public ImageProcessingResults3D Process(List <HImage> images, List <PointSettingViewModel> pointSettings,
ISnackbarMessageQueue messageQueue)
{
var bottomImage = images[0];
var leftImage = images[1];
var rightImage = images[2];
HTuple imageWidth, imageHeight;
rightImage.GetImageSize(out imageWidth, out imageHeight);
HObject leftImageAligned, bottomImageAligned, rightImageAligned, contours, imageComposed, regionB;
HTuple rowB, colB, rowC, colC;
_halconScripts.get_location(leftImage, rightImage, bottomImage, out leftImageAligned, out rightImageAligned, out bottomImageAligned, out contours, out imageComposed, out regionB, _shapeModelHandleRight, out rowB, out colB, out rowC, out colC);
// Translate base
var lineB = new Line(colB.DArr[0], rowB.DArr[0], colB.DArr[1], rowB.DArr[1], true).SortLeftRight();
var lineC = new Line(colC.DArr[0], rowC.DArr[0], colC.DArr[1], rowC.DArr[1], true).SortUpDown().InvertDirection();
var xAxis = lineB.Translate(1.0 / _yCoeff * -6.788);
xAxis.IsVisible = true;
var yAxis = lineC.Translate(1.0 / _xCoeff * -19.605);
yAxis.IsVisible = true;
// Record debugging data
var recordings = new List <ICsvColumnElement>();
recordings.Add(new AngleItem()
{
Name = "BC",
Value = lineB.AngleWithLine(lineC)
});
recordings.Add(new AngleItem()
{
Name = "C",
Value = lineC.AngleWithLine(new Line(1, 0, 2, 0))
});
var imageB = bottomImageAligned.HobjectToHimage().ConvertImageType("real").ScaleImage(0.001, 0);
var imageL = leftImageAligned.HobjectToHimage().ConvertImageType("real").ScaleImage(0.001, 0);
var imageR = rightImageAligned.HobjectToHimage().ConvertImageType("real").ScaleImage(0.001, 0);
imageB.GetImageSize(out imageWidth, out imageHeight);
imageL.GetImageSize(out imageWidth, out imageHeight);
imageR.GetImageSize(out imageWidth, out imageHeight);
var visualBR = VisualizeAlignment(imageR, imageB);
var visualLR = VisualizeAlignment(imageR, imageL);
var pointLocator = new PointLocator(xAxis, yAxis, _xCoeff, -_yCoeff);
var pointMarkers = pointLocator.LocatePoints(pointSettings, new List <HImage>()
{
imageB, imageL, imageR
});
var output = new ImageProcessingResults3D()
{
Images = new List <HImage>()
{
imageB, imageL, imageR, visualBR, visualLR
},
PointMarkers = pointMarkers,
RecordingElements = recordings,
ChangeOfBaseInv = MathUtils.GetChangeOfBaseInv(xAxis, yAxis, 1 / _xCoeff, 1 / _yCoeff),
Edges = regionB
};
output.AddLineRegion(contours);
return(output);
}
