448 lines
19 KiB
C#
448 lines
19 KiB
C#
using Aurora;
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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 Newtonsoft.Json;
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using System;
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using System.Collections.Generic;
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using System.IO;
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using System.Linq;
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using System.Reactive.Linq;
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namespace MilPattern {
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public class CamPatternAgent : PatternAgentBase {
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private eCamId _camId;
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public CamPatternAgent(
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eCamId camId) : base() {
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_camId = camId;
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_logger = new Logger($"PA{_camId}");
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LoadPatterns();
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}
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public override Dictionary<PatternInfo, IPatternFinder> GetPatterns() {
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return _patterns;
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}
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#region Main Patterns
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public override List<PatternInfo> GetMainPatterns(SubSysInfo subSysInfo, eFovId fovId) {
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FovRecipe fovRecipe = VisionRecipeManager.GetFovRecipe(subSysInfo.UnitId, subSysInfo.SubSysId, fovId);
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return GetMainPatterns(CamPatternIndex.GetPrefix(fovRecipe.CamRecipe.CamId));
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}
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public override List<PatternInfo> GetMainPatterns(FovInfo fovInfo) {
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FovRecipe fovRecipe = VisionRecipeManager.GetFovRecipe(fovInfo);
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return GetMainPatterns(CamPatternIndex.GetPrefix(fovRecipe.CamRecipe.CamId));
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}
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#endregion
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public override PatternInfo GetPatternInfo(FovInfo fovInfo, int patternId) {
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var fovRecipe = VisionRecipeManager.GetFovRecipe(fovInfo.UnitId, fovInfo.SubSysId, fovInfo.FovId);
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return GetPatternInfo(new CamPatternIndex(fovRecipe.CamRecipe.CamId, patternId));
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}
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public override string GetPatternInfoPath() {
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return VisionSettingManager.VisionSetting.RootDirPath;
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}
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/// <summary>
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/// 패턴 가져오기
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/// </summary>
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/// <returns>패턴</returns>
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public override int LoadPatterns() {
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if (!MilEnvironment.Instance.HasValidLicense()) {
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_logger.I("No MIL license");
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return E1.GENERIC;
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}
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if (E1.OK != ClearPatterns(_patterns)) {
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return E1.GENERIC;
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}
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if (E1.OK != LoadPatterns(_patterns)) {
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return E1.GENERIC;
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}
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return E1.OK;
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}
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public override int CopyPattern(PatternIndex sourcePatternIndex, PatternIndex dstPatternIndex) {
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// 1. Copy
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string curRecipePath = GetPatternInfoPath();
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string sourcePatternPath = Path.Combine(new string[] {
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curRecipePath,
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PatternConstants.DIR_NAME_PATTERN,
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sourcePatternIndex.GetSubPatternDirectoryPath()
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});
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string dstPatternPath = Path.Combine(new string[] {
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curRecipePath,
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PatternConstants.DIR_NAME_PATTERN,
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dstPatternIndex.GetSubPatternDirectoryPath()
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});
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// 2. Remove old dst pattern
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if (E1.OK != Remove(dstPatternIndex)) {
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_logger.FuncE($"Remove error");
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return E1.GENERIC;
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}
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// 3. Copy pattern files
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if (E1.OK != CopyPatternFiles(sourcePatternPath, dstPatternPath)) {
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_logger.FuncE($"CopyPatternFiles error");
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return E1.GENERIC;
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}
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// 4. Reload copied pattern files
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var patternInfoFilePath = Path.Combine(dstPatternPath, PatternConstants.FILE_NAME_PATTERN_INFO);
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if (!File.Exists(patternInfoFilePath)) {
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_logger.FuncE($"patternInfoFilePath does NOT exist : {patternInfoFilePath}");
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return E1.GENERIC;
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}
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var sourcePatternInfo = GetPatternInfo(sourcePatternIndex);
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var dstPatternInfo = LoadPatternInfoFromFile(patternInfoFilePath);
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dstPatternInfo.MilSystemId = sourcePatternInfo.MilSystemId;
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dstPatternInfo.PatternIndex = dstPatternIndex.Clone() as CamPatternIndex;
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return ReloadPattern(dstPatternInfo);
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}
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public override object GetTool(PatternInfo patternInfo) {
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throw new NotImplementedException(); // 미사용
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}
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#region Find for Sequence
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public override PatternResult FindPattern(
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PatternInfo patternInfo, object image, ICameraDisplay cameraDisplay, FixtureResult fixtureResult) {
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var findImage = (MIL_ID)image;
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var patternResult = new PatternResult();
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var pattern = _patterns[patternInfo];
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if (((PatternBase)pattern).IsDirty()) {
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((PatternBase)pattern).CleanDirty();
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pattern.Load();
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}
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ROI fixtureRoi = GetFixtureROI(patternInfo, fixtureResult);
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patternResult.FindRoi = fixtureRoi.Clone() as ROI;
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if (!patternInfo.IsActivated) {
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_logger.I($"{patternInfo} : NOT activated");
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patternResult = pattern.GetNotFoundPatternResult();
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}
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else {
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if (patternInfo.PreProcParam.Enabled()) {
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MIL_ID preProcImage = MIL.M_NULL;
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try {
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preProcImage = ImgPreProcessor.GetPreProcessedImage(findImage, patternInfo.PreProcParam);
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patternResult = Find(patternInfo, preProcImage, fixtureRoi);
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CopyImageToDisplay(cameraDisplay as IMilCameraDisplay, preProcImage);
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}
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catch (Exception e) {
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_logger.I($"{e.Message}");
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}
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finally {
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MilEnvironment.FreeImage(preProcImage);
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}
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}
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else {
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patternResult = Find(patternInfo, findImage, fixtureRoi);
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}
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}
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if (patternResult.Status == eFoundStatus.FoundOK) {
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foreach (var reuslt in patternResult.Results) {
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_logger.I($"{patternInfo} : {patternResult.Status} : {reuslt}");
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}
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}
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else {
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_logger.I($"{patternInfo} : {patternResult.Status}");
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}
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SetPatternParams(patternInfo, patternResult);
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if (patternResult.PatternType == ePatternType.LineFinder) {
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SetLineCenterPoint(patternResult, patternInfo, cameraDisplay);
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}
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return patternResult;
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}
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private void CopyImageToDisplay(IMilCameraDisplay milCameraDisplay, MIL_ID preProcImage) {
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var displayImage = milCameraDisplay.GetImage();
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if (MilEnvironment.ImageSizeEquals(preProcImage, displayImage)) {
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MilEnvironment.CopyImage(preProcImage, displayImage);
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}
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}
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#endregion
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#region TestFind for Pattern Registration
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public override PatternResult FindPattern(PatternInfo patternInfo, object image, ROI findRoi = null) {
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var findImage = (MIL_ID)image;
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var patternResult = new PatternResult() {
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PatternIndex = patternInfo.GetPatternIndex().Clone() as PatternIndex,
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};
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if (_patterns.ContainsKey(patternInfo)) {
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if (patternInfo.IsActivated) {
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var pattern = _patterns[patternInfo];
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if (findRoi == null) {
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patternResult = pattern.Find(findImage);
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}
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else {
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patternResult = pattern.Find(findImage, findRoi);
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}
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patternResult.FindRoi = (findRoi != null) ? findRoi : GetFindROI(patternInfo);
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}
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else {
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_logger.I($"Pattern is not activated.");
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}
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}
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else {
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_logger.I($"Pattern does not exist.");
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}
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SetPatternParams(patternInfo, patternResult);
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return patternResult;
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}
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public override PatternResult FindPatternBlock(PatternInfo patternInfo, object image, ROI findRoi = null) {
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var findImage = (MIL_ID)image;
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var patternResult = new PatternResult() {
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PatternIndex = patternInfo.GetPatternIndex().Clone() as PatternIndex,
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};
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if (_patterns.ContainsKey(patternInfo)) {
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if (patternInfo.IsActivated) {
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var pattern = _patterns[patternInfo];
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var patternBlock = pattern as IPatternBlock;
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var patternBlockResults = new List<PatternResult>();
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foreach (var patternId in patternBlock.GetPatternBlockIds()) {
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var curPatternIndex = patternInfo.GetPatternIndex().Clone() as PatternIndex;
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curPatternIndex.PatternId = patternId;
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var patterBlockPatternInfo = GetPatternInfo(curPatternIndex);
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var curPattern = GetPattern(patterBlockPatternInfo);
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PatternResult curPatternResult;
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if (findRoi == null) {
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curPatternResult = curPattern.Find(findImage);
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}
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else {
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curPatternResult = curPattern.Find(findImage, findRoi);
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}
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curPatternResult.FindRoi = (findRoi != null) ? findRoi : GetFindROI(patterBlockPatternInfo);
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patternBlockResults.Add(curPatternResult);
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}
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patternResult = patternBlock.Find(patternBlockResults);
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patternResult.FindRoi = (findRoi != null) ? findRoi : GetFindROI(patternInfo);
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}
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else {
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_logger.I($"Pattern is not activated.");
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}
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}
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else {
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_logger.I($"Pattern does not exist.");
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}
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SetPatternParams(patternInfo, patternResult);
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return patternResult;
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}
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#endregion
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public override void Draw(
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PatternInfo patternInfo, PatternResult patternResult, ICameraDisplay cameraDisplay, bool isFixturePattern = false) {
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if (_patterns.ContainsKey(patternInfo)) {
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var milCameraDisplay = cameraDisplay as IMilCameraDisplay;
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IPatternFinder pattern;
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if (patternResult.Status != eFoundStatus.NotFound &&
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patternResult.PatternIndex != null) {
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pattern = GetPattern(patternResult.PatternIndex);
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}
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else {
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pattern = _patterns[patternInfo];
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}
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if (PatternConstants.IsPatternBlock(patternInfo.PatternType)) {
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DrawPatternBlockResult(pattern, patternResult, milCameraDisplay, isFixturePattern);
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}
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else {
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DrawPatternResult(pattern, patternResult, milCameraDisplay, isFixturePattern);
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}
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}
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}
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private void DrawPatternResult(
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IPatternFinder pattern, PatternResult patternResult, IMilCameraDisplay milCameraDisplay, bool isFixturePattern) {
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DrawFindROI(patternResult, milCameraDisplay, isFixturePattern);
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pattern.Draw(patternResult, milCameraDisplay, isFixturePattern);
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}
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private void DrawPatternBlockResult(
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IPatternFinder pattern, PatternResult patternResult, IMilCameraDisplay milCameraDisplay, bool isFixturePattern) {
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foreach (var patternBlockResult in patternResult.Results) {
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PatternResult line1PatternResult = null;
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PatternResult line2PatternResult = null;
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if (patternBlockResult.GetType() == typeof(LineIntersectionResult)) {
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var intersectionResult = patternBlockResult as LineIntersectionResult;
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line1PatternResult = intersectionResult.Line1PatternResult;
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line2PatternResult = intersectionResult.Line2PatternResult;
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}
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else if (patternBlockResult.GetType() == typeof(CaliperResult)) {
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var caliperResult = patternBlockResult as CaliperResult;
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line1PatternResult = caliperResult.PatternResultFirst;
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line2PatternResult = caliperResult.PatternResultSecond;
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}
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DrawFindROI(line1PatternResult, milCameraDisplay, isFixturePattern);
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DrawFindROI(line2PatternResult, milCameraDisplay, isFixturePattern);
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pattern.Draw(patternResult, milCameraDisplay, isFixturePattern);
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}
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}
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private void DrawFindROI(
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PatternResult patternResult, IMilCameraDisplay milCameraDisplay, bool isFixturePattern) {
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MIL_INT color = MIL.M_NULL;
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if (patternResult == null) {
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return;
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}
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if (patternResult.PatternType == ePatternType.Brightness && patternResult.Status == eFoundStatus.FoundOK) {
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color = ColorConverter.ConvertColor(eColor.Magenta);
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}
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else if (patternResult.PatternType == ePatternType.MultiLineFinder) {
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foreach (LineFinderResult lineFinderResult in patternResult.Results) {
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color = GraphicColors.GetFindRoiColor(lineFinderResult.Status, isFixturePattern);
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milCameraDisplay.AddPatternResultFindRoi(color, lineFinderResult.FindRoi);
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}
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return;
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}
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else {
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color = GraphicColors.GetFindRoiColor(patternResult.Status, isFixturePattern);
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}
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milCameraDisplay.AddPatternResultFindRoi(color, patternResult.FindRoi);
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}
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public override IPatternFinder CreatePattern(PatternInfo patternInfo) {
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switch (patternInfo.PatternType) {
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case ePatternType.ImageModelFinder:
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return new ImageModelFinder(patternInfo);
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case ePatternType.ShapeModelFinder:
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return new ShapeModelFinder(patternInfo);
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case ePatternType.PatternMatching:
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return new PatternMatching(patternInfo);
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case ePatternType.LineFinder:
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return new LineFinder(patternInfo);
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case ePatternType.MultiLineFinder:
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return new MultiLineFinder(patternInfo);
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case ePatternType.Caliper:
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return new Caliper(patternInfo);
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case ePatternType.EdgeFinder:
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return new EdgeFinder(patternInfo);
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case ePatternType.Blob:
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return new Blob(patternInfo);
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case ePatternType.BarCode:
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return new BarCodeReader(patternInfo);
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case ePatternType.Brightness:
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return new Brightness(patternInfo);
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case ePatternType.LineIntersection:
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return new LineIntersection(patternInfo);
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case ePatternType.LineWidth:
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return new LineWidth(patternInfo);
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case ePatternType.MachinePattern_A:
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case ePatternType.MachinePattern_B:
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case ePatternType.MachinePattern_C:
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return EquipAdapter.Instance.MachinePatternManager.GetPattern(patternInfo);
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}
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_logger.E($"No matching of PatternType : {patternInfo.PatternType}");
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return null;
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}
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public override List<PatternInfo> GetPatternInfoListFromFiles(string curRecipePath) {
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var patternInfoList = new List<PatternInfo>();
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for (int patternId = 0; patternId < PatternConstants.CAM_PATTERN_COUNT; patternId++) {
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var patternDirPath = Path.Combine(
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curRecipePath,
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PatternConstants.DIR_NAME_PATTERN,
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((int)_camId).ToString(),
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patternId.ToString());
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if (Directory.Exists(patternDirPath)) {
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var patternDirPathList = Directory.GetDirectories(patternDirPath, "??", SearchOption.TopDirectoryOnly);
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foreach (var subPatternDirPath in patternDirPathList) {
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if (Directory.Exists(subPatternDirPath)) {
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var patternInfoFilePath = Path.Combine(subPatternDirPath, PatternConstants.FILE_NAME_PATTERN_INFO);
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if (File.Exists(patternInfoFilePath)) {
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var patternInfo = LoadPatternInfoFromFile(patternInfoFilePath);
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patternInfo.MilSystemId = GetMilSystemId(_camId);
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patternInfo.PatternIndex = new CamPatternIndex(
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_camId,
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patternId,
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Convert.ToInt32(Path.GetFileName(subPatternDirPath)));
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patternInfoList.Add(patternInfo);
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}
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}
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}
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}
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}
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return patternInfoList;
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}
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#warning FOV & CAM Pattern 분리
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private CamPatternInfo LoadPatternInfoFromFile(string filePath) {
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return JsonConvert.DeserializeObject(
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File.ReadAllText(filePath), typeof(CamPatternInfo)) as CamPatternInfo;
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}
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public static int GetMilSystemId(eCamId camId) {
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var camConfig = VisionEnv.AuroraEnv.DeviceManager.GetDeviceConfig(camId.ToString()) as CamConfig;
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if (camConfig != null) {
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return (int)MilEnvironment.Instance.GetSystem(camConfig.CamConnConfig.BoardType, camConfig.CamConnConfig.BoardSlotPos);
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}
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else {
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return 0;
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}
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}
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private Dictionary<T, U> SortDictionary<T, U>(Dictionary<T, U> dict) {
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return dict.OrderBy(item => item.Key).ToDictionary(x => x.Key, x => x.Value);
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}
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public override int GetFindNumber(PatternInfo patternInfo) {
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if (patternInfo.PatternType == ePatternType.ImageModelFinder) {
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ImageModelFinder imageModelFinder = new ImageModelFinder(patternInfo);
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return (imageModelFinder.GetFindNumber());
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}
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else if (patternInfo.PatternType == ePatternType.ShapeModelFinder) {
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ShapeModelFinder shapeModelFinder = new ShapeModelFinder(patternInfo);
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return (shapeModelFinder.GetFindNumber());
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}
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else if (patternInfo.PatternType == ePatternType.PatternMatching) {
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PatternMatching patternMatching = new PatternMatching(patternInfo);
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return (patternMatching.GetFindNumber());
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}
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else {
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return 1;
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}
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}
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public override bool IsTrainPattern(PatternInfo patternInfo) {
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var pattern = GetPattern(patternInfo);
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if (pattern is IPatternTrain) {
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return true;
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}
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else {
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return false;
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}
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}
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}
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}
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