VERSION 5.00
Begin VB.Form frmMain 
   Caption         =   "Dual Image"
   ClientHeight    =   11160
   ClientLeft      =   60
   ClientTop       =   345
   ClientWidth     =   10800
   LinkTopic       =   "Form1"
   ScaleHeight     =   744
   ScaleMode       =   3  'Pixel
   ScaleWidth      =   720
   StartUpPosition =   3  'Windows Default
   Begin VB.Frame Frame2 
      Caption         =   "Calculations"
      Height          =   2775
      Left            =   0
      TabIndex        =   6
      Top             =   8340
      Width           =   9915
      Begin VB.TextBox txtDistDE 
         Height          =   255
         Left            =   6540
         TabIndex        =   74
         Text            =   "-1"
         Top             =   1800
         Width           =   795
      End
      Begin VB.TextBox txtDistCE 
         Height          =   255
         Left            =   6540
         TabIndex        =   73
         Text            =   "-1"
         Top             =   2040
         Width           =   795
      End
      Begin VB.TextBox txtAngleD 
         Height          =   255
         Left            =   6540
         TabIndex        =   71
         Text            =   "-1"
         Top             =   780
         Width           =   795
      End
      Begin VB.TextBox txtAngleB 
         Height          =   255
         Left            =   6540
         TabIndex        =   69
         Text            =   "-1"
         Top             =   540
         Width           =   795
      End
      Begin VB.TextBox txtAngleA 
         Height          =   255
         Left            =   6540
         TabIndex        =   67
         Text            =   "-1"
         Top             =   300
         Width           =   795
      End
      Begin VB.TextBox txtDistCD 
         Height          =   255
         Left            =   6540
         TabIndex        =   65
         Text            =   "-1"
         Top             =   1560
         Width           =   795
      End
      Begin VB.TextBox txtDistAD 
         Height          =   255
         Left            =   6540
         TabIndex        =   63
         Text            =   "-1"
         Top             =   1320
         Width           =   795
      End
      Begin VB.TextBox txtDistAC 
         Height          =   255
         Left            =   6540
         TabIndex        =   61
         Text            =   "-1"
         Top             =   1080
         Width           =   795
      End
      Begin VB.CommandButton cmdStepR 
         Caption         =   "Step"
         Height          =   255
         Left            =   1740
         TabIndex        =   38
         Top             =   1740
         Width           =   795
      End
      Begin VB.CommandButton cmdDoFrameR 
         Caption         =   "Frame"
         Height          =   255
         Left            =   1740
         TabIndex        =   37
         Top             =   2040
         Width           =   795
      End
      Begin VB.CommandButton cmdDoFrameL 
         Caption         =   "Frame"
         Height          =   255
         Left            =   900
         TabIndex        =   36
         Top             =   2040
         Width           =   795
      End
      Begin VB.TextBox txtMaxDistance 
         Height          =   315
         Left            =   2460
         TabIndex        =   33
         Text            =   "20"
         Top             =   2340
         Width           =   555
      End
      Begin VB.TextBox txtLScanD 
         Height          =   255
         Left            =   900
         TabIndex        =   31
         Text            =   "-1"
         Top             =   900
         Width           =   795
      End
      Begin VB.TextBox txtRScanD 
         Height          =   255
         Left            =   1740
         TabIndex        =   30
         Text            =   "-1"
         Top             =   900
         Width           =   795
      End
      Begin VB.CommandButton cmdCenterL 
         Caption         =   "Reset"
         Height          =   255
         Left            =   900
         TabIndex        =   29
         Top             =   2340
         Width           =   795
      End
      Begin VB.CommandButton cmdStepL 
         Caption         =   "Step"
         Height          =   255
         Left            =   900
         TabIndex        =   28
         Top             =   1740
         Width           =   795
      End
      Begin VB.TextBox txtDScanPitch 
         Height          =   255
         Left            =   2580
         TabIndex        =   25
         Text            =   "-1"
         Top             =   1440
         Width           =   795
      End
      Begin VB.TextBox txtDScanYaw 
         Height          =   255
         Left            =   2580
         TabIndex        =   24
         Text            =   "-1"
         Top             =   1200
         Width           =   795
      End
      Begin VB.TextBox txtDScanY 
         Height          =   255
         Left            =   2580
         TabIndex        =   23
         Text            =   "-1"
         Top             =   660
         Width           =   795
      End
      Begin VB.TextBox txtDScanX 
         Height          =   255
         Left            =   2580
         TabIndex        =   22
         Text            =   "-1"
         Top             =   420
         Width           =   795
      End
      Begin VB.TextBox txtRScanPitch 
         Height          =   255
         Left            =   1740
         TabIndex        =   20
         Text            =   "-1"
         Top             =   1440
         Width           =   795
      End
      Begin VB.TextBox txtRScanYaw 
         Height          =   255
         Left            =   1740
         TabIndex        =   19
         Text            =   "-1"
         Top             =   1200
         Width           =   795
      End
      Begin VB.TextBox txtRScanY 
         Height          =   255
         Left            =   1740
         TabIndex        =   18
         Text            =   "-1"
         Top             =   660
         Width           =   795
      End
      Begin VB.TextBox txtRScanX 
         Height          =   255
         Left            =   1740
         TabIndex        =   17
         Text            =   "-1"
         Top             =   420
         Width           =   795
      End
      Begin VB.TextBox txtLScanPitch 
         Height          =   255
         Left            =   900
         TabIndex        =   15
         Text            =   "-1"
         Top             =   1440
         Width           =   795
      End
      Begin VB.TextBox txtLScanYaw 
         Height          =   255
         Left            =   900
         TabIndex        =   14
         Text            =   "-1"
         Top             =   1200
         Width           =   795
      End
      Begin VB.TextBox txtLScanY 
         Height          =   255
         Left            =   900
         TabIndex        =   13
         Text            =   "-1"
         Top             =   660
         Width           =   795
      End
      Begin VB.TextBox txtLScanX 
         Height          =   255
         Left            =   900
         TabIndex        =   12
         Text            =   "-1"
         Top             =   420
         Width           =   795
      End
      Begin VB.Label Label37 
         Caption         =   "Dist DE"
         Height          =   195
         Left            =   5940
         TabIndex        =   76
         Top             =   1800
         Width           =   615
      End
      Begin VB.Label Label36 
         Caption         =   "Dist CE"
         Height          =   195
         Left            =   5940
         TabIndex        =   75
         Top             =   2040
         Width           =   615
      End
      Begin VB.Label Label35 
         Caption         =   "Angle D"
         Height          =   195
         Left            =   5940
         TabIndex        =   72
         Top             =   780
         Width           =   615
      End
      Begin VB.Label Label34 
         Caption         =   "Angle B"
         Height          =   195
         Left            =   5940
         TabIndex        =   70
         Top             =   540
         Width           =   615
      End
      Begin VB.Label Label33 
         Caption         =   "Angle A"
         Height          =   195
         Left            =   5940
         TabIndex        =   68
         Top             =   300
         Width           =   615
      End
      Begin VB.Line Line15 
         BorderStyle     =   3  'Dot
         X1              =   5160
         X2              =   5160
         Y1              =   2220
         Y2              =   300
      End
      Begin VB.Label Label32 
         Caption         =   "Dist CD"
         Height          =   195
         Left            =   5940
         TabIndex        =   66
         Top             =   1560
         Width           =   615
      End
      Begin VB.Label Label31 
         Caption         =   "Dist AD"
         Height          =   195
         Left            =   5940
         TabIndex        =   64
         Top             =   1320
         Width           =   615
      End
      Begin VB.Label Label30 
         Caption         =   "Dist AC"
         Height          =   195
         Left            =   5940
         TabIndex        =   62
         Top             =   1080
         Width           =   615
      End
      Begin VB.Shape Shape4 
         FillColor       =   &H000000FF&
         FillStyle       =   0  'Solid
         Height          =   135
         Left            =   9450
         Shape           =   3  'Circle
         Top             =   660
         Width           =   135
      End
      Begin VB.Line Line14 
         BorderStyle     =   3  'Dot
         X1              =   9540
         X2              =   9540
         Y1              =   720
         Y2              =   1020
      End
      Begin VB.Label Label27 
         Alignment       =   2  'Center
         BackStyle       =   0  'Transparent
         Caption         =   "E"
         ForeColor       =   &H00000000&
         Height          =   195
         Left            =   9420
         TabIndex        =   45
         Top             =   1080
         Width           =   255
      End
      Begin VB.Line Line10 
         BorderColor     =   &H000000FF&
         X1              =   8220
         X2              =   9840
         Y1              =   1020
         Y2              =   660
      End
      Begin VB.Shape Shape1 
         FillColor       =   &H000000FF&
         FillStyle       =   0  'Solid
         Height          =   135
         Left            =   4560
         Shape           =   3  'Circle
         Top             =   540
         Width           =   135
      End
      Begin VB.Label Label24 
         Alignment       =   2  'Center
         BackStyle       =   0  'Transparent
         Caption         =   "D"
         ForeColor       =   &H00FF0000&
         Height          =   195
         Left            =   4500
         TabIndex        =   44
         Top             =   2220
         Width           =   255
      End
      Begin VB.Line Line13 
         BorderColor     =   &H00FF0000&
         X1              =   4620
         X2              =   4620
         Y1              =   600
         Y2              =   2220
      End
      Begin VB.Line Line12 
         BorderStyle     =   3  'Dot
         X1              =   8220
         X2              =   9780
         Y1              =   1020
         Y2              =   1020
      End
      Begin VB.Label Label23 
         Alignment       =   2  'Center
         BackStyle       =   0  'Transparent
         Caption         =   "D"
         ForeColor       =   &H00FF0000&
         Height          =   195
         Left            =   7980
         TabIndex        =   43
         Top             =   900
         Width           =   255
      End
      Begin VB.Line Line11 
         BorderStyle     =   3  'Dot
         X1              =   4320
         X2              =   4320
         Y1              =   2220
         Y2              =   300
      End
      Begin VB.Label Label22 
         Alignment       =   2  'Center
         BackStyle       =   0  'Transparent
         Caption         =   "C"
         ForeColor       =   &H000000FF&
         Height          =   195
         Left            =   9360
         TabIndex        =   42
         Top             =   480
         Width           =   255
      End
      Begin VB.Shape Shape6 
         FillColor       =   &H00FFFFFF&
         FillStyle       =   0  'Solid
         Height          =   1635
         Left            =   9750
         Top             =   180
         Width           =   75
      End
      Begin VB.Line Line9 
         BorderColor     =   &H0000FFFF&
         X1              =   9780
         X2              =   8190
         Y1              =   1800
         Y2              =   1020
      End
      Begin VB.Line Line8 
         BorderColor     =   &H0000FFFF&
         X1              =   8220
         X2              =   9780
         Y1              =   1020
         Y2              =   180
      End
      Begin VB.Label Label18 
         BackStyle       =   0  'Transparent
         Caption         =   "C"
         ForeColor       =   &H000000FF&
         Height          =   195
         Left            =   4740
         TabIndex        =   41
         Top             =   480
         Width           =   255
      End
      Begin VB.Line Line6 
         BorderColor     =   &H000000FF&
         X1              =   4320
         X2              =   4680
         Y1              =   2220
         Y2              =   240
      End
      Begin VB.Shape Shape2 
         FillColor       =   &H00FFFFFF&
         FillStyle       =   0  'Solid
         Height          =   75
         Left            =   3510
         Top             =   240
         Width           =   1635
      End
      Begin VB.Line Line7 
         BorderColor     =   &H000000C0&
         X1              =   5160
         X2              =   4500
         Y1              =   2220
         Y2              =   180
      End
      Begin VB.Shape Shape3 
         FillColor       =   &H00FFFFFF&
         FillStyle       =   0  'Solid
         Height          =   75
         Left            =   4320
         Top             =   180
         Width           =   1635
      End
      Begin VB.Line Line5 
         BorderStyle     =   3  'Dot
         X1              =   4320
         X2              =   5160
         Y1              =   2220
         Y2              =   2220
      End
      Begin VB.Label Label3 
         BackStyle       =   0  'Transparent
         Caption         =   "B"
         ForeColor       =   &H00004040&
         Height          =   195
         Left            =   5220
         TabIndex        =   40
         Top             =   2100
         Width           =   255
      End
      Begin VB.Label Label1 
         Alignment       =   2  'Center
         BackStyle       =   0  'Transparent
         Caption         =   "A"
         ForeColor       =   &H00004040&
         Height          =   195
         Left            =   4080
         TabIndex        =   39
         Top             =   2100
         Width           =   255
      End
      Begin VB.Line Line4 
         BorderColor     =   &H0000C0C0&
         X1              =   5940
         X2              =   5160
         Y1              =   255
         Y2              =   2220
      End
      Begin VB.Line Line3 
         BorderColor     =   &H0000C0C0&
         X1              =   4320
         X2              =   5160
         Y1              =   240
         Y2              =   2220
      End
      Begin VB.Line Line2 
         BorderColor     =   &H0000FFFF&
         X1              =   5160
         X2              =   4320
         Y1              =   300
         Y2              =   2220
      End
      Begin VB.Line Line1 
         BorderColor     =   &H0000FFFF&
         X1              =   3510
         X2              =   4335
         Y1              =   300
         Y2              =   2235
      End
      Begin VB.Label Label17 
         Caption         =   "Max Dist"
         Height          =   195
         Left            =   1740
         TabIndex        =   35
         Top             =   2400
         Width           =   735
      End
      Begin VB.Label Label16 
         Caption         =   "px"
         Height          =   195
         Left            =   3060
         TabIndex        =   34
         Top             =   2400
         Width           =   255
      End
      Begin VB.Label Label15 
         Caption         =   "Scan D"
         Height          =   195
         Left            =   60
         TabIndex        =   32
         Top             =   900
         Width           =   675
      End
      Begin VB.Label Label14 
         Alignment       =   2  'Center
         Caption         =   "Difference"
         Height          =   195
         Left            =   2580
         TabIndex        =   21
         Top             =   180
         Width           =   795
      End
      Begin VB.Label Label8 
         Alignment       =   2  'Center
         Caption         =   "Right"
         Height          =   195
         Left            =   1740
         TabIndex        =   16
         Top             =   180
         Width           =   795
      End
      Begin VB.Label Label12 
         Caption         =   "Scan Yaw"
         Height          =   195
         Left            =   60
         TabIndex        =   11
         Top             =   1200
         Width           =   855
      End
      Begin VB.Label Label11 
         Caption         =   "Scan Pitch"
         Height          =   195
         Left            =   60
         TabIndex        =   10
         Top             =   1440
         Width           =   915
      End
      Begin VB.Label Label10 
         Caption         =   "Scan Y"
         Height          =   195
         Left            =   60
         TabIndex        =   9
         Top             =   660
         Width           =   675
      End
      Begin VB.Label Label9 
         Caption         =   "Scan X"
         Height          =   195
         Left            =   60
         TabIndex        =   8
         Top             =   420
         Width           =   615
      End
      Begin VB.Label Label7 
         Alignment       =   2  'Center
         Caption         =   "Left"
         Height          =   195
         Left            =   900
         TabIndex        =   7
         Top             =   180
         Width           =   795
      End
   End
   Begin VB.Frame Frame1 
      Caption         =   "Captured Images"
      Height          =   3975
      Left            =   0
      TabIndex        =   3
      Top             =   4320
      Width           =   9915
      Begin VB.PictureBox pctRight 
         Height          =   3615
         Left            =   4980
         Picture         =   "frmDualImages.frx":0000
         ScaleHeight     =   237
         ScaleMode       =   3  'Pixel
         ScaleWidth      =   317
         TabIndex        =   5
         Top             =   240
         Width           =   4815
         Begin VB.Line lineRCross1 
            BorderColor     =   &H00800000&
            X1              =   84
            X2              =   244
            Y1              =   68
            Y2              =   184
         End
         Begin VB.Line lineRCross2 
            BorderColor     =   &H00800000&
            X1              =   64
            X2              =   244
            Y1              =   164
            Y2              =   52
         End
         Begin VB.Shape shpScanR 
            BorderColor     =   &H00FF0000&
            Height          =   150
            Left            =   300
            Top             =   420
            Width           =   150
         End
      End
      Begin VB.PictureBox pctLeft 
         Height          =   3615
         Left            =   120
         Picture         =   "frmDualImages.frx":38444
         ScaleHeight     =   237
         ScaleMode       =   3  'Pixel
         ScaleWidth      =   317
         TabIndex        =   4
         Top             =   240
         Width           =   4815
         Begin VB.Line lineLCross2 
            BorderColor     =   &H00800000&
            X1              =   84
            X2              =   264
            Y1              =   168
            Y2              =   56
         End
         Begin VB.Line lineLCross1 
            BorderColor     =   &H00800000&
            X1              =   104
            X2              =   264
            Y1              =   72
            Y2              =   188
         End
         Begin VB.Shape shpScanL 
            BorderColor     =   &H00FF0000&
            Height          =   150
            Left            =   1020
            Top             =   540
            Width           =   150
         End
      End
   End
   Begin VB.Frame frmMain3 
      Caption         =   "Cameras"
      Height          =   4275
      Left            =   0
      TabIndex        =   0
      Top             =   0
      Width           =   9915
      Begin VB.Frame Frame3 
         Caption         =   "Camera Settings"
         Height          =   1695
         Left            =   3840
         TabIndex        =   46
         Top             =   2520
         Width           =   2175
         Begin VB.TextBox txtDistAB 
            Height          =   285
            Left            =   1260
            TabIndex        =   58
            TabStop         =   0   'False
            Text            =   "24.5"
            Top             =   1320
            Width           =   615
         End
         Begin VB.TextBox txtRCamPitch 
            Height          =   285
            Left            =   1440
            TabIndex        =   54
            TabStop         =   0   'False
            Text            =   "16.5"
            Top             =   780
            Width           =   495
         End
         Begin VB.TextBox txtRCamYaw 
            Height          =   285
            Left            =   900
            TabIndex        =   53
            TabStop         =   0   'False
            Text            =   "22.0"
            Top             =   780
            Width           =   495
         End
         Begin VB.TextBox txtLCamPitch 
            Height          =   285
            Left            =   1440
            TabIndex        =   48
            TabStop         =   0   'False
            Text            =   "16.5"
            Top             =   480
            Width           =   495
         End
         Begin VB.TextBox txtLCamYaw 
            Height          =   285
            Left            =   900
            TabIndex        =   47
            TabStop         =   0   'False
            Text            =   "22.0"
            Top             =   480
            Width           =   495
         End
         Begin VB.Label Label20 
            BackStyle       =   0  'Transparent
            Caption         =   "Dist Between"
            Height          =   195
            Left            =   180
            TabIndex        =   60
            Top             =   1380
            Width           =   1095
         End
         Begin VB.Label Label21 
            BackStyle       =   0  'Transparent
            Caption         =   """"
            Height          =   195
            Left            =   1920
            TabIndex        =   59
            Top             =   1320
            Width           =   255
         End
         Begin VB.Label Label29 
            BackStyle       =   0  'Transparent
            Caption         =   "* 0 = center of cam"
            BeginProperty Font 
               Name            =   "MS Sans Serif"
               Size            =   8.25
               Charset         =   0
               Weight          =   400
               Underline       =   0   'False
               Italic          =   -1  'True
               Strikethrough   =   0   'False
            EndProperty
            Height          =   195
            Left            =   480
            TabIndex        =   57
            Top             =   1080
            Width           =   1575
         End
         Begin VB.Label Label19 
            BackStyle       =   0  'Transparent
            Caption         =   "o"
            Height          =   195
            Left            =   1920
            TabIndex        =   56
            Top             =   720
            Width           =   255
         End
         Begin VB.Label Label6 
            BackStyle       =   0  'Transparent
            Caption         =   "Right FOV"
            Height          =   195
            Left            =   60
            TabIndex        =   55
            Top             =   840
            Width           =   795
         End
         Begin VB.Label Label28 
            Alignment       =   2  'Center
            BackStyle       =   0  'Transparent
            Caption         =   "Pitch"
            Height          =   195
            Left            =   1440
            TabIndex        =   52
            Top             =   240
            Width           =   495
         End
         Begin VB.Label Label26 
            BackStyle       =   0  'Transparent
            Caption         =   "o"
            Height          =   195
            Left            =   1920
            TabIndex        =   51
            Top             =   420
            Width           =   255
         End
         Begin VB.Label Label25 
            Alignment       =   2  'Center
            BackStyle       =   0  'Transparent
            Caption         =   "Yaw"
            Height          =   195
            Left            =   900
            TabIndex        =   50
            Top             =   240
            Width           =   495
         End
         Begin VB.Label Label4 
            BackStyle       =   0  'Transparent
            Caption         =   "Left FOV"
            Height          =   195
            Left            =   60
            TabIndex        =   49
            Top             =   540
            Width           =   795
         End
      End
      Begin VB.ComboBox cmbDeviceR 
         Height          =   315
         Left            =   5040
         Style           =   2  'Dropdown List
         TabIndex        =   27
         Top             =   540
         Width           =   4635
      End
      Begin VB.ComboBox cmbDeviceL 
         Height          =   315
         Left            =   180
         Style           =   2  'Dropdown List
         TabIndex        =   26
         Top             =   540
         Width           =   4755
      End
      Begin VB.Label Label5 
         Caption         =   "Right Camera"
         Height          =   255
         Left            =   4980
         TabIndex        =   2
         Top             =   240
         Width           =   1335
      End
      Begin VB.Label Label2 
         Caption         =   "Left Camera"
         Height          =   255
         Left            =   180
         TabIndex        =   1
         Top             =   240
         Width           =   1335
      End
   End
End
Attribute VB_Name = "frmMain"
Attribute VB_GlobalNameSpace = False
Attribute VB_Creatable = False
Attribute VB_PredeclaredId = True
Attribute VB_Exposed = False
Option Explicit
Private Type position
   X As Integer
   Y As Integer
   dist As Integer ' distance from center
End Type
Private Type pixel
   r As Integer
   g As Integer
   b As Integer
End Type

Const red_pct = 0.5 ' 0.7=30% more red than B and G
Dim LScan As position, RScan As position
Dim paL As BCHPicArray.clsPicArray ' array to store the bitmap in for processing, loads it from the imgInput picture
Dim paR As BCHPicArray.clsPicArray ' array to store the bitmap in for processing, loads it from the imgInput picture



Private Sub cmdCenterL_Click()
   LScan.X = Round(pctLeft.ScaleWidth / 2) + 1
   LScan.Y = Round(pctLeft.ScaleHeight / 2) + 1
   LScan.dist = 0
End Sub

Private Function NextPosition(cur_x As Integer, cur_y As Integer, cur_dist As Integer) As position
   Dim center_x, center_y
   ' move clockwise in a square
   center_x = Round(pctLeft.ScaleWidth / 2)
   center_y = Round(pctLeft.ScaleHeight / 2)
   ' for scanning for the second point, this should be changed to scan left/right mostly, then up/down since pitch should be the same on both cameras
   
   If cur_dist = 0 Then ' special case for the starting condition
      cur_x = center_x + 1
      cur_y = center_y
      cur_dist = 1
   Else
      If (cur_x = center_x + cur_dist And cur_y = center_y + cur_dist) Then ' bottom right corner, start/end
         cur_x = cur_x + 1
         cur_dist = cur_dist + 1
      ElseIf (cur_x = center_x + cur_dist And cur_y = center_y - cur_dist) Then ' upper right
         cur_x = cur_x - 1
      ElseIf (cur_x = center_x - cur_dist And cur_y = center_y - cur_dist) Then ' upper left
         cur_y = cur_y + 1
      ElseIf (cur_x = center_x - cur_dist And cur_y = center_y + cur_dist) Then ' bottom left
         cur_x = cur_x + 1
      ElseIf (cur_y = center_y - cur_dist) Then ' top
         cur_x = cur_x - 1 ' move left
      ElseIf (cur_x = center_x - cur_dist) Then ' left
         cur_y = cur_y + 1 ' move down
      ElseIf (cur_y = center_y + cur_dist) Then ' bottom
         cur_x = cur_x + 1 ' move right
      ElseIf (cur_x = center_x + cur_dist) Then ' right
         cur_y = cur_y - 1 ' move up
      Else
         MsgBox "error in nextposition, cur_x=" & cur_x & "; cur_y = " & cur_y
      End If
   End If
   
   If cur_x > pctLeft.ScaleWidth Then
      cur_x = pctLeft.ScaleWidth
   End If
   If cur_y > pctLeft.ScaleHeight Then
      cur_y = pctLeft.ScaleHeight
   End If
   
   NextPosition.X = cur_x
   NextPosition.Y = cur_y
   NextPosition.dist = cur_dist
End Function


Private Sub cmdStepL_Click()
   ' scan from the center out
   Dim next_pos As position
   next_pos = NextPosition(LScan.X, LScan.Y, LScan.dist)
   
   LScan.X = next_pos.X
   LScan.Y = next_pos.Y
   LScan.dist = next_pos.dist
   
   If IsLaser(LScan.X, LScan.Y, paL) Then ' hit a laser on the left
      tmrUpdateScan_Timer
'      MsgBox "Hit Left: " & LScan.X & "x" & LScan.Y & " @ " & LScan.dist
      RScan.X = LScan.X
      RScan.Y = LScan.Y
      RScan.dist = 0
      cmdDoFrameR_Click
   End If
End Sub


Private Sub cmdDoFrameL_Click()
   Dim next_pos As position
   next_pos = NextPosition(LScan.X, LScan.Y, LScan.dist)
   Do While (next_pos.Y < pctLeft.ScaleHeight)
      next_pos = NextPosition(LScan.X, LScan.Y, LScan.dist)
      cmdStepL_Click
   Loop
End Sub





Private Sub cmdStepR_Click()
   ' scan from the center out
   Dim next_pos As position
   next_pos = NextPosition(RScan.X, RScan.Y, RScan.dist)
   
   RScan.X = next_pos.X
   RScan.Y = next_pos.Y
   RScan.dist = next_pos.dist
   
   If IsLaser(RScan.X, RScan.Y, paR) Then ' hit a laser on the right
      tmrUpdateScan_Timer
      CalculateIntersect
      MsgBox "Hit right: " & RScan.X & "x" & RScan.Y & " @ " & RScan.dist
   End If
End Sub


Private Sub cmdDoFrameR_Click()
   Dim next_pos As position
   next_pos = NextPosition(RScan.X, RScan.Y, RScan.dist)
   Do While (next_pos.Y < pctRight.ScaleHeight)
      next_pos = NextPosition(RScan.X, RScan.Y, RScan.dist)
      cmdStepR_Click
   Loop
End Sub




Private Function IsLaser(X As Integer, Y As Integer, pa As BCHPicArray.clsPicArray) As Boolean
   ' compare current position to known image.
   Dim color As Long
   color = pa.ReadPixel(X, pctLeft.ScaleHeight - Y) ' read in reverse x order
   
   If (((color And &HFF) * red_pct) > ((color \ 256) And &HFF) And ((color And &HFF) * red_pct) > ((color \ 65536) And &HFF)) Then
      IsLaser = True
   End If
End Function





Private Function CalculateIntersect()
   Dim angle_A As Double, angle_A2 As Double, angle_B As Double, angle_B2 As Double, angle_C As Double, angle_C2 As Double, angle_D As Double
   Dim dist_AC As Double, dist_AB As Double, dist_BD As Double, dist_CA As Double, dist_BC As Double
   Dim dist_CD As Double, dist_AD As Double, dist_CE As Double, dist_DE As Double
   
   tmrUpdateScan_Timer ' update the values
   
   angle_A2 = txtLScanYaw.Text
   angle_A = 90 - angle_A2
   angle_B2 = txtRScanYaw.Text ' Val(txtCameraYawOffset.Text) + Val(txtScanYaw.Text)
   angle_B = 90 + angle_B2
   angle_D = txtLScanPitch.Text ' average with r?  something?
   
   txtAngleA.Text = angle_A
   txtAngleB.Text = angle_B
   txtAngleD.Text = angle_D

   ' find: distance, yaw, pitch
   ' 1) find dist_CD and dist_BD
   If (angle_A <= 90 And angle_B <= 90) Then
      dist_AC = (txtDistAB.Text * Sin(Radians(angle_B))) / Sin(Radians(180 - angle_A - angle_B))
      dist_CD = dist_AC * Sin(Radians(angle_A))
      dist_AD = dist_AC * Cos(Radians(angle_A))
'      dist_BD = dist_AB - dist_AD
   ElseIf (angle_A > 90) Then
      angle_A2 = 90 - angle_A
      angle_C = 180 - angle_A - angle_B
      angle_C2 = 90 - angle_C
      
      dist_AC = -1 ' ?
      dist_CD = dist_CA * Sin(Radians(angle_A2))
      dist_AD = -dist_CA * Sin(Radians(angle_C2))
'      dist_BD = dist_AB - dist_AD
   ElseIf (angle_B > 90) Then
      angle_B2 = 90 - angle_B
      angle_C = 180 - angle_A - angle_B
      angle_C2 = 90 - angle_C
      
      dist_BC = -1 ' ?
      dist_CD = dist_BC * Sin(Radians(angle_B2))
      dist_BD = dist_BC * Sin(Radians(angle_C2))
      dist_AD = dist_AB - dist_BD
   Else
      dist_CD = Val("-1")
      dist_AD = Val("-1")
   End If
   
   txtDistAC.Text = dist_AC
   txtDistAD.Text = dist_AD
   txtDistCD.Text = dist_CD
   

   ' 2) find CE and DE
   If (dist_CD > -1 And dist_BD > -1) Then ' if first calcs were valid
      dist_DE = dist_CD * Cos(Radians(angle_D))
      dist_CE = dist_CD * Sin(Radians(angle_D))
   Else
      dist_CE = "-1"
      dist_DE = "-1"
   End If
   
   txtDistCE.Text = dist_CE
   txtDistDE.Text = dist_DE
End Function





Private Sub cmbDeviceL_Change()
'   Dim oldDriver As Long
'   oldDriver = ezVidCapL.DriverIndex
'
'   On Error Resume Next
'   ezVidCapL.DriverIndex = cmbDeviceL.ListIndex - 1
'   If Err Then 'restore old settings
'      ezVidCapL.DriverIndex = oldDriver
'      cmbDeviceL.ListIndex = oldDriver
'   Else
'      SaveSetting "DualImage", "Settings", "DeviceIndexL", cmbDeviceL.ListIndex
'   End If
End Sub

Private Sub cmdDeviceR_Change()
'   Dim oldDriver As Long
'   oldDriver = ezVidCapR.DriverIndex
'
'   On Error Resume Next
'   ezVidCapR.DriverIndex = cmbDeviceL.ListIndex - 1
'   If Err Then 'restore old settings
'      ezVidCapL.DriverIndex = oldDriver
'      cmbDeviceL.ListIndex = oldDriver
'   Else
'      SaveSetting "DualImage", "Settings", "DeviceIndexL", cmbDeviceL.ListIndex
'   End If
End Sub




Private Sub Form_Load()
   Dim i
   Set paL = New clsPicArray ' initialize picture array
   Set paR = New clsPicArray ' initialize picture array
   
   cmbDeviceL.AddItem ("<none>")
'   If ezVidCapL.NumCapDevs > 0 Then
'       For i = 0 To ezVidCapL.NumCapDevs - 1
'           cmbDeviceL.AddItem (ezVidCapL.GetDriverName(i))
'       Next
'   End If
   cmbDeviceL.ListIndex = 0

   cmbDeviceL.ListIndex = GetSetting("LaserDistance", "Settings", "DeviceIndexL", cmbDeviceL.ListIndex)
   cmbDeviceR.ListIndex = GetSetting("LaserDistance", "Settings", "DeviceIndexR", cmbDeviceR.ListIndex)


   lineLCross1.X1 = 0
   lineLCross1.Y1 = 0
   lineLCross1.X2 = pctLeft.ScaleWidth
   lineLCross1.Y2 = pctLeft.ScaleHeight
   
   lineLCross2.X1 = 0
   lineLCross2.Y1 = pctLeft.ScaleHeight
   lineLCross2.X2 = pctLeft.ScaleWidth
   lineLCross2.Y2 = 0

   lineRCross1.X1 = 0
   lineRCross1.Y1 = 0
   lineRCross1.X2 = pctRight.ScaleWidth
   lineRCross1.Y2 = pctRight.ScaleHeight
   
   lineRCross2.X1 = 0
   lineRCross2.Y1 = pctRight.ScaleHeight
   lineRCross2.X2 = pctRight.ScaleWidth
   lineRCross2.Y2 = 0


   paL.LoadPicArray pctLeft.Picture ' load the bitmap from the picture into the buffer
   paR.LoadPicArray pctRight.Picture ' load the bitmap from the picture into the buffer
End Sub



Private Sub tmrUpdateScan_Timer()
   txtLScanX.Text = LScan.X
   txtLScanY.Text = LScan.Y
   txtLScanD.Text = LScan.dist
   
   txtRScanX.Text = RScan.X
   txtRScanY.Text = RScan.Y
   txtRScanD.Text = RScan.dist
   
   txtLScanYaw.Text = (LScan.X / pctLeft.ScaleWidth) * (txtLCamYaw.Text * 2) - (txtLCamYaw.Text)
   txtLScanPitch.Text = -((LScan.Y / pctLeft.ScaleHeight) * (txtLCamPitch.Text * 2) - (txtLCamPitch.Text))
   
   txtRScanYaw.Text = (RScan.X / pctRight.ScaleWidth) * (txtLCamYaw.Text * 2) - (txtLCamYaw.Text)
   txtRScanPitch.Text = -((RScan.Y / pctRight.ScaleHeight) * (txtLCamPitch.Text * 2) - (txtLCamPitch.Text))
   
   shpScanL.Left = LScan.X - Round(shpScanL.Width / 2)
   shpScanL.Top = LScan.Y - Round(shpScanL.Height / 2)
   
   shpScanR.Left = RScan.X - Round(shpScanR.Width / 2)
   shpScanR.Top = RScan.Y - Round(shpScanR.Height / 2)
End Sub








' generic functions
Function Radians(Degrees As Double)
   Radians = Degrees * (3.141592654 / 180)
End Function

Function Degrees(Radians As Double)
   Degrees = Radians * (180 / 3.141592654)
End Function