Rect GetXZROI()
{
GoSetup _setup = _sensor.Setup;
GoRole role = _sensor.Role;
string jobName = _sensor.DefaultJob;
_syncContext.Post(delegate { jobFile.Content = jobName; }, null);
System.Windows.Point topLeft = new System.Windows.Point(_setup.GetActiveAreaXLimitMin(role), _setup.GetActiveAreaZLimitMax(role));
System.Windows.Point bottomRight = new System.Windows.Point(_setup.GetActiveAreaXLimitMax(role), _setup.GetActiveAreaZLimitMin(role));
Rect rect = new Rect(topLeft, bottomRight);
return(rect);
}
public bool connect(ref string errMsg)
{
if (gocatorIp != null)
{
state = GoSdkWrapper.GoSdk_Construct(ref go_api);
if (state != kStatus.kOK)
{
errMsg = string.Format("GoSystem_Construct Error:{0}", state);
return(false);
}
state = GoSdkWrapper.GoSystem_Construct(ref go_system, IntPtr.Zero);
if (state != kStatus.kOK)
{
errMsg = string.Format("GoSystem_Construct Error:{0}", state);
return(false);
}
addrPtr = Marshal.AllocHGlobal(Marshal.SizeOf(addr));
Marshal.StructureToPtr(addr, addrPtr, false);
state = GoSdkWrapper.kIpAddress_Parse(addrPtr, gocatorIp);
if (state != kStatus.kOK)
{
errMsg = string.Format("kIpAddress_Parse Error:{0}", state);
return(false);
}
state = GoSdkWrapper.GoSystem_FindSensorByIpAddress(go_system, addrPtr, ref go_sensor);
if (state != kStatus.kOK)
{
errMsg = string.Format("GoSystem_FindSensorByIpAddress Error:{0}", state);
return(false);
}
state = GoSdkWrapper.GoSystem_Connect(go_system);
if (state != kStatus.kOK)
{
errMsg = string.Format("GoSystem_Connect Error:{0}", state);
return(false);
}
state = GoSdkWrapper.GoSystem_EnableData(go_system, true);
if (state != kStatus.kOK)
{
errMsg = string.Format("GoSystem_EnableData Error:{0}", state);
return(false);
}
Setup = GoSdkWrapper.GoSensor_Setup(go_sensor);
zRange = GoSdkWrapper.GoSetup_ActiveAreaHeight(Setup, GoRole.GO_ROLE_MAIN);
z_byte_resolution = 255 / zRange;
zStart = GoSdkWrapper.GoSetup_ActiveAreaZ(Setup, GoRole.GO_ROLE_MAIN);
ondatatype = new onDataType(OnData);
state = GoSdkWrapper.GoSystem_SetDataHandler(go_system, ondatatype, context);
GC.KeepAlive(ondatatype);
if (state != kStatus.kOK)
{
errMsg = string.Format("GoSystem_SetDataHandler Error:{0}", state);
return(false);
}
profileDataZ = new List <Profile>();
measurementDataList = new List <MeasurementData>();
#region 加密模块
SecretKey.License l = new SecretKey.License("license.dat", expirationTime, isStartCheck, tel);
l.GocatorId = GoSdkWrapper.GoSensor_Id(go_sensor).ToString();
l.Warn(warnStartDay, warnTime);
#endregion
context.serialNumber = GoSdkWrapper.GoSensor_Id(go_sensor);
GoRole role = GoRole.GO_ROLE_MAIN;
//context.yResolution =(double) GoSdkWrapper.GoSetup_YSpacingCount(Setup, role);
context.yResolution = GoSdkWrapper.GoSetup_EncoderSpacing(Setup);
context.xResolution = Math.Round(GoSdkWrapper.GoSetup_SpacingIntervalSystemValue(Setup, role), 3);
return(true);
}
else
{
errMsg = "Gocator ip is Empty";
return(false);
}
}
private static extern UInt32 GoSetup_XSpacingCount(IntPtr setup, GoRole role);
public static extern double GoSetup_SpacingIntervalSystemValue(IntPtr setup, GoRole role);
public static extern double GoSetup_ActiveAreaZ(IntPtr setup, GoRole role);
/// <summary>
/// Get Point Cloud from Gocator
/// </summary>
/// <returns></returns>
private void Point3DGenerator(KObject data)
{
GoDataSet goDataSource = (GoDataSet)data;
PointCloud pc = new PointCloud();
long count = goDataSource.Count;
for (int i = 0; i < count; i++)
{
GoDataMsg dataMsg = (GoDataMsg)goDataSource.Get(i);
switch (dataMsg.MessageType)
{
case GoDataMessageType.Surface:
GoSurfaceMsg goSurfaceMsg = (GoSurfaceMsg)(dataMsg);
pc.Width = (int)goSurfaceMsg.Width;
pc.Height = (int)goSurfaceMsg.Length;
pc.XResolution = (float)goSurfaceMsg.XResolution / 1000000;
pc.YResolution = (float)goSurfaceMsg.YResolution / 1000000;
pc.ZResolution = (float)goSurfaceMsg.ZResolution / 1000000;
pc.XOffset = (float)goSurfaceMsg.XOffset / 1000;
pc.ZOffset = (float)goSurfaceMsg.ZOffset / 1000;
pc.YOffset = (float)goSurfaceMsg.YOffset / 1000;
GoSetup goSetup = _sensor.Setup;
GoRole goRole = new GoRole();
pc.ZStart = (float)goSetup.GetActiveAreaZ(goRole);
pc.XStart = (float)goSetup.GetActiveAreaX(goRole);
pc.ZRange = (float)goSetup.GetActiveAreaHeight(goRole);
///
//generate csv file for point data save
///
pc.ProfileList = new List <List <Point3D> >();
//int pointsCount = 0;
pc.Point3DArray = new Point3D[pc.Width * pc.Height];
int pointsCount = 0;
for (int j = 0; j < pc.Height; j++)
{
List <Point3D> profileList = new List <Point3D>();
for (int k = 0; k < pc.Width; k++)
{
Point3D tempPoint = new Point3D();
tempPoint.X = pc.XOffset + k * pc.XResolution;
tempPoint.Y = pc.YOffset + j * pc.YResolution;
//tempPoint.Z = (goSurfaceMsg.Get(j, k) == -32768) ? 0 : (pc.ZOffset + goSurfaceMsg.Get(j, k) * pc.ZResolution);
//No Z Start
//tempPoint.X = k * pc.XResolution;
//tempPoint.Y = j * pc.YResolution;
tempPoint.Z = (goSurfaceMsg.Get(j, k) == -32768) ? 0 : (pc.ZOffset + goSurfaceMsg.Get(j, k) * pc.ZResolution - pc.ZStart);
profileList.Add(tempPoint);
pc.Point3DArray[pointsCount] = tempPoint;
pointsCount++;
}
pc.ProfileList.Add(profileList);
}
//data.Destroy();
dataMsg.Destroy();
goSurfaceMsg.Destroy();
SerializePointCloud(pc);
break;
default:
break;
}
}
}
