using System;
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using HalconDotNet;
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namespace PointGreyAndHalcon
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{
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/// <summary>
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/// This class implements an ROI shaped as a circular
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/// arc. ROICircularArc inherits from the base class ROI and
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/// implements (besides other auxiliary methods) all virtual methods
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/// defined in ROI.cs.
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/// </summary>
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public class ROICircularArc : ROI
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{
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//handles
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private double midR, midC; // 0. handle: midpoint
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private double sizeR, sizeC; // 1. handle
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private double startR, startC; // 2. handle
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private double extentR, extentC; // 3. handle
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//model data to specify the arc
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private double radius;
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private double startPhi, extentPhi; // -2*PI <= x <= 2*PI
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//display attributes
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private HXLDCont contour;
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private HXLDCont arrowHandleXLD;
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private string circDir;
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private double TwoPI;
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private double PI;
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public ROICircularArc()
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{
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NumHandles = 4; // midpoint handle + three handles on the arc
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activeHandleIdx = 0;
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contour = new HXLDCont();
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circDir = "";
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TwoPI = 2 * Math.PI;
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PI = Math.PI;
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arrowHandleXLD = new HXLDCont();
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arrowHandleXLD.GenEmptyObj();
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}
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/// <summary>Creates a new ROI instance at the mouse position</summary>
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public override void createROI(double midX, double midY)
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{
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midR = midY;
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midC = midX;
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radius = 100;
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sizeR = midR;
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sizeC = midC - radius;
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startPhi = PI * 0.25;
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extentPhi = PI * 1.5;
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circDir = "positive";
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determineArcHandles();
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updateArrowHandle();
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}
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/// <summary>Paints the ROI into the supplied window</summary>
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/// <param name="window">HALCON window</param>
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public override void draw(HalconDotNet.HWindow window)
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{
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contour.Dispose();
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contour.GenCircleContourXld(midR, midC, radius, startPhi,
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(startPhi + extentPhi), circDir, 1.0);
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window.DispObj(contour);
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window.DispRectangle2(sizeR, sizeC, 0, 5, 5);
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window.DispRectangle2(midR, midC, 0, 5, 5);
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window.DispRectangle2(startR, startC, startPhi, 10, 2);
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window.DispObj(arrowHandleXLD);
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}
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/// <summary>
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/// Returns the distance of the ROI handle being
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/// closest to the image point(x,y)
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/// </summary>
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public override double distToClosestHandle(double x, double y)
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{
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double max = 10000;
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double [] val = new double[NumHandles];
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val[0] = HMisc.DistancePp(y, x, midR, midC); // midpoint
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val[1] = HMisc.DistancePp(y, x, sizeR, sizeC); // border handle
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val[2] = HMisc.DistancePp(y, x, startR, startC); // border handle
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val[3] = HMisc.DistancePp(y, x, extentR, extentC); // border handle
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for (int i=0; i < NumHandles; i++)
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{
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if (val[i] < max)
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{
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max = val[i];
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activeHandleIdx = i;
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}
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}// end of for
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return val[activeHandleIdx];
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}
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/// <summary>
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/// Paints the active handle of the ROI object into the supplied window
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/// </summary>
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public override void displayActive(HalconDotNet.HWindow window)
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{
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switch (activeHandleIdx)
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{
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case 0:
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window.DispRectangle2(midR, midC, 0, 5, 5);
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break;
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case 1:
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window.DispRectangle2(sizeR, sizeC, 0, 5, 5);
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break;
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case 2:
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window.DispRectangle2(startR, startC, startPhi, 10, 2);
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break;
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case 3:
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window.DispObj(arrowHandleXLD);
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break;
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}
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}
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/// <summary>
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/// Recalculates the shape of the ROI. Translation is
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/// performed at the active handle of the ROI object
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/// for the image coordinate (x,y)
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/// </summary>
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public override void moveByHandle(double newX, double newY)
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{
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HTuple distance;
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double dirX, dirY, prior, next, valMax, valMin;
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switch (activeHandleIdx)
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{
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case 0: // midpoint
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dirY = midR - newY;
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dirX = midC - newX;
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midR = newY;
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midC = newX;
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sizeR -= dirY;
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sizeC -= dirX;
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determineArcHandles();
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break;
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case 1: // handle at circle border
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sizeR = newY;
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sizeC = newX;
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HOperatorSet.DistancePp(new HTuple(sizeR), new HTuple(sizeC),
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new HTuple(midR), new HTuple(midC), out distance);
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radius = distance[0].D;
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determineArcHandles();
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break;
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case 2: // start handle for arc
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dirY = newY - midR;
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dirX = newX - midC;
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startPhi = Math.Atan2(-dirY, dirX);
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if (startPhi < 0)
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startPhi = PI + (startPhi + PI);
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setStartHandle();
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prior = extentPhi;
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extentPhi = HMisc.AngleLl(midR, midC, startR, startC, midR, midC, extentR, extentC);
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if (extentPhi < 0 && prior > PI * 0.8)
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extentPhi = (PI + extentPhi) + PI;
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else if (extentPhi > 0 && prior < -PI * 0.7)
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extentPhi = -PI - (PI - extentPhi);
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break;
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case 3: // end handle for arc
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dirY = newY - midR;
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dirX = newX - midC;
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prior = extentPhi;
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next = Math.Atan2(-dirY, dirX);
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if (next < 0)
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next = PI + (next + PI);
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if (circDir == "positive" && startPhi >= next)
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extentPhi = (next + TwoPI) - startPhi;
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else if (circDir == "positive" && next > startPhi)
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extentPhi = next - startPhi;
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else if (circDir == "negative" && startPhi >= next)
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extentPhi = -1.0 * (startPhi - next);
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else if (circDir == "negative" && next > startPhi)
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extentPhi = -1.0 * (startPhi + TwoPI - next);
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valMax = Math.Max(Math.Abs(prior), Math.Abs(extentPhi));
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valMin = Math.Min(Math.Abs(prior), Math.Abs(extentPhi));
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if ((valMax - valMin) >= PI)
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extentPhi = (circDir == "positive") ? -1.0 * valMin : valMin;
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setExtentHandle();
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break;
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}
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circDir = (extentPhi < 0) ? "negative" : "positive";
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updateArrowHandle();
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}
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/// <summary>Gets the HALCON region described by the ROI</summary>
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public override HRegion getRegion()
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{
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HRegion region;
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contour.Dispose();
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contour.GenCircleContourXld(midR, midC, radius, startPhi, (startPhi + extentPhi), circDir, 1.0);
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region = new HRegion(contour);
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return region;
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}
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/// <summary>
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/// Gets the model information described by the ROI
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/// </summary>
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public override HTuple getModelData()
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{
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return new HTuple(new double[] { midR, midC, radius, startPhi, extentPhi });
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}
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/// <summary>
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/// Auxiliary method to determine the positions of the second and
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/// third handle.
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/// </summary>
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private void determineArcHandles()
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{
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setStartHandle();
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setExtentHandle();
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}
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/// <summary>
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/// Auxiliary method to recalculate the start handle for the arc
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/// </summary>
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private void setStartHandle()
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{
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startR = midR - radius * Math.Sin(startPhi);
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startC = midC + radius * Math.Cos(startPhi);
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}
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/// <summary>
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/// Auxiliary method to recalculate the extent handle for the arc
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/// </summary>
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private void setExtentHandle()
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{
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extentR = midR - radius * Math.Sin(startPhi + extentPhi);
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extentC = midC + radius * Math.Cos(startPhi + extentPhi);
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}
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/// <summary>
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/// Auxiliary method to display an arrow at the extent arc position
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/// </summary>
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private void updateArrowHandle()
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{
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double row1, col1, row2, col2;
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double rowP1, colP1, rowP2, colP2;
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double length,dr,dc, halfHW, sign, angleRad;
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double headLength = 15;
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double headWidth = 15;
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arrowHandleXLD.Dispose();
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arrowHandleXLD.GenEmptyObj();
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row2 = extentR;
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col2 = extentC;
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angleRad = (startPhi + extentPhi) + Math.PI * 0.5;
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sign = (circDir == "negative") ? -1.0 : 1.0;
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row1 = row2 + sign * Math.Sin(angleRad) * 20;
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col1 = col2 - sign * Math.Cos(angleRad) * 20;
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length = HMisc.DistancePp(row1, col1, row2, col2);
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if (length == 0)
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length = -1;
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dr = (row2 - row1) / length;
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dc = (col2 - col1) / length;
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halfHW = headWidth / 2.0;
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rowP1 = row1 + (length - headLength) * dr + halfHW * dc;
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rowP2 = row1 + (length - headLength) * dr - halfHW * dc;
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colP1 = col1 + (length - headLength) * dc - halfHW * dr;
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colP2 = col1 + (length - headLength) * dc + halfHW * dr;
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if (length == -1)
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arrowHandleXLD.GenContourPolygonXld(row1, col1);
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else
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arrowHandleXLD.GenContourPolygonXld(new HTuple(new double[] { row1, row2, rowP1, row2, rowP2, row2 }),
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new HTuple(new double[] { col1, col2, colP1, col2, colP2, col2 }));
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}
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}//end of class
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}//end of namespace
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