91 lines
3.1 KiB
C#
91 lines
3.1 KiB
C#
using Aurora.Api;
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using System;
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using System.Runtime.InteropServices;
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namespace VisionCommon {
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[Serializable]
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[StructLayout(LayoutKind.Sequential)]
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public struct PointData {
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public double X;
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public double Y;
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}
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public static class NativePattern {
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private const string FILE_NAME_VISION_DLL = "VisionCore.dll";
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private static Logger _Logger = new Logger("NativePattern");
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[DllImport(FILE_NAME_VISION_DLL)]
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extern private static PointData IntersectionPoint(
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double line1A, double line1B, double line1C,
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double line2A, double line2B, double line2C);
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[DllImport(FILE_NAME_VISION_DLL)]
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extern private static PointData VerticalIntersectionPoint(
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PointData line1Point,
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double line1A, double line1B, double line1C,
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double line2A, double line2B, double line2C);
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[DllImport(FILE_NAME_VISION_DLL)]
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extern private static double DistancePointToLine(
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PointData point,
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double lineA, double lineB, double lineC);
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/// <summary>
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/// 라인1,2 간에 교점 계산
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/// </summary>
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/// <param name="le1">라인1</param>
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/// <param name="le2">라인2</param>
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/// <returns>라인1,2 간에 교점</returns>
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public static T GetIntersectionPoint<T>(LineEquation le1, LineEquation le2) where T : DoublePoint {
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PointData pointData = IntersectionPoint(
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le1.A, le1.B, le1.C,
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le2.A, le2.B, le2.C);
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return (T)Activator.CreateInstance(typeof(T), pointData.X, pointData.Y);
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}
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/// <summary>
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/// 라인1을 지나는 점에서 수직인 라인과 라인2 간에 교점 계산
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/// </summary>
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/// <param name="le1Point">라인1을 지나는 점</param>
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/// <param name="le1">라인1</param>
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/// <param name="le2">라인2</param>
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/// <returns>라인1을 지나는 점에서 수직인 라인과 라인2 간에 교점</returns>
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public static ImagePoint GetVerticalIntersectionPoint(ImagePoint le1Point, LineEquation le1, LineEquation le2) {
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PointData le1PointData = new PointData() {
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X = le1Point.X,
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Y = le1Point.Y
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};
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PointData pointData = VerticalIntersectionPoint(
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le1PointData,
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le1.A, le1.B, le1.C,
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le2.A, le2.B, le2.C);
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return new ImagePoint(pointData.X, pointData.Y);
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}
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/// <summary>
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/// 점과 라인 간에 거리 계산
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/// </summary>
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/// <param name="point">점</param>
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/// <param name="le">라인</param>
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/// <returns>점과 라인 간에 거리</returns>
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public static double GetDistancePointToLine(ImagePoint point, LineEquation le) {
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PointData le1PointData = new PointData() {
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X = point.X,
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Y = point.Y
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};
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double distance = DistancePointToLine(
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le1PointData,
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le.A, le.B, le.C);
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return distance;
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}
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}
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}
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