#include "StdAfx.h"
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#include "AlignFinder_Corner.h"
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#include "CHImageControls/CHImageProcess.h"
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#include "CHImageControls/CHDataFitting.h"
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CAlignFinder_Corner::CAlignFinder_Corner(int nIndex) : CAlignFinder(nIndex)
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{
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}
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CAlignFinder_Corner::~CAlignFinder_Corner(void)
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{
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}
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SAlignFindResult CAlignFinder_Corner::FindAlign(CCHImageData *pImageData, const SAlignFindParam& findParam, CCHImageData *pTempImage)
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{
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m_pTempImage = pTempImage;
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m_findParam = findParam;
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return FindAlign(pImageData, pTempImage);
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}
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SAlignFindResult CAlignFinder_Corner::FindAlign(CCHImageData *pImageData, CCHImageData *pTempImage)
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{
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m_pTempImage = pTempImage;
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if (pImageData==NULL) return SAlignFindResult();
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if (pImageData->GetImageExist()==FALSE) return SAlignFindResult();
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if (pImageData->GetChannels()!=1) return SAlignFindResult();
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return FindAlign((BYTE*)pImageData->GetImageBuffer(), pImageData->GetWidth(), pImageData->GetHeight());
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}
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SAlignFindResult CAlignFinder_Corner::FindAlign(BYTE* pImage, int nWidth, int nHeight, const SAlignFindParam& findParam)
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{
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m_pTempImage = NULL;
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m_findParam = findParam;
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return FindAlign(pImage, nWidth, nHeight);
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}
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SAlignFindResult CAlignFinder_Corner::FindAlign(BYTE* pImage, int nWidth, int nHeight)
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{
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SAlignFindResult findResult;
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if (pImage==NULL) return findResult;
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ResetImages();
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findResult.nResultCode = 0;
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// step1. Áß°£°á°ú À̹ÌÁö »ý¼º
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if (m_SourceImage.CreateImage(nWidth, nHeight, 8, 1)==FALSE) return findResult;
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memcpy(m_SourceImage.GetImageBuffer(), pImage, sizeof(BYTE)*nWidth*nHeight);
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// CString str = _T("");
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//
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// str.Format(_T("%d"), m_nIndex);
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// AfxMessageBox(str);
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// // step3. matching
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// TRACE(_T("[A2E]CAlignFinder::FindAlign FindAlignMatching\n"));
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// if (FindAlignMatching(findResult)==1)
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// {
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// return findResult;
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// }
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// step2. edge find
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if (FindAlignCorner(findResult)==1)
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{
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// draw result
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m_ResultImage.CopyImageFrom(&m_SourceImage);
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int nBoxWidth = 30;
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CPoint pt1((int)findResult.dPosX, 0);
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CPoint pt2((int)findResult.dPosX, m_ResultImage.GetHeight());
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m_ResultImage.DrawLine(pt1, pt2, RGB(0,255,0), 2);
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pt1 = CPoint(0, (int)findResult.dPosY);
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pt2 = CPoint(m_ResultImage.GetWidth(), (int)findResult.dPosY);
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m_ResultImage.DrawLine(pt1, pt2, RGB(0,255,0), 2);
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return findResult;
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}
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return findResult;
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}
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int CAlignFinder_Corner::FindAlignCorner(SAlignFindResult& findResult)
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{
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findResult.nResultProcess = AlignProcess_Edge;
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// image check
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if (m_SourceImage.GetImageExist()==FALSE)
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{
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findResult.nResultCode = AlignEdge_None;
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return 0;
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}
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// sobel kernel size
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int nSobelKernelSize = (m_findParam.nCorner_SobelKernelSize >= 4) ? 5: 3;
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// MAKE EDGE IMAGE
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if (CCHImageProcess::ImageSobel(&m_SourceImage, &m_EdgeImage, 1, 1, nSobelKernelSize)!=1)
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{
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findResult.nResultCode = AlignEdge_BinaryFail;
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return -1;
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}
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// step2. sobel image
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CCHImageData xImage, yImage;
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if (CCHImageProcess::ImageSobel(&m_SourceImage, &xImage, &yImage, nSobelKernelSize)!=1)
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{
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findResult.nResultCode = AlignEdge_EdgeFail;
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return -1;
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}
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CString strXImage = _T("");
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CString strYImage = _T("");
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strXImage.Format(_T("c:\\temp\\x_edge_image_%d.bmp"), m_nIndex);
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strYImage.Format(_T("c:\\temp\\y_edge_image_%d.bmp"), m_nIndex);
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xImage.SaveImage(strXImage);
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yImage.SaveImage(strYImage);
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// step3. x projection
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VectorDouble vecX1, vecX2;
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if (ProjectionXDirection(&xImage, vecX1, vecX2, m_findParam.nCorner_EdgeKernelSize)!=1)
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{
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findResult.nResultCode = AlignEdge_LowScore;
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return -2;
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}
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strXImage.Format(_T("c:\\temp\\x_array_data_%d.csv"), m_nIndex);
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PrintArrayValue(strXImage, vecX2);
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// step3. y projection
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VectorDouble vecY1, vecY2;
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if (ProjectionYDirection(&yImage, vecY1, vecY2, m_findParam.nCorner_EdgeKernelSize)!=1)
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{
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findResult.nResultCode = AlignEdge_LowScore;
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return -3;
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}
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strYImage.Format(_T("c:\\temp\\y_array_data_%d.csv"), m_nIndex);
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PrintArrayValue(strYImage, vecY2);
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// step4. find cross point
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if (CalculateCrossPoint(m_findParam.nCorner_DirType, vecX2, vecY2, m_findParam.nCorner_EdgeThreshold, m_findParam.nCorner_IgnorePixel, findResult)!=1)
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{
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findResult.nResultCode = AlignEdge_EdgeFail;
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return -4;
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}
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findResult.nResultCode = AlignEdge_Success;
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return 1;
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}
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int CAlignFinder_Corner::ProjectionXDirection(CCHImageData *pImageData, VectorDouble& vecArray, VectorDouble& vecResult, int nKernelSize)
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{
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if (pImageData==NULL) return 0;
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if (pImageData->GetImageExist()==FALSE) return 0;
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if (pImageData->GetChannels()!=1) return 0;
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BYTE* pBuff = (BYTE*)pImageData->GetImageBuffer();
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int nWidth = pImageData->GetWidth();
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int nHeight = pImageData->GetHeight();
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int nStep = pImageData->GetWidthStep();
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BYTE *pXBuf = NULL;
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double dTemp = 0;
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for (int i=0; i<nWidth; i++)
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{
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dTemp = 0.0;
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pXBuf = pBuff + i;
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for (int j=0; j<nHeight; j++)
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{
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dTemp += (*pXBuf);
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pXBuf += nStep;
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}
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dTemp /= nHeight;
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vecArray.push_back(dTemp);
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}
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// start
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for (int i=0; i<nKernelSize; i++)
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{
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vecResult.push_back(0.0);
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}
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double dLeft, dRight;
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for (int i=nKernelSize; i<nWidth-nKernelSize; i++)
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{
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dLeft = dRight = 0.0;
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for (int k=1; k<m_findParam.nKernelSize+1; k++)
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{
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dLeft += vecArray[i-k];
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dRight += vecArray[i+k];
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}
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vecResult.push_back(fabs(dLeft-dRight));
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}
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// end
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for (int i=0; i<nKernelSize; i++)
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{
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vecResult.push_back(0.0);
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}
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return 1;
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}
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int CAlignFinder_Corner::ProjectionYDirection(CCHImageData *pImageData, VectorDouble& vecArray, VectorDouble& vecResult, int nKernelSize)
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{
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if (pImageData==NULL) return 0;
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if (pImageData->GetImageExist()==FALSE) return 0;
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if (pImageData->GetChannels()!=1) return 0;
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BYTE* pBuff = (BYTE*)pImageData->GetImageBuffer();
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int nWidth = pImageData->GetWidth();
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int nHeight = pImageData->GetHeight();
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int nStep = pImageData->GetWidthStep();
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BYTE *pYBuf = NULL;
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double dTemp = 0;
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for (int i=0; i<nHeight; i++)
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{
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dTemp = 0.0;
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pYBuf = pBuff + (i*nStep);
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for (int j=0; j<nWidth; j++)
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{
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dTemp += (*pYBuf);
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pYBuf++;
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}
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dTemp /= nWidth;
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vecArray.push_back(dTemp);
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}
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// start
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for (int i=0; i<nKernelSize; i++)
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{
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vecResult.push_back(0.0);
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}
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double dLeft, dRight;
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for (int i=nKernelSize; i<nHeight-nKernelSize; i++)
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{
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dLeft = dRight = 0.0;
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for (int k=1; k<nKernelSize+1; k++)
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{
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dLeft += vecArray[i-k];
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dRight += vecArray[i+k];
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}
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vecResult.push_back(fabs(dLeft-dRight));
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}
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// end
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for (int i=0; i<nKernelSize; i++)
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{
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vecResult.push_back(0.0);
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}
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return 1;
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}
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int FindRightPos(const VectorDouble& vecData, int nThreshold, int nMargin, VectorDouble& vecXPos, VectorDouble& vecYPos)
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{
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vecXPos.resize(3);
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vecYPos.resize(3);
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bool bFind = false;
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int nMaxPos = 0;
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for (int i=int(vecData.size()-nMargin-1); i>-1; i--)
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{
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if (!bFind)
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{
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if (vecData[i] >= nThreshold)
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{
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nMaxPos = i;
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vecYPos[1] = vecData[i];
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bFind = true;
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}
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}
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else
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{
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if (vecData[i] <= nThreshold)
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{
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break;
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}
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else
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{
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if (vecData[i] > vecYPos[1])
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{
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nMaxPos = i;
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vecYPos[1] = vecData[i];
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}
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}
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}
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}
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if (bFind)
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{
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vecXPos[0] = nMaxPos - 1;
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vecXPos[1] = nMaxPos;
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vecXPos[2] = nMaxPos + 1;
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vecYPos[0] = vecData[nMaxPos - 1];
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vecYPos[2] = vecData[nMaxPos + 1];
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return 1;
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}
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return 0;
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}
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int FindLeftPos(const VectorDouble& vecData, int nThreshold, int nMargin, VectorDouble& vecXPos, VectorDouble& vecYPos)
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{
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vecXPos.resize(3);
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vecYPos.resize(3);
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bool bFind = false;
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int nMaxPos = 0;
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for (int i=nMargin; i<(int)vecData.size(); i++)
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{
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if (!bFind)
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{
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if (vecData[i] >= nThreshold)
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{
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nMaxPos = i;
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vecYPos[1] = vecData[i];
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bFind = true;
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}
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}
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else
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{
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if (vecData[i] <= nThreshold)
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{
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break;
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}
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else
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{
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if (vecData[i] > vecYPos[1])
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{
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nMaxPos = i;
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vecYPos[1] = vecData[i];
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}
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}
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}
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}
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if (bFind)
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{
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vecXPos[0] = nMaxPos - 1;
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vecXPos[1] = nMaxPos;
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vecXPos[2] = nMaxPos + 1;
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vecYPos[0] = vecData[nMaxPos - 1];
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vecYPos[2] = vecData[nMaxPos + 1];
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return 1;
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}
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return 0;
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}
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double CalculateSubPixel(VectorDouble& vecXData, VectorDouble& vecYData)
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{
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VectorDouble vecResult;
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if (CCHDataFitting::GaussianFitting(vecXData, vecYData, vecResult)!=1)
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{
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return -1.0;
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}
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return vecResult[1];
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}
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int CAlignFinder_Corner::CalculateCrossPoint(int nDirType, const VectorDouble& vecX, const VectorDouble& vecY, int nThreshold, int nIgnore, SAlignFindResult& sFindResult)
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{
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int nReturnCode = 0;
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VectorDouble vecXPos, vecYPos;
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vecXPos.clear();
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vecYPos.clear();
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switch(nDirType)
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{
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case 0: // left top
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// find x pos
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nReturnCode = FindLeftPos(vecX, nThreshold, nIgnore, vecXPos, vecYPos);
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if (nReturnCode==0) return 0;
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// cal sub pixel x
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sFindResult.dPosX = CalculateSubPixel(vecXPos, vecYPos);
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vecXPos.clear(); vecYPos.clear();
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// find y pos
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nReturnCode = FindLeftPos(vecY, nThreshold, nIgnore, vecXPos, vecYPos);
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if (nReturnCode==0) return 0;
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// cal cub pixel y
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sFindResult.dPosY = CalculateSubPixel(vecXPos, vecYPos);
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sFindResult.nResultCode = 1;
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return 1;
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break;
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case 1: // left bottom
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// find x pos
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nReturnCode = FindLeftPos(vecX, nThreshold, nIgnore, vecXPos, vecYPos);
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if (nReturnCode==0) return 0;
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// cal sub pixel x
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sFindResult.dPosX = CalculateSubPixel(vecXPos, vecYPos);
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vecXPos.clear(); vecYPos.clear();
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// find y pos
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nReturnCode = FindRightPos(vecY, nThreshold, nIgnore, vecXPos, vecYPos);
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if (nReturnCode==0) return 0;
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// cal cub pixel y
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sFindResult.dPosY = CalculateSubPixel(vecXPos, vecYPos);
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sFindResult.nResultCode = 1;
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return 1;
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break;
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case 2: // right top
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// find x pos
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nReturnCode = FindRightPos(vecX, nThreshold, nIgnore, vecXPos, vecYPos);
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if (nReturnCode==0) return 0;
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// cal sub pixel x
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sFindResult.dPosX = CalculateSubPixel(vecXPos, vecYPos);
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vecXPos.clear(); vecYPos.clear();
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// find y pos
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nReturnCode = FindLeftPos(vecY, nThreshold, nIgnore, vecXPos, vecYPos);
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if (nReturnCode==0) return 0;
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// cal cub pixel y
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sFindResult.dPosY = CalculateSubPixel(vecXPos, vecYPos);
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sFindResult.nResultCode = 1;
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return 1;
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break;
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case 3: // right bottom
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// find x pos
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nReturnCode = FindRightPos(vecX, nThreshold, nIgnore, vecXPos, vecYPos);
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if (nReturnCode==0) return 0;
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// cal sub pixel x
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sFindResult.dPosX = CalculateSubPixel(vecXPos, vecYPos);
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vecXPos.clear(); vecYPos.clear();
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// find y pos
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nReturnCode = FindRightPos(vecY, nThreshold, nIgnore, vecXPos, vecYPos);
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if (nReturnCode==0) return 0;
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// cal cub pixel y
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sFindResult.dPosY = CalculateSubPixel(vecXPos, vecYPos);
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sFindResult.nResultCode = 1;
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return 1;
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break;
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}
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return 0;
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}
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void CAlignFinder_Corner::PrintArrayValue(const CString& strFilename, const VectorDouble& vecArray)
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{
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FILE *fp = NULL;
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_tfopen_s(&fp, strFilename, _T("w"));
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if (fp==NULL) return;
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for (int i=0; i<(int)vecArray.size(); i++)
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{
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_ftprintf_s(fp, _T("%d, %.3lf\n"), i, vecArray[i]);
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}
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fclose(fp);
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}
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