231 lines
9.3 KiB
C#
231 lines
9.3 KiB
C#
using Aurora.Api;
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using MilCommon;
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using VisionCommon;
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using Hermes;
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using Matrox.MatroxImagingLibrary;
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using System;
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using System.Collections.Generic;
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using System.Text;
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using Aurora.Api.DataType;
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namespace MilPattern {
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public enum eMilCodeType {
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DataMatrix = MIL.M_DATAMATRIX,
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QRCode = MIL.M_QRCODE
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}
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public enum eMilThresholdMode {
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Adaptive = MIL.M_ADAPTIVE,
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GlobalSeg = MIL.M_GLOBAL_SEGMENTATION,
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GlobalWithLocalReSeg = MIL.M_GLOBAL_WITH_LOCAL_RESEGMENTATION,
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}
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public class CodeRunParam : IRunParam, ICloneable {
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public eMilCodeType CodeType { get; set; } = eMilCodeType.DataMatrix;
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public eMilSpeed Speed { get; set; } = eMilSpeed.Default;
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public eMilThresholdMode ThresholdMode { get; set; } = eMilThresholdMode.Adaptive;
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public bool AutoThreshold { get; set; } = true;
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public int Threshold { get; set; } = 10;
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public BarCodeParamExt BarCodeParamExt { get; set; } = new BarCodeParamExt();
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public bool IsValidFindRoi(ImageSize imageSize) {
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return (0 < BarCodeParamExt.FindROI.Width && BarCodeParamExt.FindROI.Width < imageSize.Width) &&
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(0 < BarCodeParamExt.FindROI.Height && BarCodeParamExt.FindROI.Height < imageSize.Height);
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}
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public ROI GetFindRoi() {
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return BarCodeParamExt.FindROI.Clone() as ROI;
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}
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public void SetFindROI(ROI findRoi) {
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BarCodeParamExt.FindROI = findRoi;
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}
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public object Clone() {
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return new CodeRunParam() {
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CodeType = CodeType,
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Speed = Speed,
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ThresholdMode = ThresholdMode,
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AutoThreshold = AutoThreshold,
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Threshold = Threshold,
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BarCodeParamExt = BarCodeParamExt.Clone() as BarCodeParamExt
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};
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}
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}
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internal static class MilCode {
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private static Logger _logger = new Logger(typeof(MilCode).Name);
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public static MIL_ID CreateContext(MIL_ID milSystem) {
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MIL_ID contextId = MIL.M_NULL;
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MIL.McodeAlloc(milSystem, MIL.M_DEFAULT, MIL.M_DEFAULT, ref contextId);
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return contextId;
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}
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public static MIL_ID LoadContext(MIL_ID milSystem, string filePath) {
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MIL_ID contextId = MIL.M_NULL;
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MIL.McodeRestore(filePath, milSystem, MIL.M_DEFAULT, ref contextId);
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return contextId;
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}
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public static int SaveContext(MIL_ID contextId, string filePath) {
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if (contextId != MIL.M_NULL && filePath != null) {
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MIL.McodeSave(filePath, contextId, MIL.M_DEFAULT);
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return E1.OK;
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}
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return E1.GENERIC;
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}
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public static void FreeContext(MIL_ID contextId) {
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if (contextId != MIL.M_NULL) {
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MIL.McodeFree(contextId);
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}
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}
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public static MIL_ID CreateResultContext(MIL_ID contextId) {
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var milSystem = GetSystemOfContext(contextId);
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return MIL.McodeAllocResult(milSystem, MIL.M_DEFAULT, MIL.M_NULL);
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}
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private static MIL_ID GetSystemOfContext(MIL_ID contextId) {
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return (MIL_ID)MIL.McodeInquire(contextId, MIL.M_OWNER_SYSTEM, MIL.M_NULL);
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}
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public static CodeRunParam GetRunParam(MIL_ID contextId) {
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var codeRunParam = new CodeRunParam();
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if (HasModel(contextId)) {
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double codeType = MIL.McodeInquire(contextId, MIL.M_CODE_TYPE, MIL.M_NULL);
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if (codeType != MIL.M_DEFAULT) {
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codeRunParam.CodeType = (eMilCodeType)codeType;
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}
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double thresholdMode = MIL.McodeInquire(contextId, MIL.M_THRESHOLD_MODE, MIL.M_NULL);
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if (thresholdMode != MIL.M_DEFAULT) {
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codeRunParam.ThresholdMode = (eMilThresholdMode)thresholdMode;
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}
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double threshold = MIL.McodeInquire(contextId, MIL.M_THRESHOLD_VALUE, MIL.M_NULL);
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codeRunParam.AutoThreshold = (threshold == MIL.M_AUTO_COMPUTE);
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codeRunParam.Threshold = (int)threshold;
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codeRunParam.Speed =
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(eMilSpeed)Convert.ToInt32(MIL.McodeInquire(contextId, MIL.M_SPEED, MIL.M_NULL));
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}
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return codeRunParam;
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}
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public static int SetRunParam(MIL_ID contextId, IRunParam runParam) {
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if (runParam is CodeRunParam) {
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var param = runParam as CodeRunParam;
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MIL.McodeModel(contextId, MIL.M_ADD, (long)param.CodeType, MIL.M_NULL, MIL.M_DEFAULT, MIL.M_NULL);
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MIL.McodeControl(contextId, MIL.M_INITIALIZATION_MODE, MIL.M_IMPROVED_RECOGNITION);
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MIL.McodeControl(contextId, MIL.M_THRESHOLD_MODE, (double)param.ThresholdMode);
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MIL.McodeControl(contextId, MIL.M_SPEED, (double)param.Speed);
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if (param.AutoThreshold) {
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MIL.McodeControl(contextId, MIL.M_THRESHOLD_VALUE, MIL.M_AUTO_COMPUTE);
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}
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else {
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MIL.McodeControl(contextId, MIL.M_THRESHOLD_VALUE, param.Threshold);
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}
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return E1.OK;
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}
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return E1.GENERIC;
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}
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public static bool HasModel(MIL_ID contextId) {
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return MIL.McodeInquire(contextId, MIL.M_NUMBER_OF_CODE_MODELS, MIL.M_NULL) > 0;
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}
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public static PatternResult Find(MIL_ID contextId, MIL_ID resultContextId, MIL_ID image) {
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MIL.MappTimer(MIL.M_DEFAULT, MIL.M_TIMER_RESET + MIL.M_SYNCHRONOUS, MIL.M_NULL);
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MIL.McodeRead(contextId, image, resultContextId);
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double tactTime = 0;
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MIL.MappTimer(MIL.M_DEFAULT, MIL.M_TIMER_READ + MIL.M_SYNCHRONOUS, ref tactTime);
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var finderResult = ExtractResults(resultContextId, MilEnvironment.GetImageCenter(image));
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finderResult.TactTimeInMilliSec = MathUtil.ConvertUnitSecToMilli(tactTime);
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return finderResult;
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}
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private static PatternResult ExtractResults(MIL_ID contextResult, ImagePoint imageCenter) {
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List<CodeResult> results = new List<CodeResult>();
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MIL_INT resultStatus = 0;
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MIL.McodeGetResult(contextResult, MIL.M_GENERAL, MIL.M_GENERAL, MIL.M_STATUS + MIL.M_TYPE_MIL_INT, ref resultStatus);
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if (resultStatus == MIL.M_STATUS_READ_OK) {
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int STRING_LENGTH_MAX = 64;
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StringBuilder codeString = new StringBuilder(STRING_LENGTH_MAX);
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MIL.McodeGetResult(contextResult, 0, MIL.M_GENERAL, MIL.M_STRING, codeString);
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double posX = 0, posY = 0;
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double score = 0;
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double angleDeg = 0;
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MIL.McodeGetResult(contextResult, 0, MIL.M_GENERAL, MIL.M_POSITION_X, ref posX);
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MIL.McodeGetResult(contextResult, 0, MIL.M_GENERAL, MIL.M_POSITION_Y, ref posY);
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MIL.McodeGetResult(contextResult, 0, MIL.M_GENERAL, MIL.M_SCORE, ref score);
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MIL.McodeGetResult(contextResult, 0, MIL.M_GENERAL, MIL.M_ANGLE, ref angleDeg); // Warning : Counter Clockwise
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results.Add(new CodeResult(
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position: new ImagePoint(posX, posY),
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offset: (new ImagePoint(posX, posY) - imageCenter) as ImagePoint,
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angle: Angle.NormalizeAngle(Angle.CreateWithDegree(angleDeg)),
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code: codeString.ToString()));
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}
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return new PatternResult() {
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Status = (results.Count > 0) ? eFoundStatus.FoundOK : eFoundStatus.NotFound,
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Results = results
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};
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}
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public static PatternResult GetNotFoundPatternResult() {
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return new PatternResult() {
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Status = eFoundStatus.NotFound,
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Results = new List<CodeResult>()
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};
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}
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public static void Draw(PatternResult patternResult, IMilCameraDisplay milCameraDisplay) {
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MIL_ID staticGraphicList = 0;
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MIL.MdispInquire(milCameraDisplay.GetMilDisplayId(), MIL.M_ASSOCIATED_GRAPHIC_LIST_ID, ref staticGraphicList);
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if (patternResult.Status == eFoundStatus.FoundOK) {
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var results = patternResult.Results as List<CodeResult>;
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var crosses = new List<Cross>();
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foreach (var result in results) {
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var color = GraphicColors.PatternFoundOK;
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var cross = new Cross(result.ImagePosition.Clone() as ImagePoint, 50);
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crosses.Add(cross);
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milCameraDisplay.SetPatternTracking(cross);
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milCameraDisplay.AddCross(cross, color);
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var msgs = new List<string>();
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msgs.Add(string.Format("X : {0:0.00}", result.ImagePosition.X));
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msgs.Add(string.Format("Y : {0:0.00}", result.ImagePosition.Y));
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msgs.Add(string.Format("Angle : {0:0.00}", result.Angle.Degree));
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msgs.Add(string.Format("Code : {0}", result.Code));
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milCameraDisplay.AddTextList(
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GraphicColors.PatternFoundOK, new ImagePoint(result.ImagePosition.X, result.ImagePosition.Y), msgs);
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}
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milCameraDisplay.DrawPatternTrackings(crosses);
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}
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}
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}
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}
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