bash
QT += core gui
greaterThan(QT_MAJOR_VERSION, 4): QT += widgets
CONFIG += c++17
SOURCES += \
main.cpp \
mainwindow.cpp
HEADERS += \
mainwindow.h
FORMS += \
mainwindow.ui
qnx: target.path = /tmp/$${TARGET}/bin
else: unix:!android: target.path = /opt/$${TARGET}/bin
!isEmpty(target.path): INSTALLS += target
win32:DEFINES += WIN32
INCLUDEPATH += "$$(HALCONROOT)/include"
INCLUDEPATH += "$$(HALCONROOT)/include/halconcpp"
QMAKE_LIBDIR += "$$(HALCONROOT)/lib/$$(HALCONARCH)"
unix:LIBS += -lhalconcpp -lhalcon -lXext -lX11 -ldl -lpthread
win32:LIBS += "$$(HALCONROOT)/lib/$$(HALCONARCH)/halconcpp.lib" \
"$$(HALCONROOT)/lib/$$(HALCONARCH)/halcon.lib"mainwindow.h
cpp
#ifndef MAINWINDOW_H
#define MAINWINDOW_H
#include <QMainWindow>
#include <HalconCpp.h>
#include <HDevThread.h>
QT_BEGIN_NAMESPACE
using namespace HalconCpp;
namespace Ui {
class MainWindow;
}
QT_END_NAMESPACE
class MainWindow : public QMainWindow
{
Q_OBJECT
public:
MainWindow(QWidget *parent = nullptr);
~MainWindow();
public:
HTuple gIsSinglePose;
HTuple gTerminationButtonLabel;
HTuple gInfoDecor;
HTuple gInfoPos;
HTuple gTitlePos;
HTuple gTitleDecor;
HTuple gAlphaDeselected;
HTuple gDispObjOffset;
HTuple gLabelsDecor;
HTuple gUsesOpenGL;
public:
HTuple ExpGetGlobalVar_gIsSinglePose(void)
{
return gIsSinglePose;
}
void ExpSetGlobalVar_gIsSinglePose(HTuple val)
{
gIsSinglePose = val;
}
HTuple ExpGetGlobalVar_gTerminationButtonLabel(void)
{
return gTerminationButtonLabel;
}
void ExpSetGlobalVar_gTerminationButtonLabel(HTuple val)
{
gTerminationButtonLabel = val;
}
HTuple ExpGetGlobalVar_gInfoDecor(void)
{
return gInfoDecor;
}
void ExpSetGlobalVar_gInfoDecor(HTuple val)
{
gInfoDecor = val;
}
HTuple ExpGetGlobalVar_gInfoPos(void)
{
return gInfoPos;
}
void ExpSetGlobalVar_gInfoPos(HTuple val)
{
gInfoPos = val;
}
HTuple ExpGetGlobalVar_gTitlePos(void)
{
return gTitlePos;
}
void ExpSetGlobalVar_gTitlePos(HTuple val)
{
gTitlePos = val;
}
HTuple ExpGetGlobalVar_gTitleDecor(void)
{
return gTitleDecor;
}
void ExpSetGlobalVar_gTitleDecor(HTuple val)
{
gTitleDecor = val;
}
HTuple ExpGetGlobalVar_gAlphaDeselected(void)
{
return gAlphaDeselected;
}
void ExpSetGlobalVar_gAlphaDeselected(HTuple val)
{
gAlphaDeselected = val;
}
HTuple ExpGetGlobalVar_gDispObjOffset(void)
{
return gDispObjOffset;
}
void ExpSetGlobalVar_gDispObjOffset(HTuple val)
{
gDispObjOffset = val;
}
HTuple ExpGetGlobalVar_gLabelsDecor(void)
{
return gLabelsDecor;
}
void ExpSetGlobalVar_gLabelsDecor(HTuple val)
{
gLabelsDecor = val;
}
HTuple ExpGetGlobalVar_gUsesOpenGL(void)
{
return gUsesOpenGL;
}
void ExpSetGlobalVar_gUsesOpenGL(HTuple val)
{
gUsesOpenGL = val;
}
public:
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,
HTuple *hv_PosesOut, HTuple *hv_SelectedObjectOut, HTuple *hv_ButtonHoldOut,
HTuple *hv_WindowCenteredRotationOut);
void color_string_to_rgb (HTuple hv_Color, HTuple *hv_RGB);
void determine_optimum_pose_distance (HTuple hv_ObjectModel3DID, HTuple hv_CamParam,
HTuple hv_ImageCoverage, HTuple hv_PoseIn, HTuple *hv_PoseOut);
void dev_update_off ();
void disp_continue_button (HTuple hv_WindowHandle);
void disp_message (HTuple hv_WindowHandle, HTuple hv_String, HTuple hv_CoordSystem,
HTuple hv_Row, HTuple hv_Column, HTuple hv_Color, HTuple hv_Box);
void disp_object_model_no_opengl (HObject *ho_ModelContours, HTuple hv_ObjectModel3DID,
HTuple hv_GenParamName, HTuple hv_GenParamValue, HTuple hv_WindowHandleBuffer,
HTuple hv_CamParam, HTuple hv_PosesOut);
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);
void disp_title_and_information (HTuple hv_WindowHandle, HTuple hv_Title, HTuple hv_Information);
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);
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,
HTuple *hv_CameraParam);
void get_cam_par_data (HTuple hv_CameraParam, HTuple hv_ParamName, HTuple *hv_ParamValue);
void get_cam_par_names (HTuple hv_CameraParam, HTuple *hv_CameraType, HTuple *hv_ParamNames);
void get_object_models_center (HTuple hv_ObjectModel3DID, HTuple *hv_Center);
void get_trackball_center (HTuple hv_SelectedObject, HTuple hv_TrackballRadiusPixel,
HTuple hv_ObjectModel3D, HTuple hv_Poses, HTuple *hv_TBCenter, HTuple *hv_TBSize);
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, HTuple *hv_TBCenter, HTuple *hv_TBSize);
void max_line_width (HTuple hv_WindowHandle, HTuple hv_Lines, HTuple *hv_MaxWidth);
void project_point_on_trackball (HTuple hv_X, HTuple hv_Y, HTuple hv_VirtualTrackball,
HTuple hv_TrackballSize, HTuple *hv_V);
void set_cam_par_data (HTuple hv_CameraParamIn, HTuple hv_ParamName, HTuple hv_ParamValue,
HTuple *hv_CameraParamOut);
void set_display_font (HTuple hv_WindowHandle, HTuple hv_Size, HTuple hv_Font, HTuple hv_Bold,
HTuple hv_Slant);
void trackball (HTuple hv_MX1, HTuple hv_MY1, HTuple hv_MX2, HTuple hv_MY2, HTuple hv_VirtualTrackball,
HTuple hv_TrackballSize, HTuple hv_SensFactor, HTuple *hv_QuatRotation);
void tuple_vector_cross_product (HTuple hv_V1, HTuple hv_V2, HTuple *hv_VC);
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, HTuple *hv_PoseOut);
private slots:
void on_pushButton_clicked();
private:
Ui::MainWindow *ui;
};
#endifmainwindow.cpp
cpp
#include "mainwindow.h"
#include "ui_mainwindow.h"
MainWindow::MainWindow(QWidget *parent)
: QMainWindow(parent)
, ui(new Ui::MainWindow)
{
ui->setupUi(this);
}
MainWindow::~MainWindow()
{
delete ui;
}
void MainWindow::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,
HTuple *hv_PosesOut, HTuple *hv_SelectedObjectOut, HTuple *hv_ButtonHoldOut,
HTuple *hv_WindowCenteredRotationOut)
{
HObject ho_ImageDump;
HTuple ExpTmpLocalVar_gIsSinglePose, hv_VisualizeTB;
HTuple hv_InvLog2, hv_Seconds, hv_ModelIndex, hv_Exception1;
HTuple hv_HomMat3DIdentity, hv_NumModels, hv_Width, hv_Height;
HTuple hv_MinImageSize, hv_TrackballRadiusPixel, hv_TrackballCenterRow;
HTuple hv_TrackballCenterCol, hv_NumChannels, hv_ColorImage;
HTuple hv_BAnd, hv_SensFactor, hv_IsButtonTrans, hv_IsButtonRot;
HTuple hv_IsButtonDist, hv_MRow1, hv_MCol1, hv_ButtonLoop;
HTuple hv_MRow2, hv_MCol2, hv_PX, hv_PY, hv_PZ, hv_QX1;
HTuple hv_QY1, hv_QZ1, hv_QX2, hv_QY2, hv_QZ2, hv_Len;
HTuple hv_Dist, hv_Translate, hv_Index, hv_PoseIn, hv_HomMat3DIn;
HTuple hv_HomMat3DOut, hv_PoseOut, hv_Indices, hv_Sequence;
HTuple hv_Mod, hv_SequenceReal, hv_Sequence2Int, hv_Selected;
HTuple hv_InvSelected, hv_Exception, hv_DRow, hv_TranslateZ;
HTuple hv_MX1, hv_MY1, hv_MX2, hv_MY2, hv_RelQuaternion;
HTuple hv_HomMat3DRotRel, hv_HomMat3DInTmp1, hv_HomMat3DInTmp;
HTuple hv_PosesOut2;
(*hv_ButtonHoldOut) = hv_ButtonHoldIn;
(*hv_PosesOut) = hv_PosesIn;
(*hv_SelectedObjectOut) = hv_SelectedObjectIn;
(*hv_WindowCenteredRotationOut) = hv_WindowCenteredRotationlIn;
hv_VisualizeTB = int(((*hv_SelectedObjectOut).TupleMax())!=0);
hv_InvLog2 = 1.0/(HTuple(2).TupleLog());
if (0 != (int(hv_Button==HTuple(hv_MouseMapping[6]))))
{
if (0 != (*hv_ButtonHoldOut))
{
return;
}
CountSeconds(&hv_Seconds);
if (0 != (int((*hv_WindowCenteredRotationOut)==1)))
{
(*hv_WindowCenteredRotationOut) = 2;
}
else
{
(*hv_WindowCenteredRotationOut) = 1;
}
(*hv_ButtonHoldOut) = 1;
return;
}
if (0 != (HTuple(int(hv_Button==HTuple(hv_MouseMapping[5]))).TupleAnd(int((hv_ObjectModel3DID.TupleLength())<=hv_MaxNumModels))))
{
if (0 != (*hv_ButtonHoldOut))
{
return;
}
try
{
SetScene3dParam(hv_Scene3D, "object_index_persistence", "true");
DisplayScene3d(hv_WindowHandleBuffer, hv_Scene3D, 0);
GetDisplayScene3dInfo(hv_WindowHandleBuffer, hv_Scene3D, hv_Row, hv_Column,
"object_index", &hv_ModelIndex);
SetScene3dParam(hv_Scene3D, "object_index_persistence", "false");
}
catch (HException &HDevExpDefaultException)
{
HDevExpDefaultException.ToHTuple(&hv_Exception1);
return;
}
if (0 != (int(hv_ModelIndex==-1)))
{
if (0 != (int(((*hv_SelectedObjectOut).TupleSum())==((*hv_SelectedObjectOut).TupleLength()))))
{
(*hv_SelectedObjectOut) = HTuple(hv_ObjectModel3DID.TupleLength(),0);
}
else
{
(*hv_SelectedObjectOut) = HTuple(hv_ObjectModel3DID.TupleLength(),1);
}
}
else
{
(*hv_SelectedObjectOut)[hv_ModelIndex] = HTuple((*hv_SelectedObjectOut)[hv_ModelIndex]).TupleNot();
}
(*hv_ButtonHoldOut) = 1;
}
else
{
HomMat3dIdentity(&hv_HomMat3DIdentity);
hv_NumModels = hv_ObjectModel3DID.TupleLength();
get_cam_par_data(hv_CamParam, "image_width", &hv_Width);
get_cam_par_data(hv_CamParam, "image_height", &hv_Height);
hv_MinImageSize = (hv_Width.TupleConcat(hv_Height)).TupleMin();
hv_TrackballRadiusPixel = (hv_TrackballSize*hv_MinImageSize)/2.0;
hv_TrackballCenterRow = hv_Height/2;
hv_TrackballCenterCol = hv_Width/2;
if (0 != (int((hv_ObjectModel3DID.TupleLength())<hv_MaxNumModels)))
{
if (0 != (int((*hv_WindowCenteredRotationOut)==1)))
{
get_trackball_center_fixed(hv_SelectedObjectIn, hv_TrackballCenterRow, hv_TrackballCenterCol,
hv_TrackballRadiusPixel, hv_Scene3D, hv_ObjectModel3DID, hv_PosesIn,
hv_WindowHandleBuffer, hv_CamParam, hv_GenParamName, hv_GenParamValue,
&hv_TBCenter, &hv_TBSize);
}
else
{
get_trackball_center(hv_SelectedObjectIn, hv_TrackballRadiusPixel, hv_ObjectModel3DID,
hv_PosesIn, &hv_TBCenter, &hv_TBSize);
}
}
if (0 != (HTuple(int(((*hv_SelectedObjectOut).TupleMin())==0)).TupleAnd(int(((*hv_SelectedObjectOut).TupleMax())==1))))
{
ExpTmpLocalVar_gIsSinglePose = 0;
ExpSetGlobalVar_gIsSinglePose(ExpTmpLocalVar_gIsSinglePose);
}
CountChannels(ho_BackgroundImage, &hv_NumChannels);
hv_ColorImage = int(hv_NumChannels==3);
TupleRsh(hv_Button, 5, &hv_BAnd);
if (0 != (hv_BAnd%2))
{
hv_SensFactor = 0.1;
}
else
{
hv_SensFactor = 1.0;
}
hv_IsButtonTrans = HTuple(int(HTuple(hv_MouseMapping[0])==hv_Button)).TupleOr(int((32+HTuple(hv_MouseMapping[0]))==hv_Button));
hv_IsButtonRot = HTuple(int(HTuple(hv_MouseMapping[1])==hv_Button)).TupleOr(int((32+HTuple(hv_MouseMapping[1]))==hv_Button));
hv_IsButtonDist = HTuple(HTuple(HTuple(HTuple(HTuple(int(HTuple(hv_MouseMapping[2])==hv_Button)).TupleOr(int((32+HTuple(hv_MouseMapping[2]))==hv_Button))).TupleOr(int(HTuple(hv_MouseMapping[3])==hv_Button))).TupleOr(int((32+HTuple(hv_MouseMapping[3]))==hv_Button))).TupleOr(int(HTuple(hv_MouseMapping[4])==hv_Button))).TupleOr(int((32+HTuple(hv_MouseMapping[4]))==hv_Button));
if (0 != hv_IsButtonTrans)
{
hv_MRow1 = hv_Row;
hv_MCol1 = hv_Column;
while (0 != hv_IsButtonTrans)
{
QCoreApplication :: processEvents();
try
{
GetMpositionSubPix(hv_WindowHandle, &hv_Row, &hv_Column, &hv_ButtonLoop);
hv_IsButtonTrans = int(hv_ButtonLoop==hv_Button);
hv_MRow2 = hv_MRow1+((hv_Row-hv_MRow1)*hv_SensFactor);
hv_MCol2 = hv_MCol1+((hv_Column-hv_MCol1)*hv_SensFactor);
GetLineOfSight(hv_MRow1, hv_MCol1, hv_CamParam, &hv_PX, &hv_PY, &hv_PZ,
&hv_QX1, &hv_QY1, &hv_QZ1);
GetLineOfSight(hv_MRow2, hv_MCol2, hv_CamParam, &hv_PX, &hv_PY, &hv_PZ,
&hv_QX2, &hv_QY2, &hv_QZ2);
hv_Len = (((hv_QX1*hv_QX1)+(hv_QY1*hv_QY1))+(hv_QZ1*hv_QZ1)).TupleSqrt();
hv_Dist = (((HTuple(hv_TBCenter[0])*HTuple(hv_TBCenter[0]))+(HTuple(hv_TBCenter[1])*HTuple(hv_TBCenter[1])))+(HTuple(hv_TBCenter[2])*HTuple(hv_TBCenter[2]))).TupleSqrt();
hv_Translate = ((((hv_QX2-hv_QX1).TupleConcat(hv_QY2-hv_QY1)).TupleConcat(hv_QZ2-hv_QZ1))*hv_Dist)/hv_Len;
(*hv_PosesOut) = HTuple();
if (0 != (int(hv_NumModels<=hv_MaxNumModels)))
{
{
HTuple end_val110 = hv_NumModels-1;
HTuple step_val110 = 1;
for (hv_Index=0; hv_Index.Continue(end_val110, step_val110); hv_Index += step_val110)
{
hv_PoseIn = hv_PosesIn.TupleSelectRange(hv_Index*7,(hv_Index*7)+6);
if (0 != (HTuple((*hv_SelectedObjectOut)[hv_Index])))
{
PoseToHomMat3d(hv_PoseIn, &hv_HomMat3DIn);
HomMat3dTranslate(hv_HomMat3DIn, HTuple(hv_Translate[0]), HTuple(hv_Translate[1]),
HTuple(hv_Translate[2]), &hv_HomMat3DOut);
HomMat3dToPose(hv_HomMat3DOut, &hv_PoseOut);
SetScene3dInstancePose(hv_Scene3D, hv_Index, hv_PoseOut);
}
else
{
hv_PoseOut = hv_PoseIn;
}
(*hv_PosesOut) = (*hv_PosesOut).TupleConcat(hv_PoseOut);
}
}
}
else
{
TupleFind((*hv_SelectedObjectOut), 1, &hv_Indices);
hv_PoseIn = hv_PosesIn.TupleSelectRange(HTuple(hv_Indices[0])*7,(HTuple(hv_Indices[0])*7)+6);
PoseToHomMat3d(hv_PoseIn, &hv_HomMat3DIn);
HomMat3dTranslate(hv_HomMat3DIn, HTuple(hv_Translate[0]), HTuple(hv_Translate[1]),
HTuple(hv_Translate[2]), &hv_HomMat3DOut);
HomMat3dToPose(hv_HomMat3DOut, &hv_PoseOut);
hv_Sequence = HTuple::TupleGenSequence(0,(hv_NumModels*7)-1,1);
TupleMod(hv_Sequence, 7, &hv_Mod);
hv_SequenceReal = HTuple::TupleGenSequence(0,hv_NumModels-(1.0/7.0),1.0/7.0);
hv_Sequence2Int = hv_SequenceReal.TupleInt();
TupleSelect((*hv_SelectedObjectOut), hv_Sequence2Int, &hv_Selected);
hv_InvSelected = 1-hv_Selected;
TupleSelect(hv_PoseOut, hv_Mod, &(*hv_PosesOut));
(*hv_PosesOut) = ((*hv_PosesOut)*hv_Selected)+(hv_PosesIn*hv_InvSelected);
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, (*hv_SelectedObjectOut), int((*hv_WindowCenteredRotationOut)==1),
hv_TBCenter);
DumpWindowImage(&ho_ImageDump, hv_WindowHandleBuffer);
HDevWindowStack::SetActive(hv_WindowHandle);
if (HDevWindowStack::IsOpen())
DispObj(ho_ImageDump, HDevWindowStack::GetActive());
hv_MRow1 = hv_Row;
hv_MCol1 = hv_Column;
hv_PosesIn = (*hv_PosesOut);
}
catch (HException &HDevExpDefaultException)
{
HDevExpDefaultException.ToHTuple(&hv_Exception);
}
}
}
else if (0 != hv_IsButtonDist)
{
hv_MRow1 = hv_Row;
while (0 != hv_IsButtonDist)
{
QCoreApplication :: processEvents();
try
{
GetMpositionSubPix(hv_WindowHandle, &hv_Row, &hv_Column, &hv_ButtonLoop);
hv_IsButtonDist = int(hv_ButtonLoop==hv_Button);
hv_MRow2 = hv_Row;
hv_DRow = hv_MRow2-hv_MRow1;
hv_Dist = (((HTuple(hv_TBCenter[0])*HTuple(hv_TBCenter[0]))+(HTuple(hv_TBCenter[1])*HTuple(hv_TBCenter[1])))+(HTuple(hv_TBCenter[2])*HTuple(hv_TBCenter[2]))).TupleSqrt();
hv_TranslateZ = (((-hv_Dist)*hv_DRow)*0.003)*hv_SensFactor;
hv_TBCenter[2] = HTuple(hv_TBCenter[2])+hv_TranslateZ;
(*hv_PosesOut) = HTuple();
if (0 != (int(hv_NumModels<=hv_MaxNumModels)))
{
{
HTuple end_val164 = hv_NumModels-1;
HTuple step_val164 = 1;
for (hv_Index=0; hv_Index.Continue(end_val164, step_val164); hv_Index += step_val164)
{
hv_PoseIn = hv_PosesIn.TupleSelectRange(hv_Index*7,(hv_Index*7)+6);
if (0 != (HTuple((*hv_SelectedObjectOut)[hv_Index])))
{
PoseToHomMat3d(hv_PoseIn, &hv_HomMat3DIn);
HomMat3dTranslate(hv_HomMat3DIn, 0, 0, hv_TranslateZ, &hv_HomMat3DOut);
HomMat3dToPose(hv_HomMat3DOut, &hv_PoseOut);
SetScene3dInstancePose(hv_Scene3D, hv_Index, hv_PoseOut);
}
else
{
hv_PoseOut = hv_PoseIn;
}
(*hv_PosesOut) = (*hv_PosesOut).TupleConcat(hv_PoseOut);
}
}
}
else
{
TupleFind((*hv_SelectedObjectOut), 1, &hv_Indices);
hv_PoseIn = hv_PosesIn.TupleSelectRange(HTuple(hv_Indices[0])*7,(HTuple(hv_Indices[0])*7)+6);
PoseToHomMat3d(hv_PoseIn, &hv_HomMat3DIn);
HomMat3dTranslate(hv_HomMat3DIn, 0, 0, hv_TranslateZ, &hv_HomMat3DOut);
HomMat3dToPose(hv_HomMat3DOut, &hv_PoseOut);
hv_Sequence = HTuple::TupleGenSequence(0,(hv_NumModels*7)-1,1);
TupleMod(hv_Sequence, 7, &hv_Mod);
hv_SequenceReal = HTuple::TupleGenSequence(0,hv_NumModels-(1.0/7.0),1.0/7.0);
hv_Sequence2Int = hv_SequenceReal.TupleInt();
TupleSelect((*hv_SelectedObjectOut), hv_Sequence2Int, &hv_Selected);
hv_InvSelected = 1-hv_Selected;
TupleSelect(hv_PoseOut, hv_Mod, &(*hv_PosesOut));
(*hv_PosesOut) = ((*hv_PosesOut)*hv_Selected)+(hv_PosesIn*hv_InvSelected);
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, (*hv_SelectedObjectOut), (*hv_WindowCenteredRotationOut),
hv_TBCenter);
DumpWindowImage(&ho_ImageDump, hv_WindowHandleBuffer);
HDevWindowStack::SetActive(hv_WindowHandle);
if (HDevWindowStack::IsOpen())
DispObj(ho_ImageDump, HDevWindowStack::GetActive());
hv_MRow1 = hv_Row;
hv_PosesIn = (*hv_PosesOut);
}
catch (HException &HDevExpDefaultException)
{
HDevExpDefaultException.ToHTuple(&hv_Exception);
}
}
}
else if (0 != hv_IsButtonRot)
{
hv_MRow1 = hv_Row;
hv_MCol1 = hv_Column;
while (0 != hv_IsButtonRot)
{
QCoreApplication :: processEvents();
try
{
GetMpositionSubPix(hv_WindowHandle, &hv_Row, &hv_Column, &hv_ButtonLoop);
hv_IsButtonRot = int(hv_ButtonLoop==hv_Button);
hv_MRow2 = hv_Row;
hv_MCol2 = hv_Column;
hv_MX1 = (hv_TrackballCenterCol-hv_MCol1)/(0.5*hv_MinImageSize);
hv_MY1 = (hv_TrackballCenterRow-hv_MRow1)/(0.5*hv_MinImageSize);
hv_MX2 = (hv_TrackballCenterCol-hv_MCol2)/(0.5*hv_MinImageSize);
hv_MY2 = (hv_TrackballCenterRow-hv_MRow2)/(0.5*hv_MinImageSize);
trackball(hv_MX1, hv_MY1, hv_MX2, hv_MY2, hv_VirtualTrackball, hv_TrackballSize,
hv_SensFactor, &hv_RelQuaternion);
QuatToHomMat3d(hv_RelQuaternion, &hv_HomMat3DRotRel);
(*hv_PosesOut) = HTuple();
if (0 != (int(hv_NumModels<=hv_MaxNumModels)))
{
{
HTuple end_val226 = hv_NumModels-1;
HTuple step_val226 = 1;
for (hv_Index=0; hv_Index.Continue(end_val226, step_val226); hv_Index += step_val226)
{
hv_PoseIn = hv_PosesIn.TupleSelectRange(hv_Index*7,(hv_Index*7)+6);
if (0 != (HTuple((*hv_SelectedObjectOut)[hv_Index])))
{
PoseToHomMat3d(hv_PoseIn, &hv_HomMat3DIn);
HomMat3dTranslate(hv_HomMat3DIn, -HTuple(hv_TBCenter[0]), -HTuple(hv_TBCenter[1]),
-HTuple(hv_TBCenter[2]), &hv_HomMat3DIn);
HomMat3dCompose(hv_HomMat3DRotRel, hv_HomMat3DIn, &hv_HomMat3DIn);
HomMat3dTranslate(hv_HomMat3DIn, HTuple(hv_TBCenter[0]), HTuple(hv_TBCenter[1]),
HTuple(hv_TBCenter[2]), &hv_HomMat3DOut);
HomMat3dToPose(hv_HomMat3DOut, &hv_PoseOut);
SetScene3dInstancePose(hv_Scene3D, hv_Index, hv_PoseOut);
}
else
{
hv_PoseOut = hv_PoseIn;
}
(*hv_PosesOut) = (*hv_PosesOut).TupleConcat(hv_PoseOut);
}
}
}
else
{
TupleFind((*hv_SelectedObjectOut), 1, &hv_Indices);
hv_PoseIn = hv_PosesIn.TupleSelectRange(HTuple(hv_Indices[0])*7,(HTuple(hv_Indices[0])*7)+6);
PoseToHomMat3d(hv_PoseIn, &hv_HomMat3DIn);
HomMat3dTranslate(hv_HomMat3DIn, -HTuple(hv_TBCenter[0]), -HTuple(hv_TBCenter[1]),
-HTuple(hv_TBCenter[2]), &hv_HomMat3DInTmp1);
HomMat3dCompose(hv_HomMat3DRotRel, hv_HomMat3DInTmp1, &hv_HomMat3DInTmp);
HomMat3dTranslate(hv_HomMat3DInTmp, HTuple(hv_TBCenter[0]), HTuple(hv_TBCenter[1]),
HTuple(hv_TBCenter[2]), &hv_HomMat3DOut);
HomMat3dToPose(hv_HomMat3DOut, &hv_PoseOut);
hv_Sequence = HTuple::TupleGenSequence(0,(hv_NumModels*7)-1,1);
TupleMod(hv_Sequence, 7, &hv_Mod);
hv_SequenceReal = HTuple::TupleGenSequence(0,hv_NumModels-(1.0/7.0),1.0/7.0);
hv_Sequence2Int = hv_SequenceReal.TupleInt();
TupleSelect((*hv_SelectedObjectOut), hv_Sequence2Int, &hv_Selected);
hv_InvSelected = 1-hv_Selected;
TupleSelect(hv_PoseOut, hv_Mod, &(*hv_PosesOut));
hv_PosesOut2 = ((*hv_PosesOut)*hv_Selected)+(hv_PosesIn*hv_InvSelected);
(*hv_PosesOut) = hv_PosesOut2;
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, (*hv_SelectedObjectOut), (*hv_WindowCenteredRotationOut),
hv_TBCenter);
DumpWindowImage(&ho_ImageDump, hv_WindowHandleBuffer);
HDevWindowStack::SetActive(hv_WindowHandle);
if (HDevWindowStack::IsOpen())
DispObj(ho_ImageDump, HDevWindowStack::GetActive());
hv_MRow1 = hv_Row;
hv_MCol1 = hv_Column;
hv_PosesIn = (*hv_PosesOut);
}
catch (HException &HDevExpDefaultException)
{
HDevExpDefaultException.ToHTuple(&hv_Exception);
}
}
}
(*hv_PosesOut) = hv_PosesIn;
}
return;
}
void MainWindow:: color_string_to_rgb (HTuple hv_Color, HTuple *hv_RGB)
{
HObject ho_Rectangle, ho_Image;
HTuple hv_WindowHandleBuffer, hv_Exception;
OpenWindow(0, 0, 1, 1, 0, "buffer", "", &hv_WindowHandleBuffer);
SetPart(hv_WindowHandleBuffer, 0, 0, -1, -1);
GenRectangle1(&ho_Rectangle, 0, 0, 0, 0);
try
{
SetColor(hv_WindowHandleBuffer, hv_Color);
}
catch (HException &HDevExpDefaultException)
{
HDevExpDefaultException.ToHTuple(&hv_Exception);
hv_Exception = "Wrong value of control parameter Color (must be a valid color string)";
throw HException(hv_Exception);
}
DispObj(ho_Rectangle, hv_WindowHandleBuffer);
DumpWindowImage(&ho_Image, hv_WindowHandleBuffer);
CloseWindow(hv_WindowHandleBuffer);
GetGrayval(ho_Image, 0, 0, &(*hv_RGB));
(*hv_RGB) += ((HTuple(0).Append(0)).Append(0));
return;
}
void MainWindow::determine_optimum_pose_distance (HTuple hv_ObjectModel3DID, HTuple hv_CamParam,
HTuple hv_ImageCoverage, HTuple hv_PoseIn, HTuple *hv_PoseOut)
{
HTuple hv_Rows, hv_Cols, hv_MinMinZ, hv_BB, hv_Index;
HTuple hv_CurrBB, hv_Exception, hv_Seq, hv_DXMax, hv_DYMax;
HTuple hv_DZMax, hv_Diameter, hv_ZAdd, hv_BBX0, hv_BBX1;
HTuple hv_BBY0, hv_BBY1, hv_BBZ0, hv_BBZ1, hv_X, hv_Y;
HTuple hv_Z, hv_HomMat3DIn, hv_QX_In, hv_QY_In, hv_QZ_In;
HTuple hv_PoseInter, hv_HomMat3D, hv_QX, hv_QY, hv_QZ;
HTuple hv_Cx, hv_Cy, hv_DR, hv_DC, hv_MaxDist, hv_HomMat3DRotate;
HTuple hv_ImageWidth, hv_ImageHeight, hv_MinImageSize;
HTuple hv_Zs, hv_ZDiff, hv_ScaleZ, hv_ZNew;
hv_Rows = HTuple();
hv_Cols = HTuple();
hv_MinMinZ = 1e30;
hv_BB = HTuple();
{
HTuple end_val7 = (hv_ObjectModel3DID.TupleLength())-1;
HTuple step_val7 = 1;
for (hv_Index=0; hv_Index.Continue(end_val7, step_val7); hv_Index += step_val7)
{
try
{
GetObjectModel3dParams(HTuple(hv_ObjectModel3DID[hv_Index]), "bounding_box1",
&hv_CurrBB);
hv_BB = hv_BB.TupleConcat(hv_CurrBB);
}
catch (HException &HDevExpDefaultException)
{
HDevExpDefaultException.ToHTuple(&hv_Exception);
}
}
}
if (0 != (int((((hv_BB.TupleAbs()).TupleConcat(0)).TupleSum())==0.0)))
{
hv_BB.Clear();
hv_BB.Append(-(HTuple(HTuple::TupleRand(3)*1e-20).TupleAbs()));
hv_BB.Append(HTuple(HTuple::TupleRand(3)*1e-20).TupleAbs());
}
hv_Seq = HTuple::TupleGenSequence(0,(hv_BB.TupleLength())-1,6);
hv_DXMax = (HTuple(hv_BB[hv_Seq+3]).TupleMax())-(HTuple(hv_BB[hv_Seq]).TupleMin());
hv_DYMax = (HTuple(hv_BB[hv_Seq+4]).TupleMax())-(HTuple(hv_BB[hv_Seq+1]).TupleMin());
hv_DZMax = (HTuple(hv_BB[hv_Seq+5]).TupleMax())-(HTuple(hv_BB[hv_Seq+2]).TupleMin());
hv_Diameter = (((hv_DXMax*hv_DXMax)+(hv_DYMax*hv_DYMax))+(hv_DZMax*hv_DZMax)).TupleSqrt();
hv_ZAdd = 0.0;
if (0 != (int((hv_Diameter.TupleMax())<1e-10)))
{
hv_ZAdd = 0.01;
}
if (0 != (int((hv_Diameter.TupleMin())<1e-10)))
{
hv_Diameter = hv_Diameter-(((((hv_Diameter-1e-10).TupleSgn())-1).TupleSgn())*1e-10);
}
hv_BBX0 = HTuple(hv_BB[hv_Seq+0]);
hv_BBX1 = HTuple(hv_BB[hv_Seq+3]);
hv_BBY0 = HTuple(hv_BB[hv_Seq+1]);
hv_BBY1 = HTuple(hv_BB[hv_Seq+4]);
hv_BBZ0 = HTuple(hv_BB[hv_Seq+2]);
hv_BBZ1 = HTuple(hv_BB[hv_Seq+5]);
hv_X.Clear();
hv_X.Append(hv_BBX0);
hv_X.Append(hv_BBX0);
hv_X.Append(hv_BBX0);
hv_X.Append(hv_BBX0);
hv_X.Append(hv_BBX1);
hv_X.Append(hv_BBX1);
hv_X.Append(hv_BBX1);
hv_X.Append(hv_BBX1);
hv_Y.Clear();
hv_Y.Append(hv_BBY0);
hv_Y.Append(hv_BBY0);
hv_Y.Append(hv_BBY1);
hv_Y.Append(hv_BBY1);
hv_Y.Append(hv_BBY0);
hv_Y.Append(hv_BBY0);
hv_Y.Append(hv_BBY1);
hv_Y.Append(hv_BBY1);
hv_Z.Clear();
hv_Z.Append(hv_BBZ0);
hv_Z.Append(hv_BBZ1);
hv_Z.Append(hv_BBZ0);
hv_Z.Append(hv_BBZ1);
hv_Z.Append(hv_BBZ0);
hv_Z.Append(hv_BBZ1);
hv_Z.Append(hv_BBZ0);
hv_Z.Append(hv_BBZ1);
PoseToHomMat3d(hv_PoseIn, &hv_HomMat3DIn);
AffineTransPoint3d(hv_HomMat3DIn, hv_X, hv_Y, hv_Z, &hv_QX_In, &hv_QY_In, &hv_QZ_In);
PoseCompose(((HTuple(0).Append(0)).TupleConcat((-(hv_QZ_In.TupleMin()))+(2*(hv_Diameter.TupleMax())))).TupleConcat((((HTuple(0).Append(0)).Append(0)).Append(0))),
hv_PoseIn, &hv_PoseInter);
PoseToHomMat3d(hv_PoseInter, &hv_HomMat3D);
AffineTransPoint3d(hv_HomMat3D, hv_X, hv_Y, hv_Z, &hv_QX, &hv_QY, &hv_QZ);
Project3dPoint(hv_QX, hv_QY, hv_QZ, hv_CamParam, &hv_Rows, &hv_Cols);
hv_MinMinZ = hv_QZ.TupleMin();
get_cam_par_data(hv_CamParam, "cx", &hv_Cx);
get_cam_par_data(hv_CamParam, "cy", &hv_Cy);
hv_DR = hv_Rows-hv_Cy;
hv_DC = hv_Cols-hv_Cx;
hv_DR = (hv_DR.TupleMax())-(hv_DR.TupleMin());
hv_DC = (hv_DC.TupleMax())-(hv_DC.TupleMin());
hv_MaxDist = ((hv_DR*hv_DR)+(hv_DC*hv_DC)).TupleSqrt();
if (0 != (int(hv_MaxDist<1e-10)))
{
HomMat3dRotateLocal(hv_HomMat3D, HTuple(90).TupleRad(), "x", &hv_HomMat3DRotate);
AffineTransPoint3d(hv_HomMat3DRotate, hv_X, hv_Y, hv_Z, &hv_QX, &hv_QY, &hv_QZ);
Project3dPoint(hv_QX, hv_QY, hv_QZ, hv_CamParam, &hv_Rows, &hv_Cols);
hv_DR = hv_Rows-hv_Cy;
hv_DC = hv_Cols-hv_Cx;
hv_DR = (hv_DR.TupleMax())-(hv_DR.TupleMin());
hv_DC = (hv_DC.TupleMax())-(hv_DC.TupleMin());
hv_MaxDist = (hv_MaxDist.TupleConcat(((hv_DR*hv_DR)+(hv_DC*hv_DC)).TupleSqrt())).TupleMax();
}
get_cam_par_data(hv_CamParam, "image_width", &hv_ImageWidth);
get_cam_par_data(hv_CamParam, "image_height", &hv_ImageHeight);
hv_MinImageSize = (hv_ImageWidth.TupleConcat(hv_ImageHeight)).TupleMin();
hv_Z = ((const HTuple&)hv_PoseInter)[2];
hv_Zs = hv_MinMinZ;
hv_ZDiff = hv_Z-hv_Zs;
hv_ScaleZ = hv_MaxDist/(((0.5*hv_MinImageSize)*hv_ImageCoverage)*2.0);
hv_ZNew = ((hv_ScaleZ*hv_Zs)+hv_ZDiff)+hv_ZAdd;
(*hv_PoseOut) = hv_PoseInter.TupleReplace(2,hv_ZNew);
return;
}
void MainWindow:: dev_update_off ()
{
return;
}
void MainWindow::disp_continue_button (HTuple hv_WindowHandle)
{
HTuple hv_ContinueMessage, hv_Exception, hv_Row;
HTuple hv_Column, hv_Width, hv_Height, hv_Ascent, hv_Descent;
HTuple hv_TextWidth, hv_TextHeight;
try
{
hv_ContinueMessage = ExpGetGlobalVar_gTerminationButtonLabel();
}
catch (HException &HDevExpDefaultException)
{
HDevExpDefaultException.ToHTuple(&hv_Exception);
hv_ContinueMessage = "Continue";
}
GetWindowExtents(hv_WindowHandle, &hv_Row, &hv_Column, &hv_Width, &hv_Height);
GetStringExtents(hv_WindowHandle, (" "+hv_ContinueMessage)+" ", &hv_Ascent, &hv_Descent,
&hv_TextWidth, &hv_TextHeight);
disp_text_button(hv_WindowHandle, hv_ContinueMessage, "window", (hv_Height-hv_TextHeight)-22,
(hv_Width-hv_TextWidth)-12, "black", "#f28f26");
return;
}
void MainWindow:: disp_message (HTuple hv_WindowHandle, HTuple hv_String, HTuple hv_CoordSystem,
HTuple hv_Row, HTuple hv_Column, HTuple hv_Color, HTuple hv_Box)
{
HTuple hv_GenParamName, hv_GenParamValue;
if (0 != (HTuple(int(hv_Row==HTuple())).TupleOr(int(hv_Column==HTuple()))))
{
return;
}
if (0 != (int(hv_Row==-1)))
{
hv_Row = 12;
}
if (0 != (int(hv_Column==-1)))
{
hv_Column = 12;
}
hv_GenParamName = HTuple();
hv_GenParamValue = HTuple();
if (0 != (int((hv_Box.TupleLength())>0)))
{
if (0 != (int(HTuple(hv_Box[0])==HTuple("false"))))
{
hv_GenParamName = hv_GenParamName.TupleConcat("box");
hv_GenParamValue = hv_GenParamValue.TupleConcat("false");
}
else if (0 != (int(HTuple(hv_Box[0])!=HTuple("true"))))
{
hv_GenParamName = hv_GenParamName.TupleConcat("box_color");
hv_GenParamValue = hv_GenParamValue.TupleConcat(HTuple(hv_Box[0]));
}
}
if (0 != (int((hv_Box.TupleLength())>1)))
{
if (0 != (int(HTuple(hv_Box[1])==HTuple("false"))))
{
hv_GenParamName = hv_GenParamName.TupleConcat("shadow");
hv_GenParamValue = hv_GenParamValue.TupleConcat("false");
}
else if (0 != (int(HTuple(hv_Box[1])!=HTuple("true"))))
{
hv_GenParamName = hv_GenParamName.TupleConcat("shadow_color");
hv_GenParamValue = hv_GenParamValue.TupleConcat(HTuple(hv_Box[1]));
}
}
if (0 != (int(hv_CoordSystem!=HTuple("window"))))
{
hv_CoordSystem = "image";
}
if (0 != (int(hv_Color==HTuple(""))))
{
hv_Color = HTuple();
}
DispText(hv_WindowHandle, hv_String, hv_CoordSystem, hv_Row, hv_Column, hv_Color,
hv_GenParamName, hv_GenParamValue);
return;
}
void MainWindow::disp_object_model_no_opengl (HObject *ho_ModelContours, HTuple hv_ObjectModel3DID,
HTuple hv_GenParamName, HTuple hv_GenParamValue, HTuple hv_WindowHandleBuffer,
HTuple hv_CamParam, HTuple hv_PosesOut)
{
HTuple hv_Idx, hv_CustomParamName, hv_CustomParamValue;
HTuple hv_Font, hv_IndicesDispBackGround, hv_Indices, hv_ImageWidth;
HTuple hv_HasPolygons, hv_HasTri, hv_HasPoints, hv_HasLines;
HTuple hv_NumPoints, hv_IsPrimitive, hv_Center, hv_Diameter;
HTuple hv_OpenGlHiddenSurface, hv_CenterX, hv_CenterY;
HTuple hv_CenterZ, hv_PosObjectsZ, hv_I, hv_Pose, hv_HomMat3DObj;
HTuple hv_PosObjCenterX, hv_PosObjCenterY, hv_PosObjCenterZ;
HTuple hv_PosObjectsX, hv_PosObjectsY, hv_Color, hv_Indices1;
HTuple hv_Indices2, hv_J, hv_Indices3, hv_HomMat3D, hv_SampledObjectModel3D;
HTuple hv_X, hv_Y, hv_Z, hv_HomMat3D1, hv_Qx, hv_Qy, hv_Qz;
HTuple hv_Row, hv_Column, hv_ObjectModel3DConvexHull, hv_Exception;
hv_Idx = hv_GenParamName.TupleFind("point_size");
if (0 != (HTuple(hv_Idx.TupleLength()).TupleAnd(int(hv_Idx!=-1))))
{
hv_CustomParamName = "point_size";
hv_CustomParamValue = HTuple(hv_GenParamValue[hv_Idx]);
if (0 != (int(hv_CustomParamValue==1)))
{
hv_CustomParamValue = 0;
}
}
else
{
hv_CustomParamName = HTuple();
hv_CustomParamValue = HTuple();
}
GetFont(hv_WindowHandleBuffer, &hv_Font);
TupleFind(hv_GenParamName, "disp_background", &hv_IndicesDispBackGround);
if (0 != (int(hv_IndicesDispBackGround!=-1)))
{
TupleFind(HTuple(hv_GenParamName[hv_IndicesDispBackGround]), "false", &hv_Indices);
if (0 != (int(hv_Indices!=-1)))
{
ClearWindow(hv_WindowHandleBuffer);
}
}
set_display_font(hv_WindowHandleBuffer, 11, "mono", "false", "false");
get_cam_par_data(hv_CamParam, "image_width", &hv_ImageWidth);
disp_message(hv_WindowHandleBuffer, "OpenGL missing!", "image", 5, hv_ImageWidth-130,
"red", "false");
SetFont(hv_WindowHandleBuffer, hv_Font);
GetObjectModel3dParams(hv_ObjectModel3DID, "has_polygons", &hv_HasPolygons);
GetObjectModel3dParams(hv_ObjectModel3DID, "has_triangles", &hv_HasTri);
GetObjectModel3dParams(hv_ObjectModel3DID, "has_points", &hv_HasPoints);
GetObjectModel3dParams(hv_ObjectModel3DID, "has_lines", &hv_HasLines);
GetObjectModel3dParams(hv_ObjectModel3DID, "num_points", &hv_NumPoints);
GetObjectModel3dParams(hv_ObjectModel3DID, "has_primitive_data", &hv_IsPrimitive);
GetObjectModel3dParams(hv_ObjectModel3DID, "center", &hv_Center);
GetObjectModel3dParams(hv_ObjectModel3DID, "diameter", &hv_Diameter);
GetSystem("opengl_hidden_surface_removal_enable", &hv_OpenGlHiddenSurface);
SetSystem("opengl_hidden_surface_removal_enable", "false");
hv_CenterX = ((const HTuple&)hv_Center)[HTuple::TupleGenSequence(0,(hv_Center.TupleLength())-1,3)];
hv_CenterY = ((const HTuple&)hv_Center)[HTuple::TupleGenSequence(0,(hv_Center.TupleLength())-1,3)+1];
hv_CenterZ = ((const HTuple&)hv_Center)[HTuple::TupleGenSequence(0,(hv_Center.TupleLength())-1,3)+2];
hv_PosObjectsZ = HTuple();
if (0 != (int((hv_PosesOut.TupleLength())>7)))
{
{
HTuple end_val41 = (hv_ObjectModel3DID.TupleLength())-1;
HTuple step_val41 = 1;
for (hv_I=0; hv_I.Continue(end_val41, step_val41); hv_I += step_val41)
{
hv_Pose = hv_PosesOut.TupleSelectRange(hv_I*7,(hv_I*7)+6);
PoseToHomMat3d(hv_Pose, &hv_HomMat3DObj);
AffineTransPoint3d(hv_HomMat3DObj, HTuple(hv_CenterX[hv_I]), HTuple(hv_CenterY[hv_I]),
HTuple(hv_CenterZ[hv_I]), &hv_PosObjCenterX, &hv_PosObjCenterY, &hv_PosObjCenterZ);
hv_PosObjectsZ = hv_PosObjectsZ.TupleConcat(hv_PosObjCenterZ);
}
}
}
else
{
hv_Pose = hv_PosesOut.TupleSelectRange(0,6);
PoseToHomMat3d(hv_Pose, &hv_HomMat3DObj);
AffineTransPoint3d(hv_HomMat3DObj, hv_CenterX, hv_CenterY, hv_CenterZ, &hv_PosObjectsX,
&hv_PosObjectsY, &hv_PosObjectsZ);
}
hv_Idx = HTuple(hv_PosObjectsZ.TupleSortIndex()).TupleInverse();
hv_Color = "white";
SetColor(hv_WindowHandleBuffer, hv_Color);
if (0 != (int((hv_GenParamName.TupleLength())>0)))
{
TupleFind(hv_GenParamName, "colored", &hv_Indices1);
TupleFind(hv_GenParamName, "color", &hv_Indices2);
if (0 != (int(HTuple(hv_Indices1[0])!=-1)))
{
if (0 != (int(HTuple(hv_GenParamValue[HTuple(hv_Indices1[0])])==3)))
{
hv_Color.Clear();
hv_Color[0] = "red";
hv_Color[1] = "green";
hv_Color[2] = "blue";
}
else if (0 != (int(HTuple(hv_GenParamValue[HTuple(hv_Indices1[0])])==6)))
{
hv_Color.Clear();
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 (0 != (int(HTuple(hv_GenParamValue[HTuple(hv_Indices1[0])])==12)))
{
hv_Color.Clear();
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 (0 != (int(HTuple(hv_Indices2[0])!=-1)))
{
hv_Color = HTuple(hv_GenParamValue[HTuple(hv_Indices2[0])]);
}
}
{
HTuple end_val70 = (hv_ObjectModel3DID.TupleLength())-1;
HTuple step_val70 = 1;
for (hv_J=0; hv_J.Continue(end_val70, step_val70); hv_J += step_val70)
{
hv_I = HTuple(hv_Idx[hv_J]);
if (0 != (HTuple(HTuple(HTuple(int(HTuple(hv_HasPolygons[hv_I])==HTuple("true"))).TupleOr(int(HTuple(hv_HasTri[hv_I])==HTuple("true")))).TupleOr(int(HTuple(hv_HasPoints[hv_I])==HTuple("true")))).TupleOr(int(HTuple(hv_HasLines[hv_I])==HTuple("true")))))
{
if (0 != (int((hv_GenParamName.TupleLength())>0)))
{
TupleFind(hv_GenParamName, "color_"+hv_I, &hv_Indices3);
if (0 != (int(HTuple(hv_Indices3[0])!=-1)))
{
SetColor(hv_WindowHandleBuffer, HTuple(hv_GenParamValue[HTuple(hv_Indices3[0])]));
}
else
{
SetColor(hv_WindowHandleBuffer, HTuple(hv_Color[hv_I%(hv_Color.TupleLength())]));
}
}
if (0 != (int((hv_PosesOut.TupleLength())>=((hv_I*7)+6))))
{
hv_Pose = hv_PosesOut.TupleSelectRange(hv_I*7,(hv_I*7)+6);
}
else
{
hv_Pose = hv_PosesOut.TupleSelectRange(0,6);
}
if (0 != (int(HTuple(hv_NumPoints[hv_I])<10000)))
{
ProjectObjectModel3d(&(*ho_ModelContours), HTuple(hv_ObjectModel3DID[hv_I]),
hv_CamParam, hv_Pose, hv_CustomParamName, hv_CustomParamValue);
DispObj((*ho_ModelContours), hv_WindowHandleBuffer);
}
else
{
PoseToHomMat3d(hv_Pose, &hv_HomMat3D);
SampleObjectModel3d(HTuple(hv_ObjectModel3DID[hv_I]), "fast", 0.01*HTuple(hv_Diameter[hv_I]),
HTuple(), HTuple(), &hv_SampledObjectModel3D);
ProjectObjectModel3d(&(*ho_ModelContours), hv_SampledObjectModel3D, hv_CamParam,
hv_Pose, "point_size", 1);
GetObjectModel3dParams(hv_SampledObjectModel3D, "point_coord_x", &hv_X);
GetObjectModel3dParams(hv_SampledObjectModel3D, "point_coord_y", &hv_Y);
GetObjectModel3dParams(hv_SampledObjectModel3D, "point_coord_z", &hv_Z);
PoseToHomMat3d(hv_Pose, &hv_HomMat3D1);
AffineTransPoint3d(hv_HomMat3D1, hv_X, hv_Y, hv_Z, &hv_Qx, &hv_Qy, &hv_Qz);
Project3dPoint(hv_Qx, hv_Qy, hv_Qz, hv_CamParam, &hv_Row, &hv_Column);
DispObj((*ho_ModelContours), hv_WindowHandleBuffer);
ClearObjectModel3d(hv_SampledObjectModel3D);
}
}
else
{
if (0 != (int((hv_GenParamName.TupleLength())>0)))
{
TupleFind(hv_GenParamName, "color_"+hv_I, &hv_Indices3);
if (0 != (int(HTuple(hv_Indices3[0])!=-1)))
{
SetColor(hv_WindowHandleBuffer, HTuple(hv_GenParamValue[HTuple(hv_Indices3[0])]));
}
else
{
SetColor(hv_WindowHandleBuffer, HTuple(hv_Color[hv_I%(hv_Color.TupleLength())]));
}
}
if (0 != (int((hv_PosesOut.TupleLength())>=((hv_I*7)+6))))
{
hv_Pose = hv_PosesOut.TupleSelectRange(hv_I*7,(hv_I*7)+6);
}
else
{
hv_Pose = hv_PosesOut.TupleSelectRange(0,6);
}
if (0 != (int(HTuple(hv_IsPrimitive[hv_I])==HTuple("true"))))
{
try
{
ConvexHullObjectModel3d(HTuple(hv_ObjectModel3DID[hv_I]), &hv_ObjectModel3DConvexHull);
if (0 != (int(HTuple(hv_NumPoints[hv_I])<10000)))
{
ProjectObjectModel3d(&(*ho_ModelContours), hv_ObjectModel3DConvexHull,
hv_CamParam, hv_Pose, hv_CustomParamName, hv_CustomParamValue);
DispObj((*ho_ModelContours), hv_WindowHandleBuffer);
}
else
{
PoseToHomMat3d(hv_Pose, &hv_HomMat3D);
SampleObjectModel3d(hv_ObjectModel3DConvexHull, "fast", 0.01*HTuple(hv_Diameter[hv_I]),
HTuple(), HTuple(), &hv_SampledObjectModel3D);
ProjectObjectModel3d(&(*ho_ModelContours), hv_SampledObjectModel3D, hv_CamParam,
hv_Pose, "point_size", 1);
DispObj((*ho_ModelContours), hv_WindowHandleBuffer);
ClearObjectModel3d(hv_SampledObjectModel3D);
}
ClearObjectModel3d(hv_ObjectModel3DConvexHull);
}
catch (HException &HDevExpDefaultException)
{
HDevExpDefaultException.ToHTuple(&hv_Exception);
}
}
}
}
}
SetSystem("opengl_hidden_surface_removal_enable", hv_OpenGlHiddenSurface);
return;
}
void MainWindow::disp_text_button (HTuple hv_WindowHandle, HTuple hv_String, HTuple hv_CoordSystem,
HTuple hv_Row, HTuple hv_Column, HTuple hv_TextColor, HTuple hv_ButtonColor)
{
HObject ho_UpperLeft, ho_LowerRight, ho_Rectangle;
HTuple hv_Red, hv_Green, hv_Blue, hv_Row1Part;
HTuple hv_Column1Part, hv_Row2Part, hv_Column2Part, hv_RowWin;
HTuple hv_ColumnWin, hv_WidthWin, hv_HeightWin, hv_Exception;
HTuple hv_Fac, hv_RGB, hv_RGBL, hv_RGBD, hv_ButtonColorBorderL;
HTuple hv_ButtonColorBorderD, hv_MaxAscent, hv_MaxDescent;
HTuple hv_MaxWidth, hv_MaxHeight, hv_R1, hv_C1, hv_FactorRow;
HTuple hv_FactorColumn, hv_Width, hv_Index, hv_Ascent;
HTuple hv_Descent, hv_W, hv_H, hv_FrameHeight, hv_FrameWidth;
HTuple hv_R2, hv_C2, hv_ClipRegion, hv_DrawMode, hv_BorderWidth;
HTuple hv_CurrentColor;
GetRgb(hv_WindowHandle, &hv_Red, &hv_Green, &hv_Blue);
GetPart(hv_WindowHandle, &hv_Row1Part, &hv_Column1Part, &hv_Row2Part, &hv_Column2Part);
GetWindowExtents(hv_WindowHandle, &hv_RowWin, &hv_ColumnWin, &hv_WidthWin, &hv_HeightWin);
SetPart(hv_WindowHandle, 0, 0, hv_HeightWin-1, hv_WidthWin-1);
if (0 != (int(hv_Row==-1)))
{
hv_Row = 12;
}
if (0 != (int(hv_Column==-1)))
{
hv_Column = 12;
}
if (0 != (int(hv_TextColor==HTuple())))
{
hv_TextColor = "";
}
try
{
color_string_to_rgb(hv_ButtonColor, &hv_RGB);
}
catch (HException &HDevExpDefaultException)
{
HDevExpDefaultException.ToHTuple(&hv_Exception);
hv_Exception = "Wrong value of control parameter ButtonColor (must be a valid color string)";
throw HException(hv_Exception);
}
hv_Fac = 0.4;
hv_RGBL = hv_RGB+((((255.0-hv_RGB)*hv_Fac)+0.5).TupleInt());
hv_RGBD = hv_RGB-(((hv_RGB*hv_Fac)+0.5).TupleInt());
hv_ButtonColorBorderL = "#"+((""+(hv_RGBL.TupleString("02x"))).TupleSum());
hv_ButtonColorBorderD = "#"+((""+(hv_RGBD.TupleString("02x"))).TupleSum());
hv_String = ((""+hv_String)+"").TupleSplit("\n");
GetFontExtents(hv_WindowHandle, &hv_MaxAscent, &hv_MaxDescent, &hv_MaxWidth, &hv_MaxHeight);
if (0 != (int(hv_CoordSystem==HTuple("window"))))
{
hv_R1 = hv_Row;
hv_C1 = hv_Column;
}
else
{
hv_FactorRow = (1.*hv_HeightWin)/((hv_Row2Part-hv_Row1Part)+1);
hv_FactorColumn = (1.*hv_WidthWin)/((hv_Column2Part-hv_Column1Part)+1);
hv_R1 = ((hv_Row-hv_Row1Part)+0.5)*hv_FactorRow;
hv_C1 = ((hv_Column-hv_Column1Part)+0.5)*hv_FactorColumn;
}
hv_String = (" "+hv_String)+" ";
hv_Width = HTuple();
{
HTuple end_val70 = (hv_String.TupleLength())-1;
HTuple step_val70 = 1;
for (hv_Index=0; hv_Index.Continue(end_val70, step_val70); hv_Index += step_val70)
{
GetStringExtents(hv_WindowHandle, HTuple(hv_String[hv_Index]), &hv_Ascent, &hv_Descent,
&hv_W, &hv_H);
hv_Width = hv_Width.TupleConcat(hv_W);
}
}
hv_FrameHeight = hv_MaxHeight*(hv_String.TupleLength());
hv_FrameWidth = (HTuple(0).TupleConcat(hv_Width)).TupleMax();
hv_R2 = hv_R1+hv_FrameHeight;
hv_C2 = hv_C1+hv_FrameWidth;
GetSystem("clip_region", &hv_ClipRegion);
SetSystem("clip_region", "false");
GetDraw(hv_WindowHandle, &hv_DrawMode);
SetDraw(hv_WindowHandle, "fill");
hv_BorderWidth = 2;
GenRegionPolygonFilled(&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));
GenRegionPolygonFilled(&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));
GenRectangle1(&ho_Rectangle, hv_R1, hv_C1, hv_R2, hv_C2);
SetColor(hv_WindowHandle, hv_ButtonColorBorderL);
DispObj(ho_UpperLeft, hv_WindowHandle);
SetColor(hv_WindowHandle, hv_ButtonColorBorderD);
DispObj(ho_LowerRight, hv_WindowHandle);
SetColor(hv_WindowHandle, hv_ButtonColor);
DispObj(ho_Rectangle, hv_WindowHandle);
SetDraw(hv_WindowHandle, hv_DrawMode);
SetSystem("clip_region", hv_ClipRegion);
{
HTuple end_val96 = (hv_String.TupleLength())-1;
HTuple step_val96 = 1;
for (hv_Index=0; hv_Index.Continue(end_val96, step_val96); hv_Index += step_val96)
{
hv_CurrentColor = HTuple(hv_TextColor[hv_Index%(hv_TextColor.TupleLength())]);
if (0 != (HTuple(int(hv_CurrentColor!=HTuple(""))).TupleAnd(int(hv_CurrentColor!=HTuple("auto")))))
{
SetColor(hv_WindowHandle, hv_CurrentColor);
}
else
{
SetRgb(hv_WindowHandle, hv_Red, hv_Green, hv_Blue);
}
hv_Row = hv_R1+(hv_MaxHeight*hv_Index);
DispText(hv_WindowHandle, HTuple(hv_String[hv_Index]), "window", hv_Row, hv_C1,
hv_CurrentColor, "box", "false");
}
}
SetRgb(hv_WindowHandle, hv_Red, hv_Green, hv_Blue);
SetPart(hv_WindowHandle, hv_Row1Part, hv_Column1Part, hv_Row2Part, hv_Column2Part);
return;
}
void MainWindow::disp_title_and_information (HTuple hv_WindowHandle, HTuple hv_Title, HTuple hv_Information)
{
HTuple hv_WinRow, hv_WinColumn, hv_WinWidth;
HTuple hv_WinHeight, hv_NumTitleLines, hv_Row, hv_Column;
HTuple hv_TextWidth, hv_NumInfoLines, hv_Ascent, hv_Descent;
HTuple hv_Width, hv_Height;
GetWindowExtents(hv_WindowHandle, &hv_WinRow, &hv_WinColumn, &hv_WinWidth, &hv_WinHeight);
hv_Title = ((""+hv_Title)+"").TupleSplit("\n");
hv_NumTitleLines = hv_Title.TupleLength();
if (0 != (int(hv_NumTitleLines>0)))
{
hv_Row = 12;
if (0 != (int(ExpGetGlobalVar_gTitlePos()==HTuple("UpperLeft"))))
{
hv_Column = 12;
}
else if (0 != (int(ExpGetGlobalVar_gTitlePos()==HTuple("UpperCenter"))))
{
max_line_width(hv_WindowHandle, hv_Title, &hv_TextWidth);
hv_Column = (hv_WinWidth/2)-(hv_TextWidth/2);
}
else if (0 != (int(ExpGetGlobalVar_gTitlePos()==HTuple("UpperRight"))))
{
if (0 != (int(HTuple(ExpGetGlobalVar_gTitleDecor()[1])==HTuple("true"))))
{
max_line_width(hv_WindowHandle, hv_Title+" ", &hv_TextWidth);
}
else
{
max_line_width(hv_WindowHandle, hv_Title, &hv_TextWidth);
}
hv_Column = (hv_WinWidth-hv_TextWidth)-10;
}
else
{
}
disp_message(hv_WindowHandle, hv_Title, "window", hv_Row, hv_Column, HTuple(ExpGetGlobalVar_gTitleDecor()[0]),
HTuple(ExpGetGlobalVar_gTitleDecor()[1]));
}
hv_Information = ((""+hv_Information)+"").TupleSplit("\n");
hv_NumInfoLines = hv_Information.TupleLength();
if (0 != (int(hv_NumInfoLines>0)))
{
if (0 != (int(ExpGetGlobalVar_gInfoPos()==HTuple("UpperLeft"))))
{
hv_Row = 12;
hv_Column = 12;
}
else if (0 != (int(ExpGetGlobalVar_gInfoPos()==HTuple("UpperRight"))))
{
if (0 != (int(HTuple(ExpGetGlobalVar_gInfoDecor()[1])==HTuple("true"))))
{
max_line_width(hv_WindowHandle, hv_Information+" ", &hv_TextWidth);
}
else
{
max_line_width(hv_WindowHandle, hv_Information, &hv_TextWidth);
}
hv_Row = 12;
hv_Column = (hv_WinWidth-hv_TextWidth)-12;
}
else if (0 != (int(ExpGetGlobalVar_gInfoPos()==HTuple("LowerLeft"))))
{
GetStringExtents(hv_WindowHandle, hv_Information, &hv_Ascent, &hv_Descent,
&hv_Width, &hv_Height);
hv_Row = (hv_WinHeight-(((HTuple(0).TupleMax2(hv_NumInfoLines-1))*(hv_Ascent+hv_Descent))+hv_Height))-12;
hv_Column = 12;
}
else
{
}
disp_message(hv_WindowHandle, hv_Information, "window", hv_Row, hv_Column, HTuple(ExpGetGlobalVar_gInfoDecor()[0]),
HTuple(ExpGetGlobalVar_gInfoDecor()[1]));
}
return;
}
void MainWindow:: 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)
{
HObject ho_TrackballContour, ho_CrossRotCenter;
HObject ho_ModelContours;
HTuple ExpTmpLocalVar_gUsesOpenGL, hv_Exception;
HTuple hv_Index, hv_Exception1, hv_DeselectedIdx, hv_DeselectedName;
HTuple hv_DeselectedValue, hv_Pose, hv_HomMat3D, hv_Center;
HTuple hv_CenterCamX, hv_CenterCamY, hv_CenterCamZ, hv_CenterRow;
HTuple hv_CenterCol, hv_Label, hv_Sublabels, hv_Ascent;
HTuple hv_Descent, hv_TextWidth, hv_TextHeight, hv_Index2;
HTuple hv_TextWidth2, hv_TextHeight2, hv_RotCenterRow;
HTuple hv_RotCenterCol, hv_Orientation, hv_Colors;
ClearWindow(hv_WindowHandleBuffer);
if (0 != hv_ColorImage)
{
DispColor(ho_BackgroundImage, hv_WindowHandleBuffer);
}
else
{
DispImage(ho_BackgroundImage, hv_WindowHandleBuffer);
}
if (0 != (int((hv_SelectedObject.TupleSum())==(hv_SelectedObject.TupleLength()))))
{
if (0 != (int(ExpGetGlobalVar_gUsesOpenGL()==HTuple("true"))))
{
try
{
DisplayScene3d(hv_WindowHandleBuffer, hv_Scene3D, 0);
}
catch (HException &HDevExpDefaultException)
{
HDevExpDefaultException.ToHTuple(&hv_Exception);
if (0 != (HTuple(HTuple(int(HTuple(hv_Exception[0])==5185)).TupleOr(int(HTuple(hv_Exception[0])==5188))).TupleOr(int(HTuple(hv_Exception[0])==5187))))
{
ExpTmpLocalVar_gUsesOpenGL = "false";
ExpSetGlobalVar_gUsesOpenGL(ExpTmpLocalVar_gUsesOpenGL);
}
else
{
throw HException(hv_Exception);
}
}
}
if (0 != (int(ExpGetGlobalVar_gUsesOpenGL()==HTuple("false"))))
{
disp_object_model_no_opengl(&ho_ModelContours, hv_ObjectModel3DID, hv_GenParamName,
hv_GenParamValue, hv_WindowHandleBuffer, hv_CamParam, hv_Poses);
}
}
else
{
{
HTuple end_val32 = (hv_AlphaOrig.TupleLength())-1;
HTuple step_val32 = 1;
for (hv_Index=0; hv_Index.Continue(end_val32, step_val32); hv_Index += step_val32)
{
if (0 != (int(HTuple(hv_SelectedObject[hv_Index])==1)))
{
SetScene3dInstanceParam(hv_Scene3D, hv_Index, "alpha", HTuple(hv_AlphaOrig[hv_Index]));
}
else
{
SetScene3dInstanceParam(hv_Scene3D, hv_Index, "alpha", ExpGetGlobalVar_gAlphaDeselected());
}
}
}
try
{
if (0 != (int(ExpGetGlobalVar_gUsesOpenGL()==HTuple("false"))))
{
throw HException(HTuple());
}
DisplayScene3d(hv_WindowHandleBuffer, hv_Scene3D, 0);
}
catch (HException &HDevExpDefaultException)
{
HDevExpDefaultException.ToHTuple(&hv_Exception1);
hv_DeselectedIdx = hv_SelectedObject.TupleFind(0);
if (0 != (int(hv_DeselectedIdx!=-1)))
{
hv_DeselectedName = "color_"+hv_DeselectedIdx;
hv_DeselectedValue = HTuple(hv_DeselectedName.TupleLength(),"gray");
}
disp_object_model_no_opengl(&ho_ModelContours, hv_ObjectModel3DID, hv_GenParamName.TupleConcat(hv_DeselectedName),
hv_GenParamValue.TupleConcat(hv_DeselectedValue), hv_WindowHandleBuffer,
hv_CamParam, hv_Poses);
}
{
HTuple end_val53 = (hv_AlphaOrig.TupleLength())-1;
HTuple step_val53 = 1;
for (hv_Index=0; hv_Index.Continue(end_val53, step_val53); hv_Index += step_val53)
{
SetScene3dInstanceParam(hv_Scene3D, hv_Index, "alpha", HTuple(hv_AlphaOrig[hv_Index]));
}
}
}
if (0 != (int(hv_Labels!=0)))
{
SetColor(hv_WindowHandleBuffer, HTuple(ExpGetGlobalVar_gLabelsDecor()[0]));
{
HTuple end_val61 = (hv_ObjectModel3DID.TupleLength())-1;
HTuple step_val61 = 1;
for (hv_Index=0; hv_Index.Continue(end_val61, step_val61); hv_Index += step_val61)
{
hv_Pose = hv_Poses.TupleSelectRange(hv_Index*7,(hv_Index*7)+6);
PoseToHomMat3d(hv_Pose, &hv_HomMat3D);
try
{
GetObjectModel3dParams(HTuple(hv_ObjectModel3DID[hv_Index]), "center", &hv_Center);
AffineTransPoint3d(hv_HomMat3D, HTuple(hv_Center[0]), HTuple(hv_Center[1]),
HTuple(hv_Center[2]), &hv_CenterCamX, &hv_CenterCamY, &hv_CenterCamZ);
Project3dPoint(hv_CenterCamX, hv_CenterCamY, hv_CenterCamZ, hv_CamParam,
&hv_CenterRow, &hv_CenterCol);
hv_Label = HTuple(hv_Labels[hv_Index]);
if (0 != (int(hv_Label!=HTuple(""))))
{
TupleSplit(hv_Label, "\n", &hv_Sublabels);
GetStringExtents(hv_WindowHandleBuffer, HTuple(hv_Sublabels[0]), &hv_Ascent,
&hv_Descent, &hv_TextWidth, &hv_TextHeight);
{
HTuple end_val74 = (hv_Sublabels.TupleLength())-1;
HTuple step_val74 = 1;
for (hv_Index2=1; hv_Index2.Continue(end_val74, step_val74); hv_Index2 += step_val74)
{
GetStringExtents(hv_WindowHandleBuffer, HTuple(hv_Sublabels[hv_Index2]),
&hv_Ascent, &hv_Descent, &hv_TextWidth2, &hv_TextHeight2);
hv_TextHeight += hv_TextHeight2;
hv_TextWidth = hv_TextWidth.TupleMax2(hv_TextWidth2);
}
}
}
}
catch (HException &HDevExpDefaultException)
{
HDevExpDefaultException.ToHTuple(&hv_Exception);
}
}
}
}
if (0 != (HTuple(int(hv_VisualizeRotationCenter!=0)).TupleAnd(int((hv_RotationCenter.TupleLength())==3))))
{
if (0 != (int(HTuple(hv_RotationCenter[2])<1e-10)))
{
hv_RotationCenter[2] = 1e-10;
}
Project3dPoint(HTuple(hv_RotationCenter[0]), HTuple(hv_RotationCenter[1]), HTuple(hv_RotationCenter[2]),
hv_CamParam, &hv_RotCenterRow, &hv_RotCenterCol);
hv_Orientation = HTuple(90).TupleRad();
if (0 != (int(hv_VisualizeRotationCenter==1)))
{
hv_Orientation = HTuple(45).TupleRad();
}
GenCrossContourXld(&ho_CrossRotCenter, hv_RotCenterRow, hv_RotCenterCol, hv_TrackballRadiusPixel/25.0,
hv_Orientation);
SetLineWidth(hv_WindowHandleBuffer, 3);
QueryColor(hv_WindowHandleBuffer, &hv_Colors);
SetColor(hv_WindowHandleBuffer, "light gray");
DispXld(ho_CrossRotCenter, hv_WindowHandleBuffer);
SetLineWidth(hv_WindowHandleBuffer, 1);
SetColor(hv_WindowHandleBuffer, "dim gray");
DispXld(ho_CrossRotCenter, hv_WindowHandleBuffer);
}
disp_title_and_information(hv_WindowHandleBuffer, hv_Title, hv_Information);
if (0 != (int(hv_DisplayContinueButton==HTuple("true"))))
{
disp_continue_button(hv_WindowHandleBuffer);
}
return;
}
void MainWindow:: 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,
HTuple *hv_CameraParam)
{ (*hv_CameraParam).Clear();
(*hv_CameraParam)[0] = "area_scan_division";
(*hv_CameraParam).Append(hv_Focus);
(*hv_CameraParam).Append(hv_Kappa);
(*hv_CameraParam).Append(hv_Sx);
(*hv_CameraParam).Append(hv_Sy);
(*hv_CameraParam).Append(hv_Cx);
(*hv_CameraParam).Append(hv_Cy);
(*hv_CameraParam).Append(hv_ImageWidth);
(*hv_CameraParam).Append(hv_ImageHeight);
return;
}
void MainWindow:: get_cam_par_data (HTuple hv_CameraParam, HTuple hv_ParamName, HTuple *hv_ParamValue)
{
HTuple hv_CameraType, hv_CameraParamNames, hv_Index;
HTuple hv_ParamNameInd, hv_I;
get_cam_par_names(hv_CameraParam, &hv_CameraType, &hv_CameraParamNames);
(*hv_ParamValue) = HTuple();
{
HTuple end_val11 = (hv_ParamName.TupleLength())-1;
HTuple step_val11 = 1;
for (hv_Index=0; hv_Index.Continue(end_val11, step_val11); hv_Index += step_val11)
{
hv_ParamNameInd = HTuple(hv_ParamName[hv_Index]);
if (0 != (int(hv_ParamNameInd==HTuple("camera_type"))))
{
(*hv_ParamValue) = (*hv_ParamValue).TupleConcat(hv_CameraType);
continue;
}
hv_I = hv_CameraParamNames.TupleFind(hv_ParamNameInd);
if (0 != (int(hv_I!=-1)))
{
(*hv_ParamValue) = (*hv_ParamValue).TupleConcat(HTuple(hv_CameraParam[hv_I]));
}
else
{
throw HException("Unknown camera parameter "+hv_ParamNameInd);
}
}
}
return;
}
void MainWindow:: get_cam_par_names (HTuple hv_CameraParam, HTuple *hv_CameraType, HTuple *hv_ParamNames)
{
HTuple hv_CameraParamAreaScanDivision, hv_CameraParamAreaScanPolynomial;
HTuple hv_CameraParamAreaScanTelecentricDivision, hv_CameraParamAreaScanTelecentricPolynomial;
HTuple hv_CameraParamAreaScanTiltDivision, hv_CameraParamAreaScanTiltPolynomial;
HTuple hv_CameraParamAreaScanImageSideTelecentricTiltDivision;
HTuple hv_CameraParamAreaScanImageSideTelecentricTiltPolynomial;
HTuple hv_CameraParamAreaScanBilateralTelecentricTiltDivision;
HTuple hv_CameraParamAreaScanBilateralTelecentricTiltPolynomial;
HTuple hv_CameraParamAreaScanObjectSideTelecentricTiltDivision;
HTuple hv_CameraParamAreaScanObjectSideTelecentricTiltPolynomial;
HTuple hv_CameraParamAreaScanHypercentricDivision, hv_CameraParamAreaScanHypercentricPolynomial;
HTuple hv_CameraParamLinesScan, hv_CameraParamAreaScanTiltDivisionLegacy;
HTuple hv_CameraParamAreaScanTiltPolynomialLegacy, hv_CameraParamAreaScanTelecentricDivisionLegacy;
HTuple hv_CameraParamAreaScanTelecentricPolynomialLegacy;
HTuple hv_CameraParamAreaScanBilateralTelecentricTiltDivisionLegacy;
HTuple hv_CameraParamAreaScanBilateralTelecentricTiltPolynomialLegacy;
hv_CameraParamAreaScanDivision.Clear();
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.Clear();
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.Clear();
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.Clear();
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.Clear();
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.Clear();
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.Clear();
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.Clear();
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.Clear();
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.Clear();
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.Clear();
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.Clear();
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.Clear();
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.Clear();
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_CameraParamLinesScan.Clear();
hv_CameraParamLinesScan[0] = "focus";
hv_CameraParamLinesScan[1] = "kappa";
hv_CameraParamLinesScan[2] = "sx";
hv_CameraParamLinesScan[3] = "sy";
hv_CameraParamLinesScan[4] = "cx";
hv_CameraParamLinesScan[5] = "cy";
hv_CameraParamLinesScan[6] = "image_width";
hv_CameraParamLinesScan[7] = "image_height";
hv_CameraParamLinesScan[8] = "vx";
hv_CameraParamLinesScan[9] = "vy";
hv_CameraParamLinesScan[10] = "vz";
hv_CameraParamAreaScanTiltDivisionLegacy.Clear();
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.Clear();
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.Clear();
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.Clear();
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.Clear();
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.Clear();
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 (0 != (HTuple(int((hv_CameraParam.TupleLength())==1)).TupleAnd(HTuple(hv_CameraParam[0]).TupleIsString())))
{
(*hv_CameraType) = ((const HTuple&)hv_CameraParam)[0];
if (0 != (int((*hv_CameraType)==HTuple("area_scan_division"))))
{
(*hv_ParamNames).Clear();
(*hv_ParamNames)[0] = "camera_type";
(*hv_ParamNames).Append(hv_CameraParamAreaScanDivision);
}
else if (0 != (int((*hv_CameraType)==HTuple("area_scan_polynomial"))))
{
(*hv_ParamNames).Clear();
(*hv_ParamNames)[0] = "camera_type";
(*hv_ParamNames).Append(hv_CameraParamAreaScanPolynomial);
}
else if (0 != (int((*hv_CameraType)==HTuple("area_scan_telecentric_division"))))
{
(*hv_ParamNames).Clear();
(*hv_ParamNames)[0] = "camera_type";
(*hv_ParamNames).Append(hv_CameraParamAreaScanTelecentricDivision);
}
else if (0 != (int((*hv_CameraType)==HTuple("area_scan_telecentric_polynomial"))))
{
(*hv_ParamNames).Clear();
(*hv_ParamNames)[0] = "camera_type";
(*hv_ParamNames).Append(hv_CameraParamAreaScanTelecentricPolynomial);
}
else if (0 != (int((*hv_CameraType)==HTuple("area_scan_tilt_division"))))
{
(*hv_ParamNames).Clear();
(*hv_ParamNames)[0] = "camera_type";
(*hv_ParamNames).Append(hv_CameraParamAreaScanTiltDivision);
}
else if (0 != (int((*hv_CameraType)==HTuple("area_scan_tilt_polynomial"))))
{
(*hv_ParamNames).Clear();
(*hv_ParamNames)[0] = "camera_type";
(*hv_ParamNames).Append(hv_CameraParamAreaScanTiltPolynomial);
}
else if (0 != (int((*hv_CameraType)==HTuple("area_scan_tilt_image_side_telecentric_division"))))
{
(*hv_ParamNames).Clear();
(*hv_ParamNames)[0] = "camera_type";
(*hv_ParamNames).Append(hv_CameraParamAreaScanImageSideTelecentricTiltDivision);
}
else if (0 != (int((*hv_CameraType)==HTuple("area_scan_tilt_image_side_telecentric_polynomial"))))
{
(*hv_ParamNames).Clear();
(*hv_ParamNames)[0] = "camera_type";
(*hv_ParamNames).Append(hv_CameraParamAreaScanImageSideTelecentricTiltPolynomial);
}
else if (0 != (int((*hv_CameraType)==HTuple("area_scan_tilt_bilateral_telecentric_division"))))
{
(*hv_ParamNames).Clear();
(*hv_ParamNames)[0] = "camera_type";
(*hv_ParamNames).Append(hv_CameraParamAreaScanBilateralTelecentricTiltDivision);
}
else if (0 != (int((*hv_CameraType)==HTuple("area_scan_tilt_bilateral_telecentric_polynomial"))))
{
(*hv_ParamNames).Clear();
(*hv_ParamNames)[0] = "camera_type";
(*hv_ParamNames).Append(hv_CameraParamAreaScanBilateralTelecentricTiltPolynomial);
}
else if (0 != (int((*hv_CameraType)==HTuple("area_scan_tilt_object_side_telecentric_division"))))
{
(*hv_ParamNames).Clear();
(*hv_ParamNames)[0] = "camera_type";
(*hv_ParamNames).Append(hv_CameraParamAreaScanObjectSideTelecentricTiltDivision);
}
else if (0 != (int((*hv_CameraType)==HTuple("area_scan_tilt_object_side_telecentric_polynomial"))))
{
(*hv_ParamNames).Clear();
(*hv_ParamNames)[0] = "camera_type";
(*hv_ParamNames).Append(hv_CameraParamAreaScanObjectSideTelecentricTiltPolynomial);
}
else if (0 != (int((*hv_CameraType)==HTuple("area_scan_hypercentric_division"))))
{
(*hv_ParamNames).Clear();
(*hv_ParamNames)[0] = "camera_type";
(*hv_ParamNames).Append(hv_CameraParamAreaScanHypercentricDivision);
}
else if (0 != (int((*hv_CameraType)==HTuple("area_scan_hypercentric_polynomial"))))
{
(*hv_ParamNames).Clear();
(*hv_ParamNames)[0] = "camera_type";
(*hv_ParamNames).Append(hv_CameraParamAreaScanHypercentricPolynomial);
}
else if (0 != (int((*hv_CameraType)==HTuple("line_scan"))))
{
(*hv_ParamNames).Clear();
(*hv_ParamNames)[0] = "camera_type";
(*hv_ParamNames).Append(hv_CameraParamLinesScan);
}
else
{
throw HException(("Unknown camera type '"+(*hv_CameraType))+"' passed in CameraParam.");
}
return;
}
if (0 != ((HTuple(hv_CameraParam[0]).TupleIsString()).TupleNot()))
{
switch ((hv_CameraParam.TupleLength()).I())
{
case 8:
if (0 != (int(HTuple(hv_CameraParam[0])!=0.0)))
{
(*hv_ParamNames) = hv_CameraParamAreaScanDivision;
(*hv_CameraType) = "area_scan_division";
}
else
{
(*hv_ParamNames) = hv_CameraParamAreaScanTelecentricDivisionLegacy;
(*hv_CameraType) = "area_scan_telecentric_division";
}
break;
case 10:
if (0 != (int(HTuple(hv_CameraParam[0])!=0.0)))
{
(*hv_ParamNames) = hv_CameraParamAreaScanTiltDivisionLegacy;
(*hv_CameraType) = "area_scan_tilt_division";
}
else
{
(*hv_ParamNames) = hv_CameraParamAreaScanBilateralTelecentricTiltDivisionLegacy;
(*hv_CameraType) = "area_scan_tilt_bilateral_telecentric_division";
}
break;
case 12:
if (0 != (int(HTuple(hv_CameraParam[0])!=0.0)))
{
(*hv_ParamNames) = hv_CameraParamAreaScanPolynomial;
(*hv_CameraType) = "area_scan_polynomial";
}
else
{
(*hv_ParamNames) = hv_CameraParamAreaScanTelecentricPolynomialLegacy;
(*hv_CameraType) = "area_scan_telecentric_polynomial";
}
break;
case 14:
if (0 != (int(HTuple(hv_CameraParam[0])!=0.0)))
{
(*hv_ParamNames) = hv_CameraParamAreaScanTiltPolynomialLegacy;
(*hv_CameraType) = "area_scan_tilt_polynomial";
}
else
{
(*hv_ParamNames) = hv_CameraParamAreaScanBilateralTelecentricTiltPolynomialLegacy;
(*hv_CameraType) = "area_scan_tilt_bilateral_telecentric_polynomial";
}
break;
case 11:
(*hv_ParamNames) = hv_CameraParamLinesScan;
(*hv_CameraType) = "line_scan";
break;
default:
throw HException("Wrong number of values in CameraParam.");
}
}
else
{
(*hv_CameraType) = ((const HTuple&)hv_CameraParam)[0];
if (0 != (int((*hv_CameraType)==HTuple("area_scan_division"))))
{
if (0 != (int((hv_CameraParam.TupleLength())!=9)))
{
throw HException("Wrong number of values in CameraParam.");
}
(*hv_ParamNames).Clear();
(*hv_ParamNames)[0] = "camera_type";
(*hv_ParamNames).Append(hv_CameraParamAreaScanDivision);
}
else if (0 != (int((*hv_CameraType)==HTuple("area_scan_polynomial"))))
{
if (0 != (int((hv_CameraParam.TupleLength())!=13)))
{
throw HException("Wrong number of values in CameraParam.");
}
(*hv_ParamNames).Clear();
(*hv_ParamNames)[0] = "camera_type";
(*hv_ParamNames).Append(hv_CameraParamAreaScanPolynomial);
}
else if (0 != (int((*hv_CameraType)==HTuple("area_scan_telecentric_division"))))
{
if (0 != (int((hv_CameraParam.TupleLength())!=9)))
{
throw HException("Wrong number of values in CameraParam.");
}
(*hv_ParamNames).Clear();
(*hv_ParamNames)[0] = "camera_type";
(*hv_ParamNames).Append(hv_CameraParamAreaScanTelecentricDivision);
}
else if (0 != (int((*hv_CameraType)==HTuple("area_scan_telecentric_polynomial"))))
{
if (0 != (int((hv_CameraParam.TupleLength())!=13)))
{
throw HException("Wrong number of values in CameraParam.");
}
(*hv_ParamNames).Clear();
(*hv_ParamNames)[0] = "camera_type";
(*hv_ParamNames).Append(hv_CameraParamAreaScanTelecentricPolynomial);
}
else if (0 != (int((*hv_CameraType)==HTuple("area_scan_tilt_division"))))
{
if (0 != (int((hv_CameraParam.TupleLength())!=12)))
{
throw HException("Wrong number of values in CameraParam.");
}
(*hv_ParamNames).Clear();
(*hv_ParamNames)[0] = "camera_type";
(*hv_ParamNames).Append(hv_CameraParamAreaScanTiltDivision);
}
else if (0 != (int((*hv_CameraType)==HTuple("area_scan_tilt_polynomial"))))
{
if (0 != (int((hv_CameraParam.TupleLength())!=16)))
{
throw HException("Wrong number of values in CameraParam.");
}
(*hv_ParamNames).Clear();
(*hv_ParamNames)[0] = "camera_type";
(*hv_ParamNames).Append(hv_CameraParamAreaScanTiltPolynomial);
}
else if (0 != (int((*hv_CameraType)==HTuple("area_scan_tilt_image_side_telecentric_division"))))
{
if (0 != (int((hv_CameraParam.TupleLength())!=11)))
{
throw HException("Wrong number of values in CameraParam.");
}
(*hv_ParamNames).Clear();
(*hv_ParamNames)[0] = "camera_type";
(*hv_ParamNames).Append(hv_CameraParamAreaScanImageSideTelecentricTiltDivision);
}
else if (0 != (int((*hv_CameraType)==HTuple("area_scan_tilt_image_side_telecentric_polynomial"))))
{
if (0 != (int((hv_CameraParam.TupleLength())!=15)))
{
throw HException("Wrong number of values in CameraParam.");
}
(*hv_ParamNames).Clear();
(*hv_ParamNames)[0] = "camera_type";
(*hv_ParamNames).Append(hv_CameraParamAreaScanImageSideTelecentricTiltPolynomial);
}
else if (0 != (int((*hv_CameraType)==HTuple("area_scan_tilt_bilateral_telecentric_division"))))
{
if (0 != (int((hv_CameraParam.TupleLength())!=11)))
{
throw HException("Wrong number of values in CameraParam.");
}
(*hv_ParamNames).Clear();
(*hv_ParamNames)[0] = "camera_type";
(*hv_ParamNames).Append(hv_CameraParamAreaScanBilateralTelecentricTiltDivision);
}
else if (0 != (int((*hv_CameraType)==HTuple("area_scan_tilt_bilateral_telecentric_polynomial"))))
{
if (0 != (int((hv_CameraParam.TupleLength())!=15)))
{
throw HException("Wrong number of values in CameraParam.");
}
(*hv_ParamNames).Clear();
(*hv_ParamNames)[0] = "camera_type";
(*hv_ParamNames).Append(hv_CameraParamAreaScanBilateralTelecentricTiltPolynomial);
}
else if (0 != (int((*hv_CameraType)==HTuple("area_scan_tilt_object_side_telecentric_division"))))
{
if (0 != (int((hv_CameraParam.TupleLength())!=12)))
{
throw HException("Wrong number of values in CameraParam.");
}
(*hv_ParamNames).Clear();
(*hv_ParamNames)[0] = "camera_type";
(*hv_ParamNames).Append(hv_CameraParamAreaScanObjectSideTelecentricTiltDivision);
}
else if (0 != (int((*hv_CameraType)==HTuple("area_scan_tilt_object_side_telecentric_polynomial"))))
{
if (0 != (int((hv_CameraParam.TupleLength())!=16)))
{
throw HException("Wrong number of values in CameraParam.");
}
(*hv_ParamNames).Clear();
(*hv_ParamNames)[0] = "camera_type";
(*hv_ParamNames).Append(hv_CameraParamAreaScanObjectSideTelecentricTiltPolynomial);
}
else if (0 != (int((*hv_CameraType)==HTuple("area_scan_hypercentric_division"))))
{
if (0 != (int((hv_CameraParam.TupleLength())!=9)))
{
throw HException("Wrong number of values in CameraParam.");
}
(*hv_ParamNames).Clear();
(*hv_ParamNames)[0] = "camera_type";
(*hv_ParamNames).Append(hv_CameraParamAreaScanHypercentricDivision);
}
else if (0 != (int((*hv_CameraType)==HTuple("area_scan_hypercentric_polynomial"))))
{
if (0 != (int((hv_CameraParam.TupleLength())!=13)))
{
throw HException("Wrong number of values in CameraParam.");
}
(*hv_ParamNames).Clear();
(*hv_ParamNames)[0] = "camera_type";
(*hv_ParamNames).Append(hv_CameraParamAreaScanHypercentricPolynomial);
}
else if (0 != (int((*hv_CameraType)==HTuple("line_scan"))))
{
if (0 != (int((hv_CameraParam.TupleLength())!=12)))
{
throw HException("Wrong number of values in CameraParam.");
}
(*hv_ParamNames).Clear();
(*hv_ParamNames)[0] = "camera_type";
(*hv_ParamNames).Append(hv_CameraParamLinesScan);
}
else
{
throw HException("Unknown camera type in CameraParam.");
}
}
return;
}
void MainWindow:: get_object_models_center (HTuple hv_ObjectModel3DID, HTuple *hv_Center)
{
HTuple hv_Diameters, hv_Index, hv_Diameter, hv_C;
HTuple hv_Exception, hv_MD, hv_Weight, hv_SumW, hv_ObjectModel3DIDSelected;
HTuple hv_InvSum;
hv_Diameters = HTuple(hv_ObjectModel3DID.TupleLength(),0.0);
{
HTuple end_val2 = (hv_ObjectModel3DID.TupleLength())-1;
HTuple step_val2 = 1;
for (hv_Index=0; hv_Index.Continue(end_val2, step_val2); hv_Index += step_val2)
{
try
{
GetObjectModel3dParams(HTuple(hv_ObjectModel3DID[hv_Index]), "diameter_axis_aligned_bounding_box",
&hv_Diameter);
GetObjectModel3dParams(HTuple(hv_ObjectModel3DID[hv_Index]), "center", &hv_C);
hv_Diameters[hv_Index] = hv_Diameter;
}
catch (HException &HDevExpDefaultException)
{
HDevExpDefaultException.ToHTuple(&hv_Exception);
}
}
}
if (0 != (int((hv_Diameters.TupleSum())>0)))
{
hv_MD = (hv_Diameters.TupleSelectMask(hv_Diameters.TupleGreaterElem(0))).TupleMean();
if (0 != (int(hv_MD>1e-10)))
{
hv_Weight = hv_Diameters/hv_MD;
}
else
{
hv_Weight = hv_Diameters;
}
hv_SumW = hv_Weight.TupleSum();
if (0 != (int(hv_SumW<1e-10)))
{
hv_Weight = HTuple(hv_Weight.TupleLength(),1.0);
hv_SumW = hv_Weight.TupleSum();
}
(*hv_Center).Clear();
(*hv_Center)[0] = 0;
(*hv_Center)[1] = 0;
(*hv_Center)[2] = 0;
{
HTuple end_val26 = (hv_ObjectModel3DID.TupleLength())-1;
HTuple step_val26 = 1;
for (hv_Index=0; hv_Index.Continue(end_val26, step_val26); hv_Index += step_val26)
{
if (0 != (int(HTuple(hv_Diameters[hv_Index])>0)))
{
hv_ObjectModel3DIDSelected = HTuple(hv_ObjectModel3DID[hv_Index]);
GetObjectModel3dParams(hv_ObjectModel3DIDSelected, "center", &hv_C);
(*hv_Center)[0] = HTuple((*hv_Center)[0])+(HTuple(hv_C[0])*HTuple(hv_Weight[hv_Index]));
(*hv_Center)[1] = HTuple((*hv_Center)[1])+(HTuple(hv_C[1])*HTuple(hv_Weight[hv_Index]));
(*hv_Center)[2] = HTuple((*hv_Center)[2])+(HTuple(hv_C[2])*HTuple(hv_Weight[hv_Index]));
}
}
}
hv_InvSum = 1.0/hv_SumW;
(*hv_Center)[0] = HTuple((*hv_Center)[0])*hv_InvSum;
(*hv_Center)[1] = HTuple((*hv_Center)[1])*hv_InvSum;
(*hv_Center)[2] = HTuple((*hv_Center)[2])*hv_InvSum;
}
else
{
(*hv_Center) = HTuple();
}
return;
}
void MainWindow:: get_trackball_center (HTuple hv_SelectedObject, HTuple hv_TrackballRadiusPixel,
HTuple hv_ObjectModel3D, HTuple hv_Poses, HTuple *hv_TBCenter, HTuple *hv_TBSize)
{
HTuple hv_NumModels, hv_Diameter, hv_Index, hv_Center;
HTuple hv_CurrDiameter, hv_Exception, hv_MD, hv_Weight;
HTuple hv_SumW, hv_PoseSelected, hv_HomMat3D, hv_TBCenterCamX;
HTuple hv_TBCenterCamY, hv_TBCenterCamZ, hv_InvSum;
hv_NumModels = hv_ObjectModel3D.TupleLength();
(*hv_TBCenter)[0] = 0;
(*hv_TBCenter)[1] = 0;
(*hv_TBCenter)[2] = 0;
hv_Diameter = HTuple(hv_ObjectModel3D.TupleLength(),0.0);
{
HTuple end_val6 = (hv_ObjectModel3D.TupleLength())-1;
HTuple step_val6 = 1;
for (hv_Index=0; hv_Index.Continue(end_val6, step_val6); hv_Index += step_val6)
{
try
{
GetObjectModel3dParams(HTuple(hv_ObjectModel3D[hv_Index]), "center", &hv_Center);
GetObjectModel3dParams(HTuple(hv_ObjectModel3D[hv_Index]), "diameter_axis_aligned_bounding_box",
&hv_CurrDiameter);
hv_Diameter[hv_Index] = hv_CurrDiameter;
}
catch (HException &HDevExpDefaultException)
{
HDevExpDefaultException.ToHTuple(&hv_Exception);
}
}
}
hv_MD = hv_Diameter.TupleMean();
if (0 != (int(hv_MD>1e-10)))
{
hv_Weight = hv_Diameter/hv_MD;
}
else
{
hv_Weight = hv_Diameter;
}
hv_SumW = (hv_Weight.TupleSelectMask((hv_SelectedObject.TupleSgn()).TupleAbs())).TupleSum();
if (0 != (int(hv_SumW<1e-10)))
{
hv_Weight = HTuple(hv_Weight.TupleLength(),1.0);
hv_SumW = (hv_Weight.TupleSelectMask((hv_SelectedObject.TupleSgn()).TupleAbs())).TupleSum();
}
if (0 != (int(hv_SumW<1e-10)))
{
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 += step_val30)
{
if (0 != (HTuple(hv_SelectedObject[hv_Index]).TupleAnd(int(HTuple(hv_Diameter[hv_Index])>0))))
{
hv_PoseSelected = hv_Poses.TupleSelectRange(hv_Index*7,(hv_Index*7)+6);
PoseToHomMat3d(hv_PoseSelected, &hv_HomMat3D);
GetObjectModel3dParams(HTuple(hv_ObjectModel3D[hv_Index]), "center", &hv_Center);
AffineTransPoint3d(hv_HomMat3D, HTuple(hv_Center[0]), HTuple(hv_Center[1]),
HTuple(hv_Center[2]), &hv_TBCenterCamX, &hv_TBCenterCamY, &hv_TBCenterCamZ);
(*hv_TBCenter)[0] = HTuple((*hv_TBCenter)[0])+(hv_TBCenterCamX*HTuple(hv_Weight[hv_Index]));
(*hv_TBCenter)[1] = HTuple((*hv_TBCenter)[1])+(hv_TBCenterCamY*HTuple(hv_Weight[hv_Index]));
(*hv_TBCenter)[2] = HTuple((*hv_TBCenter)[2])+(hv_TBCenterCamZ*HTuple(hv_Weight[hv_Index]));
}
}
}
if (0 != (int((hv_SelectedObject.TupleMax())!=0)))
{
hv_InvSum = 1.0/hv_SumW;
(*hv_TBCenter)[0] = HTuple((*hv_TBCenter)[0])*hv_InvSum;
(*hv_TBCenter)[1] = HTuple((*hv_TBCenter)[1])*hv_InvSum;
(*hv_TBCenter)[2] = HTuple((*hv_TBCenter)[2])*hv_InvSum;
(*hv_TBSize) = (0.5+((0.5*(hv_SelectedObject.TupleSum()))/hv_NumModels))*hv_TrackballRadiusPixel;
}
else
{
(*hv_TBCenter) = HTuple();
(*hv_TBSize) = 0;
}
return;
}
void MainWindow:: 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, HTuple *hv_TBCenter, HTuple *hv_TBSize)
{
HObject ho_RegionCenter, ho_DistanceImage, ho_Domain;
HTuple hv_NumModels, hv_Width, hv_Height, hv_SelectPose;
HTuple hv_Index1, hv_Rows, hv_Columns, hv_Grayval, hv_IndicesG;
HTuple hv_Value, hv_Pos;
hv_NumModels = hv_ObjectModel3DID.TupleLength();
get_cam_par_data(hv_CamParam, "image_width", &hv_Width);
get_cam_par_data(hv_CamParam, "image_height", &hv_Height);
hv_SelectPose = HTuple();
{
HTuple end_val8 = (hv_SelectedObject.TupleLength())-1;
HTuple step_val8 = 1;
for (hv_Index1=0; hv_Index1.Continue(end_val8, step_val8); hv_Index1 += step_val8)
{
hv_SelectPose = hv_SelectPose.TupleConcat(HTuple(7,HTuple(hv_SelectedObject[hv_Index1])));
if (0 != (int(HTuple(hv_SelectedObject[hv_Index1])==0)))
{
SetScene3dInstanceParam(hv_Scene3D, hv_Index1, "visible", "false");
}
}
}
SetScene3dParam(hv_Scene3D, "depth_persistence", "true");
DisplayScene3d(hv_WindowHandleBuffer, hv_Scene3D, 0);
SetScene3dParam(hv_Scene3D, "visible", "true");
GenRegionPoints(&ho_RegionCenter, hv_TrackballCenterRow, hv_TrackballCenterCol);
DistanceTransform(ho_RegionCenter, &ho_DistanceImage, "chamfer-3-4-unnormalized",
"false", hv_Width, hv_Height);
GetDomain(ho_DistanceImage, &ho_Domain);
GetRegionPoints(ho_Domain, &hv_Rows, &hv_Columns);
GetGrayval(ho_DistanceImage, hv_Rows, hv_Columns, &hv_Grayval);
TupleSortIndex(hv_Grayval, &hv_IndicesG);
GetDisplayScene3dInfo(hv_WindowHandleBuffer, hv_Scene3D, hv_Rows.TupleSelect(hv_IndicesG),
hv_Columns.TupleSelect(hv_IndicesG), "depth", &hv_Value);
TupleFind(hv_Value.TupleSgn(), 1, &hv_Pos);
SetScene3dParam(hv_Scene3D, "depth_persistence", "false");
if (0 != (int(hv_Pos!=-1)))
{
(*hv_TBCenter).Clear();
(*hv_TBCenter)[0] = 0;
(*hv_TBCenter)[1] = 0;
(*hv_TBCenter).Append(HTuple(hv_Value[HTuple(hv_Pos[0])]));
}
else
{
(*hv_TBCenter).Clear();
(*hv_TBCenter)[0] = 0;
(*hv_TBCenter)[1] = 0;
(*hv_TBCenter)[2] = -1;
}
if (0 != (int((hv_SelectedObject.TupleMax())!=0)))
{
(*hv_TBSize) = (0.5+((0.5*(hv_SelectedObject.TupleSum()))/hv_NumModels))*hv_TrackballRadiusPixel;
}
else
{
(*hv_TBCenter) = HTuple();
(*hv_TBSize) = 0;
}
return;
}
void MainWindow:: max_line_width (HTuple hv_WindowHandle, HTuple hv_Lines, HTuple *hv_MaxWidth)
{
HTuple hv_Index, hv_Ascent, hv_Descent, hv_LineWidth;
HTuple hv_LineHeight;
(*hv_MaxWidth) = 0;
{
HTuple end_val2 = (hv_Lines.TupleLength())-1;
HTuple step_val2 = 1;
for (hv_Index=0; hv_Index.Continue(end_val2, step_val2); hv_Index += step_val2)
{
GetStringExtents(hv_WindowHandle, HTuple(hv_Lines[hv_Index]), &hv_Ascent, &hv_Descent,
&hv_LineWidth, &hv_LineHeight);
(*hv_MaxWidth) = (hv_LineWidth.TupleConcat((*hv_MaxWidth))).TupleMax();
}
}
return;
}
void MainWindow:: project_point_on_trackball (HTuple hv_X, HTuple hv_Y, HTuple hv_VirtualTrackball,
HTuple hv_TrackballSize, HTuple *hv_V)
{
HTuple hv_R, hv_XP, hv_YP, hv_ZP;
if (0 != (int(hv_VirtualTrackball==HTuple("shoemake"))))
{
hv_R = ((hv_X*hv_X)+(hv_Y*hv_Y)).TupleSqrt();
if (0 != (int(hv_R<=hv_TrackballSize)))
{
hv_XP = hv_X;
hv_YP = hv_Y;
hv_ZP = ((hv_TrackballSize*hv_TrackballSize)-(hv_R*hv_R)).TupleSqrt();
}
else
{
hv_XP = (hv_X*hv_TrackballSize)/hv_R;
hv_YP = (hv_Y*hv_TrackballSize)/hv_R;
hv_ZP = 0;
}
}
else
{
hv_R = ((hv_X*hv_X)+(hv_Y*hv_Y)).TupleSqrt();
if (0 != (int(hv_R<=(hv_TrackballSize*0.70710678))))
{
hv_XP = hv_X;
hv_YP = hv_Y;
hv_ZP = ((hv_TrackballSize*hv_TrackballSize)-(hv_R*hv_R)).TupleSqrt();
}
else
{
hv_XP = hv_X;
hv_YP = hv_Y;
hv_ZP = ((0.6*hv_TrackballSize)*hv_TrackballSize)/hv_R;
}
}
(*hv_V).Clear();
(*hv_V).Append(hv_XP);
(*hv_V).Append(hv_YP);
(*hv_V).Append(hv_ZP);
return;
}
void MainWindow:: set_cam_par_data (HTuple hv_CameraParamIn, HTuple hv_ParamName, HTuple hv_ParamValue,
HTuple *hv_CameraParamOut)
{
HTuple hv_Index, hv_ParamNameInd, hv_CameraParamNames;
HTuple hv_I, hv_CameraType, hv_IsTelecentric;
if (0 != (int((hv_ParamName.TupleLength())!=(hv_ParamValue.TupleLength()))))
{
throw HException("Different number of values in ParamName and ParamValue");
}
get_cam_par_names(hv_CameraParamIn, &hv_CameraType, &hv_CameraParamNames);
(*hv_CameraParamOut) = hv_CameraParamIn;
{
HTuple end_val16 = (hv_ParamName.TupleLength())-1;
HTuple step_val16 = 1;
for (hv_Index=0; hv_Index.Continue(end_val16, step_val16); hv_Index += step_val16)
{
hv_ParamNameInd = HTuple(hv_ParamName[hv_Index]);
hv_I = hv_CameraParamNames.TupleFind(hv_ParamNameInd);
if (0 != (int(hv_I!=-1)))
{
(*hv_CameraParamOut)[hv_I] = HTuple(hv_ParamValue[hv_Index]);
}
else
{
throw HException("Wrong ParamName "+hv_ParamNameInd);
}
if (0 != (int(hv_ParamNameInd==HTuple("focus"))))
{
hv_IsTelecentric = HTuple(int((hv_CameraType.TupleStrstr("telecentric"))!=-1)).TupleAnd(int((hv_CameraType.TupleStrstr("image_side_telecentric"))==-1));
if (0 != hv_IsTelecentric)
{
throw HException(HTuple("Focus for telecentric lenses is always 0, and hence, cannot be changed."));
}
if (0 != (HTuple(hv_IsTelecentric.TupleNot()).TupleAnd(int(HTuple(hv_ParamValue[hv_Index])==0.0))))
{
throw HException("Focus for non-telecentric lenses must not be 0.");
}
}
}
}
return;
}
void MainWindow:: set_display_font (HTuple hv_WindowHandle, HTuple hv_Size, HTuple hv_Font, HTuple hv_Bold,
HTuple hv_Slant)
{
HTuple hv_OS, hv_Fonts, hv_Style, hv_Exception;
HTuple hv_AvailableFonts, hv_Fdx, hv_Indices;
GetSystem("operating_system", &hv_OS);
if (0 != (HTuple(int(hv_Size==HTuple())).TupleOr(int(hv_Size==-1))))
{
hv_Size = 16;
}
if (0 != (int((hv_OS.TupleSubstr(0,2))==HTuple("Win"))))
{
hv_Size = (1.13677*hv_Size).TupleInt();
}
else
{
hv_Size = hv_Size.TupleInt();
}
if (0 != (int(hv_Font==HTuple("Courier"))))
{
hv_Fonts.Clear();
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 (0 != (int(hv_Font==HTuple("mono"))))
{
hv_Fonts.Clear();
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 (0 != (int(hv_Font==HTuple("sans"))))
{
hv_Fonts.Clear();
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 (0 != (int(hv_Font==HTuple("serif"))))
{
hv_Fonts.Clear();
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 = hv_Font;
}
hv_Style = "";
if (0 != (int(hv_Bold==HTuple("true"))))
{
hv_Style += HTuple("Bold");
}
else if (0 != (int(hv_Bold!=HTuple("false"))))
{
hv_Exception = "Wrong value of control parameter Bold";
throw HException(hv_Exception);
}
if (0 != (int(hv_Slant==HTuple("true"))))
{
hv_Style += HTuple("Italic");
}
else if (0 != (int(hv_Slant!=HTuple("false"))))
{
hv_Exception = "Wrong value of control parameter Slant";
throw HException(hv_Exception);
}
if (0 != (int(hv_Style==HTuple(""))))
{
hv_Style = "Normal";
}
QueryFont(hv_WindowHandle, &hv_AvailableFonts);
hv_Font = "";
{
HTuple end_val48 = (hv_Fonts.TupleLength())-1;
HTuple step_val48 = 1;
for (hv_Fdx=0; hv_Fdx.Continue(end_val48, step_val48); hv_Fdx += step_val48)
{
hv_Indices = hv_AvailableFonts.TupleFind(HTuple(hv_Fonts[hv_Fdx]));
if (0 != (int((hv_Indices.TupleLength())>0)))
{
if (0 != (int(HTuple(hv_Indices[0])>=0)))
{
hv_Font = HTuple(hv_Fonts[hv_Fdx]);
break;
}
}
}
}
if (0 != (int(hv_Font==HTuple(""))))
{
throw HException("Wrong value of control parameter Font");
}
hv_Font = (((hv_Font+"-")+hv_Style)+"-")+hv_Size;
SetFont(hv_WindowHandle, hv_Font);
return;
}
void MainWindow:: trackball (HTuple hv_MX1, HTuple hv_MY1, HTuple hv_MX2, HTuple hv_MY2, HTuple hv_VirtualTrackball,
HTuple hv_TrackballSize, HTuple hv_SensFactor, HTuple *hv_QuatRotation)
{
HTuple hv_P1, hv_P2, hv_RotAxis, hv_D, hv_T;
HTuple hv_RotAngle, hv_Len;
if (0 != (HTuple(int(hv_MX1==hv_MX2)).TupleAnd(int(hv_MY1==hv_MY2))))
{
(*hv_QuatRotation).Clear();
(*hv_QuatRotation)[0] = 1;
(*hv_QuatRotation)[1] = 0;
(*hv_QuatRotation)[2] = 0;
(*hv_QuatRotation)[3] = 0;
return;
}
project_point_on_trackball(hv_MX1, hv_MY1, hv_VirtualTrackball, hv_TrackballSize,
&hv_P1);
project_point_on_trackball(hv_MX2, hv_MY2, hv_VirtualTrackball, hv_TrackballSize,
&hv_P2);
tuple_vector_cross_product(hv_P1, hv_P2, &hv_RotAxis);
hv_D = hv_P2-hv_P1;
hv_T = (((hv_D*hv_D).TupleSum()).TupleSqrt())/(2.0*hv_TrackballSize);
if (0 != (int(hv_T>1.0)))
{
hv_T = 1.0;
}
if (0 != (int(hv_T<-1.0)))
{
hv_T = -1.0;
}
hv_RotAngle = (2.0*(hv_T.TupleAsin()))*hv_SensFactor;
hv_Len = ((hv_RotAxis*hv_RotAxis).TupleSum()).TupleSqrt();
if (0 != (int(hv_Len>0.0)))
{
hv_RotAxis = hv_RotAxis/hv_Len;
}
AxisAngleToQuat(HTuple(hv_RotAxis[0]), HTuple(hv_RotAxis[1]), HTuple(hv_RotAxis[2]),
hv_RotAngle, &(*hv_QuatRotation));
return;
}
void MainWindow:: tuple_vector_cross_product (HTuple hv_V1, HTuple hv_V2, HTuple *hv_VC)
{
(*hv_VC) = (HTuple(hv_V1[1])*HTuple(hv_V2[2]))-(HTuple(hv_V1[2])*HTuple(hv_V2[1]));
(*hv_VC) = (*hv_VC).TupleConcat((HTuple(hv_V1[2])*HTuple(hv_V2[0]))-(HTuple(hv_V1[0])*HTuple(hv_V2[2])));
(*hv_VC) = (*hv_VC).TupleConcat((HTuple(hv_V1[0])*HTuple(hv_V2[1]))-(HTuple(hv_V1[1])*HTuple(hv_V2[0])));
return;
}
void MainWindow:: 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, HTuple *hv_PoseOut)
{
HObject ho_Image, ho_ImageDump;
HTuple ExpTmpLocalVar_gDispObjOffset, ExpTmpLocalVar_gLabelsDecor;
HTuple ExpTmpLocalVar_gInfoDecor, ExpTmpLocalVar_gInfoPos;
HTuple ExpTmpLocalVar_gTitlePos, ExpTmpLocalVar_gTitleDecor;
HTuple ExpTmpLocalVar_gTerminationButtonLabel, ExpTmpLocalVar_gAlphaDeselected;
HTuple ExpTmpLocalVar_gIsSinglePose, ExpTmpLocalVar_gUsesOpenGL;
HTuple hv_Scene3DTest, hv_Scene3D, hv_WindowHandleBuffer;
HTuple hv_TrackballSize, hv_VirtualTrackball, hv_MouseMapping;
HTuple hv_WaitForButtonRelease, hv_MaxNumModels, hv_WindowCenteredRotation;
HTuple hv_NumModels, hv_SelectedObject, hv_ClipRegion;
HTuple hv_CPLength, hv_RowNotUsed, hv_ColumnNotUsed, hv_Width;
HTuple hv_Height, hv_WPRow1, hv_WPColumn1, hv_WPRow2, hv_WPColumn2;
HTuple hv_CamParamValue, hv_CamWidth, hv_CamHeight, hv_Scale;
HTuple hv_Indices, hv_DispBackground, hv_Mask, hv_Center;
HTuple hv_Poses, hv_HomMat3Ds, hv_Sequence, hv_PoseEstimated;
HTuple hv_Font, hv_Exception, hv_OpenGLInfo, hv_DummyObjectModel3D;
HTuple hv_CameraIndexTest, hv_PoseTest, hv_InstanceIndexTest;
HTuple hv_MinImageSize, hv_TrackballRadiusPixel, hv_Ascent;
HTuple hv_Descent, hv_TextWidth, hv_TextHeight, hv_NumChannels;
HTuple hv_ColorImage, hv_CameraIndex, hv_AllInstances;
HTuple hv_SetLight, hv_LightParam, hv_LightPosition, hv_LightKind;
HTuple hv_LightIndex, hv_PersistenceParamName, hv_PersistenceParamValue;
HTuple hv_AlphaOrig, hv_I, hv_ParamName, hv_ParamValue;
HTuple hv_ParamNameTrunk, hv_Instance, hv_HomMat3D, hv_Qx;
HTuple hv_Qy, hv_Qz, hv_TBCenter, hv_TBSize, hv_ButtonHold;
HTuple hv_VisualizeTB, hv_MaxIndex, hv_TrackballCenterRow;
HTuple hv_TrackballCenterCol, hv_GraphEvent, hv_Exit, hv_GraphButtonRow;
HTuple hv_GraphButtonColumn, hv_GraphButton, hv_ButtonReleased;
HTuple hv_e;
hv_Scene3DTest = HTuple();
hv_Scene3D = HTuple();
hv_WindowHandleBuffer = HTuple();
hv_TrackballSize = 0.8;
hv_MouseMapping.Clear();
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;
ExpTmpLocalVar_gDispObjOffset.Clear();
ExpTmpLocalVar_gDispObjOffset[0] = -30;
ExpTmpLocalVar_gDispObjOffset[1] = 0;
ExpSetGlobalVar_gDispObjOffset(ExpTmpLocalVar_gDispObjOffset);
ExpTmpLocalVar_gInfoDecor.Clear();
ExpTmpLocalVar_gInfoDecor[0] = "white";
ExpTmpLocalVar_gInfoDecor[1] = "false";
ExpSetGlobalVar_gInfoDecor(ExpTmpLocalVar_gInfoDecor);
ExpTmpLocalVar_gLabelsDecor.Clear();
ExpTmpLocalVar_gLabelsDecor[0] = "white";
ExpTmpLocalVar_gLabelsDecor[1] = "false";
ExpSetGlobalVar_gLabelsDecor(ExpTmpLocalVar_gLabelsDecor);
ExpTmpLocalVar_gTitleDecor.Clear();
ExpTmpLocalVar_gTitleDecor[0] = "black";
ExpTmpLocalVar_gTitleDecor[1] = "true";
ExpSetGlobalVar_gTitleDecor(ExpTmpLocalVar_gTitleDecor);
ExpTmpLocalVar_gInfoPos = "LowerLeft";
ExpSetGlobalVar_gInfoPos(ExpTmpLocalVar_gInfoPos);
ExpTmpLocalVar_gTitlePos = "UpperLeft";
ExpSetGlobalVar_gTitlePos(ExpTmpLocalVar_gTitlePos);
ExpTmpLocalVar_gAlphaDeselected = 0.3;
ExpSetGlobalVar_gAlphaDeselected(ExpTmpLocalVar_gAlphaDeselected);
ExpTmpLocalVar_gTerminationButtonLabel = " Continue ";
ExpSetGlobalVar_gTerminationButtonLabel(ExpTmpLocalVar_gTerminationButtonLabel);
hv_MaxNumModels = 1000;
hv_WindowCenteredRotation = 2;
hv_NumModels = hv_ObjectModel3D.TupleLength();
hv_SelectedObject = HTuple(hv_NumModels,1);
GetSystem("clip_region", &hv_ClipRegion);
SetSystem("clip_region", "false");
dev_update_off();
if (0 != (int((hv_GenParamName.TupleLength())!=(hv_GenParamValue.TupleLength()))))
{
throw HException("Number of generic parameters does not match number of generic parameter values");
}
try
{
hv_CPLength = hv_CamParam.TupleLength();
GetWindowExtents(hv_WindowHandle, &hv_RowNotUsed, &hv_ColumnNotUsed, &hv_Width,
&hv_Height);
GetPart(hv_WindowHandle, &hv_WPRow1, &hv_WPColumn1, &hv_WPRow2, &hv_WPColumn2);
SetPart(hv_WindowHandle, 0, 0, hv_Height-1, hv_Width-1);
if (0 != (int(hv_CPLength==0)))
{
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, &hv_CamParam);
}
else
{
get_cam_par_data(hv_CamParam, (((((HTuple("sx").Append("sy")).Append("cx")).Append("cy")).Append("image_width")).Append("image_height")),
&hv_CamParamValue);
hv_CamWidth = HTuple(hv_CamParamValue[4]).TupleReal();
hv_CamHeight = HTuple(hv_CamParamValue[5]).TupleReal();
hv_Scale = ((hv_Width/hv_CamWidth).TupleConcat(hv_Height/hv_CamHeight)).TupleMin();
set_cam_par_data(hv_CamParam, "sx", HTuple(hv_CamParamValue[0])/hv_Scale, &hv_CamParam);
set_cam_par_data(hv_CamParam, "sy", HTuple(hv_CamParamValue[1])/hv_Scale, &hv_CamParam);
set_cam_par_data(hv_CamParam, "cx", HTuple(hv_CamParamValue[2])*hv_Scale, &hv_CamParam);
set_cam_par_data(hv_CamParam, "cy", HTuple(hv_CamParamValue[3])*hv_Scale, &hv_CamParam);
set_cam_par_data(hv_CamParam, "image_width", (HTuple(hv_CamParamValue[4])*hv_Scale).TupleInt(),
&hv_CamParam);
set_cam_par_data(hv_CamParam, "image_height", (HTuple(hv_CamParamValue[5])*hv_Scale).TupleInt(),
&hv_CamParam);
}
hv_Indices = hv_GenParamName.TupleFind("max_num_selectable_models");
if (0 != (HTuple(int(hv_Indices!=-1)).TupleAnd(int(hv_Indices!=HTuple()))))
{
if (0 != (HTuple(hv_GenParamValue[HTuple(hv_Indices[0])]).TupleIsNumber()))
{
if (0 != (int(((HTuple(hv_GenParamValue[HTuple(hv_Indices[0])]).TupleNumber()).TupleInt())<1)))
{
throw HException("Wrong value for parameter 'max_num_selectable_models' (must be an integer value greater than 0)");
}
}
else
{
throw HException("Wrong value for parameter 'max_num_selectable_models' (must be an integer value greater than 0)");
}
hv_MaxNumModels = (HTuple(hv_GenParamValue[HTuple(hv_Indices[0])]).TupleNumber()).TupleInt();
hv_GenParamName = hv_GenParamName.TupleRemove(hv_Indices);
hv_GenParamValue = hv_GenParamValue.TupleRemove(hv_Indices);
}
hv_Indices = hv_GenParamName.TupleFind("inspection_mode");
if (0 != (HTuple(int(hv_Indices!=-1)).TupleAnd(int(hv_Indices!=HTuple()))))
{
if (0 != (int(HTuple(hv_GenParamValue[HTuple(hv_Indices[0])])==HTuple("surface"))))
{
hv_WindowCenteredRotation = 1;
}
else if (0 != (int(HTuple(hv_GenParamValue[HTuple(hv_Indices[0])])==HTuple("standard"))))
{
hv_WindowCenteredRotation = 2;
}
else
{
}
hv_GenParamName = hv_GenParamName.TupleRemove(hv_Indices);
hv_GenParamValue = hv_GenParamValue.TupleRemove(hv_Indices);
}
hv_DispBackground = "false";
if (0 != (int((hv_GenParamName.TupleLength())>0)))
{
hv_Mask = (hv_GenParamName.TupleEqualElem("disp_background")).TupleOr(hv_GenParamName.TupleEqualElem("use_background"));
hv_Indices = hv_Mask.TupleFind(1);
}
else
{
hv_Indices = -1;
}
if (0 != (HTuple(int(hv_Indices!=-1)).TupleAnd(int(hv_Indices!=HTuple()))))
{
hv_DispBackground = HTuple(hv_GenParamValue[HTuple(hv_Indices[0])]);
if (0 != (HTuple(int(hv_DispBackground!=HTuple("true"))).TupleAnd(int(hv_DispBackground!=HTuple("false")))))
{
throw HException("Wrong value for parameter 'disp_background' (must be either 'true' or 'false')");
}
hv_GenParamName = hv_GenParamName.TupleRemove(hv_Indices);
hv_GenParamValue = hv_GenParamValue.TupleRemove(hv_Indices);
}
if (0 != (int((hv_Label.TupleLength())==0)))
{
hv_Label = 0;
}
else if (0 != (int((hv_Label.TupleLength())==1)))
{
hv_Label = HTuple(hv_NumModels,hv_Label);
}
else
{
if (0 != (int((hv_Label.TupleLength())!=hv_NumModels)))
{
throw HException(((HTuple(HTuple("Number of elements in Label (")+(hv_Label.TupleLength()))+") does not match the number of object models(")+hv_NumModels)+").");
}
}
get_object_models_center(hv_ObjectModel3D, &hv_Center);
if (0 != (int(hv_Center==HTuple())))
{
hv_Center.Clear();
hv_Center[0] = 0;
hv_Center[1] = 0;
hv_Center[2] = 0;
}
if (0 != (int((hv_PoseIn.TupleLength())==0)))
{
CreatePose(-HTuple(hv_Center[0]), -HTuple(hv_Center[1]), -HTuple(hv_Center[2]),
0, 0, 0, "Rp+T", "gba", "point", &hv_PoseIn);
determine_optimum_pose_distance(hv_ObjectModel3D, hv_CamParam, 0.9, hv_PoseIn,
&hv_PoseEstimated);
hv_Poses = HTuple();
hv_HomMat3Ds = HTuple();
hv_Sequence = HTuple::TupleGenSequence(0,(hv_NumModels*7)-1,1);
hv_Poses = HTuple(hv_PoseEstimated[hv_Sequence%7]);
ExpTmpLocalVar_gIsSinglePose = 1;
ExpSetGlobalVar_gIsSinglePose(ExpTmpLocalVar_gIsSinglePose);
}
else if (0 != (int((hv_PoseIn.TupleLength())==7)))
{
hv_Poses = HTuple();
hv_HomMat3Ds = HTuple();
hv_Sequence = HTuple::TupleGenSequence(0,(hv_NumModels*7)-1,1);
hv_Poses = HTuple(hv_PoseIn[hv_Sequence%7]);
ExpTmpLocalVar_gIsSinglePose = 1;
ExpSetGlobalVar_gIsSinglePose(ExpTmpLocalVar_gIsSinglePose);
}
else
{
if (0 != (int((hv_PoseIn.TupleLength())!=((hv_ObjectModel3D.TupleLength())*7))))
{
throw HException("Wrong number of values of input control parameter 'PoseIn'.");
}
else
{
hv_Poses = hv_PoseIn;
}
ExpTmpLocalVar_gIsSinglePose = 0;
ExpSetGlobalVar_gIsSinglePose(ExpTmpLocalVar_gIsSinglePose);
}
OpenWindow(0, 0, hv_Width, hv_Height, 0, "buffer", "", &hv_WindowHandleBuffer);
SetPart(hv_WindowHandleBuffer, 0, 0, hv_Height-1, hv_Width-1);
GetFont(hv_WindowHandle, &hv_Font);
try
{
SetFont(hv_WindowHandleBuffer, hv_Font);
}
catch (HException &HDevExpDefaultException)
{
HDevExpDefaultException.ToHTuple(&hv_Exception);
}
ExpTmpLocalVar_gUsesOpenGL = "true";
ExpSetGlobalVar_gUsesOpenGL(ExpTmpLocalVar_gUsesOpenGL);
hv_Indices = hv_GenParamName.TupleFind("opengl");
if (0 != (HTuple(int(hv_Indices!=-1)).TupleAnd(int(hv_Indices!=HTuple()))))
{
ExpTmpLocalVar_gUsesOpenGL = HTuple(hv_GenParamValue[HTuple(hv_Indices[0])]);
ExpSetGlobalVar_gUsesOpenGL(ExpTmpLocalVar_gUsesOpenGL);
hv_GenParamName = hv_GenParamName.TupleRemove(hv_Indices);
hv_GenParamValue = hv_GenParamValue.TupleRemove(hv_Indices);
if (0 != (HTuple(int(ExpGetGlobalVar_gUsesOpenGL()!=HTuple("true"))).TupleAnd(int(ExpGetGlobalVar_gUsesOpenGL()!=HTuple("false")))))
{
throw HException("Wrong value for parameter 'opengl' (must be either 'true' or 'false')");
}
}
if (0 != (int(ExpGetGlobalVar_gUsesOpenGL()==HTuple("true"))))
{
GetSystem("opengl_info", &hv_OpenGLInfo);
if (0 != (int(hv_OpenGLInfo==HTuple("No OpenGL support included."))))
{
ExpTmpLocalVar_gUsesOpenGL = "false";
ExpSetGlobalVar_gUsesOpenGL(ExpTmpLocalVar_gUsesOpenGL);
}
else
{
GenObjectModel3dFromPoints(0, 0, 0, &hv_DummyObjectModel3D);
CreateScene3d(&hv_Scene3DTest);
AddScene3dCamera(hv_Scene3DTest, hv_CamParam, &hv_CameraIndexTest);
determine_optimum_pose_distance(hv_DummyObjectModel3D, hv_CamParam, 0.9,
((((((HTuple(0).Append(0)).Append(0)).Append(0)).Append(0)).Append(0)).Append(0)),
&hv_PoseTest);
AddScene3dInstance(hv_Scene3DTest, hv_DummyObjectModel3D, hv_PoseTest, &hv_InstanceIndexTest);
try
{
DisplayScene3d(hv_WindowHandleBuffer, hv_Scene3DTest, hv_InstanceIndexTest);
}
catch (HException &HDevExpDefaultException)
{
HDevExpDefaultException.ToHTuple(&hv_Exception);
ExpTmpLocalVar_gUsesOpenGL = "false";
ExpSetGlobalVar_gUsesOpenGL(ExpTmpLocalVar_gUsesOpenGL);
}
ClearScene3d(hv_Scene3DTest);
hv_Scene3DTest = HTuple();
ClearObjectModel3d(hv_DummyObjectModel3D);
}
}
hv_MinImageSize = (hv_Width.TupleConcat(hv_Height)).TupleMin();
hv_TrackballRadiusPixel = (hv_TrackballSize*hv_MinImageSize)/2.0;
GetStringExtents(hv_WindowHandleBuffer, ExpGetGlobalVar_gTerminationButtonLabel()+" ",
&hv_Ascent, &hv_Descent, &hv_TextWidth, &hv_TextHeight);
if (0 != (int(hv_DispBackground==HTuple("false"))))
{
ClearWindow(hv_WindowHandle);
}
DumpWindowImage(&ho_Image, hv_WindowHandle);
CountChannels(ho_Image, &hv_NumChannels);
hv_ColorImage = int(hv_NumChannels==3);
CreateScene3d(&hv_Scene3D);
AddScene3dCamera(hv_Scene3D, hv_CamParam, &hv_CameraIndex);
AddScene3dInstance(hv_Scene3D, hv_ObjectModel3D, hv_Poses, &hv_AllInstances);
SetScene3dParam(hv_Scene3D, "disp_background", "true");
hv_SetLight = hv_GenParamName.TupleRegexpTest("light_");
if (0 != hv_SetLight)
{
hv_Indices = hv_GenParamName.TupleFind("light_position");
if (0 != (HTuple(int(hv_Indices!=-1)).TupleAnd(int(hv_Indices!=HTuple()))))
{
hv_LightParam = (HTuple(hv_GenParamValue[HTuple(hv_Indices[(hv_Indices.TupleLength())-1])]).TupleSplit(HTuple(", "))).TupleNumber();
if (0 != (int((hv_LightParam.TupleLength())!=4)))
{
throw HException("light_position must be given as a string that contains four space separated floating point numbers");
}
hv_LightPosition = hv_LightParam.TupleSelectRange(0,2);
hv_LightKind = "point_light";
if (0 != (int(HTuple(hv_LightParam[3])==0)))
{
hv_LightKind = "directional_light";
}
RemoveScene3dLight(hv_Scene3D, 0);
AddScene3dLight(hv_Scene3D, hv_LightPosition, hv_LightKind, &hv_LightIndex);
TupleRemove(hv_GenParamName, hv_Indices, &hv_GenParamName);
TupleRemove(hv_GenParamValue, hv_Indices, &hv_GenParamValue);
}
hv_Indices = hv_GenParamName.TupleFind("light_ambient");
if (0 != (HTuple(int(hv_Indices!=-1)).TupleAnd(int(hv_Indices!=HTuple()))))
{
hv_LightParam = (HTuple(hv_GenParamValue[HTuple(hv_Indices[(hv_Indices.TupleLength())-1])]).TupleSplit(HTuple(", "))).TupleNumber();
if (0 != (int((hv_LightParam.TupleLength())<3)))
{
throw HException("light_ambient must be given as a string that contains three space separated floating point numbers");
}
SetScene3dLightParam(hv_Scene3D, 0, "ambient", hv_LightParam.TupleSelectRange(0,2));
TupleRemove(hv_GenParamName, hv_Indices, &hv_GenParamName);
TupleRemove(hv_GenParamValue, hv_Indices, &hv_GenParamValue);
}
hv_Indices = hv_GenParamName.TupleFind("light_diffuse");
if (0 != (HTuple(int(hv_Indices!=-1)).TupleAnd(int(hv_Indices!=HTuple()))))
{
hv_LightParam = (HTuple(hv_GenParamValue[HTuple(hv_Indices[(hv_Indices.TupleLength())-1])]).TupleSplit(HTuple(", "))).TupleNumber();
if (0 != (int((hv_LightParam.TupleLength())<3)))
{
throw HException("light_diffuse must be given as a string that contains three space separated floating point numbers");
}
SetScene3dLightParam(hv_Scene3D, 0, "diffuse", hv_LightParam.TupleSelectRange(0,2));
TupleRemove(hv_GenParamName, hv_Indices, &hv_GenParamName);
TupleRemove(hv_GenParamValue, hv_Indices, &hv_GenParamValue);
}
}
hv_PersistenceParamName = HTuple();
hv_PersistenceParamValue = HTuple();
hv_Indices = hv_GenParamName.TupleFind("object_index_persistence");
if (0 != (HTuple(int(hv_Indices!=-1)).TupleAnd(int(hv_Indices!=HTuple()))))
{
if (0 != (int(HTuple(hv_GenParamValue[HTuple(hv_Indices[(hv_Indices.TupleLength())-1])])==HTuple("true"))))
{
hv_PersistenceParamName = hv_PersistenceParamName.TupleConcat("object_index_persistence");
hv_PersistenceParamValue = hv_PersistenceParamValue.TupleConcat("true");
}
else if (0 != (int(HTuple(hv_GenParamValue[HTuple(hv_Indices[(hv_Indices.TupleLength())-1])])==HTuple("false"))))
{
}
else
{
throw HException("Wrong value for parameter 'object_index_persistence' (must be either 'true' or 'false')");
}
TupleRemove(hv_GenParamName, hv_Indices, &hv_GenParamName);
TupleRemove(hv_GenParamValue, hv_Indices, &hv_GenParamValue);
}
hv_Indices = hv_GenParamName.TupleFind("depth_persistence");
if (0 != (HTuple(int(hv_Indices!=-1)).TupleAnd(int(hv_Indices!=HTuple()))))
{
if (0 != (int(HTuple(hv_GenParamValue[HTuple(hv_Indices[(hv_Indices.TupleLength())-1])])==HTuple("true"))))
{
hv_PersistenceParamName = hv_PersistenceParamName.TupleConcat("depth_persistence");
hv_PersistenceParamValue = hv_PersistenceParamValue.TupleConcat("true");
}
else if (0 != (int(HTuple(hv_GenParamValue[HTuple(hv_Indices[(hv_Indices.TupleLength())-1])])==HTuple("false"))))
{
}
else
{
throw HException("Wrong value for parameter 'depth_persistence' (must be either 'true' or 'false')");
}
TupleRemove(hv_GenParamName, hv_Indices, &hv_GenParamName);
TupleRemove(hv_GenParamValue, hv_Indices, &hv_GenParamValue);
}
hv_AlphaOrig = HTuple(hv_NumModels,1);
{
HTuple end_val409 = (hv_GenParamName.TupleLength())-1;
HTuple step_val409 = 1;
for (hv_I=0; hv_I.Continue(end_val409, step_val409); hv_I += step_val409)
{
hv_ParamName = HTuple(hv_GenParamName[hv_I]);
hv_ParamValue = HTuple(hv_GenParamValue[hv_I]);
if (0 != (int(hv_ParamName==HTuple("alpha"))))
{
hv_AlphaOrig = HTuple(hv_NumModels,hv_ParamValue);
}
try
{
SetScene3dParam(hv_Scene3D, hv_ParamName, hv_ParamValue);
continue;
}
catch (HException &HDevExpDefaultException)
{
HDevExpDefaultException.ToHTuple(&hv_Exception);
if (0 != (HTuple(int(HTuple(hv_Exception[0])==1203)).TupleOr(int(HTuple(hv_Exception[0])==1303))))
{
throw HException((("Wrong type or value for parameter "+hv_ParamName)+": ")+hv_ParamValue);
}
}
hv_ParamNameTrunk = hv_ParamName.TupleRegexpReplace("_\\d+$","");
if (0 != (int(hv_ParamName==hv_ParamNameTrunk)))
{
hv_Instance = HTuple::TupleGenSequence(0,hv_NumModels-1,1);
}
else
{
hv_Instance = (hv_ParamName.TupleRegexpReplace(("^"+hv_ParamNameTrunk)+"_(\\d+)$","$1")).TupleNumber();
if (0 != (HTuple(int(hv_Instance<0)).TupleOr(int(hv_Instance>(hv_NumModels-1)))))
{
throw HException(("Parameter "+hv_ParamName)+" refers to a non existing 3D object model");
}
}
try
{
SetScene3dInstanceParam(hv_Scene3D, hv_Instance, hv_ParamNameTrunk, hv_ParamValue);
}
catch (HException &HDevExpDefaultException)
{
HDevExpDefaultException.ToHTuple(&hv_Exception);
if (0 != (HTuple(int(HTuple(hv_Exception[0])==1204)).TupleOr(int(HTuple(hv_Exception[0])==1304))))
{
throw HException((("Wrong type or value for parameter "+hv_ParamName)+": ")+hv_ParamValue);
}
else if (0 != (HTuple(int(HTuple(hv_Exception[0])==1203)).TupleOr(int(HTuple(hv_Exception[0])==1303))))
{
throw HException("Wrong parameter name "+hv_ParamName);
}
else
{
throw HException(hv_Exception);
}
}
if (0 != (int(hv_ParamNameTrunk==HTuple("alpha"))))
{
hv_AlphaOrig[hv_Instance] = hv_ParamValue;
}
}
}
PoseToHomMat3d(hv_Poses.TupleSelectRange(0,6), &hv_HomMat3D);
AffineTransPoint3d(hv_HomMat3D, HTuple(hv_Center[0]), HTuple(hv_Center[1]), HTuple(hv_Center[2]),
&hv_Qx, &hv_Qy, &hv_Qz);
hv_TBCenter.Clear();
hv_TBCenter.Append(hv_Qx);
hv_TBCenter.Append(hv_Qy);
hv_TBCenter.Append(hv_Qz);
hv_TBSize = (0.5+((0.5*(hv_SelectedObject.TupleSum()))/hv_NumModels))*hv_TrackballRadiusPixel;
hv_ButtonHold = 0;
while (0 != 1)
{
QCoreApplication :: processEvents();
hv_VisualizeTB = int((hv_SelectedObject.TupleMax())!=0);
hv_MaxIndex = ((HTuple(hv_ObjectModel3D.TupleLength()).TupleConcat(hv_MaxNumModels)).TupleMin())-1;
hv_TrackballCenterRow = hv_Height/2;
hv_TrackballCenterCol = hv_Width/2;
if (0 != (int(hv_WindowCenteredRotation==1)))
{
try
{
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, hv_GenParamName, hv_GenParamValue,
&hv_TBCenter, &hv_TBSize);
}
catch (HException &HDevExpDefaultException)
{
HDevExpDefaultException.ToHTuple(&hv_Exception);
disp_message(hv_WindowHandle, "Surface inspection mode is not available.",
"image", 5, 20, "red", "true");
hv_WindowCenteredRotation = 2;
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), &hv_TBCenter, &hv_TBSize);
WaitSeconds(1);
}
}
else
{
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),
&hv_TBCenter, &hv_TBSize);
}
dump_image_output(ho_Image, hv_WindowHandleBuffer, hv_Scene3D, hv_AlphaOrig,
hv_ObjectModel3D, hv_GenParamName, hv_GenParamValue, hv_CamParam, hv_Poses,
hv_ColorImage, hv_Title, hv_Information, hv_Label, hv_VisualizeTB, "true",
hv_TrackballCenterRow, hv_TrackballCenterCol, hv_TBSize, hv_SelectedObject,
hv_WindowCenteredRotation, hv_TBCenter);
DumpWindowImage(&ho_ImageDump, hv_WindowHandleBuffer);
HDevWindowStack::SetActive(hv_WindowHandle);
if (HDevWindowStack::IsOpen())
DispObj(ho_ImageDump, HDevWindowStack::GetActive());
hv_GraphEvent = 0;
hv_Exit = 0;
while (0 != 1)
{
QCoreApplication :: processEvents();
try
{
GetMpositionSubPix(hv_WindowHandle, &hv_GraphButtonRow, &hv_GraphButtonColumn,
&hv_GraphButton);
if (0 != (int(hv_GraphButton!=0)))
{
if (0 != (HTuple(HTuple(HTuple(int(hv_GraphButtonRow>((hv_Height-hv_TextHeight)-25))).TupleAnd(int(hv_GraphButtonRow<hv_Height))).TupleAnd(int(hv_GraphButtonColumn>((hv_Width-hv_TextWidth)-15)))).TupleAnd(int(hv_GraphButtonColumn<hv_Width))))
{
if (0 != (int(hv_WaitForButtonRelease==HTuple("true"))))
{
while (0 != 1)
{
QCoreApplication :: processEvents();
GetMpositionSubPix(hv_WindowHandle, &hv_GraphButtonRow, &hv_GraphButtonColumn,
&hv_GraphButton);
if (0 != (HTuple(int(hv_GraphButton==0)).TupleOr(int(hv_GraphButton==HTuple()))))
{
if (0 != (HTuple(HTuple(HTuple(int(hv_GraphButtonRow>((hv_Height-hv_TextHeight)-25))).TupleAnd(int(hv_GraphButtonRow<hv_Height))).TupleAnd(int(hv_GraphButtonColumn>((hv_Width-hv_TextWidth)-15)))).TupleAnd(int(hv_GraphButtonColumn<hv_Width))))
{
hv_ButtonReleased = 0;
}
else
{
hv_ButtonReleased = 0;
}
break;
}
}
}
else
{
hv_ButtonReleased = 1;
}
if (0 != hv_ButtonReleased)
{
hv_Exit = 1;
break;
}
}
hv_GraphEvent = 1;
break;
}
else
{
hv_ButtonHold = 0;
}
}
catch (HException &HDevExpDefaultException)
{
HDevExpDefaultException.ToHTuple(&hv_Exception);
}
}
if (0 != hv_GraphEvent)
{
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, hv_Label, hv_Title, hv_Information, hv_GenParamName, hv_GenParamValue,
hv_Poses, hv_ButtonHold, hv_TBCenter, hv_TBSize, hv_WindowCenteredRotation,
hv_MaxNumModels, &hv_Poses, &hv_SelectedObject, &hv_ButtonHold, &hv_WindowCenteredRotation);
}
if (0 != hv_Exit)
{
ClearWindow(hv_WindowHandle);
break;
}
}
if (0 != (int((hv_PersistenceParamName.TupleLength())>0)))
{
DispObjectModel3d(hv_WindowHandle, hv_ObjectModel3D, hv_CamParam, hv_Poses,
(HTuple("disp_background").Append("alpha")).TupleConcat(hv_PersistenceParamName),
(HTuple("true").Append(0.0)).TupleConcat(hv_PersistenceParamValue));
}
if (0 != ExpGetGlobalVar_gIsSinglePose())
{
(*hv_PoseOut) = hv_Poses.TupleSelectRange(0,6);
}
else
{
(*hv_PoseOut) = hv_Poses;
}
SetSystem("clip_region", hv_ClipRegion);
dump_image_output(ho_Image, hv_WindowHandleBuffer, hv_Scene3D, hv_AlphaOrig,
hv_ObjectModel3D, hv_GenParamName, hv_GenParamValue, hv_CamParam, hv_Poses,
hv_ColorImage, hv_Title, HTuple(), hv_Label, 0, "false", hv_TrackballCenterRow,
hv_TrackballCenterCol, hv_TBSize, hv_SelectedObject, hv_WindowCenteredRotation,
hv_TBCenter);
DumpWindowImage(&ho_ImageDump, hv_WindowHandleBuffer);
HDevWindowStack::SetActive(hv_WindowHandle);
if (HDevWindowStack::IsOpen())
DispObj(ho_ImageDump, HDevWindowStack::GetActive());
CloseWindow(hv_WindowHandleBuffer);
SetPart(hv_WindowHandle, hv_WPRow1, hv_WPColumn1, hv_WPRow2, hv_WPColumn2);
ClearScene3d(hv_Scene3D);
hv_Scene3D = HTuple();
}
catch (HException &HDevExpDefaultException)
{
HDevExpDefaultException.ToHTuple(&hv_Exception);
try
{
if (0 != (int(0<(hv_Scene3DTest.TupleLength()))))
{
ClearScene3d(hv_Scene3DTest);
hv_Scene3DTest = HTuple();
}
if (0 != (int(0<(hv_Scene3D.TupleLength()))))
{
ClearScene3d(hv_Scene3D);
hv_Scene3D = HTuple();
}
if (0 != (int(0<(hv_WindowHandleBuffer.TupleLength()))))
{
CloseWindow(hv_WindowHandleBuffer);
hv_WindowHandleBuffer = HTuple();
}
}
catch (HException &HDevExpDefaultException)
{
HDevExpDefaultException.ToHTuple(&hv_e);
}
throw HException(hv_Exception);
}
return;
}
void MainWindow::on_pushButton_clicked()
{
HTuple hv_ObjectModel3D1, hv_Status;
HTuple hv_CamParam, hv_Width, hv_Height, hv_WindowHandle;
HTuple hv_Pose1, hv_Pose2, hv_PoseOut;
HTuple hv_Instructions, hv_Message;
QCoreApplication :: processEvents();
ReadObjectModel3d("bunny.pcd", "m", HTuple(), HTuple(), &hv_ObjectModel3D1, &hv_Status);
gen_cam_par_area_scan_division(0.016, 0, 5e-6, 5e-6, 320, 240, 640, 480, &hv_CamParam);
get_cam_par_data(hv_CamParam, "image_width", &hv_Width);
get_cam_par_data(hv_CamParam, "image_height", &hv_Height);
SetWindowAttr("background_color","black");
OpenWindow(0,0,ui->widget->width(),ui->widget->height(),static_cast<Hlong>(ui->widget->winId()),"visible","",&hv_WindowHandle);
hv_Instructions[0] = "Rotate: Left button";
hv_Instructions[1] = "Zoom: Shift + left button";
hv_Instructions[2] = "Move: Ctrl + left button";
hv_Message = "Bunny3D PointCloud";
HDevWindowStack::Push(hv_WindowHandle);
CreatePose(0, 0, 0.6, 0, 0, 0, "Rp+T", "gba", "point", &hv_Pose1);
visualize_object_model_3d(hv_WindowHandle, hv_ObjectModel3D1, HTuple(), HTuple(),
(((HTuple("lut").Append("disp_normals")).Append("colored")).Append("disp_pose")),
(((HTuple("color1").Append("true")).Append(12)).Append("true")), hv_Message,
HTuple(), hv_Instructions, &hv_PoseOut);
}