using System;
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using System.Collections;
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using System.Collections.Generic;
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using System.ComponentModel;
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using System.Data;
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using System.Drawing;
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using System.Linq;
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using System.Text;
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using System.Windows.Forms;
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using HalconDotNet;
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namespace HalconTools
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{
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public partial class frmCalibration : Form
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{
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private HWndCtrl mView;
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private CalibrationAssistant mAssistant;
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private int currIdx;
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private int currLineW;
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private double tThickness = 0;
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private double tCellWidth = 0;
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private double tCellHeight = 0;
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private double tFocalLength = 0;
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private double tMotionX = 0;
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private double tMotionY = 0;
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private double tMotionZ = 0;
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private bool locked;
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private bool plateRegionDisp;
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private bool markCentersDisp;
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private bool coordSystemDisp;
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private string plateRegionColor;
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private string markCenterColor;
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private string coordSystemColor;
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public frmCalibration()
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{
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InitializeComponent();
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}
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private void frmMain_Load(object sender, EventArgs e)
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{
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mView = new HWndCtrl(viewPort);
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mView.setViewState(HWndCtrl.MODE_VIEW_NONE);
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mView.changeGraphicSettings(GraphicsContext.GC_DRAWMODE, comboBoxDraw.Text);
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mView.changeGraphicSettings(GraphicsContext.GC_LINEWIDTH, 1);
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mAssistant = new CalibrationAssistant();
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mAssistant.NotifyCalibObserver = new CalibDelegate(UpdateCalibResults);
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Init();
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}
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/*******************************************************************
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* Initialize the GUI front end with the values defined for the
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* corresponding parameters in the Calibration Assistant
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* ****************************************************************/
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private void Init()
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{
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currIdx = 0;
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currLineW = 1;
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locked = true;
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plateRegionDisp = checkBoxPlateRegion.Checked;
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markCentersDisp = checkBoxMarkCenter.Checked;
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coordSystemDisp = checkBoxCoordSys.Checked;
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plateRegionColor = comboBoxPlateRegion.Text;
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markCenterColor = comboBoxMarkCenters.Text;
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coordSystemColor = comboBoxCoordSys.Text;
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CamTypComboBox.SelectedIndex = 0;
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SxUpDown.Value = (decimal)mAssistant.getCellWidth();
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SxUpDown.Increment = 0.100m;
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SyUpDown.Value = (decimal)mAssistant.getCellHeight();
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SyUpDown.Increment = 0.100m;
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FocalLengthUpDown.Value = (decimal)mAssistant.getFocalLength();
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FocalLengthUpDown.Increment = 0.100m;
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ThicknessUpDown.Value = (decimal)(mAssistant.getThickness());
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ThicknessUpDown.Increment = 0.100m;
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textBoxDescr.Text = mAssistant.mDescrFileName;
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FilterSizeUpDown.Value = (int)mAssistant.getFilterSize();
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MarkThreshUpDown.Value = (int)mAssistant.getMarkThresh();
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MinDiamUpDown.Value = (int)mAssistant.getMinMarkDiam();
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InitThreshUpDown.Value = (int)mAssistant.getInitThresh();
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ThreshDecrUpDown.Value = (int)mAssistant.getThreshDecr();
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MinThreshUpDown.Value = (int)mAssistant.getMinThresh();
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SmoothUpDown.Value = (int)(mAssistant.getSmoothing() * 100);
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MinContLUpDown.Value = (int)mAssistant.getMinContLength();
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MaxDiamUpDown.Value = (int)mAssistant.getMaxMarkDiam();
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WarnlevelUpDown.Value = (int)mAssistant.getWarnLevel();
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MotionXUpDown.Value = (decimal)mAssistant.getMotionX();
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MotionXUpDown.Increment = 0.100m;
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MotionYUpDown.Value = (decimal)mAssistant.getMotionY();
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MotionYUpDown.Increment = 0.100m;
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MotionZUpDown.Value = (decimal)mAssistant.getMotionZ();
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MotionZUpDown.Increment = 0.100m;
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string imPathValue =
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(string)HSystem.GetSystem("image_dir").TupleSplit(";");
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openFileDialogImg.InitialDirectory = imPathValue + "\\calib";
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string halconPathValue = Environment.GetEnvironmentVariable(
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"HALCONROOT");
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openFileDialogDescr.InitialDirectory = halconPathValue + "\\calib";
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// set initial directory to standard user's working directory
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openFileDialogImportParams.InitialDirectory =
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Environment.GetFolderPath(
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System.Environment.SpecialFolder.Personal);
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// set initial directory to standard user's working directory
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saveParamFileDialog.InitialDirectory =
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Environment.GetFolderPath(
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System.Environment.SpecialFolder.Personal);
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locked = false;
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}
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/********************************************************************/
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/* Display Parameters */
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/********************************************************************/
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private void checkBoxPlateRegion_CheckedChanged(object sender, System.EventArgs e)
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{
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plateRegionDisp = checkBoxPlateRegion.Checked;
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UpdateView();
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}
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/****************************************************/
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private void checkBoxMarkCenter_CheckedChanged(object sender, System.EventArgs e)
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{
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markCentersDisp = checkBoxMarkCenter.Checked;
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UpdateView();
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}
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/****************************************************/
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private void checkBoxCoordSys_CheckedChanged(object sender, System.EventArgs e)
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{
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coordSystemDisp = checkBoxCoordSys.Checked;
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UpdateView();
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}
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/****************************************************/
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private void comboBoxPlateRegion_SelectedIndexChanged(object sender, System.EventArgs e)
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{
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plateRegionColor = comboBoxPlateRegion.Text;
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UpdateView();
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}
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/****************************************************/
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private void comboBoxMarkCenters_SelectedIndexChanged(object sender, System.EventArgs e)
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{
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markCenterColor = comboBoxMarkCenters.Text;
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UpdateView();
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}
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/****************************************************/
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private void comboBoxCoordSys_SelectedIndexChanged(object sender, System.EventArgs e)
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{
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coordSystemColor = comboBoxCoordSys.Text;
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UpdateView();
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}
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/****************************************************/
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private void comboBoxDraw_SelectedIndexChanged(object sender, System.EventArgs e)
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{
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mView.changeGraphicSettings(GraphicsContext.GC_DRAWMODE, comboBoxDraw.Text);
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UpdateView();
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}
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private void upDownLineWidth_ValueChanged(object sender, System.EventArgs e)
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{
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currLineW = (int)upDownLineWidth.Value;
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mView.changeGraphicSettings(GraphicsContext.GC_LINEWIDTH, currLineW);
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UpdateView();
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}
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/********************************************************************/
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/* MouseInteraction Parameters */
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/********************************************************************/
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private void buttonMove_CheckedChanged(object sender, System.EventArgs e)
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{
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mView.setViewState(HWndCtrl.MODE_VIEW_MOVE);
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}
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/****************************************************/
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private void buttonZoom_CheckedChanged(object sender, System.EventArgs e)
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{
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mView.setViewState(HWndCtrl.MODE_VIEW_ZOOM);
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}
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/****************************************************/
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private void buttonMagnify_CheckedChanged(object sender, System.EventArgs e)
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{
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mView.setViewState(HWndCtrl.MODE_VIEW_ZOOMWINDOW);
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}
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/****************************************************/
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private void buttonNone_CheckedChanged(object sender, System.EventArgs e)
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{
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mView.setViewState(HWndCtrl.MODE_VIEW_NONE);
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}
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/****************************************************/
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private void buttonReset_Click(object sender, System.EventArgs e)
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{
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mView.resetWindow();
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UpdateView();
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}
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/********************************************************************/
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/********************************************************************/
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/* 1. Tab */
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/********************************************************************/
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/********************************************************************/
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private void buttonLoad_Click(object sender, System.EventArgs e)
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{
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string[] files;
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ListViewItem item;
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int count = 0;
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CalibImage data = null;
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int idx = StatusLabel.Text.Length;
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if (openFileDialogImg.ShowDialog() == DialogResult.OK)
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{
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files = openFileDialogImg.FileNames;
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count = files.Length;
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for (int i = 0; i < count; i++)
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{
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if ((data = mAssistant.addImage(files[i])) != null)
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{
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item = new ListViewItem("");
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item.SubItems.Add(files[i]);
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item.SubItems.Add(data.getPlateStatus());
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ListCalibImg.Items.AddRange(new ListViewItem[] { item });
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}
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}//for
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mAssistant.UpdateSequenceIssues();
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buttonCalibrate.Enabled = (mAssistant.mCanCalib && (mAssistant.mReferenceIndex != -1));
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buttonSetReference.Enabled = true;
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if (data != null)
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{
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ListCalibImg.Items[currIdx].BackColor = System.Drawing.SystemColors.Window;
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currIdx = ListCalibImg.Items.Count - 1;
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UpdateCalibResults(CalibrationAssistant.UPDATE_MARKS_POSE);
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UpdateCalibResults(CalibrationAssistant.UPDATE_QUALITY_TABLE);
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UpdateCalibResults(CalibrationAssistant.UPDATE_CALIBRATION_RESULTS);
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}
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}//if
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}
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/****************************************************/
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private void ListCalibImg_SelectedIndexChanged(object sender, System.EventArgs e)
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{
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string path = "";
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ListView.SelectedListViewItemCollection items = ListCalibImg.SelectedItems;
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foreach (ListViewItem item in items)
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{
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path = item.SubItems[1].Text;
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if (path != "")
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{
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ListCalibImg.Items[currIdx].BackColor = System.Drawing.SystemColors.Window;
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currIdx = ListCalibImg.Items.IndexOf(item);
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ListCalibImg.Items[currIdx].BackColor = System.Drawing.SystemColors.Control;
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showLabelErrMessage();
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UpdateView();
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UpdateQualityIssueTable();
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break;
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}//if
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}//foreach
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}
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/****************************************************/
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private void showLabelErrMessage()
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{
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string message = mAssistant.getCalibDataAt(currIdx).mErrorMessage;
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showLabelErrMessage(message);
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}
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/****************************************************/
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private void showLabelErrMessage(string message)
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{
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int idx = message.IndexOf(":");
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string tmp;
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if (idx > 0)
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{
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message = "Error" + message.Remove(0, idx);
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if (message.Length > 90)
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{
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idx = message.LastIndexOf(" ", 80);
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tmp = message.Substring(0, idx) + "\n " + message.Substring(idx + 1);
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message = tmp;
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}
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StatusLabel.Text = message;
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}
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else
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{
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StatusLabel.Text = "";
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}
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}
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/****************************************************/
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private void buttonDelete_Click(object sender, System.EventArgs e)
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{
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int cIdx = -1;
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int refIdx = -1;
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string path = "";
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ListView.SelectedListViewItemCollection items = ListCalibImg.SelectedItems;
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currIdx = 0;
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foreach (ListViewItem item in items)
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{
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path = item.SubItems[1].Text;
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if (path != "")
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{
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refIdx = mAssistant.mReferenceIndex;
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if ((cIdx = ListCalibImg.Items.IndexOf(item)) == refIdx)
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refIdx = -1;
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else if (cIdx < refIdx)
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refIdx--;
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mAssistant.setReferenceIdx(refIdx);
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mAssistant.removeImage(cIdx);
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buttonCalibrate.Enabled = (mAssistant.mCanCalib && (refIdx != -1));
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ListCalibImg.Items.Remove(item);
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ListQualityCheck.Items.Clear();
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break;
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}//if
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}//foreach
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if (ListCalibImg.Items.Count == 0)
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buttonSetReference.Enabled = false;
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else
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UpdateView();
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}
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/****************************************************/
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private void buttonDeleteAll_Click(object sender, System.EventArgs e)
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{
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mAssistant.removeImage();
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mView.resetWindow();
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mView.clearList();
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currIdx = 0;
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ListCalibImg.Items.Clear();
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ListQualityCheck.Items.Clear();
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buttonSetReference.Enabled = false;
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buttonCalibrate.Enabled = false;
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mAssistant.setReferenceIdx(-1);
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mAssistant.resetCanCalib();
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UpdateView();
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}
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/****************************************************/
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private void buttonSetReference_Click(object sender, System.EventArgs e)
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{
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int val = mAssistant.mReferenceIndex;
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if (val > -1)
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ListCalibImg.Items[val].SubItems[0].Text = "";
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mAssistant.setReferenceIdx(currIdx);
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ListCalibImg.Items[currIdx].SubItems[0].Text = " *";
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buttonCalibrate.Enabled = mAssistant.mCanCalib;
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}
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/*************************************************************/
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private void buttonCalibrate_Click(object sender, System.EventArgs e)
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{
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StatusLabel.Text = " Calibrating ... ";
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StatusLabel.Refresh();
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mAssistant.applyCalibration();
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tabControl.SelectedTab = tabControl.TabPages[2];
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}
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/**************************************************************/
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private void buttonLoadDescrFile_Click(object sender, System.EventArgs e)
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{
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string file;
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string[] val;
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if (openFileDialogDescr.ShowDialog() == DialogResult.OK)
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{
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file = openFileDialogDescr.FileNames[0];
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if (file.EndsWith(".descr"))
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{
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mAssistant.setDesrcFile(file);
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val = file.Split(new Char[] { '\\' });
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file = val[val.Length - 1];
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textBoxDescr.Text = file;
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}
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else
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{
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MessageBox.Show("Fileformat is wrong, it's not a description file!",
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"Calibration Assistant",
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MessageBoxButtons.OK,
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MessageBoxIcon.Information);
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}
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}
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}
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/**************************************************************/
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private void buttonImportParams_Click(object sender, System.EventArgs e)
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{
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string file;
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bool success;
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|
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if (openFileDialogImportParams.ShowDialog() == DialogResult.OK)
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{
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file = openFileDialogImportParams.FileNames[0];
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if (file.EndsWith(".cal") || file.EndsWith(".dat"))
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{
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success = mAssistant.importCamParams(file);
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if (success)
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{
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locked = true;
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resetGUICameraSetup();
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locked = false;
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}
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}
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else
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{
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UpdateCalibResults(CalibrationAssistant.ERR_READING_FILE);
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}
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}
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}
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/**************************************************************/
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private void resetGUICameraSetup()
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{
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int camType, val;
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try
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{
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camType = mAssistant.getCameraType();
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if (camType == CalibrationAssistant.CAMERA_TYP_AREA_SCAN_DIV)
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val = 0;
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else if (camType == CalibrationAssistant.CAMERA_TYP_AREA_SCAN_POLY)
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val = 1;
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else if (camType == CalibrationAssistant.CAMERA_TYP_LINE_SCAN)
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val = 2;
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else
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throw (new ArgumentException());
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|
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CamTypComboBox.SelectedIndex = val;
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SxUpDown.Value = (decimal)mAssistant.getCellWidth();
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SyUpDown.Value = (decimal)mAssistant.getCellHeight();
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FocalLengthUpDown.Value = (decimal)mAssistant.getFocalLength();
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TelecentricCheckBox.Checked = mAssistant.isTelecentric;
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MotionXUpDown.Value = (decimal)mAssistant.getMotionX();
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MotionYUpDown.Value = (decimal)mAssistant.getMotionY();
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MotionZUpDown.Value = (decimal)mAssistant.getMotionZ();
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}
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catch (ArgumentException)
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{
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locked = false;
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}
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}
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/**************************************************************/
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private void buttonDefaultParams_Click(object sender, System.EventArgs e)
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{
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mAssistant.resetCameraSetup(false);
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locked = true;
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resetGUICameraSetup();
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locked = false;
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}
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/**************************************************************/
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private void numUpDownThickness_ValueChanged(object sender, System.EventArgs e)
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{
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tThickness = (double)ThicknessUpDown.Value;
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mAssistant.setThickness((double)ThicknessUpDown.Value);
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}
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/**************************************************************/
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private void comboBoxCamTyp_SelectedIndexChanged(object sender, System.EventArgs e)
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{
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int val = 0;
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AreaScanPolynomPanel.Visible = false;
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KappaPanel.Visible = false;
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LineScanPanel.Visible = false;
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LineScanAddPanel.Visible = false;
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switch ((int)CamTypComboBox.SelectedIndex)
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{
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case 0:
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val = CalibrationAssistant.CAMERA_TYP_AREA_SCAN_DIV;
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KappaPanel.Visible = true;
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TelecentricCheckBox.Enabled = true;
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break;
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case 1:
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val = CalibrationAssistant.CAMERA_TYP_AREA_SCAN_POLY;
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AreaScanPolynomPanel.Visible = true;
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TelecentricCheckBox.Enabled = true;
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break;
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case 2:
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val = CalibrationAssistant.CAMERA_TYP_LINE_SCAN;
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KappaPanel.Visible = true;
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LineScanPanel.Visible = true;
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LineScanAddPanel.Visible = true;
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TelecentricCheckBox.Checked = false;
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TelecentricCheckBox.Enabled = false;
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break;
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}
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if (!locked)
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mAssistant.setCameraType(val);
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}
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/**************************************************************/
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private void numUpDownSx_ValueChanged(object sender, System.EventArgs e)
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{
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tCellWidth = (double)SxUpDown.Value;
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if (!locked)
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mAssistant.setCellWidth((double)SxUpDown.Value);
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}
|
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/**************************************************************/
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private void numUpDownSy_ValueChanged(object sender, System.EventArgs e)
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{
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tCellHeight = (double)SyUpDown.Value;
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if (!locked)
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mAssistant.setCellHeight((double)SyUpDown.Value);
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}
|
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/**************************************************************/
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private void numUpDownFocalLength_ValueChanged(object sender, System.EventArgs e)
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{
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tFocalLength = (double)FocalLengthUpDown.Value;
|
|
if (!locked)
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mAssistant.setFocalLength((double)FocalLengthUpDown.Value);
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}
|
|
/**************************************************************/
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private void checkBoxTelecentric_CheckedChanged(object sender, System.EventArgs e)
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{
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bool check = TelecentricCheckBox.Checked;
|
|
if (check)
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FocalLengthUpDown.Enabled = false;
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else
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FocalLengthUpDown.Enabled = true;
|
|
if (!locked)
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mAssistant.setIsTelecentric(check);
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}
|
|
/**************************************************************/
|
private void MotionXUpDown_ValueChanged(object sender, System.EventArgs e)
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{
|
tMotionX = (double)MotionXUpDown.Value;
|
|
if (!locked)
|
mAssistant.setMotionX((double)MotionXUpDown.Value);
|
}
|
|
/**************************************************************/
|
private void MotionYUpDown_ValueChanged(object sender, System.EventArgs e)
|
{
|
tMotionY = (double)MotionYUpDown.Value;
|
|
if (!locked)
|
mAssistant.setMotionY((double)MotionYUpDown.Value);
|
}
|
|
/**************************************************************/
|
private void MotionZUpDown_ValueChanged(object sender, System.EventArgs e)
|
{
|
tMotionZ = (double)MotionZUpDown.Value;
|
|
if (!locked)
|
mAssistant.setMotionZ((double)MotionZUpDown.Value);
|
}
|
|
/*************************************************************************/
|
/*************************************************************************/
|
/* 2. Tab */
|
/*************************************************************************/
|
/*************************************************************************/
|
private void comboBoxImgTests_SelectedIndexChanged(object sender, System.EventArgs e)
|
{
|
if (!locked)
|
mAssistant.setImageTests(ImgTestsComboBox.SelectedIndex);
|
}
|
|
/**************************************************************/
|
private void comboBoxSeqTests_SelectedIndexChanged(object sender, System.EventArgs e)
|
{
|
if (!locked)
|
mAssistant.setSequenceTests(SeqTestsComboBox.SelectedIndex);
|
}
|
|
/**************************************************************/
|
private void numUpDownWarnlevel_ValueChanged(object sender, System.EventArgs e)
|
{
|
if (!locked)
|
mAssistant.setWarnLevel((int)WarnlevelUpDown.Value);
|
}
|
|
/**************************************************************/
|
/******************** FillSize ***************************/
|
private void numUpDownFilterSize_ValueChanged(object sender, System.EventArgs e)
|
{
|
int val = (int)FilterSizeUpDown.Value;
|
FilterSizeTrackBar.Value = val;
|
|
if (!locked)
|
setFilterSize(val);
|
|
}
|
private void trackBarFilterSize_Scroll(object sender, System.EventArgs e)
|
{
|
FilterSizeUpDown.Value = FilterSizeTrackBar.Value;
|
FilterSizeUpDown.Refresh();
|
}
|
private void buttonRFilterSize_Click(object sender, System.EventArgs e)
|
{
|
FilterSizeUpDown.Value = mAssistant.resetFilterSize;
|
FilterSizeResetButton.ForeColor = System.Drawing.Color.Gray;
|
}
|
private void setFilterSize(int val)
|
{
|
FilterSizeResetButton.ForeColor = System.Drawing.Color.Black;
|
mAssistant.setFilterSize((double)val);
|
}
|
|
/**************************************************************/
|
/********************** Mark Threshold ************************/
|
private void numUpDownMarkThresh_ValueChanged(object sender, System.EventArgs e)
|
{
|
int val = (int)MarkThreshUpDown.Value;
|
MarkThreshTrackBar.Value = val;
|
|
if (!locked)
|
setMarkThresh(val);
|
|
}
|
private void trackBarMarkThresh_Scroll(object sender, System.EventArgs e)
|
{
|
MarkThreshUpDown.Value = (int)MarkThreshTrackBar.Value;
|
MarkThreshUpDown.Refresh();
|
}
|
private void buttonRMarkThresh_Click(object sender, System.EventArgs e)
|
{
|
MarkThreshUpDown.Value = mAssistant.resetMarkThresh;
|
MarkThreshResetButton.ForeColor = System.Drawing.Color.Gray;
|
|
}
|
private void setMarkThresh(int val)
|
{
|
MarkThreshResetButton.ForeColor = System.Drawing.Color.Black;
|
mAssistant.setMarkThresh((double)val);
|
}
|
|
/**************************************************************/
|
/*********************** Min Diameter ***********************/
|
private void numUpDownMinDiam_ValueChanged(object sender, System.EventArgs e)
|
{
|
int val = (int)MinDiamUpDown.Value;
|
MinDiamTrackBar.Value = val;
|
|
if (!locked)
|
setMinDiam(val);
|
|
}
|
private void trackBarMinDiam_Scroll(object sender, System.EventArgs e)
|
{
|
MinDiamUpDown.Value = MinDiamTrackBar.Value;
|
MinDiamUpDown.Refresh();
|
}
|
private void buttonRMinDiam_Click(object sender, System.EventArgs e)
|
{
|
MinDiamUpDown.Value = mAssistant.resetMinMarkDiam;
|
MinDiamResetButton.ForeColor = System.Drawing.Color.Gray;
|
}
|
private void setMinDiam(int val)
|
{
|
MinDiamResetButton.ForeColor = System.Drawing.Color.Black;
|
mAssistant.setMinMarkDiam((double)val);
|
}
|
|
/**************************************************************/
|
/******************** Init Threshold ************************/
|
private void numUpDownInitThresh_ValueChanged(object sender, System.EventArgs e)
|
{
|
int val = (int)InitThreshUpDown.Value;
|
InitThreshTrackBar.Value = val;
|
|
if (!locked)
|
setInitThresh(val);
|
|
}
|
private void trackBarInitThresh_Scroll(object sender, System.EventArgs e)
|
{
|
InitThreshUpDown.Value = InitThreshTrackBar.Value;
|
InitThreshUpDown.Refresh();
|
}
|
private void buttonRInitThresh_Click(object sender, System.EventArgs e)
|
{
|
InitThreshUpDown.Value = mAssistant.resetInitThresh;
|
InitThreshResetButton.ForeColor = System.Drawing.Color.Gray;
|
}
|
private void setInitThresh(int val)
|
{
|
InitThreshResetButton.ForeColor = System.Drawing.Color.Black;
|
mAssistant.setInitThresh((double)val);
|
}
|
|
/**************************************************************/
|
/****************** Threshold Decrement **********************/
|
private void numUpDownThreshDecr_ValueChanged(object sender, System.EventArgs e)
|
{
|
int val = (int)ThreshDecrUpDown.Value;
|
ThreshDecrTrackBar.Value = val;
|
|
if (!locked)
|
setThreshDecr(val);
|
|
}
|
private void trackBarThreshDecr_Scroll(object sender, System.EventArgs e)
|
{
|
ThreshDecrUpDown.Value = (int)ThreshDecrTrackBar.Value;
|
ThreshDecrUpDown.Refresh();
|
}
|
private void buttonRThreshDecr_Click(object sender, System.EventArgs e)
|
{
|
ThreshDecrUpDown.Value = mAssistant.resetThreshDecr;
|
ThreshDecrResetButton.ForeColor = System.Drawing.Color.Gray;
|
|
}
|
private void setThreshDecr(int val)
|
{
|
ThreshDecrResetButton.ForeColor = System.Drawing.Color.Black;
|
mAssistant.setThreshDecr((double)val);
|
}
|
|
/**************************************************************/
|
/****************** Minimum Threshold ************************/
|
private void numUpDownMinThresh_ValueChanged(object sender, System.EventArgs e)
|
{
|
int val = (int)MinThreshUpDown.Value;
|
MinThreshTrackBar.Value = val;
|
|
if (!locked)
|
setMinThresh(val);
|
|
}
|
private void trackBarMinThresh_Scroll(object sender, System.EventArgs e)
|
{
|
MinThreshUpDown.Value = MinThreshTrackBar.Value;
|
MinThreshUpDown.Refresh();
|
}
|
private void buttonRMinThresh_Click(object sender, System.EventArgs e)
|
{
|
MinThreshUpDown.Value = mAssistant.resetMinThresh;
|
MinThreshResetButton.ForeColor = System.Drawing.Color.Gray;
|
|
}
|
private void setMinThresh(int val)
|
{
|
MinThreshResetButton.ForeColor = System.Drawing.Color.Black;
|
mAssistant.setMinThresh((double)val);
|
}
|
|
/**************************************************************/
|
/******************** Smoothing *****************************/
|
private void numUpDownSmooth_ValueChanged(object sender, System.EventArgs e)
|
{
|
int val = (int)SmoothUpDown.Value;
|
SmoothTrackBar.Value = val;
|
|
if (!locked)
|
setSmoothing(val);
|
|
}
|
private void trackBarSmooth_Scroll(object sender, System.EventArgs e)
|
{
|
SmoothUpDown.Value = SmoothTrackBar.Value;
|
SmoothUpDown.Refresh();
|
}
|
private void buttonRSmooting_Click(object sender, System.EventArgs e)
|
{
|
SmoothUpDown.Value = (int)(mAssistant.resetSmoothing * 100);
|
SmootingResetButton.ForeColor = System.Drawing.Color.Gray;
|
|
}
|
private void setSmoothing(int val)
|
{
|
SmootingResetButton.ForeColor = System.Drawing.Color.Black;
|
mAssistant.setSmoothing((double)val / 100.0);
|
}
|
|
/**************************************************************/
|
/***************** Min Contour Length ************************/
|
private void numUpDownMinContL_ValueChanged(object sender, System.EventArgs e)
|
{
|
int val = (int)MinContLUpDown.Value;
|
MinContLTrackBar.Value = val;
|
|
if (!locked)
|
setMinContLength(val);
|
|
}
|
private void trackBarMinContL_Scroll(object sender, System.EventArgs e)
|
{
|
MinContLUpDown.Value = (int)MinContLTrackBar.Value;
|
MinContLUpDown.Refresh();
|
}
|
private void buttonRMinContL_Click(object sender, System.EventArgs e)
|
{
|
MinContLUpDown.Value = mAssistant.resetMinContL;
|
MinContLResetButton.ForeColor = System.Drawing.Color.Gray;
|
|
}
|
private void setMinContLength(int val)
|
{
|
MinContLResetButton.ForeColor = System.Drawing.Color.Black;
|
mAssistant.setMinContLength((double)val);
|
}
|
|
/**************************************************************/
|
/******************** Max Diameter ***************************/
|
private void numUpDownMaxDiam_ValueChanged(object sender, System.EventArgs e)
|
{
|
int val = (int)MaxDiamUpDown.Value;
|
MaxDiamTrackBar.Value = val;
|
|
if (!locked)
|
setMaxDiam(val);
|
}
|
private void trackBarMaxDiam_Scroll(object sender, System.EventArgs e)
|
{
|
MaxDiamUpDown.Value = MaxDiamTrackBar.Value;
|
MaxDiamUpDown.Refresh();
|
}
|
private void buttonRMaxDiam_Click(object sender, System.EventArgs e)
|
{
|
MaxDiamUpDown.Value = mAssistant.resetMaxMarkDiam;
|
MaxDiamResetButton.ForeColor = System.Drawing.Color.Gray;
|
}
|
private void setMaxDiam(int val)
|
{
|
MaxDiamResetButton.ForeColor = System.Drawing.Color.Black;
|
mAssistant.setMaxMarkDiam((double)val);
|
}
|
|
/*************************************************************************/
|
/*************************************************************************/
|
/* 3. Tab */
|
/*************************************************************************/
|
/*************************************************************************/
|
private void checkBoxOrigImgCoord_CheckedChanged(object sender, System.EventArgs e)
|
{
|
mAssistant.setAtImgCoord(checkBoxOrigImgCoord.Checked);
|
UpdateView();
|
}
|
|
|
private void buttonSaveCamParams_Click(object sender, System.EventArgs e)
|
{
|
string files;
|
|
if (saveParamFileDialog.ShowDialog() == DialogResult.OK)
|
{
|
files = saveParamFileDialog.FileName;
|
|
if (!files.EndsWith(".cal") && !files.EndsWith(".CAL"))
|
files += ".cal";
|
|
if (mAssistant.mCalibValid)
|
mAssistant.saveCamParams(files);
|
}
|
}
|
|
/*************************************************************************/
|
/*************************************************************************/
|
private void buttonSaveCamPose_Click(object sender, System.EventArgs e)
|
{
|
|
string files;
|
|
if (saveParamFileDialog.ShowDialog() == DialogResult.OK)
|
{
|
files = saveParamFileDialog.FileName;
|
|
if (!files.EndsWith(".dat") && !files.EndsWith(".DAT"))
|
files += ".dat";
|
|
if (mAssistant.mCalibValid)
|
mAssistant.saveCamPose(files);
|
}
|
}
|
|
/*************************************************************************/
|
private void buttonRefImg_CheckedChanged(object sender, System.EventArgs e)
|
{
|
UpdateView();
|
}
|
|
/*************************************************************************/
|
private void radioSimulatedImg_CheckedChanged(object sender, System.EventArgs e)
|
{
|
UpdateView();
|
}
|
|
|
|
/********************************************************************/
|
/* Update methods invoked by delegates */
|
/********************************************************************/
|
|
/// <summary>
|
/// This update method is invoked for all changes occurring in the
|
/// CalibrationAssistant that need to be forwarded to the GUI. The
|
/// referring delegate invokes an update for changes in the model
|
/// data, which leads to an update in the graphics view. Also, errors
|
/// that occur during IO functions and for single calibration steps
|
/// are mapped here.
|
/// </summary>
|
/// <param name="mode">
|
/// Constant of the class CalibrationAssistant, which starts with
|
/// UPDATE_* or ERR_* and which describes an update of the model
|
/// data or an HALCON error, respectively.
|
/// </param>
|
public void UpdateCalibResults(int mode)
|
{
|
switch (mode)
|
{
|
case CalibrationAssistant.UPDATE_MARKS_POSE:
|
UpdateView();
|
break;
|
case CalibrationAssistant.UPDATE_QUALITY_TABLE:
|
UpdateQualityIssueTable();
|
break;
|
case CalibrationAssistant.UPDATE_CALTAB_STATUS:
|
UpdateImageStatus();
|
break;
|
case CalibrationAssistant.UPDATE_CALIBRATION_RESULTS:
|
UpdateResultTab(mAssistant.mCalibValid);
|
StatusLabel.Text = " ";
|
break;
|
case CalibrationAssistant.ERR_READING_FILE:
|
MessageBox.Show("Problem occured while reading file! \n" + mAssistant.mErrorMessage,
|
"Calibration Assistant",
|
MessageBoxButtons.OK,
|
MessageBoxIcon.Information);
|
break;
|
case CalibrationAssistant.ERR_QUALITY_ISSUES:
|
MessageBox.Show("Error occured while testing for quality issues \n" + mAssistant.mErrorMessage,
|
"Calibration Assistant",
|
MessageBoxButtons.OK,
|
MessageBoxIcon.Information);
|
ListQualityCheck.Items.Clear();
|
break;
|
case CalibrationAssistant.ERR_IN_CALIBRATION:
|
MessageBox.Show("Problem occured while calibrating",
|
"Calibration Assistant",
|
MessageBoxButtons.OK,
|
MessageBoxIcon.Information);
|
UpdateResultTab(mAssistant.mCalibValid);
|
showLabelErrMessage(mAssistant.mErrorMessage);
|
break;
|
case CalibrationAssistant.ERR_REFINDEX_INVALID:
|
MessageBox.Show("Problem occured: \n" +
|
"Please check, whether your reference index is valid",
|
"Calibration Assistant",
|
MessageBoxButtons.OK,
|
MessageBoxIcon.Information);
|
break;
|
case CalibrationAssistant.ERR_WRITE_CALIB_RESULTS:
|
MessageBox.Show("Problem occured while ! \n" + mAssistant.mErrorMessage,
|
"Calibration Assistant",
|
MessageBoxButtons.OK,
|
MessageBoxIcon.Information);
|
break;
|
default:
|
break;
|
}
|
}
|
|
|
HObject mObj;
|
/// <summary>
|
/// Update the graphical window, by adding all objects of either
|
/// the training data set or the test data set, including the
|
/// reference world coordinate system and the calibrated world
|
/// coordinate system.
|
/// </summary>
|
public void UpdateView()
|
{
|
HImage img = null;
|
CalibImage data = mAssistant.getCalibDataAt(currIdx);
|
|
|
if (data == null)
|
{
|
mView.clearList();
|
}
|
else
|
{
|
if (tabControl.SelectedIndex == 2 && mAssistant.mCalibValid)
|
{
|
if (buttonRefImg.Checked)
|
img = mAssistant.getRefImage();
|
else
|
img = (HImage)mAssistant.getSimulatedImage();
|
|
|
mView.addIconicVar(img);
|
if (coordSystemDisp && mAssistant.getReferenceWCS().IsInitialized())
|
{
|
mView.changeGraphicSettings(GraphicsContext.GC_COLOR, coordSystemColor);
|
mView.changeGraphicSettings(GraphicsContext.GC_LINEWIDTH, currLineW + 1);
|
mView.addIconicVar(mAssistant.getReferenceWCS());
|
}
|
}
|
else if (tabControl.SelectedIndex == 3 && mAssistant.mCalibValid)
|
{
|
mView.addIconicVar(data.getImage());
|
mView.changeGraphicSettings(GraphicsContext.GC_LINEWIDTH, currLineW + 1);
|
mView.changeGraphicSettings(GraphicsContext.GC_COLOR, coordSystemColor);
|
|
HTuple dis = new HTuple();
|
HTuple worldRow = data.getWorldY();
|
HTuple worldCol = data.getWorldX();
|
HTuple Rows = data.getMarkCenterRows();
|
HTuple Cols = data.getMarkCenterColumns();
|
|
HTuple tmprows = new HTuple();
|
HTuple tmpcols = new HTuple();
|
|
int i, j;
|
|
#region P1-P2
|
i = (int)numericUpDownP1.Value;
|
j = (int)numericUpDownP2.Value;
|
|
tmprows.Append(Rows.ToDArr()[i - 1]);
|
tmprows.Append(Rows.ToDArr()[j - 1]);
|
tmpcols.Append(Cols.ToDArr()[i - 1]);
|
tmpcols.Append(Cols.ToDArr()[j - 1]);
|
|
HOperatorSet.DistancePp((HTuple)worldRow.ToDArr()[i - 1], (HTuple)worldCol.ToDArr()[i - 1], (HTuple)worldRow.ToDArr()[j - 1], (HTuple)worldCol.ToDArr()[j - 1], out dis);
|
|
txtDistanceP1P2.Text = dis.D.ToString("0.0000");
|
#endregion
|
|
HOperatorSet.GenEmptyObj(out mObj);
|
HOperatorSet.GenContourPolygonXld(out mObj, tmprows, tmpcols);
|
mView.addIconicVar(mObj);
|
|
tmprows = new HTuple();
|
tmpcols = new HTuple();
|
|
#region P3-P4
|
i = (int)numericUpDownP3.Value;
|
j = (int)numericUpDownP4.Value;
|
|
tmprows.Append(Rows.ToDArr()[i - 1]);
|
tmprows.Append(Rows.ToDArr()[j - 1]);
|
tmpcols.Append(Cols.ToDArr()[i - 1]);
|
tmpcols.Append(Cols.ToDArr()[j - 1]);
|
|
HOperatorSet.DistancePp((HTuple)worldRow.ToDArr()[i - 1], (HTuple)worldCol.ToDArr()[i - 1], (HTuple)worldRow.ToDArr()[j - 1], (HTuple)worldCol.ToDArr()[j - 1], out dis);
|
|
txtDistanceP3P4.Text = dis.D.ToString("0.0000");
|
#endregion
|
|
HOperatorSet.GenEmptyObj(out mObj);
|
HOperatorSet.GenContourPolygonXld(out mObj, tmprows, tmpcols);
|
mView.addIconicVar(mObj);
|
}
|
else
|
{
|
mView.addIconicVar(data.getImage());
|
mView.changeGraphicSettings(GraphicsContext.GC_LINEWIDTH, currLineW);
|
|
if (plateRegionDisp && data.getCaltabRegion().IsInitialized())
|
{
|
mView.changeGraphicSettings(GraphicsContext.GC_COLOR, plateRegionColor);
|
mView.addIconicVar(data.getCaltabRegion());
|
}
|
|
if (markCentersDisp && data.getMarkCenters().IsInitialized())
|
{
|
mView.changeGraphicSettings(GraphicsContext.GC_COLOR, markCenterColor);
|
mView.addIconicVar(data.getMarkCenters());
|
}
|
if (coordSystemDisp && data.getEstimatedWCS().IsInitialized())
|
{
|
mView.changeGraphicSettings(GraphicsContext.GC_COLOR, coordSystemColor);
|
mView.changeGraphicSettings(GraphicsContext.GC_LINEWIDTH, currLineW + 1);
|
mView.addIconicVar(data.getEstimatedWCS());
|
|
}
|
}
|
|
}
|
mView.repaint();
|
}
|
|
/// <summary>
|
/// If the quality issues are recalculated for all calibration
|
/// images, the information table depicting the quality
|
/// measure for each image must be updated.
|
/// </summary>
|
public void UpdateQualityIssueTable()
|
{
|
ListViewItem item;
|
QualityIssue issue;
|
int count;
|
string text = "";
|
ArrayList qList;
|
|
qList = (mAssistant.getCalibDataAt(currIdx)).getQualityIssueList();
|
count = qList.Count;
|
ListQualityCheck.Items.Clear();
|
|
for (int i = 0; i < count; i++)
|
{
|
issue = (QualityIssue)qList[i];
|
item = new ListViewItem("Image");
|
|
//Images
|
switch (issue.getIssueType())
|
{
|
case CalibrationAssistant.QUALITY_ISSUE_FAILURE:
|
text = "Quality assessment failed";
|
break;
|
case CalibrationAssistant.QUALITY_ISSUE_IMG_CALTAB_SIZE:
|
text = "Plate in image is too small";
|
break;
|
case CalibrationAssistant.QUALITY_ISSUE_IMG_CONTRAST:
|
text = "Contrast is too low";
|
break;
|
case CalibrationAssistant.QUALITY_ISSUE_IMG_EXPOSURE:
|
text = "Plate is too overexposed";
|
break;
|
case CalibrationAssistant.QUALITY_ISSUE_IMG_FOCUS:
|
text = "Marks on plate are out of focus";
|
break;
|
case CalibrationAssistant.QUALITY_ISSUE_IMG_HOMOGENEITY:
|
text = "Illumination is inhomogeneous";
|
break;
|
}
|
|
item.SubItems.Add(text);
|
item.SubItems.Add(((int)(issue.getScore() * 100.0)) + " %");
|
ListQualityCheck.Items.AddRange(new ListViewItem[] { item });
|
}//for
|
|
|
qList = mAssistant.mSeqQualityList;
|
count = qList.Count;
|
|
for (int i = 0; i < count; i++)
|
{
|
issue = (QualityIssue)qList[i];
|
item = new ListViewItem("Sequence");
|
|
//Sequences
|
switch (issue.getIssueType())
|
{
|
case CalibrationAssistant.QUALITY_ISSUE_FAILURE:
|
text = "Quality assessment failed";
|
break;
|
case CalibrationAssistant.QUALITY_ISSUE_SEQ_ALL_OVER:
|
text = "Quality issues detected for some images";
|
break;
|
case CalibrationAssistant.QUALITY_ISSUE_SEQ_CALTAB_TILT:
|
text = "Tilt angles are not covered by sequence";
|
break;
|
case CalibrationAssistant.QUALITY_ISSUE_SEQ_MARKS_DISTR:
|
text = "Field of view is not covered by plate images";
|
break;
|
case CalibrationAssistant.QUALITY_ISSUE_SEQ_NUMBER:
|
text = "Number of images is too low";
|
break;
|
case CalibrationAssistant.QUALITY_ISSUE_SEQ_ERROR:
|
text = "Mark extraction failed for some images";
|
break;
|
default:
|
text = "unknown issue";
|
break;
|
}
|
|
item.SubItems.Add(text);
|
item.SubItems.Add(((int)(issue.getScore() * 100.0)) + " %");
|
ListQualityCheck.Items.AddRange(new ListViewItem[] { item });
|
}//for
|
|
}//end of method
|
|
|
/// <summary>
|
/// For each change in the calibration parameter set the basic parts,
|
/// like finding the calibration plate and the marks, need to be
|
/// recalculated.
|
/// The success or failure for detecting each of these basic parts
|
/// are described for each calibration image by one of the following
|
/// status messages:
|
/// ["Plate not found", "Marks not found",
|
/// "Quality issues detected", "Ok"]
|
/// </summary>
|
public void UpdateImageStatus()
|
{
|
ListViewItem item;
|
int count = ListCalibImg.Items.Count;
|
|
for (int i = 0; i < count; i++)
|
{
|
item = ListCalibImg.Items[i];
|
item.SubItems[2].Text = ((CalibImage)mAssistant.getCalibDataAt(i)).getPlateStatus();
|
}
|
|
showLabelErrMessage();
|
buttonCalibrate.Enabled = (mAssistant.mCanCalib && (mAssistant.mReferenceIndex != -1));
|
}
|
|
|
/// <summary>Displays the calibration results</summary>
|
/// <param name="CalibSuccess">
|
/// Depicts success or failure of the calibration process
|
/// </param>
|
public void UpdateResultTab(bool CalibSuccess)
|
{
|
HTuple campar, reference;
|
HTuple from = new HTuple(7 * mAssistant.mReferenceIndex);
|
HTuple to = new HTuple(7 * mAssistant.mReferenceIndex + 6);
|
|
if (CalibSuccess)
|
{
|
int offset = 0;
|
|
mAssistant.getCalibrationResult(out campar, out reference);
|
|
StatusCalibLabel.Text = "Calibration successful";
|
ErrorLabel.Text = mAssistant.mErrorMean.ToString("f5");
|
FocalLResultLabel.Text = (campar[0].D * 1000.0).ToString("f4");
|
|
if (mAssistant.getCameraType() == CalibrationAssistant.CAMERA_TYP_AREA_SCAN_POLY)
|
{
|
offset = 4;
|
K1Label.Text = campar[1].D.ToString("f2");
|
K2Label.Text = campar[2].D.ToString("e10");
|
K3Label.Text = campar[3].D.ToString("e10");
|
P1Label.Text = campar[4].D.ToString("f6");
|
P2Label.Text = campar[5].D.ToString("f6");
|
}
|
else
|
{
|
KappaResultLabel.Text = campar[1].D.ToString("f2");
|
}
|
|
SxResultLabel.Text = (campar[2 + offset].D * 1000000.0).ToString("f3");
|
SyResultLabel.Text = (campar[3 + offset].D * 1000000.0).ToString("f3");
|
CxResultLabel.Text = campar[4 + offset].D.ToString("f3");
|
CyResultLabel.Text = campar[5 + offset].D.ToString("f3");
|
ImgWResultLabel.Text = campar[6 + offset].I + "";
|
ImgHResultLabel.Text = campar[7 + offset].I + "";
|
|
if (campar.Length == 11)
|
{
|
VxResultLabel.Text = (campar[8].D * 1000000.0).ToString("f3");
|
VyResultLabel.Text = (campar[9].D * 1000000.0).ToString("f3");
|
VzResultLabel.Text = (campar[10].D * 1000000.0).ToString("f3");
|
}
|
|
|
if (reference.Length >= 6)
|
{
|
CamPoseXLabel.Text = (reference[0].D * 1000).ToString("f3");
|
CamPoseYLabel.Text = (reference[1].D * 1000).ToString("f3");
|
CamPoseZLabel.Text = (reference[2].D * 1000).ToString("f3");
|
CamAlphaLabel.Text = (reference[3].D).ToString("f3");
|
CamBetaLabel.Text = (reference[4].D).ToString("f3");
|
CamGammaLabel.Text = (reference[5].D).ToString("f3");
|
}
|
}
|
else //leave all fields empty
|
{
|
StatusCalibLabel.Text = "No calibration data available";
|
ErrorLabel.Text = "";
|
SxResultLabel.Text = "";
|
SyResultLabel.Text = "";
|
FocalLResultLabel.Text = "";
|
KappaResultLabel.Text = "";
|
CxResultLabel.Text = "";
|
CyResultLabel.Text = "";
|
ImgWResultLabel.Text = "";
|
ImgHResultLabel.Text = "";
|
VxResultLabel.Text = "";
|
VyResultLabel.Text = "";
|
VzResultLabel.Text = "";
|
CamPoseXLabel.Text = "";
|
CamPoseYLabel.Text = "";
|
CamPoseZLabel.Text = "";
|
CamAlphaLabel.Text = "";
|
CamBetaLabel.Text = "";
|
CamGammaLabel.Text = "";
|
K1Label.Text = "";
|
K2Label.Text = "";
|
K3Label.Text = "";
|
P1Label.Text = "";
|
P2Label.Text = "";
|
}
|
}
|
|
|
/**************************************************************/
|
private void tabControl_SelectedIndexChanged(object sender, System.EventArgs e)
|
{
|
UpdateView();
|
}
|
|
|
/**************************************************************/
|
/********* Event on leave - for not to miss on changes *******/
|
/**************************************************************/
|
private void FocalLengthUpDown_Leave(object sender, System.EventArgs e)
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{
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if ((double)FocalLengthUpDown.Value != tFocalLength)
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mAssistant.setFocalLength((double)FocalLengthUpDown.Value);
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}
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private void ThicknessUpDown_Leave(object sender, System.EventArgs e)
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{
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if ((double)ThicknessUpDown.Value != tThickness)
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mAssistant.setThickness((double)ThicknessUpDown.Value);
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}
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private void SxUpDown_Leave(object sender, System.EventArgs e)
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{
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if ((double)SxUpDown.Value != tCellWidth)
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mAssistant.setCellWidth((double)SxUpDown.Value);
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}
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private void SyUpDown_Leave(object sender, System.EventArgs e)
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{
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if ((double)SyUpDown.Value != tCellHeight)
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mAssistant.setCellHeight((double)SyUpDown.Value);
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}
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private void MotionXUpDown_Leave(object sender, System.EventArgs e)
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{
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if ((double)MotionXUpDown.Value != tMotionX)
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mAssistant.setMotionX((double)MotionXUpDown.Value);
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}
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private void MotionYUpDown_Leave(object sender, System.EventArgs e)
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{
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if ((double)MotionYUpDown.Value != tMotionY)
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mAssistant.setMotionY((double)MotionYUpDown.Value);
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}
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private void MotionZUpDown_Leave(object sender, System.EventArgs e)
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{
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if ((double)MotionZUpDown.Value != tMotionZ)
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mAssistant.setMotionZ((double)MotionZUpDown.Value);
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}
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private void numericUpDown1_ValueChanged(object sender, EventArgs e)
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{
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UpdateView();
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}
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private void numericUpDownP2_ValueChanged(object sender, EventArgs e)
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{
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UpdateView();
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}
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private void numericUpDownP4_ValueChanged(object sender, EventArgs e)
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{
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UpdateView();
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}
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private void numericUpDownP3_ValueChanged(object sender, EventArgs e)
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{
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UpdateView();
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}
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}
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}
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