iter = m_vDosts.begin(); iter != m_vDosts.end(); iter++) {
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CDistDotProcess *dot = (*iter);
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if (id == (*iter)->getID()) {
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isFind = true;
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m_vDosts.erase(iter);
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break;
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}
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}
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if (!isFind) return -1;
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nCount = (int)(m_vDosts.size());
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if (nCount < 1) return -1;
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CDistDotProcess *dot = m_vDosts.at(0);
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return dot->getID();
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}
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Point2I CCornerDistProcess::getOffset(int nType, Point2I pt) {
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/* code */
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Point2I result;
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result.x = 0;
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result.y = 0;
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switch (nType){
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case 1:
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result = getTopPointOffset(pt);
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break;
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case 2:
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result = getBotPointOffset(pt);
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break;
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default:
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result = getAffineOffset(pt);
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break;
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}
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return result;
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}
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MeasureInfo CCornerDistProcess::getMeasureInfo(int index) {
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/* code */
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MeasureInfo inf;
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inf.idxRefer = 0;
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inf.typePoint = 0;
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inf.modePoint = 0;
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inf.pointThres = 30;
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inf.modeNear = 0;
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inf.nearThres = 30;
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if (index < 0 || index > 3) return inf;
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inf = m_aryMeasure[index];
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return inf;
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}
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void CCornerDistProcess::setMeasureInfo(MeasureInfo inf, int index) {
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/* code */
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if (index < 0 || index > 3) return;
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m_aryMeasure[index] = inf;
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}
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Point2I CCornerDistProcess::getAffineOffset(Point2I pt) {
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/* code */
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Point2I result;
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Point2I ptTarget = tfCoordinate(pt);
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result.x = (int)(ptTarget.x - pt.x);
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result.y = (int)(ptTarget.y - pt.y);
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return result;
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}
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Point2I CCornerDistProcess::tfCoordinate(Point2I pt) {
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/* code */
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tfProcess();
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Point2D pose;
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pose.x = pt.x;
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pose.y = pt.y;
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Point2D ptTarget = ClsVision::CoordinateTransform(pose, m_affine);
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Point2I result;
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result.x = (int)(ptTarget.x);
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result.y = (int)(ptTarget.y);
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return result;
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}
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void CCornerDistProcess::tfProcess(void){
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/* code */
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if (m_isTfConvert) return;
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CBlSideData *pSideData = CVisionRecipe::getInstance()->getSideData(m_eDir);
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if (NULL == pSideData) {
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Point2D pose;
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pose.x = 0.0f;
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pose.y = 0.0f;
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m_affine = ClsVision::VectorAngleToRigid(pose, 0.0f, pose, 0.0f);
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return;
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}
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std::vector<Point2D> vPtOrg, vPtTgt;
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Point2D pose;
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pose.x = m_stdPoint[0].x;
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pose.y = m_stdPoint[0].y;
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vPtOrg.push_back(pose);
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pose.x = m_stdPoint[1].x;
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pose.y = m_stdPoint[1].y;
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vPtOrg.push_back(pose);
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pose.x = pSideData->m_mTopMark.x;
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pose.y = pSideData->m_mTopMark.y;
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vPtTgt.push_back(pose);
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pose.x = pSideData->m_mBotMark.x;
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pose.y = pSideData->m_mBotMark.y;
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vPtTgt.push_back(pose);
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m_affine = ClsVision::VectorToSimilarity(vPtOrg, vPtTgt);
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m_isTfConvert = TRUE;
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}
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Point2I CCornerDistProcess::getTopPointOffset(Point2I pt) {
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/* code */
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Point2I result;
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result.x = 0;
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result.y = 0;
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CBlSideData *pSideData = CVisionRecipe::getInstance()->getSideData(m_eDir);
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if (NULL == pSideData) return result;
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if (!pSideData->m_bTopPoint_Find) return result;
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result.x = pSideData->m_mTopPoint.x - m_stdPoint[2].x;
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result.y = pSideData->m_mTopPoint.y - m_stdPoint[2].y;
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return result;
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}
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Point2I CCornerDistProcess::getBotPointOffset(Point2I pt) {
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/* code */
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Point2I result;
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result.x = 0;
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result.y = 0;
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CBlSideData *pSideData = CVisionRecipe::getInstance()->getSideData(m_eDir);
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if (NULL == pSideData) return result;
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if (!pSideData->m_bBotPoint_Find) return result;
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result.x = pSideData->m_mBotPoint.x - m_stdPoint[3].x;
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result.y = pSideData->m_mBotPoint.y - m_stdPoint[3].y;
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return result;
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}
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