int ReceiveHealthData() { int rtn = 9; try { healthData = system_main.ReceiveHealth(3000000); for (UInt32 j = 0; j < healthData.Count; j++) { GoHealthMsg healthmsg = (GoHealthMsg)healthData.Get(j); for (UInt32 k = 0; k < healthmsg.Count; k++) { GoIndicator healthIndicator = healthmsg.Get(k); healthIdicator_id.Add(healthIndicator.id); healthIdicator_instance.Add(healthIndicator.instance); healthIdicator_value.Add(healthIndicator.value); } } } catch (KException ex) { rtn = (int)ex.Status; } return(rtn); }
public static void onData(KObject data) { GoDataSet dataSet = (GoDataSet)data; for (UInt32 i = 0; i < dataSet.Count; i++) { GoDataMsg dataObj = (GoDataMsg)dataSet.Get(i); switch (dataObj.MessageType) { case GoDataMessageType.Stamp: { GoStampMsg stampMsg = (GoStampMsg)dataObj; for (UInt32 j = 0; j < stampMsg.Count; j++) { GoStamp stamp = stampMsg.Get(j); Console.WriteLine("Frame Index = {0}", stamp.FrameIndex); Console.WriteLine("Time Stamp = {0}", stamp.Timestamp); Console.WriteLine("Encoder Value = {0}", stamp.Encoder); } } break; } } // Refer to example ReceiveRange, ReceiveProfile, ReceiveMeasurement and ReceiveWholePart on how to receive data Console.WriteLine(Environment.NewLine); }
public void AsyncReceiveData(KObject data) { GoDataSet dataset = (GoDataSet)data; for (UInt32 i = 0; i < dataset.Count; i++) { GoDataMsg dataObj = (GoDataMsg)dataset.Get(i); switch (dataObj.MessageType) { case GoDataMessageType.Stamp: { GoStampMsg stampMsg = (GoStampMsg)dataObj; for (UInt32 j = 0; j < stampMsg.Count; j++) { GoStamp stamp = stampMsg.Get(j); getStamp.FrameIndex = stamp.FrameIndex; getStamp.Timestamp = stamp.Timestamp; getStamp.Encoder = stamp.Encoder; get_stamp_FrameIndex.Add(stamp.FrameIndex); get_stamp_TimeStamp.Add(stamp.Timestamp); get_stamp_EncoderValue.Add(stamp.Encoder); } dataReceivedFlag.Stamp = 1; } break; case GoDataMessageType.Measurement: { GoMeasurementMsg measurementMsg = (GoMeasurementMsg)dataObj; for (UInt32 k = 0; k < measurementMsg.Count; k++) { GoMeasurementData measurementData = measurementMsg.Get(k); getMeasurement.Id = measurementMsg.Id; getMeasurement.value = measurementData.Value; getMeasurement.decison = measurementData.Decision; get_measurementMsg_Id.Add(measurementMsg.Id); get_measurementMsg_Value.Add(measurementData.Value); get_measurementMsg_Decison.Add(measurementData.Decision); } dataReceivedFlag.Measurement = 1; } break; case GoDataMessageType.Alignment: { GoAlignMsg dataItem = (GoAlignMsg)dataSet.Get(i); if (dataItem.Status == KStatus.Ok) { calibrationSuccessfulBl = true; } else { calibrationSuccessfulBl = false; } } break; } } }
static int Main(string[] args) { try { KApiLib.Construct(); GoSdkLib.Construct(); GoSystem system = new GoSystem(); GoSensor sensor; GoDataSet dataSet = new GoDataSet(); KIpAddress ipAddress = KIpAddress.Parse(Constants.SENSOR_IP); sensor = system.FindSensorByIpAddress(ipAddress); sensor.Connect(); system.EnableData(true); GoSetup setup = sensor.Setup; setup.AlignmentType = GoAlignmentType.Stationary; setup.AlignmentStationaryTarget = GoAlignmentTarget.None; sensor.Align(); Console.WriteLine("Waiting for alignment calibration data to be collected..."); dataSet = system.ReceiveData(30000000); for (UInt32 i = 0; i < dataSet.Count; i++) { GoAlignMsg dataItem = (GoAlignMsg)dataSet.Get(i); if (dataItem.MessageType == GoDataMessageType.Alignment) { if (dataItem.Status == KStatus.Ok) { Console.WriteLine("Alignment calibration successful!"); } else { Console.WriteLine("Alignment calibration failed."); } } } system.Stop(); } catch (KException ex) { if (ex.Status == KStatus.ErrorTimeout) { Console.WriteLine("Failed to collect data for calibration within timeout limit..."); } else if (ex.Status != KStatus.Ok) { Console.WriteLine("Error:{0}", ex.Status); } } // wait for Enter key Console.WriteLine("\nPress ENTER to continue"); do { System.Threading.Thread.Sleep(100); } while (Console.Read() != (int)ConsoleKey.Enter); return(1); }
ProfilePoint[] TransProfileData(KObject rawData) { ProfilePoint[] profileBuffer = null; GoDataSet _dataSource = new GoDataSet(); _dataSource = (GoDataSet)rawData; _dataContext = new DataContext(); ProfileShape _profileShape = new ProfileShape(); for (UInt32 i = 0; i < _dataSource.Count; i++) { GoDataMsg dataObj = (GoDataMsg)_dataSource.Get(i); switch (dataObj.MessageType) { case GoDataMessageType.ResampledProfile: { GoResampledProfileMsg profileMsg = (GoResampledProfileMsg)dataObj; _dataContext.xResolution = (double)profileMsg.XResolution / 1000000; _dataContext.zResolution = (double)profileMsg.ZResolution / 1000000; _dataContext.xOffset = (double)profileMsg.XOffset / 1000; _dataContext.zOffset = (double)profileMsg.ZOffset / 1000; _profileShape.width = profileMsg.Width; _profileShape.size = profileMsg.Size; _syncContext.Post(delegate { xRes.Content = _dataContext.xResolution.ToString(); zRes.Content = _dataContext.zResolution.ToString(); }, null); //generate csv file for point data save short[] points = new short[_profileShape.width]; profileBuffer = new ProfilePoint[_profileShape.width]; IntPtr pointsPtr = profileMsg.Data; Marshal.Copy(pointsPtr, points, 0, points.Length); for (UInt32 arrayIndex = 0; arrayIndex < _profileShape.width; ++arrayIndex) { if (points[arrayIndex] != -32768) { profileBuffer[arrayIndex].x = _dataContext.xOffset + _dataContext.xResolution * arrayIndex; profileBuffer[arrayIndex].z = _dataContext.zOffset + _dataContext.zResolution * points[arrayIndex]; } else { profileBuffer[arrayIndex].x = _dataContext.xOffset + _dataContext.xResolution * arrayIndex; profileBuffer[arrayIndex].z = activeArea.Top; } } } break; default: break; } } return(profileBuffer); }
static int Main(string[] args) { try { KApiLib.Construct(); GoSdkLib.Construct(); GoSystem system = new GoSystem(); GoSensor sensor; GoDataSet healthData = new GoDataSet(); KIpAddress ipAddress = KIpAddress.Parse(Constants.SENSOR_IP); sensor = system.FindSensorByIpAddress(ipAddress); sensor.Connect(); system.EnableData(true); UInt32 i = 1; while (i < 10) { healthData = system.ReceiveHealth(30000000); for (UInt32 j = 0; j < healthData.Count; j++) { GoHealthMsg healthMsg = (GoHealthMsg)healthData.Get(j); Console.WriteLine("Health message received:"); Console.WriteLine(" Number of indicators: {0}", healthMsg.Count); for (UInt32 k = 0; k < healthMsg.Count; k++) { GoIndicator healthIndicator = healthMsg.Get(k); Console.WriteLine(" Indicator[{0}]: Id:{1} Instance:{2} Value{3}", k, healthIndicator.id, healthIndicator.instance, healthIndicator.value); } // Dispose required to prevent memory leak. healthMsg.Dispose(); } i++; } } catch (KException ex) { Console.WriteLine("Error: {0}", ex.Status); } // wait for Enter key Console.WriteLine("\nPress ENTER to continue"); do { System.Threading.Thread.Sleep(100); } while (Console.Read() != (int)ConsoleKey.Enter); return(1); }
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// //생성 : //수정 : //목적 : ConnectCamera //설명 : ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// private bool SetCameraConnect() { bool bReturn = false; do { try { KIpAddress ipAddress = KIpAddress.Parse(m_objInitializeParameter.str3DCameraIP); GoDataSet dataSet = new GoDataSet(); m_objCamera = m_objCameraSystem.FindSensorByIpAddress(ipAddress); m_objCamera.Connect(); } catch (Exception ex) { Trace.WriteLine("CAMERA GOCATOR : " + ex.ToString()); } } while(false); return(bReturn); }
int CalibrationSensor(int goalignmentType, int alignmentmovingTarget, double diskDiameter, double diskHeight) { try { GoSetup setup = sensor_main.Setup; setup.AlignmentType = GoAlignmentType.Moving; setup.AlignmentMovingTarget = GoAlignmentTarget.Disk; setup.DiskDiameter = diskDiameter; setup.DiskHeight = diskHeight; setup.AlignmentEncoderCalibrateEnabled = true; sensor_main.Align(); //wait for calibration disk to be scanned dataSet = system_main.ReceiveData(300000000); for (UInt32 i = 0; i < dataSet.Count; i++) { GoAlignMsg dataItem = (GoAlignMsg)dataSet.Get(i); if (dataItem.MessageType == GoDataMessageType.Alignment) { if (dataItem.Status == KStatus.Ok) { calibrationSuccessfulBl = true; } else { calibrationSuccessfulBl = false; } } } } catch (KException ex) { if (ex.Status == KStatus.ErrorTimeout) { errorInformation.Add(DateTime.Now.ToString("yyyy:MM:dd HHmmss") + "calibration disk time out"); } else if (ex.Status != KStatus.Ok) { errorInformation.Add(DateTime.Now.ToString("yyyy:MM:dd HHmmss") + "calibration error code" + ex.Status); } } return(0); }
public void onData(KObject data) { GoDataSet dataSet = (GoDataSet)data; //var dataWithID = new Dictionary<string, string>(); for (UInt32 i = 0; i < dataSet.Count; i++) { GoDataMsg dataObj = (GoDataMsg)dataSet.Get(i); switch (dataObj.MessageType) { case GoDataMessageType.Stamp: { GoStampMsg stampMsg = (GoStampMsg)dataObj; for (UInt32 j = 0; j < stampMsg.Count; j++) { GoStamp stamp = stampMsg.Get(j); //Console.WriteLine("Frame Index = {0}", stamp.FrameIndex); //Console.WriteLine("Time Stamp = {0}", stamp.Timestamp); //Console.WriteLine("Encoder Value = {0}", stamp.Encoder); } } break; case GoDataMessageType.Measurement: { GoMeasurementMsg measurementMsg = (GoMeasurementMsg)dataObj; for (UInt32 k = 0; k < measurementMsg.Count; ++k) { GoMeasurementData measurementData = measurementMsg.Get(k); //Console.WriteLine("ID: {0}", measurementMsg.Id); //Console.WriteLine("Value: {0}", measurementData.Value); //Console.WriteLine("Decision: {0}", measurementData.Decision); //dataWithID.Add(measurementMsg.Id.ToString(), measurementData.Value.ToString()); } } break; } } Publish(new LMIData()); //TODO Data Shell }
public clsScanner() { Callback("start connect scanner"); KApiLib.Construct(); GoSdkLib.Construct(); system = new GoSystem(); KIpAddress ipAddress = KIpAddress.Parse(ip); dataSet = new GoDataSet(); try { sensor = system.FindSensorByIpAddress(ipAddress); } catch (Exception ex) { Callback("scanner connect failed"); return; } sensor.Connect(); Callback("scanner connected."); }
void goRun() { try { KApiLib.Construct(); GoSdkLib.Construct(); system = new GoSystem(); GoSensor sensor; KIpAddress ipAddress = KIpAddress.Parse(IPAddress); GoDataSet dataSet = new GoDataSet(); sensor = system.FindSensorByIpAddress(ipAddress); sensor.Connect(); infoTxt.Text = "Conn" + Environment.NewLine; GoSetup setup = sensor.Setup; setup.ScanMode = GoMode.Surface; system.EnableData(true); system.SetDataHandler(OnDataReceived); infoTxt.Text += "Binding data handler" + Environment.NewLine; system.Start(); infoTxt.Text += "System Started" + Environment.NewLine; infoTxt.Text += "Waiting Data" + Environment.NewLine; GoActiveAreaConfig goActiveAreaConfig = new GoActiveAreaConfig(); sensor.Setup.GetActiveAreaLength(GoRole.Main); GoSetup set = sensor.Setup; setup. // wait for Enter key } catch (KException ex) { } }
private void RawDataResolver(KObject data) { GoDataSet dataSet = (GoDataSet)data; for (UInt32 i = 0; i < dataSet.Count; i++) { GoDataMsg dataObj = (GoDataMsg)dataSet.Get(i); switch (dataObj.MessageType) { case GoDataMessageType.UniformSurface: { GoUniformSurfaceMsg surfaceMsg = (GoUniformSurfaceMsg)dataObj; double xResolution = (double)surfaceMsg.XResolution / 1000000; double zResolution = (double)surfaceMsg.ZResolution / 1000000; double xOffset = (double)surfaceMsg.XOffset / 1000; double zOffset = (double)surfaceMsg.ZOffset / 1000; long width = surfaceMsg.Width; long height = surfaceMsg.Length; long bufferSize = width * height; IntPtr bufferPointer = surfaceMsg.Data; short[] ranges = new short[bufferSize]; Marshal.Copy(bufferPointer, ranges, 0, ranges.Length); } break; case GoDataMessageType.SurfaceIntensity: { GoSurfaceIntensityMsg surfaceMsg = (GoSurfaceIntensityMsg)dataObj; long width = surfaceMsg.Width; long height = surfaceMsg.Length; long bufferSize = width * height; IntPtr bufferPointeri = surfaceMsg.Data; byte[] ranges = new byte[bufferSize]; Marshal.Copy(bufferPointeri, ranges, 0, ranges.Length); } break; } } }
private void OnDataReceived(KObject data) { //system.Stop(); _dataSource = (GoDataSet)data; for (UInt32 i = 0; i < _dataSource.Count; i++) { GoDataMsg dataObj = (GoDataMsg)_dataSource.Get(i); switch (dataObj.MessageType) { case GoDataMessageType.Stamp: { GoStampMsg stampMsg = (GoStampMsg)dataObj; for (UInt32 j = 0; j < stampMsg.Count; j++) { GoStamp stamp = stampMsg.Get(j); } } break; case GoDataMessageType.Surface: { GoSurfaceMsg surface = (GoSurfaceMsg)dataObj; long size = surface.Size; } break; case GoDataMessageType.Profile: { } break; } } // Dispose required to prevent memory leak. _dataSource.Dispose(); }
/// <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; } } }
public void onData(KObject data) { bDataSaved = false; double yPoint = 1; string strWrite = ""; bool length_incr = true; GoDataSet dataSet = (GoDataSet)data; DataContext context = new DataContext(); for (UInt32 i = 0; i < dataSet.Count; i++) { GoDataMsg dataObj = (GoDataMsg)dataSet.Get(i); switch (dataObj.MessageType) { case GoDataMessageType.Stamp: { GoStampMsg stampMsg = (GoStampMsg)dataObj; for (UInt32 j = 0; j < stampMsg.Count; j++) { GoStamp stamp = stampMsg.Get(j); //Console.WriteLine("Frame Index = {0}", stamp.FrameIndex); //Console.WriteLine("Time Stamp = {0}", stamp.Timestamp); //Console.WriteLine("Encoder Value = {0}", stamp.Encoder); } } break; case GoDataMessageType.Surface: // Surface { GoSurfaceMsg surfaceMsg = (GoSurfaceMsg)dataObj; long width = surfaceMsg.Width; long height = surfaceMsg.Length; long bufferSize = width * height; IntPtr bufferPointer = surfaceMsg.Data; short[] ranges = new short[bufferSize]; Marshal.Copy(bufferPointer, ranges, 0, ranges.Length); context.xResolution = (double)surfaceMsg.XResolution / 1000000.0; context.zResolution = (double)surfaceMsg.ZResolution / 1000000.0; context.yResolution = (double)surfaceMsg.YResolution / 1000000.0; context.yOffset = (double)surfaceMsg.YOffset / 1000.0; context.xOffset = (double)surfaceMsg.XOffset / 1000.0; context.zOffset = (double)surfaceMsg.ZOffset / 1000.0; double phy_x; double phy_y; double phy_z; FileStream fs = new FileStream(strFileSave, FileMode.Create); StreamWriter sw = new StreamWriter(fs); for (int m = 0; m < height; m++) { for (int j = 0; j < width; j++) { phy_z = ranges[m * width + j] * context.zResolution + context.zOffset; if (/*phy_z > 20*/ true) //这个过滤阈值根据实际情况选取 { phy_x = j * context.xResolution + context.xOffset; phy_y = m * context.yResolution + context.yOffset; strWrite = string.Format("{0} {1} {2}", phy_x, phy_y, phy_z); sw.WriteLine(strWrite); } } } sw.Flush(); //关闭流 sw.Close(); fs.Close(); } break; case GoDataMessageType.Profile: { StreamWriter write = new StreamWriter(strFileSave, true); GoProfileMsg profileMsg = (GoProfileMsg)dataObj; Console.WriteLine(" Profile Message batch count: {0}", profileMsg.Count); for (UInt32 k = 0; k < profileMsg.Count; ++k) { int validPointCount = 0; long profilePointCount = profileMsg.Width; Console.WriteLine(" Item[{0}]: Profile data ({1} points)", i, profileMsg.Width); context.xResolution = (profileMsg.XResolution / 1000000.0); context.zResolution = profileMsg.ZResolution / 1000000.0; context.xOffset = profileMsg.XOffset / 1000.0; context.zOffset = profileMsg.ZOffset / 1000.0; GoPoints[] points = new GoPoints[profilePointCount]; point[] point111 = new point[profilePointCount]; ProfilePoint[] profileBuffer = new ProfilePoint[profilePointCount]; int structSize = Marshal.SizeOf(typeof(GoPoints)); IntPtr pointsPtr = profileMsg.Data; for (UInt32 array = 0; array < profilePointCount; ++array) { IntPtr incPtr = new IntPtr(pointsPtr.ToInt64() + array * structSize); points[array] = (GoPoints)Marshal.PtrToStructure(incPtr, typeof(GoPoints)); double real_x = (context.xOffset + context.xResolution * points[array].x); double real_z = (context.zOffset + context.zResolution * points[array].y); if (length_incr == true) { length += 1; //ReadIniSettings.ReadIni.objIniValue.iniScanner.step; length_incr = false; } if (real_z > 60 && real_z < 800) { write.WriteLine(real_x + " " + length + " " + real_z); } } write.Flush(); } write.Close(); } break; case GoDataMessageType.ProfileIntensity: { GoProfileIntensityMsg profileMsg = (GoProfileIntensityMsg)dataObj; Console.WriteLine(" Profile Intensity Message batch count: {0}", profileMsg.Count); for (UInt32 k = 0; k < profileMsg.Count; ++k) { byte[] intensity = new byte[profileMsg.Width]; IntPtr intensityPtr = profileMsg.Data; Marshal.Copy(intensityPtr, intensity, 0, intensity.Length); } } break; case GoDataMessageType.Measurement: // Measurement { GoMeasurementMsg measurementMsg = (GoMeasurementMsg)dataObj; } break; } } bDataSaved = true; }
/// <summary> /// 监听回调函数 /// </summary> /// <param name="data"></param> public void onData(KObject data) { if (File.Exists(strFileSave)) { File.Delete(strFileSave); } bool length_incr = true; lst_ImagSur.Clear(); GoDataSet dataSet = (GoDataSet)data; DataContext context = new DataContext(); for (UInt32 i = 0; i < dataSet.Count; ++i) { GoDataMsg dataObj = (GoDataMsg)dataSet.Get(i); switch (dataObj.MessageType) { case GoDataMessageType.Stamp: { Console.WriteLine("GoDataMessageType.Stamp"); //GoStampMsg stampMsg = (GoStampMsg)dataObj; //for (UInt32 j = 0; j < stampMsg.Count; j++) //{ // GoStamp stamp = stampMsg.Get(j); // Console.WriteLine("Frame Index = {0}", stamp.FrameIndex); // Console.WriteLine("Time Stamp = {0}", stamp.Timestamp); // Console.WriteLine("Encoder Value = {0}", stamp.Encoder); //} } break; case GoDataMessageType.UniformSurface: //case GoDataMessageType.Surface: { Console.WriteLine("GoDataMessageType.UniformSurface"); GoUniformSurfaceMsg surfaceMsg = (GoUniformSurfaceMsg)dataObj; long width = surfaceMsg.Width; long height = surfaceMsg.Length; long bufferSize = width * height; IntPtr bufferPointer = surfaceMsg.Data; short[] ranges = new short[bufferSize]; Marshal.Copy(bufferPointer, ranges, 0, ranges.Length); context.xResolution = (double)surfaceMsg.XResolution / 1000000.0; context.zResolution = (double)surfaceMsg.ZResolution / 1000000.0; context.yResolution = (double)surfaceMsg.YResolution / 1000000.0; context.yOffset = (double)surfaceMsg.YOffset / 1000.0; context.xOffset = (double)surfaceMsg.XOffset / 1000.0; context.zOffset = (double)surfaceMsg.ZOffset / 1000.0; double phy_x; double phy_y; double phy_z; FileStream fs = new FileStream(strFileSave, FileMode.Create); StreamWriter sw = new StreamWriter(fs); for (int m = 0; m < height; m++) { for (int j = 0; j < width; j++) { phy_z = ranges[m * width + j] * context.zResolution + context.zOffset; if (true) // /*phy_z > 20*/ 这个过滤阈值根据实际情况选取 { phy_x = j * context.xResolution + context.xOffset; phy_y = m * context.yResolution + context.yOffset; string strWrite = string.Format("{0} {1} {2}", phy_x, phy_y, phy_z); sw.WriteLine(strWrite); lst_ImagSur.Add(new Vector4((float)phy_x, (float)phy_y, (float)phy_z, 1.0f)); } } } sw.Flush(); //关闭流 sw.Close(); fs.Close(); } break; case GoDataMessageType.Measurement: { Console.WriteLine("GoDataMessageType.Measurement"); //GoMeasurementMsg measurementMsg = (GoMeasurementMsg)dataObj; //for (UInt32 k = 0; k < measurementMsg.Count; ++k) //{ // GoMeasurementData measurementData = measurementMsg.Get(k); // mPoint.X = measurementData.Value; // mPoint.Y = measurementData.Value; // mPoint.Z = measurementData.Value; //} } break; case GoDataMessageType.ProfilePointCloud: //case GoDataMessageType.Profile: { Console.WriteLine("GoDataMessageType.Profile"); //StreamWriter write = new StreamWriter(strFileSave, true); //GoProfilePointCloudMsg profileMsg = (GoProfilePointCloudMsg)dataObj; //Console.WriteLine(" Profile Message batch count: {0}", profileMsg.Count); //for (UInt32 k = 0; k < profileMsg.Count; ++k) //{ // //int validPointCount = 0; // long profilePointCount = profileMsg.Width; // Console.WriteLine(" Item[{0}]: Profile data ({1} points)", i, profileMsg.Width); // context.xResolution = (profileMsg.XResolution / 1000000.0); // context.zResolution = profileMsg.ZResolution / 1000000.0; // context.xOffset = profileMsg.XOffset / 1000.0; // context.zOffset = profileMsg.ZOffset / 1000.0; // GoPoints[] points = new GoPoints[profilePointCount]; // //point[] point111 = new point[profilePointCount]; // ProfilePoint[] profileBuffer = new ProfilePoint[profilePointCount]; // int structSize = Marshal.SizeOf(typeof(GoPoints)); // IntPtr pointsPtr = profileMsg.Data; // for (UInt32 array = 0; array < profilePointCount; ++array) // { // IntPtr incPtr = new IntPtr(pointsPtr.ToInt64() + array * structSize); // points[array] = (GoPoints)Marshal.PtrToStructure(incPtr, typeof(GoPoints)); // double real_x = (context.xOffset + context.xResolution * points[array].x); // double real_z = (context.zOffset + context.zResolution * points[array].y); // if (length_incr == true) // { // length += 1;//ReadIniSettings.ReadIni.objIniValue.iniScanner.step; // length_incr = false; // } // if (/*(real_z > 15 && real_x > -500.0 && real_z < 400*/true) // //if (real_z > 5.0 && real_z < 25 && length >100 && length < 2000) // { // write.WriteLine(real_x + " " + length + " " + real_z); // } // } // write.Flush(); //} //write.Close(); } break; case GoDataMessageType.ProfileIntensity: { Console.WriteLine("GoDataMessageType.ProfileIntensity"); //GoProfileIntensityMsg profileMsg = (GoProfileIntensityMsg)dataObj; //Console.WriteLine(" Profile Intensity Message batch count: {0}", profileMsg.Count); //for (UInt32 k = 0; k < profileMsg.Count; ++k) //{ // byte[] intensity = new byte[profileMsg.Width]; // IntPtr intensityPtr = profileMsg.Data; // Marshal.Copy(intensityPtr, intensity, 0, intensity.Length); //} } break; case GoDataMessageType.Alignment: Console.WriteLine("GoDataMessageType.Alignment"); break; case GoDataMessageType.BoundingBoxMatch: Console.WriteLine("GoDataMessageType.BoundingBoxMatch"); break; case GoDataMessageType.EdgeMatch: Console.WriteLine("GoDataMessageType.EdgeMatch"); break; case GoDataMessageType.EllipseMatch: Console.WriteLine("GoDataMessageType.EllipseMatch"); break; case GoDataMessageType.Event: Console.WriteLine("GoDataMessageType.Event"); break; case GoDataMessageType.ExposureCal: Console.WriteLine("GoDataMessageType.ExposureCal"); break; case GoDataMessageType.Generic: Console.WriteLine("GoDataMessageType.Generic"); break; case GoDataMessageType.Health: Console.WriteLine("GoDataMessageType.Health"); break; case GoDataMessageType.Range: Console.WriteLine("GoDataMessageType.Range"); break; case GoDataMessageType.RangeIntensity: Console.WriteLine("GoDataMessageType.RangeIntensity"); break; case GoDataMessageType.ResampledProfile: //case GoDataMessageType.UniformProfile: Console.WriteLine("GoDataMessageType.ResampledProfile"); break; case GoDataMessageType.Section: Console.WriteLine("GoDataMessageType.Section"); break; case GoDataMessageType.SectionIntensity: Console.WriteLine("GoDataMessageType.SectionIntensity"); break; case GoDataMessageType.SurfaceIntensity: Console.WriteLine("GoDataMessageType.SurfaceIntensity"); break; case GoDataMessageType.SurfacePointCloud: Console.WriteLine("GoDataMessageType.SurfacePointCloud"); break; case GoDataMessageType.Tracheid: Console.WriteLine("GoDataMessageType.Tracheid"); break; case GoDataMessageType.Unknown: Console.WriteLine("GoDataMessageType.Unknown"); break; case GoDataMessageType.Video: Console.WriteLine("GoDataMessageType.Video"); break; } } dataSet.Dispose(); if (ActGetBit != null && lst_ImagSur.Count > 0) { int imgWidth, imgHeight; int rowNum = lst_ImagSur.Count; double[] xVal = new double[rowNum]; double[] yVal = new double[rowNum]; ushort[] zVal = new ushort[rowNum]; for (int m = 0; m < rowNum; m++) { xVal[m] = Math.Round(lst_ImagSur[m].x / pixelPitch); yVal[m] = Math.Round(lst_ImagSur[m].y / pixelPitch); zVal[m] = (ushort)lst_ImagSur[m].z; } ArrayList list_x = new ArrayList(xVal); list_x.Sort(); if (list_x.Count == 0) { double minVal_x = 0; // Convert.ToInt32(list[0]); double maxVal_x = 0; ActGetBit(null); } else { double minVal_x = Convert.ToDouble(list_x[0]); // Convert.ToInt32(list[0]); double maxVal_x = Convert.ToDouble(list_x[list_x.Count - 1]); ArrayList list_y = new ArrayList(yVal); list_y.Sort(); double minVal_y = Convert.ToDouble(list_y[0]); // Convert.ToInt32(list[0]); double maxVal_y = Convert.ToDouble(list_y[list_y.Count - 1]); ArrayList list_z = new ArrayList(zVal); list_z.Sort(); double minVal_z = Convert.ToDouble(list_z[0]); // Convert.ToInt32(list[0]); double maxVal_z = Convert.ToDouble(list_z[list_z.Count - 1]); imgHeight = Convert.ToInt32(Math.Round(maxVal_x - minVal_x)) + 1; imgWidth = Convert.ToInt32(Math.Round(maxVal_y - minVal_y)) + 1; double scale = (double)imgHeight / imgWidth; double[,] imgTemp = new double[imgHeight, imgWidth]; for (int m = 0; m < rowNum; m++) { xVal[m] = xVal[m] - minVal_x; yVal[m] = yVal[m] - minVal_y; } for (int n = 0; n < rowNum; n++) { imgTemp[Convert.ToInt32(xVal[n]), Convert.ToInt32(yVal[n])] = zVal[n]; } // 将imgTemp转成一维图像 ushort[] ZValues = new ushort[imgHeight * imgWidth]; for (int i = 0; i < ZValues.Length; i++) { ZValues[i] = (ushort)imgTemp[i / imgWidth, i % imgWidth]; } ColorMaps MapColor = new ColorMaps(); ushort minValue = 0, maxValue = 0; MapColor.FindMinMaxForColor(ZValues, (UInt32)(imgHeight * imgWidth), 0, ref minValue, ref maxValue); Color[] colors = new Color[imgHeight * imgWidth]; MapColor.ToColors(ZValues, minValue, maxValue, 0, ref colors, (UInt32)(imgHeight * imgWidth)); Bitmap Bimage = new Bitmap(imgWidth, imgHeight); BitmapData bmdata = Bimage.LockBits(new Rectangle(0, 0, imgWidth, imgHeight), ImageLockMode.ReadWrite, PixelFormat.Format24bppRgb); //IntPtr intptr = bmdata.Scan0; byte[] Pixlemaps = new byte[bmdata.Stride * bmdata.Height]; // int offset = bmdata.Stride - bmdata.Width * 3; unsafe { byte *pp = (byte *)(void *)bmdata.Scan0; for (int k = 0; k < bmdata.Height; k++) { for (int m = 0; m < bmdata.Width; m++) { pp[0] = (byte)(colors[k * bmdata.Width + m].R); pp[1] = (byte)(colors[k * bmdata.Width + m].G); pp[2] = (byte)(colors[k * bmdata.Width + m].B); pp += 3; } pp += bmdata.Stride - bmdata.Width * 3; } } Bimage.UnlockBits(bmdata); Bitmap aBM2 = Bimage.Clone(new RectangleF(0, 0, Bimage.Width, Bimage.Height), PixelFormat.Format24bppRgb); ActGetBit(aBM2); //pbxImage.Width = 150; //pbxImage.Height = Convert.ToInt32(pbxImage.Width * scale); //Bitmap imgShow_scale = new Bitmap(aBM2, pbxImage.Width, pbxImage.Height); //pbxImage.Image = imgShow_scale; } } }
private void OnDataReceived(KObject data) { //处理速度 //On data Receive _syncContext.Post(new SendOrPostCallback(delegate { updateMsg("DataCount:" + count.ToString()); }), null); _syncContext.Post(new SendOrPostCallback(delegate { updateMsg("Data received" + timeStamp() + " DataCount:" + count.ToString()); if (count == 51) { updateMsg("Data Stream will end"); } count++; }), null); //get profile data _dataSource = (GoDataSet)data; for (UInt32 i = 0; i < _dataSource.Count; i++) { GoDataMsg dataObj = (GoDataMsg)_dataSource.Get(i); switch (dataObj.MessageType) { case GoDataMessageType.ResampledProfile: { GoResampledProfileMsg profileMsg = (GoResampledProfileMsg)dataObj; _dataContext.xResolution = (double)profileMsg.XResolution / 1000000; _dataContext.zResolution = (double)profileMsg.ZResolution / 1000000; _dataContext.xOffset = (double)profileMsg.XOffset / 1000; _dataContext.zOffset = (double)profileMsg.ZOffset / 1000; _profileShape.width = profileMsg.Width; _profileShape.size = profileMsg.Size; //generate csv file for point data save sb.Clear(); if (!File.Exists(filePath)) { sb.Append("Index,"); for (int k = 0; k < _profileShape.width; k++) { sb.Append(k.ToString() + ","); } File.AppendAllText(filePath, sb.ToString()); //updateMsg("Create file sucessfully"); sb.Clear(); } short[] points = new short[_profileShape.width]; ProfilePoint[] profileBuffer = new ProfilePoint[_profileShape.width]; IntPtr pointsPtr = profileMsg.Data; Marshal.Copy(pointsPtr, points, 0, points.Length); for (UInt32 arrayIndex = 0; arrayIndex < _profileShape.width; ++arrayIndex) { if (points[arrayIndex] != -32768) { profileBuffer[arrayIndex].x = Resolution2Value(_dataContext.xResolution, _dataContext.xOffset, arrayIndex); profileBuffer[arrayIndex].z = Resolution2Value(_dataContext.zResolution, _dataContext.zOffset, points[arrayIndex]); } else { profileBuffer[arrayIndex].x = Resolution2Value(_dataContext.xResolution, _dataContext.xOffset, arrayIndex); profileBuffer[arrayIndex].z = -32768; } //Get Value save to file sb.Append(index.ToString() + ","); index++; sb.Append("x:" + profileBuffer[arrayIndex].x.ToString() + "#" + "z:" + profileBuffer[arrayIndex].z.ToString() + ","); } sb.Append(Environment.NewLine); // write to file File.AppendAllText(filePath, sb.ToString()); } break; default: break; } } }
private void ResolveRawData(KObject kData) { GoDataSet dataSet = (GoDataSet)kData; ushort[] zValue = new ushort[0]; TopBottomSurface topBottomSurface = new TopBottomSurface(SurfaceType.TopBottom); for (UInt32 i = 0; i < dataSet.Count; i++) { GoDataMsg dataObj = (GoDataMsg)dataSet.Get(i); switch (dataObj.MessageType) { #region SurfaceMsg case GoDataMessageType.Surface: GocatorContext mContext = new GocatorContext(); GoUniformSurfaceMsg surfaceMsg = (GoUniformSurfaceMsg)dataObj; long width = surfaceMsg.Width; long height = surfaceMsg.Length; long bufferSize = width * height; mContext.XResolution = (double)surfaceMsg.XResolution / 1000000; mContext.ZResolution = (double)surfaceMsg.ZResolution / 1000000; mContext.XOffset = (double)surfaceMsg.XOffset / 1000; mContext.ZOffset = (double)surfaceMsg.ZOffset / 1000 - mContext.ZResolution * 32768; mContext.YResolution = (double)surfaceMsg.YResolution / 1000000; mContext.Width = (int)width; mContext.Height = (int)height; IntPtr bufferPointer = surfaceMsg.Data; short[] ranges = new short[bufferSize]; zValue = new ushort[bufferSize]; Marshal.Copy(bufferPointer, ranges, 0, ranges.Length); Parallel.For(0, bufferSize, (index) => { zValue[index] = (ushort)(ranges[index] + 32768); }); if (surfaceMsg.Source.Value == 0) { topBottomSurface.TopSurfaceData = zValue; mContextTop = mContext; } else if (surfaceMsg.Source.Value == 1) { topBottomSurface.BottomSurfaceData = zValue; mContextBottom = mContext; } break; #endregion case GoDataMessageType.SurfaceIntensity: GoSurfaceIntensityMsg goSurfaceIntensityMsg = (GoSurfaceIntensityMsg)dataObj; long widthIntensity = goSurfaceIntensityMsg.Width; long heightIntensity = goSurfaceIntensityMsg.Length; long bufferSizeIntensity = widthIntensity * heightIntensity; IntPtr bufferPointeri = goSurfaceIntensityMsg.Data; byte[] rangesIntensity = new byte[bufferSizeIntensity]; Marshal.Copy(bufferPointeri, rangesIntensity, 0, rangesIntensity.Length); if (goSurfaceIntensityMsg.Source.Value == 0) { topBottomSurface.TopSurfaceIntensityData = rangesIntensity; } else if (goSurfaceIntensityMsg.Source.Value == 1) { topBottomSurface.BottomSurfaceIntensityData = rangesIntensity; } break; } } mResult.Add(topBottomSurface); DeviceStatusEvent?.Invoke(this, $"Finished {100 * (mResult.Count) / BufferSize * 1.0} %"); }
static int Main(string[] args) { try { KApiLib.Construct(); GoSdkLib.Construct(); GoSystem system = new GoSystem(); GoSensor sensor; KIpAddress ipAddress = KIpAddress.Parse(Constants.SENSOR_IP); GoDataSet dataSet = new GoDataSet(); sensor = system.FindSensorByIpAddress(ipAddress); sensor.Connect(); system.EnableData(true); system.Start(); dataSet = system.ReceiveData(30000000); DataContext context = new DataContext(); for (UInt32 i = 0; i < dataSet.Count; i++) { GoDataMsg dataObj = (GoDataMsg)dataSet.Get(i); switch (dataObj.MessageType) { case GoDataMessageType.Stamp: { GoStampMsg stampMsg = (GoStampMsg)dataObj; for (UInt32 j = 0; j < stampMsg.Count; j++) { GoStamp stamp = stampMsg.Get(j); Console.WriteLine("Frame Index = {0}", stamp.FrameIndex); Console.WriteLine("Time Stamp = {0}", stamp.Timestamp); Console.WriteLine("Encoder Value = {0}", stamp.Encoder); } } break; case GoDataMessageType.UniformProfile: { GoResampledProfileMsg profileMsg = (GoResampledProfileMsg)dataObj; Console.WriteLine(" Resampled Profile Message batch count: {0}", profileMsg.Count); for (UInt32 k = 0; k < profileMsg.Count; ++k) { int validPointCount = 0; int profilePointCount = profileMsg.Width; Console.WriteLine(" Item[{0}]: Profile data ({1} points)", k, profileMsg.Width); context.xResolution = (double)profileMsg.XResolution / 1000000; context.zResolution = (double)profileMsg.ZResolution / 1000000; context.xOffset = (double)profileMsg.XOffset / 1000; context.zOffset = (double)profileMsg.ZOffset / 1000; short[] points = new short[profilePointCount]; ProfilePoint[] profileBuffer = new ProfilePoint[profilePointCount]; IntPtr pointsPtr = profileMsg.Data; Marshal.Copy(pointsPtr, points, 0, points.Length); for (UInt32 arrayIndex = 0; arrayIndex < profilePointCount; ++arrayIndex) { if (points[arrayIndex] != -32768) { profileBuffer[arrayIndex].x = context.xOffset + context.xResolution * arrayIndex; profileBuffer[arrayIndex].z = context.zOffset + context.zResolution * points[arrayIndex]; validPointCount++; } else { profileBuffer[arrayIndex].x = context.xOffset + context.xResolution * arrayIndex; profileBuffer[arrayIndex].z = -32768; } } Console.WriteLine("Received {0} Range Points", profilePointCount); Console.WriteLine("Valid Points {0}", validPointCount); } } break; case GoDataMessageType.ProfilePointCloud: { GoProfileMsg profileMsg = (GoProfileMsg)dataObj; Console.WriteLine(" Profile Message batch count: {0}", profileMsg.Count); for (UInt32 k = 0; k < profileMsg.Count; ++k) { int validPointCount = 0; long profilePointCount = profileMsg.Width; Console.WriteLine(" Item[{0}]: Profile data ({1} points)", i, profileMsg.Width); context.xResolution = profileMsg.XResolution / 1000000; context.zResolution = profileMsg.ZResolution / 1000000; context.xOffset = profileMsg.XOffset / 1000; context.zOffset = profileMsg.ZOffset / 1000; GoPoints[] points = new GoPoints[profilePointCount]; ProfilePoint[] profileBuffer = new ProfilePoint[profilePointCount]; int structSize = Marshal.SizeOf(typeof(GoPoints)); IntPtr pointsPtr = profileMsg.Data; for (UInt32 array = 0; array < profilePointCount; ++array) { IntPtr incPtr = new IntPtr(pointsPtr.ToInt64() + array * structSize); points[array] = (GoPoints)Marshal.PtrToStructure(incPtr, typeof(GoPoints)); } for (UInt32 arrayIndex = 0; arrayIndex < profilePointCount; ++arrayIndex) { if (points[arrayIndex].x != -32768) { profileBuffer[arrayIndex].x = context.xOffset + context.xResolution * points[arrayIndex].x; profileBuffer[arrayIndex].z = context.xOffset + context.xResolution * points[arrayIndex].y; validPointCount++; } else { profileBuffer[arrayIndex].x = -32768; profileBuffer[arrayIndex].z = -32768; } } Console.WriteLine("Received {0} Range Points", profilePointCount); Console.WriteLine("Valid Points {0}", validPointCount); } } break; case GoDataMessageType.ProfileIntensity: { GoProfileIntensityMsg profileMsg = (GoProfileIntensityMsg)dataObj; Console.WriteLine(" Profile Intensity Message batch count: {0}", profileMsg.Count); for (UInt32 k = 0; k < profileMsg.Count; ++k) { byte[] intensity = new byte[profileMsg.Width]; IntPtr intensityPtr = profileMsg.Data; Marshal.Copy(intensityPtr, intensity, 0, intensity.Length); } } break; } } system.Stop(); } catch (KException ex) { Console.WriteLine("Error: {0}", ex.Status); } // wait for ESC key Console.WriteLine("\nPress ENTER to continue"); do { System.Threading.Thread.Sleep(100); } while (Console.Read() != (int)ConsoleKey.Enter); return(1); }
static int Main(string[] args) { try { KApiLib.Construct(); GoSdkLib.Construct(); GoSystem system = new GoSystem(); GoSensor sensor; KIpAddress ipAddress = KIpAddress.Parse(Constants.SENSOR_IP); GoDataSet dataSet = new GoDataSet(); sensor = system.FindSensorByIpAddress(ipAddress); sensor.Connect(); system.EnableData(true); system.Start(); // refer to SetupMeasurement.cs for setting up of the measurement tools dataSet = system.ReceiveData(30000000); for (UInt32 i = 0; i < dataSet.Count; i++) { GoDataMsg dataObj = (GoDataMsg)dataSet.Get(i); switch (dataObj.MessageType) { case GoDataMessageType.Stamp: { GoStampMsg stampMsg = (GoStampMsg)dataObj; for (UInt32 j = 0; j < stampMsg.Count; j++) { GoStamp stamp = stampMsg.Get(j); Console.WriteLine("Frame Index = {0}", stamp.FrameIndex); Console.WriteLine("Time Stamp = {0}", stamp.Timestamp); Console.WriteLine("Encoder Value = {0}", stamp.Encoder); } } break; case GoDataMessageType.Measurement: { GoMeasurementMsg measurementMsg = (GoMeasurementMsg)dataObj; for (UInt32 k = 0; k < measurementMsg.Count; ++k) { GoMeasurementData measurementData = measurementMsg.Get(k); Console.WriteLine("ID: {0}", measurementMsg.Id); Console.WriteLine("Value: {0}", measurementData.Value); Console.WriteLine("Decision: {0}", measurementData.Decision); } } break; } } system.Stop(); } catch (KException ex) { Console.WriteLine("Error: {0}", ex.Status); } // wait for ESC key Console.WriteLine("\nPress ENTER to continue"); do { System.Threading.Thread.Sleep(100); } while (Console.Read() != (int)ConsoleKey.Enter); return(1); }
public void ReceiveData(KObject data) { // 데이터 들어오면 카메라 시스템 정지 var pDocument = DeepSight.CDocument.GetDocument; //if( CDefine.enumTrigger.TRIGGER_OFF == pDocument.GetTrigger( ( int )CDefine.enumCamera.CAMERA_1 ) ) return; m_objCameraSystem.Stop(); CImageData3D objImageData3D = new CImageData3D(); // 일단 해상도를 임의로 지정하자 GoDataSet dataSet = ( GoDataSet )data; pDocument.SetUpdateLog(CDefine.enumLogType.LOG_PROCESS, "GOCATOR RECEIVE DATA : " + dataSet.Count.ToString()); for (UInt32 i = 0; i < dataSet.Count; i++) { GoDataMsg dataObj = ( GoDataMsg )dataSet.Get(i); switch (dataObj.MessageType) { case GoDataMessageType.Stamp: { GoStampMsg stampMsg = ( GoStampMsg )dataObj; for (UInt32 j = 0; j < stampMsg.Count; j++) { GoStamp stamp = stampMsg.Get(j); Console.WriteLine("Frame Index = {0}", stamp.FrameIndex); Console.WriteLine("Time Stamp = {0}", stamp.Timestamp); Console.WriteLine("Encoder Value = {0}", stamp.Encoder); } } break; case GoDataMessageType.UniformSurface: { #pragma warning disable CS0618 // 형식 또는 멤버는 사용되지 않습니다. GoSurfaceMsg surfaceMsg = ( GoSurfaceMsg )dataObj; #pragma warning restore CS0618 // 형식 또는 멤버는 사용되지 않습니다. objImageData3D.iOffsetZ = surfaceMsg.ZOffset; objImageData3D.iResolutionX = surfaceMsg.XResolution; // * DEF_3D_DATA_MULTIPLE; objImageData3D.iResolutionY = surfaceMsg.YResolution; objImageData3D.iResolutionZ = surfaceMsg.ZResolution; int lWidth = objImageData3D.iWidth = ( int )surfaceMsg.Width; int lHeight = objImageData3D.iHeight = ( int )surfaceMsg.Length; int bufferSize = lWidth * lHeight; IntPtr bufferPointer = surfaceMsg.Data; Console.WriteLine("Whole Part Height Map received:"); Console.WriteLine(" Buffer width: {0}", lWidth); Console.WriteLine(" Buffer Height: {0}", lHeight); objImageData3D.objHeightDataOrigin = new short[bufferSize]; Marshal.Copy(bufferPointer, objImageData3D.objHeightDataOrigin, 0, objImageData3D.objHeightDataOrigin.Length); // SetDataToCsv("d:\\test.csv", objImageData3D.objHeightDataOrigin); } break; case GoDataMessageType.SurfaceIntensity: { GoSurfaceIntensityMsg surfaceMsg = ( GoSurfaceIntensityMsg )dataObj; long width = surfaceMsg.Width; long length = surfaceMsg.Length; long bufferSize = width * length; IntPtr bufferPointeri = surfaceMsg.Data; Console.WriteLine("Whole Part Intensity Image received:"); Console.WriteLine(" Buffer width: {0}", width); Console.WriteLine(" Buffer length: {0}", length); objImageData3D.objIntensityDataOrigin = new byte[bufferSize]; Marshal.Copy(bufferPointeri, objImageData3D.objIntensityDataOrigin, 0, objImageData3D.objIntensityDataOrigin.Length); // objImageData3D.objBitmapIntensity = CopyDataToBitmap( ( int )length, ( int )width, objImageData3D.objIntensityDataOrigin ); // objImageData3D.objBitmapIntensity.Save( "d:\\Intensity.bmp" ); } break; default: break; } } if (null != m_objCallback) { CImageData objData = new CImageData(); objData.bGrabComplete = true; objData.bitmapImage = objImageData3D.objBitmapIntensity; objData.objCameraData3D = objImageData3D; m_objCallback(objData); } iGCCollectCount++; if (1 < iGCCollectCount) { GC.Collect(); iGCCollectCount = 0; } }
void ProfileProcessingFunc(KObject data, int dataQuene) { GoDataSet _dataSource = new GoDataSet(); _dataSource = (GoDataSet)data; DataContext _dataContext = new DataContext(); ProfileShape _profileShape = new ProfileShape(); StringBuilder sb = new StringBuilder(); StringBuilder rawSb = new StringBuilder(); for (UInt32 i = 0; i < _dataSource.Count; i++) { GoDataMsg dataObj = (GoDataMsg)_dataSource.Get(i); switch (dataObj.MessageType) { case GoDataMessageType.ResampledProfile: { GoResampledProfileMsg profileMsg = (GoResampledProfileMsg)dataObj; _dataContext.xResolution = (double)profileMsg.XResolution / 1000000; _dataContext.zResolution = (double)profileMsg.ZResolution / 1000000; _dataContext.xOffset = (double)profileMsg.XOffset / 1000; _dataContext.zOffset = (double)profileMsg.ZOffset / 1000; _profileShape.width = profileMsg.Width; _profileShape.size = profileMsg.Size; //generate csv file for point data save short[] points = new short[_profileShape.width]; ProfilePoint[] profileBuffer = new ProfilePoint[_profileShape.width]; IntPtr pointsPtr = profileMsg.Data; Marshal.Copy(pointsPtr, points, 0, points.Length); for (UInt32 arrayIndex = 0; arrayIndex < _profileShape.width; ++arrayIndex) { if (points[arrayIndex] != -32768) { profileBuffer[arrayIndex].x = _dataContext.xOffset + _dataContext.xResolution * arrayIndex; profileBuffer[arrayIndex].z = _dataContext.zOffset + _dataContext.zResolution * points[arrayIndex]; } else { profileBuffer[arrayIndex].x = _dataContext.xOffset + _dataContext.xResolution * arrayIndex; profileBuffer[arrayIndex].z = -32768; } zValueList.Add(profileBuffer[arrayIndex].z); } sb.Clear(); if (!File.Exists(filePath)) { sb.Append("Index,"); for (int k = 0; k < profileBuffer.Length; k++) { sb.Append(profileBuffer[k].x.ToString() + ","); } sb.Append(Environment.NewLine); File.AppendAllText(filePath, sb.ToString()); //updateMsg("Create file sucessfully"); sb.Clear(); } sb.Append(dataQuene.ToString() + ","); //Get Value save to file for (int k = 0; k < profileBuffer.Length; k++) { sb.Append(profileBuffer[k].z.ToString() + ","); } sb.Append(Environment.NewLine); // write to file File.AppendAllText(filePath, sb.ToString()); sb.Clear(); } break; default: break; } } }
public static void takephoto(string name2) { try { KApiLib.Construct(); GoSdkLib.Construct(); GoSystem system = new GoSystem(); GoSensor sensor; KIpAddress ipAddress = KIpAddress.Parse(Constants.SENSOR_IP); GoDataSet dataSet = new GoDataSet(); sensor = system.FindSensorByIpAddress(ipAddress); sensor.Connect(); GoSetup setup = sensor.Setup; setup.ScanMode = GoMode.Surface; system.EnableData(true); system.Start(); Console.WriteLine("Waiting for Whole Part Data..."); dataSet = system.ReceiveData(30000000); //DataContext context = new DataContext(); for (UInt32 i = 0; i < dataSet.Count; i++) { GoDataMsg dataObj = (GoDataMsg)dataSet.Get(i); switch (dataObj.MessageType) { case GoDataMessageType.Stamp: { GoStampMsg stampMsg = (GoStampMsg)dataObj; for (UInt32 j = 0; j < stampMsg.Count; j++) { GoStamp stamp = stampMsg.Get(j); Console.WriteLine("Frame Index = {0}", stamp.FrameIndex); Console.WriteLine("Time Stamp = {0}", stamp.Timestamp); Console.WriteLine("Encoder Value = {0}", stamp.Encoder); } } break; case GoDataMessageType.UniformSurface: { GoUniformSurfaceMsg goSurfaceMsg = (GoUniformSurfaceMsg)dataObj; // 定义变量gosurfacemsg,类型gosurfacemsg long length = goSurfaceMsg.Length; //surface长度 long width = goSurfaceMsg.Width; //surface宽度 long bufferSize = width * length; double XResolution = goSurfaceMsg.XResolution / 1000000.0; //surface 数据X方向分辨率为nm,转为mm double YResolution = goSurfaceMsg.YResolution / 1000000.0; //surface 数据Y方向分辨率为nm,转为mm double ZResolution = goSurfaceMsg.ZResolution / 1000000.0; //surface 数据Z方向分辨率为nm,转为mm double XOffset = goSurfaceMsg.XOffset / 1000.0; //接收到surface数据X方向补偿单位um,转mm double YOffset = goSurfaceMsg.YOffset / 1000.0; //接收到surface数据Y方向补偿单位um,转mm double ZOffset = goSurfaceMsg.ZOffset / 1000.0; //接收到surface数据Z方向补偿单位um,转mm IntPtr bufferPointer = goSurfaceMsg.Data; int rowIdx, colIdx; SurfacePoints[] surfacePointCloud = new SurfacePoints[bufferSize]; short[] ranges = new short[bufferSize]; Marshal.Copy(bufferPointer, ranges, 0, ranges.Length); FileStream fs; string path = string.Format("D:\\Grasp\\Grasp\\EyeToHandData\\{0}.txt", name2); //if (!File.Exists(path)) //{ fs = new FileStream(path, FileMode.Create, FileAccess.Write); //else //{ // fs = new FileStream(path, FileMode.Append, FileAccess.Write); //} StreamWriter sr = new StreamWriter(fs); for (rowIdx = 0; rowIdx < length; rowIdx++) //row is in Y direction { for (colIdx = 0; colIdx < width; colIdx++) //col is in X direction { surfacePointCloud[rowIdx * width + colIdx].x = colIdx * XResolution + XOffset; //客户需要的点云数据X值 surfacePointCloud[rowIdx * width + colIdx].y = rowIdx * YResolution + YOffset; //客户需要的点云数据Y值 surfacePointCloud[rowIdx * width + colIdx].z = ranges[rowIdx * width + colIdx] * ZResolution + ZOffset; //客户需要的点云数据Z值 sr.WriteLine(surfacePointCloud[rowIdx * width + colIdx].x + "," + surfacePointCloud[rowIdx * width + colIdx].y + "," + surfacePointCloud[rowIdx * width + colIdx].z); //开始写入值 } } sr.Write("end"); //ushort[] ZValues = new ushort[ranges.Length]; //for (int k = 0; k < ranges.Length; k++) //{ // ZValues[k] = (ushort)(ranges[k] - short.MinValue); //} //for (UInt32 k = 0; k < bufferSize; k++) //{ // sr.WriteLine(surfacePointCloud[k].x.ToString() + "," + surfacePointCloud[k].y.ToString() + "," + surfacePointCloud[k].z.ToString());//开始写入值 //} sr.Close(); fs.Close(); } break; case GoDataMessageType.SurfaceIntensity: { GoSurfaceIntensityMsg surfaceMsg = (GoSurfaceIntensityMsg)dataObj; long width = surfaceMsg.Width; long height = surfaceMsg.Length; long bufferSize = width * height; IntPtr bufferPointeri = surfaceMsg.Data; Console.WriteLine("Whole Part Intensity Image received:"); Console.WriteLine(" Buffer width: {0}", width); Console.WriteLine(" Buffer height: {0}", height); byte[] ranges = new byte[bufferSize]; Marshal.Copy(bufferPointeri, ranges, 0, ranges.Length); } break; } } system.Stop(); } catch (KException ex) { Console.WriteLine("Error: {0}", ex.Status); } // wait for ESC key //Console.WriteLine("\nPress ENTER to continue"); //do //{ // System.Threading.Thread.Sleep(100); //} while (Console.Read() != (int)ConsoleKey.Enter); }