<?xml version="1.0" encoding="UTF-8"?>
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<hdevelop file_version="1.1" halcon_version="12.0">
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<procedure name="Go2GenTL_ParseData">
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<interface>
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<io>
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<par name="Image" base_type="iconic" dimension="0"/>
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</io>
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<oo>
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<par name="HeightMap" base_type="iconic" dimension="0"/>
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<par name="Intensity" base_type="iconic" dimension="0"/>
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</oo>
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<ic>
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<par name="Index" base_type="ctrl" dimension="0"/>
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</ic>
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<oc>
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<par name="FrameCount" base_type="ctrl" dimension="0"/>
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<par name="Timestamp" base_type="ctrl" dimension="0"/>
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<par name="EncoderPosition" base_type="ctrl" dimension="0"/>
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<par name="EncoderIndex" base_type="ctrl" dimension="0"/>
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<par name="Inputs" base_type="ctrl" dimension="0"/>
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<par name="xOffset" base_type="ctrl" dimension="0"/>
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<par name="xResolution" base_type="ctrl" dimension="0"/>
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<par name="yOffset" base_type="ctrl" dimension="0"/>
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<par name="yResolution" base_type="ctrl" dimension="0"/>
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<par name="zOffset" base_type="ctrl" dimension="0"/>
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<par name="zResolution" base_type="ctrl" dimension="0"/>
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<par name="Width" base_type="ctrl" dimension="0"/>
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<par name="Length" base_type="ctrl" dimension="0"/>
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<par name="HasIntensity" base_type="ctrl" dimension="0"/>
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<par name="NumScans" base_type="ctrl" dimension="0"/>
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</oc>
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</interface>
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<body>
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<l>count_channels (Image, channelCount)</l>
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<c>* </c>
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<l>if (channelCount = 1)</l>
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<c> * </c>
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<l> get_image_size (Image, monoImageWidth, monoImageHeight)</l>
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<l> crop_rectangle1 (Image, Stamps, monoImageHeight - 1, 0, monoImageHeight-1, monoImageWidth)</l>
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<c> * </c>
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<l> Go2GenTLStamp (Stamps, 1, FrameCount)</l>
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<l> Go2GenTLStamp (Stamps, 2, Timestamp)</l>
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<l> Go2GenTLStamp (Stamps, 3, EncoderPosition)</l>
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<l> Go2GenTLStamp (Stamps, 4, EncoderIndex)</l>
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<l> Go2GenTLStamp (Stamps, 5, Inputs)</l>
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<l> Go2GenTLStamp (Stamps, 6, xOffset)</l>
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<l> Go2GenTLStamp (Stamps, 7, xResolution)</l>
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<l> Go2GenTLStamp (Stamps, 8, yOffset)</l>
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<l> Go2GenTLStamp (Stamps, 9, yResolution)</l>
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<l> Go2GenTLStamp (Stamps, 10, zOffset)</l>
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<l> Go2GenTLStamp (Stamps, 11, zResolution)</l>
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<l> Go2GenTLStamp (Stamps, 12, Width)</l>
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<l> Go2GenTLStamp (Stamps, 13, Length)</l>
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<l> Go2GenTLStamp (Stamps, 14, HasIntensity)</l>
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<l> Go2GenTLStamp (Stamps, 15, NumScans)</l>
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<c> * </c>
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<c> * * Mono output does not support multiple heightmaps, assuming index is 0</c>
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<l> crop_rectangle1 (Image, HeightMap, 0, 0, Length - 1, Width)</l>
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<l> if (HasIntensity = 1)</l>
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<l> IntensityPosition := (monoImageHeight - 1)/2</l>
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<l> crop_rectangle1 (Image, Intensity, IntensityPosition, 0, IntensityPosition + Length - 1, Width)</l>
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<l> else</l>
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<l> gen_image_const (Intensity, 'byte', Width, Length)</l>
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<l> endif</l>
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<c> * </c>
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<l>elseif (channelCount = 3)</l>
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<c> * </c>
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<l> decompose3 (Image, HeightMap, Intensity, Stamps)</l>
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<c> * </c>
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<l> Go2GenTLStamp (Stamps, 1, FrameCount)</l>
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<l> Go2GenTLStamp (Stamps, 2, Timestamp)</l>
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<l> Go2GenTLStamp (Stamps, 3, EncoderPosition)</l>
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<l> Go2GenTLStamp (Stamps, 4, EncoderIndex)</l>
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<l> Go2GenTLStamp (Stamps, 5, Inputs)</l>
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<l> Go2GenTLStamp (Stamps, 6, xOffset)</l>
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<l> Go2GenTLStamp (Stamps, 7, xResolution)</l>
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<l> Go2GenTLStamp (Stamps, 8, yOffset)</l>
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<l> Go2GenTLStamp (Stamps, 9, yResolution)</l>
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<l> Go2GenTLStamp (Stamps, 10, zOffset)</l>
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<l> Go2GenTLStamp (Stamps, 11, zResolution)</l>
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<l> Go2GenTLStamp (Stamps, 12, Width)</l>
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<l> Go2GenTLStamp (Stamps, 13, Length)</l>
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<l> Go2GenTLStamp (Stamps, 14, HasIntensity)</l>
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<l> Go2GenTLStamp (Stamps, 15, NumScans)</l>
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<c> * </c>
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<c> * * Split Height Map</c>
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<l> start := Index * (Length)</l>
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<l> end := (Index+1) * (Length)</l>
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<c> * </c>
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<l> if (NumScans > Index)</l>
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<l> crop_rectangle1 (HeightMap, HeightMap, start, 0, end, Width)</l>
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<l> if (HasIntensity = 1)</l>
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<l> crop_rectangle1 (Intensity, Intensity, start, 0, end, Width)</l>
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<l> endif</l>
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<l> endif</l>
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<c> * </c>
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<l>endif</l>
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<c>* </c>
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<c>* * Change Offset and resolution back to floating point and described in mm</c>
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<l>xOffset := xOffset / 1000000.0</l>
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<l>yOffset := yOffset / 1000000.0</l>
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<l>zOffset := zOffset / 1000000.0</l>
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<l>xResolution := xResolution / 1000000.0</l>
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<l>yResolution := yResolution / 1000000.0</l>
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<l>zResolution := zResolution / 1000000.0</l>
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<c>* </c>
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<l>return ()</l>
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</body>
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<docu id="Go2GenTL_ParseData">
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<parameters>
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<parameter id="EncoderIndex"/>
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<parameter id="EncoderPosition"/>
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<parameter id="FrameCount"/>
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<parameter id="HasIntensity"/>
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<parameter id="HeightMap"/>
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<parameter id="Image"/>
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<parameter id="Index"/>
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<parameter id="Inputs"/>
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<parameter id="Intensity"/>
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<parameter id="Length"/>
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<parameter id="NumScans"/>
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<parameter id="Timestamp"/>
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<parameter id="Width"/>
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<parameter id="xOffset"/>
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<parameter id="xResolution"/>
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<parameter id="yOffset"/>
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<parameter id="yResolution"/>
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<parameter id="zOffset"/>
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<parameter id="zResolution"/>
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</parameters>
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</docu>
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</procedure>
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</hdevelop>
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