protected override void OnFrame(Parsley.Core.BuildingBlocks.FrameGrabber fp, Emgu.CV.Image <Emgu.CV.Structure.Bgr, byte> img)
{
if (_take_texture_image)
{
_take_texture_image = false;
_texture_image = img.Copy();
lock (Context.Viewer) {
UpdateAllColors();
}
}
if (_clear_points)
{
_clear_points = false;
_pixel_point_ids.Reset();
Context.Setup.ScanWorkflow.Reset();
_pointcloud.ClearPoints();
}
// Update the transformation between positioner coordinate system and camera coordinate system
if (_update_positioner_transformation)
{
_update_positioner_transformation = false;
Context.Setup.Positioner.UpdateTransformation(Context.Setup.Camera);
_pixel_point_ids.Reset();
Context.Setup.ScanWorkflow.Reset();
}
if (Context.Setup.Camera.FrameSize != _pixel_point_ids.Size)
{
_pixel_point_ids.Size = Context.Setup.Camera.FrameSize;
}
List <Vector> points;
List <System.Drawing.Point> pixels;
if (Context.Setup.ScanWorkflow.Process(Context.Setup, img, out points, out pixels))
{
lock (Context.Viewer) {
UpdatePoints(points, pixels);
}
foreach (System.Drawing.Point p in pixels)
{
img[p.Y, p.X] = new Bgr(Color.Green);
}
}
}
protected override void OnFrame(Parsley.Core.BuildingBlocks.FrameGrabber fp, Emgu.CV.Image <Emgu.CV.Structure.Bgr, byte> img)
{
#region take texture
if (_take_texture_image) //even handler jika mengambil texture image
{
_take_texture_image = false;
_texture_image = img.Copy();
lock (Context.Viewer)
{
UpdateAllColors();
}
}
#endregion
#region clear point
if (_clear_points)
{ //even handler jika menghapus point 3d yg sdh ada
_clear_points = false;
_pixel_point_ids.Reset();
Context.Setup.ScanWorkflow.Reset();
_pointcloud.ClearPoints();
}
#endregion
#region update positioner
// Update the transformation between positioner coordinate system and camera coordinate system
if (_update_positioner_transformation)
{
_update_positioner_transformation = false;
Context.Setup.Positioner.UpdateTransformation(Context.Setup.Camera);
_pixel_point_ids.Reset();
Context.Setup.ScanWorkflow.Reset();
}
#endregion
#region penyesuaian proporsi pixel dengan frame size
if (Context.Setup.Camera.FrameSize != _pixel_point_ids.Size)
{
_pixel_point_ids.Size = Context.Setup.Camera.FrameSize;
}
#endregion
List <Vector> points; //array penyimpan koordinat //sepertinya ini yang out of range
List <System.Drawing.Point> pixels;
#region start scanning
if (_start_scanning)
{
//Console.Write(Context.Setup.ScanWorkflow.Process(Context.Setup, img, out points, out pixels));
if (Context.Setup.ScanWorkflow.Process(Context.Setup, img, out points, out pixels)) //Jika syarat2 dalam scanworkflow.process terpenuhi maka akan ditambahkan pointcloudnya.
{
Console.WriteLine(pixels.Count);
lock (Context.Viewer)
{
UpdatePoints(points, pixels); //memanggil fungsi UpdatePoints untuk update model 3d setiap waktu, tanpa perduli terdeteksi ada nilai baru atau tidak
}
foreach (System.Drawing.Point p in pixels)
{
img[p.Y, p.X] = new Bgr(Color.Green);
}
}
}
#endregion
}