#include "stdafx.h"
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#include "TranformCoordinate.h"
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CTranformCoordinate::CTranformCoordinate()
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{
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/* code */
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}
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CTranformCoordinate::~CTranformCoordinate()
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{
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/* code */
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}
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Point2I CTranformCoordinate::Execute(DimensionDir eDir, Point2I pose) {
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/* code */
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Point2I ptResult = getPose(eDir, pose);
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Point2I result = TranformPose(eDir, ptResult);
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if (result.x < 0 || result.y < 0) {
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Print(eDir, pose);
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}
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return result;
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}
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void CTranformCoordinate::Print(DimensionDir eDir, Point2I pose) {
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/* code */
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ILogger *pLogger = Log_GetDebug();
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if (NULL == pLogger) return;
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CBlSideData *pSideData = CVisionRecipe::getInstance()->getSideData(eDir);
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if (NULL == pSideData) return;
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pLogger->TraceInfo("Trace Tf %d: (%d, %d), %d", (int)eDir, pose.x, pose.y, __LINE__);
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Point2I ptResult = getPose(eDir, pose);
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pLogger->TraceInfo("Trace Tf %d: (%d, %d), %d", (int)eDir, ptResult.x, ptResult.y, __LINE__);
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for (auto iter = pSideData->m_mapSideLineInf.begin(); iter != pSideData->m_mapSideLineInf.begin(); iter++) {
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pLogger->TraceInfo("Trace Tf %d: %d, (%d, %d), %d",
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(int)eDir, iter->first,
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iter->second.nSideLine, iter->second.top, __LINE__);
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}
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ScanSetting scanSetting = CVisionRecipe::getInstance()->getScanSetting();
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pLogger->TraceInfo("Trace Tf %d: (%d, %d, %d, %d, %d, %d, %d, %d, %d), %d",
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(int)eDir,
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scanSetting.lengthSize, scanSetting.shortSize, scanSetting.nStdIndex,
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scanSetting.nIndex0, scanSetting.nIndex1, scanSetting.nIndex2, scanSetting.nIndex3,
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scanSetting.nLengthScan, scanSetting.nShortScan,
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__LINE__);
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}
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Point2I CTranformCoordinate::tfPose(DimensionDir eDir, Point2I pose) {
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/* code */
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return TranformPose(eDir, pose);
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}
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Point2I CTranformCoordinate::TranformPose(DimensionDir eDir, Point2I pose) {
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/* code */
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Point2I result = pose;
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switch (eDir)
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{
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case GLOBAL_DEFINE::DIMENSION_A:
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result = TransformPoseTopA(pose);
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break;
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case GLOBAL_DEFINE::DIMENSION_B:
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result = TransformPoseTopB(pose);
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break;
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case GLOBAL_DEFINE::DIMENSION_C:
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result = TransformPoseTopC(pose);
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break;
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case GLOBAL_DEFINE::DIMENSION_D:
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result = TransformPoseTopD(pose);
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break;
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case GLOBAL_DEFINE::DIMENSION_A_DN:
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result = TransformPoseBotA(pose);
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break;
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case GLOBAL_DEFINE::DIMENSION_B_DN:
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result = TransformPoseBotB(pose);
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break;
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case GLOBAL_DEFINE::DIMENSION_C_DN:
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result = TransformPoseBotC(pose);
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break;
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case GLOBAL_DEFINE::DIMENSION_D_DN:
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result = TransformPoseBotD(pose);
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break;
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default:
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break;
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}
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return result;
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}
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Point2I CTranformCoordinate::TransformPoseTopA(Point2I pose) {
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/* code */
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ScanSetting scanSetting = CVisionRecipe::getInstance()->getScanSetting();
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int idx0 = scanSetting.nIndex0;
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if (1 == scanSetting.nLengthScan) idx0 = scanSetting.nIndex1;
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int idx1 = scanSetting.nStdIndex;
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return TransformResult(pose, true, idx0, idx1, scanSetting);
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}
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Point2I CTranformCoordinate::TransformPoseTopB(Point2I pose) {
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/* code */
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ScanSetting scanSetting = CVisionRecipe::getInstance()->getScanSetting();
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int idx0 = scanSetting.nIndex2;
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if (1 == scanSetting.nShortScan) idx0 = scanSetting.nIndex1;
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int idx1 = scanSetting.nStdIndex;
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return TransformResult(pose, false, idx0, idx1, scanSetting);
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}
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Point2I CTranformCoordinate::TransformPoseTopC(Point2I pose) {
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/* code */
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ScanSetting scanSetting = CVisionRecipe::getInstance()->getScanSetting();
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int idx0 = scanSetting.nIndex3;
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if (1 == scanSetting.nLengthScan) idx0 = scanSetting.nIndex2;
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int idx1 = scanSetting.nStdIndex;
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return TransformResult(pose, true, idx0, idx1, scanSetting);
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}
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Point2I CTranformCoordinate::TransformPoseTopD(Point2I pose) {
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/* code */
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ScanSetting scanSetting = CVisionRecipe::getInstance()->getScanSetting();
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int idx0 = scanSetting.nIndex3;
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if (1 == scanSetting.nShortScan) idx0 = scanSetting.nIndex0;
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int idx1 = scanSetting.nStdIndex;
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return TransformResult(pose, false, idx0, idx1, scanSetting);
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}
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Point2I CTranformCoordinate::TransformPoseBotA(Point2I pose) {
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/* code */
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ScanSetting scanSetting = CVisionRecipe::getInstance()->getScanSetting();
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int idx0 = scanSetting.nIndex0;
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if (1 == scanSetting.nLengthScan) idx0 = scanSetting.nIndex1;
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int idx1 = scanSetting.nStdIndex;
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return TransformResult(pose, true, idx0, idx1, scanSetting);
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}
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Point2I CTranformCoordinate::TransformPoseBotB(Point2I pose) {
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/* code */
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ScanSetting scanSetting = CVisionRecipe::getInstance()->getScanSetting();
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int idx0 = scanSetting.nIndex2;
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if (1 == scanSetting.nShortScan) idx0 = scanSetting.nIndex1;
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int idx1 = scanSetting.nStdIndex;
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return TransformResult(pose, false, idx0, idx1, scanSetting);
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}
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Point2I CTranformCoordinate::TransformPoseBotC(Point2I pose) {
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/* code */
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ScanSetting scanSetting = CVisionRecipe::getInstance()->getScanSetting();
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int idx0 = scanSetting.nIndex3;
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if (1 == scanSetting.nLengthScan) idx0 = scanSetting.nIndex2;
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int idx1 = scanSetting.nStdIndex;
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return TransformResult(pose, true, idx0, idx1, scanSetting);
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}
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Point2I CTranformCoordinate::TransformPoseBotD(Point2I pose) {
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/* code */
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ScanSetting scanSetting = CVisionRecipe::getInstance()->getScanSetting();
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int idx0 = scanSetting.nIndex3;
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if (1 == scanSetting.nShortScan) idx0 = scanSetting.nIndex0;
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int idx1 = scanSetting.nStdIndex;
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return TransformResult(pose, false, idx0, idx1, scanSetting);
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}
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Point2I CTranformCoordinate::TransformResult(Point2I pose, bool isScanLength, int idx0, int idx1, ScanSetting scanSetting) {
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/* code */
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Point2I result = pose;
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int id0 = getIndex(idx0, scanSetting);
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int id1 = getIndex(idx1, scanSetting);
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if (-1 == id0 || -1 == id1) return result;
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Point2I pt = pose;
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if (isScanLength) {
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pt.x = pose.y;
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pt.y = pose.x;
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}
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switch (id0){
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case 0: {
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if (0 == id1) {
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result = pt;
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}
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else if (1 == id1) {
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result.x = scanSetting.lengthSize - pt.x;
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result.y = pt.y;
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}
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else if (2 == id1) {
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result.x = scanSetting.lengthSize - pt.x;
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result.y = scanSetting.shortSize - pt.y;
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}
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else if (3 == id1) {
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result.x = pt.x;
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result.y = scanSetting.shortSize - pt.y;
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}
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break;
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}
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case 1: {
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if (0 == id1) {
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result.x = scanSetting.lengthSize - pt.x;
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result.y = pt.y;
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}
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else if (1 == id1) {
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result = pt;
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}
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else if (2 == id1) {
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result.x = pt.x;
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result.y = scanSetting.shortSize - pt.y;
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}
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else if (3 == id1) {
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result.x = scanSetting.lengthSize - pt.x;
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result.y = scanSetting.shortSize - pt.y;
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}
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break;
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}
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case 2: {
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if (0 == id1) {
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result.x = scanSetting.lengthSize - pt.x;
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result.y = scanSetting.shortSize - pt.y;
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}
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else if (1 == id1) {
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result.x = pt.x;
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result.y = scanSetting.shortSize - pt.y;
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}
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else if (2 == id1) {
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result = pt;
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}
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else if (3 == id1) {
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result.x = scanSetting.lengthSize - pt.x;
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result.y = pt.y;
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}
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break;
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}
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case 3: {
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if (0 == id1) {
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result.x = pt.x;
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result.y = scanSetting.shortSize - pt.y;
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}
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else if (1 == id1) {
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result.x = scanSetting.lengthSize - pt.x;
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result.y = scanSetting.shortSize - pt.y;
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}
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else if (2 == id1) {
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result.x = scanSetting.lengthSize - pt.x;
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result.y = pt.y;
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}
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else if (3 == id1) {
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result = pt;
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}
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break;
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}
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default:
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break;
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}
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return result;
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}
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int CTranformCoordinate::getIndex(int idx, ScanSetting scanSetting) {
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/* code */
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int id = -1;
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if (idx == scanSetting.nIndex0) {
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id = 0;
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}
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else if (idx == scanSetting.nIndex1) {
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id = 1;
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}
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else if (idx == scanSetting.nIndex2) {
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id = 2;
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}
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else if (idx == scanSetting.nIndex3) {
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id = 3;
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}
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return id;
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}
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Point2I CTranformCoordinate::getPose(DimensionDir eDir, Point2I pose) {
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/* code */
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Point2I result = pose;
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CBlSideData *pSideData = CVisionRecipe::getInstance()->getSideData(eDir);
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int nCount = (int)(pSideData->m_mapSideLineInf.size());
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if (nCount < 1) return result;
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SideLineInf inf;
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bool isFind = false;
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int minDist = MAXINT;
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int dist = 0;
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for (auto iter = pSideData->m_mapSideLineInf.begin(); iter != pSideData->m_mapSideLineInf.end(); iter++) {
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if (pose.y < iter->second.top) continue;
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dist = abs(pose.y - iter->second.top);
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if (dist > minDist) continue;
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inf = iter->second;
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isFind = true;
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minDist = dist;
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}
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if (!isFind) {
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for (auto iter = pSideData->m_mapSideLineInf.begin(); iter != pSideData->m_mapSideLineInf.end(); iter++) {
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dist = abs(pose.y - iter->second.top);
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if (dist > minDist) continue;
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inf = iter->second;
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isFind = true;
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minDist = dist;
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}
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}
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if (!isFind) return result;
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result.x = (int)(pSideData->m_dPixelSizeX * (pose.x - inf.nSideLine));
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result.y = (int)(pSideData->m_dPixelSizeY * (pose.y - pSideData->m_nStartLine));
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ScanSetting scanSetting = CVisionRecipe::getInstance()->getScanSetting();
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if (result.y > scanSetting.lengthSize) {
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result.y = scanSetting.lengthSize - (int)(pSideData->m_dPixelSizeY * abs(pSideData->m_nEndLine - pose.y));
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}
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return result;
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}
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