VERSION 5.00
Object = "{DF6D6558-5B0C-11D3-9396-008029E9B3A6}#1.0#0"; "ezVidC60.ocx"
Begin VB.Form frmMain 
   Caption         =   "Dual Image"
   ClientHeight    =   12450
   ClientLeft      =   60
   ClientTop       =   345
   ClientWidth     =   10800
   LinkTopic       =   "Form1"
   ScaleHeight     =   830
   ScaleMode       =   3  'Pixel
   ScaleWidth      =   720
   StartUpPosition =   3  'Windows Default
   Begin VB.Frame Frame2 
      Caption         =   "Calculations"
      Height          =   3915
      Left            =   0
      TabIndex        =   8
      Top             =   8340
      Width           =   9915
      Begin VB.TextBox txtDistAB 
         Height          =   285
         Left            =   4080
         TabIndex        =   42
         TabStop         =   0   'False
         Text            =   "24.5"
         Top             =   2220
         Width           =   555
      End
      Begin VB.TextBox txtMaxDistance 
         Height          =   315
         Left            =   4080
         TabIndex        =   39
         Text            =   "20"
         Top             =   2520
         Width           =   555
      End
      Begin VB.TextBox txtLScanD 
         Height          =   255
         Left            =   900
         TabIndex        =   37
         Text            =   "-1"
         Top             =   900
         Width           =   795
      End
      Begin VB.TextBox txtRScanD 
         Height          =   255
         Left            =   1740
         TabIndex        =   36
         Text            =   "-1"
         Top             =   900
         Width           =   795
      End
      Begin VB.Timer tmrUpdateScan 
         Interval        =   1
         Left            =   3420
         Top             =   240
      End
      Begin VB.CommandButton cmdCenterL 
         Caption         =   "Reset"
         Height          =   255
         Left            =   900
         TabIndex        =   35
         Top             =   2340
         Width           =   795
      End
      Begin VB.CommandButton cmdStepL 
         Caption         =   "Step"
         Height          =   255
         Left            =   900
         TabIndex        =   34
         Top             =   2040
         Width           =   795
      End
      Begin VB.TextBox txtDScanPitch 
         Height          =   255
         Left            =   2580
         TabIndex        =   31
         Text            =   "-1"
         Top             =   1440
         Width           =   795
      End
      Begin VB.TextBox txtDScanYaw 
         Height          =   255
         Left            =   2580
         TabIndex        =   30
         Text            =   "-1"
         Top             =   1200
         Width           =   795
      End
      Begin VB.TextBox txtDScanY 
         Height          =   255
         Left            =   2580
         TabIndex        =   29
         Text            =   "-1"
         Top             =   660
         Width           =   795
      End
      Begin VB.TextBox txtDScanX 
         Height          =   255
         Left            =   2580
         TabIndex        =   28
         Text            =   "-1"
         Top             =   420
         Width           =   795
      End
      Begin VB.TextBox txtRColor 
         Height          =   255
         Left            =   1740
         TabIndex        =   26
         Text            =   "-1"
         Top             =   1740
         Width           =   795
      End
      Begin VB.TextBox txtRScanPitch 
         Height          =   255
         Left            =   1740
         TabIndex        =   25
         Text            =   "-1"
         Top             =   1440
         Width           =   795
      End
      Begin VB.TextBox txtRScanYaw 
         Height          =   255
         Left            =   1740
         TabIndex        =   24
         Text            =   "-1"
         Top             =   1200
         Width           =   795
      End
      Begin VB.TextBox txtRScanY 
         Height          =   255
         Left            =   1740
         TabIndex        =   23
         Text            =   "-1"
         Top             =   660
         Width           =   795
      End
      Begin VB.TextBox txtRScanX 
         Height          =   255
         Left            =   1740
         TabIndex        =   22
         Text            =   "-1"
         Top             =   420
         Width           =   795
      End
      Begin VB.TextBox txtLColor 
         Height          =   255
         Left            =   900
         TabIndex        =   20
         Text            =   "-1"
         Top             =   1740
         Width           =   795
      End
      Begin VB.TextBox txtLScanPitch 
         Height          =   255
         Left            =   900
         TabIndex        =   18
         Text            =   "-1"
         Top             =   1440
         Width           =   795
      End
      Begin VB.TextBox txtLScanYaw 
         Height          =   255
         Left            =   900
         TabIndex        =   17
         Text            =   "-1"
         Top             =   1200
         Width           =   795
      End
      Begin VB.TextBox txtLScanY 
         Height          =   255
         Left            =   900
         TabIndex        =   16
         Text            =   "-1"
         Top             =   660
         Width           =   795
      End
      Begin VB.TextBox txtLScanX 
         Height          =   255
         Left            =   900
         TabIndex        =   15
         Text            =   "-1"
         Top             =   420
         Width           =   795
      End
      Begin VB.PictureBox pctFinal 
         Height          =   3615
         Left            =   4980
         ScaleHeight     =   237
         ScaleMode       =   3  'Pixel
         ScaleWidth      =   317
         TabIndex        =   9
         Top             =   180
         Width           =   4815
      End
      Begin VB.Label Label21 
         BackStyle       =   0  'Transparent
         Caption         =   """"
         Height          =   195
         Left            =   4680
         TabIndex        =   44
         Top             =   2220
         Width           =   255
      End
      Begin VB.Label Label20 
         BackStyle       =   0  'Transparent
         Caption         =   "Dist AB"
         Height          =   195
         Left            =   3360
         TabIndex        =   43
         Top             =   2280
         Width           =   675
      End
      Begin VB.Label Label17 
         Caption         =   "Max Dist"
         Height          =   195
         Left            =   3360
         TabIndex        =   41
         Top             =   2580
         Width           =   735
      End
      Begin VB.Label Label16 
         Caption         =   "px"
         Height          =   195
         Left            =   4680
         TabIndex        =   40
         Top             =   2580
         Width           =   255
      End
      Begin VB.Label Label15 
         Caption         =   "Scan D"
         Height          =   195
         Left            =   60
         TabIndex        =   38
         Top             =   900
         Width           =   675
      End
      Begin VB.Label Label14 
         Alignment       =   2  'Center
         Caption         =   "Difference"
         Height          =   195
         Left            =   2580
         TabIndex        =   27
         Top             =   180
         Width           =   795
      End
      Begin VB.Label Label8 
         Alignment       =   2  'Center
         Caption         =   "Right"
         Height          =   195
         Left            =   1740
         TabIndex        =   21
         Top             =   180
         Width           =   795
      End
      Begin VB.Label Label13 
         Caption         =   "Color"
         Height          =   195
         Left            =   60
         TabIndex        =   19
         Top             =   1740
         Width           =   915
      End
      Begin VB.Label Label12 
         Caption         =   "Scan Yaw"
         Height          =   255
         Left            =   60
         TabIndex        =   14
         Top             =   1200
         Width           =   855
      End
      Begin VB.Label Label11 
         Caption         =   "Scan Pitch"
         Height          =   195
         Left            =   60
         TabIndex        =   13
         Top             =   1440
         Width           =   915
      End
      Begin VB.Label Label10 
         Caption         =   "Scan Y"
         Height          =   195
         Left            =   60
         TabIndex        =   12
         Top             =   660
         Width           =   675
      End
      Begin VB.Label Label9 
         Caption         =   "Scan X"
         Height          =   255
         Left            =   60
         TabIndex        =   11
         Top             =   420
         Width           =   615
      End
      Begin VB.Label Label7 
         Alignment       =   2  'Center
         Caption         =   "Left"
         Height          =   195
         Left            =   900
         TabIndex        =   10
         Top             =   180
         Width           =   795
      End
   End
   Begin VB.Frame Frame1 
      Caption         =   "Captured Images"
      Height          =   3975
      Left            =   0
      TabIndex        =   5
      Top             =   4320
      Width           =   9915
      Begin VB.PictureBox pctRight 
         Height          =   3615
         Left            =   4980
         Picture         =   "frmDualImages.frx":0000
         ScaleHeight     =   237
         ScaleMode       =   3  'Pixel
         ScaleWidth      =   317
         TabIndex        =   7
         Top             =   240
         Width           =   4815
      End
      Begin VB.PictureBox pctLeft 
         Height          =   3615
         Left            =   120
         Picture         =   "frmDualImages.frx":38442
         ScaleHeight     =   237
         ScaleMode       =   3  'Pixel
         ScaleWidth      =   317
         TabIndex        =   6
         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.TextBox txtLCamYawOffset 
         Height          =   285
         Left            =   3600
         TabIndex        =   48
         TabStop         =   0   'False
         Text            =   "68.0"
         Top             =   3900
         Width           =   495
      End
      Begin VB.TextBox txtLCamYaw 
         Height          =   285
         Left            =   3600
         TabIndex        =   47
         TabStop         =   0   'False
         Text            =   "22.0"
         Top             =   3600
         Width           =   495
      End
      Begin VB.TextBox txtLCamPitch 
         Height          =   285
         Left            =   4140
         TabIndex        =   46
         TabStop         =   0   'False
         Text            =   "16.5"
         Top             =   3600
         Width           =   495
      End
      Begin VB.TextBox txtLCamPitchOffset 
         Height          =   285
         Left            =   4140
         TabIndex        =   45
         TabStop         =   0   'False
         Text            =   "0"
         Top             =   3900
         Width           =   495
      End
      Begin VB.ComboBox cmbDeviceR 
         Height          =   315
         Left            =   5040
         Style           =   2  'Dropdown List
         TabIndex        =   33
         Top             =   540
         Width           =   4635
      End
      Begin VB.ComboBox cmbDeviceL 
         Height          =   315
         Left            =   180
         Style           =   2  'Dropdown List
         TabIndex        =   32
         Top             =   540
         Width           =   4755
      End
      Begin vbVidC60.ezVidCap ezVidCapR 
         Height          =   3600
         Left            =   4980
         TabIndex        =   2
         Top             =   540
         Width           =   4800
         _ExtentX        =   8467
         _ExtentY        =   6350
         Preview         =   0   'False
      End
      Begin vbVidC60.ezVidCap ezVidCapL 
         Height          =   1800
         Left            =   120
         TabIndex        =   1
         Top             =   540
         Width           =   2400
         _ExtentX        =   4233
         _ExtentY        =   3175
         Preview         =   0   'False
      End
      Begin VB.Label Label6 
         BackStyle       =   0  'Transparent
         Caption         =   "Cam Offset"
         Height          =   195
         Left            =   2760
         TabIndex        =   54
         Top             =   3960
         Width           =   1035
      End
      Begin VB.Label Label4 
         BackStyle       =   0  'Transparent
         Caption         =   "Cam Angle"
         Height          =   195
         Left            =   2760
         TabIndex        =   53
         Top             =   3660
         Width           =   975
      End
      Begin VB.Label Label25 
         Alignment       =   2  'Center
         BackStyle       =   0  'Transparent
         Caption         =   "Yaw"
         Height          =   195
         Left            =   3600
         TabIndex        =   52
         Top             =   3360
         Width           =   495
      End
      Begin VB.Label Label26 
         BackStyle       =   0  'Transparent
         Caption         =   "o"
         Height          =   195
         Left            =   4620
         TabIndex        =   51
         Top             =   3540
         Width           =   255
      End
      Begin VB.Label Label27 
         BackStyle       =   0  'Transparent
         Caption         =   "o"
         Height          =   195
         Left            =   4620
         TabIndex        =   50
         Top             =   3840
         Width           =   255
      End
      Begin VB.Label Label28 
         Alignment       =   2  'Center
         BackStyle       =   0  'Transparent
         Caption         =   "Pitch"
         Height          =   195
         Left            =   4140
         TabIndex        =   49
         Top             =   3360
         Width           =   495
      End
      Begin VB.Label Label5 
         Caption         =   "Right Camera"
         Height          =   255
         Left            =   4980
         TabIndex        =   4
         Top             =   240
         Width           =   1335
      End
      Begin VB.Label Label2 
         Caption         =   "Left Camera"
         Height          =   255
         Left            =   180
         TabIndex        =   3
         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
Dim LScan As position



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)
   
   
   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
   
   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
End Sub


Private Sub tmrUpdateScan_Timer()
   txtLScanX.Text = LScan.x
   txtLScanY.Text = LScan.y
   txtLScanD.Text = LScan.dist
   
   txtLScanYaw.Text = (LScan.x / pctLeft.ScaleWidth) * (txtLCamYaw.Text * 2) - (txtLCamYaw.Text)
   txtLScanPitch.Text = -((LScan.y / pctLeft.ScaleHeight) * (txtLCamPitch.Text * 2) - (txtLCamPitch.Text))
   
   shpScanL.Left = LScan.x - Round(shpScanL.Width / 2)
   shpScanL.Top = LScan.y - Round(shpScanL.Height / 2)
End Sub




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
   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
End Sub