#include "stdafx.h"
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#include "NccDotProcess.h"
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#include "VisionRecipe.h"
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#include "VisionBufferPro.h"
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#include "FileRecipe.h"
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CNccDotProcess::CNccDotProcess(){
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/* code */
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m_id = 0;
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m_pos.x = 0;
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m_pos.y = 0;
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m_strName = _T("P0");
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HalconCpp::GenEmptyObj(&m_hImage);
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m_idModel = -1;
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m_eDir = DIMENSION_NONE;
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m_score = 0.5f;
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m_ptResult.x = 0.0f;
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m_ptResult.y = 0.0f;
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m_xScale = 1.0f;
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m_yScale = 1.0f;
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m_isScale = false;
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m_idModel = HalconCpp::HTuple();
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}
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CNccDotProcess::~CNccDotProcess(){
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/* code */
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if (!ClsVision::TupleNil(m_idModel)) {
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ClsVision::ClearNccModel(m_idModel);
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m_idModel = HalconCpp::HTuple();
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}
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}
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CNccDotProcess::CNccDotProcess(DimensionDir eDir, int id) {
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/* code */
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m_id = id;
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m_eDir = eDir;
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switch (eDir) {
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case GLOBAL_DEFINE::DIMENSION_A:
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m_strName.Format(_T("TopA%d"), m_id);
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break;
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case GLOBAL_DEFINE::DIMENSION_B:
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m_strName.Format(_T("TopB%d"), m_id);
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break;
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case GLOBAL_DEFINE::DIMENSION_C:
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m_strName.Format(_T("TopC%d"), m_id);
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break;
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case GLOBAL_DEFINE::DIMENSION_D:
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m_strName.Format(_T("TopD%d"), m_id);
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break;
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case GLOBAL_DEFINE::DIMENSION_A_DN:
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m_strName.Format(_T("BotA%d"), m_id);
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break;
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case GLOBAL_DEFINE::DIMENSION_B_DN:
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m_strName.Format(_T("BotB%d"), m_id);
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break;
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case GLOBAL_DEFINE::DIMENSION_C_DN:
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m_strName.Format(_T("BotC%d"), m_id);
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break;
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case GLOBAL_DEFINE::DIMENSION_D_DN:
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m_strName.Format(_T("BotD%d"), m_id);
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break;
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case GLOBAL_DEFINE::DIMENSION_NONE:
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m_strName.Format(_T("P%d"), m_id);
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break;
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default:
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m_strName.Format(_T("P%d"), m_id);
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break;
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}
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m_pos.x = 0;
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m_pos.y = 0;
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HalconCpp::GenEmptyObj(&m_hImage);
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m_idModel = HalconCpp::HTuple();
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m_score = 0.5f;
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m_ptResult.x = 0.0f;
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m_ptResult.y = 0.0f;
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m_xScale = 1.0f;
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m_yScale = 1.0f;
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m_isScale = false;
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}
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int CNccDotProcess::execute(DimensionDir eDir, Point2I offset) {
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/* code */
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m_ptResult.x = 0.0f;
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m_ptResult.y = 0.0f;
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if (ClsVision::TupleNil(m_idModel)) {
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CreateMatchModel();
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}
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if (ClsVision::TupleNil(m_idModel)) return -1;
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findTargetPoint(eDir, offset);
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return 0;
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}
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void CNccDotProcess::findTargetPoint(DimensionDir eDir, Point2I offset) {
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/* code */
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if (ClsVision::TupleNil(m_idModel)) return;
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int width = 0;
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int height = 0;
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ClsVision::GetImageSize(m_hImage, width, height);
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int x1 = (int)(m_pos.x - 0.5 * width - 200);
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int y1 = (int)(m_pos.y - 0.5 * height - 200);
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int x2 = (int)(m_pos.x + 0.5 * width + 200);
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int y2 = (int)(m_pos.y + 0.5 * height + 200);
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x1 += offset.x;
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y1 += offset.y;
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x2 += offset.x;
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y2 += offset.y;
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HalconCpp::HObject hSearchImage;
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if (!CVisionBufferPro::getImageROI(m_eDir, hSearchImage, x1, y1, x2, y2)) return;
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std::vector<ParaMatch> vResult;
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if (m_isScale) {
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HalconCpp::HObject hZoomImage;
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HalconCpp::ZoomImageFactor(hSearchImage, &hZoomImage, m_xScale, m_yScale, "constant");
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ClsVision::FindNccModel(hZoomImage, m_idModel, m_score, 1, vResult);
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int sz = (int)(vResult.size());
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for (int i = 0; i < sz; i++) {
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vResult[i].pt.x = vResult[i].pt.x / m_xScale;
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vResult[i].pt.y = vResult[i].pt.y / m_yScale;
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}
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}
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else {
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ClsVision::FindNccModel(hSearchImage, m_idModel, m_score, 1, vResult);
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}
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int nCount = (int)(vResult.size());
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if (nCount < 1) return;
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m_ptResult = vResult[0].pt;
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m_ptResult.x += x1;
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m_ptResult.y += y1;
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CBlSideData *pSideData = CVisionRecipe::getInstance()->getSideData(m_eDir);
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if (nullptr != pSideData) { //ÇøÓòµÄÏÔʾ½á¹û
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DispVisionResult inf;
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inf.nType = 1;
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inf.eDir = (int)(m_eDir);
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inf.eVision = (int)(VISION_LOC);
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inf.rectX1 = (int)(m_ptResult.x - 0.5 * width - 1);
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inf.rectY1 = (int)(m_ptResult.y - 0.5 * height - 1);
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inf.rectX2 = (int)(m_ptResult.x + 0.5 * width + 1);
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inf.rectY2 = (int)(m_ptResult.y + 0.5 * height + 1);
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pSideData->m_vDispVisionResult.push_back(inf);
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}
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//if (nullptr != pSideData) { //Êä³öµãµÄÏÔʾ½á¹û
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// DispVisionResult inf;
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// inf.nType = 0;
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// inf.eDir = (int)(m_eDir);
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// inf.eVision = (int)(VISION_LOC);
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// inf.pointX = (int)(m_ptResult.x);
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// inf.pointY = (int)(m_ptResult.y);
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// pSideData->m_vDispVisionResult.push_back(inf);
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//}
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KeyDebugInfo inf = CVisionRecipe::getInstance()->getKeyInfo();
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if (inf.isDebugTool && inf.isLocKey) {
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Log_GetDebug()->TraceInfo("Trace Ncc Result %d: %d, (%.0f,%.0f), %d",
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(int)m_eDir, m_id, m_ptResult.x, m_ptResult.y, __LINE__);
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}
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}
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void CNccDotProcess::CreateMatchModel(void) {
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/* code */
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if (!ClsVision::TupleNil(m_idModel)) {
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ClsVision::ClearNccModel(m_idModel);
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m_idModel = HalconCpp::HTuple();
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}
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if (!ClsVision::ObjectExist(m_hImage)) return;
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int width = 0;
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int height = 0;
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ClsVision::GetImageSize(m_hImage, width, height);
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if (width < 1 || height < 1) return;
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m_isScale = false;
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if (width > 120 || height > 120) {
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m_isScale = true;
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m_xScale = 1.0f;
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m_yScale = 1.0f;
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if (width > 120) {
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m_xScale = 120.0f / width;
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}
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if (height > 120) {
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m_yScale = 120.0f / height;
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}
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HalconCpp::HObject hZoomImage;
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HalconCpp::ZoomImageFactor(m_hImage, &hZoomImage, m_xScale, m_yScale, "constant");
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m_idModel = ClsVision::CreateNccModel(hZoomImage, -15, 15, 0, 2000);
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}
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else {
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m_xScale = 1.0f;
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m_yScale = 1.0f;
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m_idModel = ClsVision::CreateNccModel(m_hImage, -15, 15, 0, 2000);
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}
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}
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void CNccDotProcess::setPose(Point2I pose) {
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/* code */
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m_pos = pose;
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}
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Point2I CNccDotProcess::getPose(void) {
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/* code */
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return m_pos;
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}
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void CNccDotProcess::setImage(HalconCpp::HObject &hImage) {
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/* code */
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m_hImage = hImage;
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int width = 0;
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int height = 0;
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ClsVision::GetImageSize(hImage, width, height);
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if (width < 1 || height < 1) {
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m_pos.x = 0;
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m_pos.y = 0;
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if (!ClsVision::TupleNil(m_idModel)) {
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ClsVision::ClearNccModel(m_idModel);
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m_idModel = HalconCpp::HTuple();
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}
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}
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else {
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CreateMatchModel();
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}
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}
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HalconCpp::HObject& CNccDotProcess::getImage(void) {
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/* code */
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return m_hImage;
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}
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int CNccDotProcess::getID(void) {
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/* code */
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return m_id;
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}
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Json::Value CNccDotProcess::WriteToJson(std::string &strDir) {
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/* code */
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int iValue = 0;
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if (ClsVision::ObjectExist(m_hImage)) {
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int width = 0;
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int height = 0;
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ClsVision::GetImageSize(m_hImage, width, height);
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if (width > 0 && height > 0) {
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iValue = 1;
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}
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}
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std::string strImage = "NULL";
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if (1 == iValue) {
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strImage = ClsVision::FormatString("%d_%d_loc", m_eDir, m_id);
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}
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std::string strName = CFileRecipe::toString(m_strName);
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Json::Value jsValue;
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jsValue["alg type"] = LOC_VISION_TYPE;
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jsValue["side"] = (int)(m_eDir);
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jsValue["id"] = m_id;
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jsValue["name"] = strName;
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jsValue["score"] = m_score;
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jsValue["pos x"] = m_pos.x;
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jsValue["pos y"] = m_pos.y;
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jsValue["image file"] = strImage;
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std::string imageDir = strDir + "Image\\";
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if (!CFileRecipe::fileIsExist(imageDir)) {
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CFileRecipe::makeDir(imageDir);
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}
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if (0 == iValue) return jsValue;
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std::string fileName = imageDir + strImage + ".jpg";
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HalconCpp::WriteImage(m_hImage, "jpeg", 0, fileName.c_str());
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return jsValue;
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}
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void CNccDotProcess::DecodeJson(std::string &strDir, Json::Value &jsValue) {
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/* code */
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if (strDir.empty()) return;
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int num = (int)(jsValue.size());
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if (num < 1) return;
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//1. side
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std::string strName = "side";
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if (jsValue.isMember(strName.c_str()) && jsValue[strName.c_str()].isInt()) {
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m_eDir = (DimensionDir)(jsValue[strName.c_str()].asInt());
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}
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//2. id
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strName = "id";
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if (jsValue.isMember(strName.c_str()) && jsValue[strName.c_str()].isInt()) {
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m_id =jsValue[strName.c_str()].asInt();
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}
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//3. name
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strName = "name";
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if (jsValue.isMember(strName.c_str()) && jsValue[strName.c_str()].isString()) {
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m_strName = CFileRecipe::toCString(jsValue[strName.c_str()].asString());
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}
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//4. score
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strName = "score";
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if (jsValue.isMember(strName.c_str()) && jsValue[strName.c_str()].isDouble()) {
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m_score = jsValue[strName.c_str()].asDouble();
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}
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//5. pos x
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strName = "pos x";
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if (jsValue.isMember(strName.c_str()) && jsValue[strName.c_str()].isInt()) {
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m_pos.x = jsValue[strName.c_str()].asInt();
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}
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//6. pos y
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strName = "pos y";
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if (jsValue.isMember(strName.c_str()) && jsValue[strName.c_str()].isInt()) {
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m_pos.y = jsValue[strName.c_str()].asInt();
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}
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//7. image file
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strName = "image file";
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if (jsValue.isMember(strName.c_str()) && jsValue[strName.c_str()].isString()) {
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std::string imgFile = jsValue[strName.c_str()].asString();
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if (0 != imgFile.compare("NULL")) {
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std::string fileName = strDir + "Image\\" + imgFile + ".jpg";
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if (CFileRecipe::fileIsExist(fileName)) {
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HalconCpp::ReadImage(&m_hImage, fileName.c_str());
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CreateMatchModel();
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}
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}
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else {
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HalconCpp::GenEmptyObj(&m_hImage);
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CreateMatchModel();
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}
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}
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}
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