VERSION 5.00
Begin VB.Form frmMain 
   Caption         =   "Image Demo"
   ClientHeight    =   10995
   ClientLeft      =   60
   ClientTop       =   345
   ClientWidth     =   10920
   LinkTopic       =   "Form1"
   ScaleHeight     =   10995
   ScaleWidth      =   10920
   StartUpPosition =   3  'Windows Default
   Begin VB.TextBox txtDistance 
      Height          =   285
      Left            =   7800
      TabIndex        =   19
      Text            =   "-1"
      Top             =   9060
      Width           =   615
   End
   Begin VB.TextBox txtLaserAngleZ 
      Height          =   315
      Left            =   7800
      TabIndex        =   17
      Text            =   "-1"
      Top             =   7980
      Width           =   615
   End
   Begin VB.TextBox txtScanAngleZ 
      Height          =   285
      Left            =   7800
      TabIndex        =   16
      Text            =   "-1"
      Top             =   8700
      Width           =   615
   End
   Begin VB.TextBox txtScanAngleX 
      Height          =   285
      Left            =   7800
      TabIndex        =   14
      Text            =   "-1"
      Top             =   8340
      Width           =   615
   End
   Begin VB.TextBox txtDistBetween 
      Height          =   285
      Left            =   1380
      TabIndex        =   10
      Text            =   "54.5"
      Top             =   8340
      Width           =   615
   End
   Begin VB.TextBox txtLaserAngleX 
      Height          =   315
      Left            =   7800
      TabIndex        =   9
      Text            =   "-1"
      Top             =   7620
      Width           =   615
   End
   Begin VB.TextBox txtFOVLaser 
      Height          =   285
      Left            =   1380
      TabIndex        =   7
      Text            =   "180"
      Top             =   7980
      Width           =   615
   End
   Begin VB.CommandButton cmdStep 
      Caption         =   "Step"
      Height          =   315
      Left            =   9360
      TabIndex        =   3
      Top             =   60
      Width           =   495
   End
   Begin VB.CommandButton cmdStart 
      Caption         =   "Start"
      Height          =   315
      Left            =   8820
      TabIndex        =   0
      Top             =   60
      Width           =   495
   End
   Begin VB.TextBox txtFOVCamera 
      Height          =   315
      Left            =   1380
      TabIndex        =   1
      Text            =   "60"
      Top             =   7620
      Width           =   615
   End
   Begin VB.Timer tmrMain 
      Left            =   8100
      Top             =   60
   End
   Begin VB.Label Label16 
      Caption         =   "o"
      Height          =   195
      Left            =   2040
      TabIndex        =   26
      Top             =   7920
      Width           =   255
   End
   Begin VB.Label Label14 
      Caption         =   "o"
      Height          =   195
      Left            =   8460
      TabIndex        =   24
      Top             =   7920
      Width           =   255
   End
   Begin VB.Label Label13 
      Caption         =   "o"
      Height          =   195
      Left            =   8460
      TabIndex        =   23
      Top             =   8280
      Width           =   255
   End
   Begin VB.Label Label12 
      Caption         =   "o"
      Height          =   195
      Left            =   8460
      TabIndex        =   22
      Top             =   8640
      Width           =   255
   End
   Begin VB.Label Label11 
      Caption         =   """"
      Height          =   195
      Left            =   8460
      TabIndex        =   21
      Top             =   9120
      Width           =   255
   End
   Begin VB.Label lbldistance 
      Caption         =   "Distance"
      Height          =   195
      Left            =   6720
      TabIndex        =   20
      Top             =   9120
      Width           =   975
   End
   Begin VB.Label Label10 
      Caption         =   "Laser Angle Z"
      Height          =   195
      Left            =   6720
      TabIndex        =   18
      Top             =   8040
      Width           =   1095
   End
   Begin VB.Label Label8 
      Caption         =   "Scan Angle Z"
      Height          =   195
      Left            =   6720
      TabIndex        =   15
      Top             =   8760
      Width           =   975
   End
   Begin VB.Label Label7 
      Caption         =   "Scan Angle X"
      Height          =   195
      Left            =   6720
      TabIndex        =   13
      Top             =   8400
      Width           =   975
   End
   Begin VB.Label Label6 
      Caption         =   """"
      Height          =   195
      Left            =   2040
      TabIndex        =   12
      Top             =   8400
      Width           =   255
   End
   Begin VB.Label Label5 
      Caption         =   "Dist Between"
      Height          =   195
      Left            =   300
      TabIndex        =   11
      Top             =   8340
      Width           =   1035
   End
   Begin VB.Shape testdot 
      FillColor       =   &H000000FF&
      FillStyle       =   0  'Solid
      Height          =   195
      Index           =   3
      Left            =   8160
      Shape           =   3  'Circle
      Tag             =   "130"
      Top             =   3720
      Width           =   195
   End
   Begin VB.Shape testdot 
      FillColor       =   &H000000FF&
      FillStyle       =   0  'Solid
      Height          =   195
      Index           =   1
      Left            =   1440
      Shape           =   3  'Circle
      Tag             =   "97.69"
      Top             =   3900
      Width           =   195
   End
   Begin VB.Shape testdot 
      FillColor       =   &H000000FF&
      FillStyle       =   0  'Solid
      Height          =   195
      Index           =   2
      Left            =   7740
      Shape           =   3  'Circle
      Tag             =   "125"
      Top             =   3780
      Width           =   195
   End
   Begin VB.Shape testdot 
      FillColor       =   &H000000FF&
      FillStyle       =   0  'Solid
      Height          =   195
      Index           =   0
      Left            =   3420
      Shape           =   3  'Circle
      Tag             =   "125.92"
      Top             =   3900
      Width           =   195
   End
   Begin VB.Label Label4 
      Caption         =   "Laser Angle X"
      Height          =   195
      Left            =   6720
      TabIndex        =   8
      Top             =   7680
      Width           =   1095
   End
   Begin VB.Label Label3 
      Caption         =   "Laser FOV"
      Height          =   195
      Left            =   300
      TabIndex        =   6
      Top             =   7980
      Width           =   1035
   End
   Begin VB.Line Line14 
      BorderColor     =   &H0000FF00&
      X1              =   5100
      X2              =   4860
      Y1              =   9240
      Y2              =   9420
   End
   Begin VB.Line Line11 
      BorderColor     =   &H0000FF00&
      BorderStyle     =   3  'Dot
      X1              =   2400
      X2              =   5100
      Y1              =   3960
      Y2              =   9540
   End
   Begin VB.Label Label2 
      BackStyle       =   0  'Transparent
      Caption         =   "A"
      ForeColor       =   &H0000FF00&
      Height          =   255
      Left            =   4800
      TabIndex        =   5
      Top             =   9000
      Width           =   255
   End
   Begin VB.Line Line10 
      BorderColor     =   &H0000FF00&
      X1              =   5100
      X2              =   5340
      Y1              =   9240
      Y2              =   9420
   End
   Begin VB.Label Label1 
      BackStyle       =   0  'Transparent
      Caption         =   "FOV"
      ForeColor       =   &H0000FF00&
      Height          =   255
      Left            =   4920
      TabIndex        =   4
      Top             =   9660
      Width           =   375
   End
   Begin VB.Line Line9 
      BorderColor     =   &H0000FF00&
      X1              =   5100
      X2              =   10140
      Y1              =   9540
      Y2              =   3660
   End
   Begin VB.Line Line8 
      BorderColor     =   &H0000FF00&
      X1              =   60
      X2              =   5100
      Y1              =   3660
      Y2              =   9600
   End
   Begin VB.Line Line13 
      BorderColor     =   &H00FF0000&
      X1              =   5100
      X2              =   5100
      Y1              =   7740
      Y2              =   240
   End
   Begin VB.Line Line15 
      BorderColor     =   &H00FF0000&
      X1              =   10080
      X2              =   120
      Y1              =   3960
      Y2              =   3960
   End
   Begin VB.Line Line12 
      BorderColor     =   &H00FF0000&
      X1              =   9900
      X2              =   120
      Y1              =   7560
      Y2              =   240
   End
   Begin VB.Line Line6 
      BorderColor     =   &H00FF0000&
      X1              =   300
      X2              =   10140
      Y1              =   7560
      Y2              =   180
   End
   Begin VB.Line Line3 
      BorderColor     =   &H00FF0000&
      X1              =   60
      X2              =   720
      Y1              =   360
      Y2              =   360
   End
   Begin VB.Line Line2 
      BorderColor     =   &H00FF0000&
      X1              =   300
      X2              =   300
      Y1              =   60
      Y2              =   780
   End
   Begin VB.Line Line1 
      BorderColor     =   &H000000FF&
      BorderStyle     =   0  'Transparent
      Index           =   0
      X1              =   5100
      X2              =   1620
      Y1              =   9600
      Y2              =   5100
   End
   Begin VB.Shape shpCurrent 
      FillColor       =   &H0000FFFF&
      FillStyle       =   0  'Solid
      Height          =   135
      Left            =   1200
      Shape           =   4  'Rounded Rectangle
      Top             =   1320
      Width           =   135
   End
   Begin VB.Label Label9 
      Caption         =   "Camera FOV"
      Height          =   195
      Left            =   300
      TabIndex        =   2
      Top             =   7680
      Width           =   975
   End
   Begin VB.Image imgInput 
      Height          =   7200
      Left            =   300
      Picture         =   "frmImageDemo.frx":0000
      Top             =   360
      Width           =   9600
   End
   Begin VB.Label Label17 
      Caption         =   "o"
      Height          =   195
      Left            =   2040
      TabIndex        =   27
      Top             =   7560
      Width           =   255
   End
   Begin VB.Label Label15 
      Caption         =   "o"
      Height          =   195
      Left            =   8460
      TabIndex        =   25
      Top             =   7560
      Width           =   255
   End
End
Attribute VB_Name = "frmMain"
Attribute VB_GlobalNameSpace = False
Attribute VB_Creatable = False
Attribute VB_PredeclaredId = True
Attribute VB_Exposed = False
Option Explicit

Dim cur_laser As Integer
Dim step_x As Integer
Dim step_y As Integer



Private Sub Form_Load()
   Dim dot As Shape
   
   tmrMain.Enabled = False
   tmrMain.Interval = 1
   shpCurrent.Left = imgInput.Left
   shpCurrent.Top = imgInput.Top
   step_x = shpCurrent.Width
   step_y = shpCurrent.Height
   
   Dim step As Double
   step = txtFOVLaser.Text / testdot.Count
   For Each dot In testdot
      dot.Visible = False
   Next
   testdot(0).Visible = True
   txtLaserAngleX.Text = testdot(0).Tag
End Sub


Private Sub cmdStart_Click()
   If (tmrMain.Enabled = True) Then
      tmrMain.Enabled = False
      cmdStart.Caption = "Start"
   Else
      tmrMain.Enabled = True
      cmdStart.Caption = "Stop"
   End If
End Sub

Private Sub cmdStep_Click()
   '1) move dot col
   '2) move dot row
   '3) switch laser
   
   If (shpCurrent.Left + shpCurrent.Width + step_x > imgInput.Left + imgInput.Width) Then ' overrun right
      shpCurrent.Left = imgInput.Left
      If (shpCurrent.Top + shpCurrent.Height + step_y > imgInput.Top + imgInput.Height) Then ' overrun right
         shpCurrent.Top = imgInput.Top
         
         testdot(cur_laser).Visible = False ' hide last
         If (cur_laser = testdot.ubound) Then
            cur_laser = testdot.LBound
         Else
            cur_laser = cur_laser + 1
         End If
         testdot(cur_laser).Visible = True
         txtLaserAngleX.Text = testdot(cur_laser).Tag
      Else
         shpCurrent.Top = shpCurrent.Top + step_y
      End If
   Else
      shpCurrent.Left = shpCurrent.Left + step_x
   End If
   Dim cameraOffsetX As Double
   cameraOffsetX = 90 - txtFOVCamera.Text / 2
   txtScanAngleX.Text = cameraOffsetX + ((shpCurrent.Left / (imgInput.Left + imgInput.Width)) * txtFOVCamera.Text)
   txtScanAngleZ.Text = (shpCurrent.Top / (imgInput.Top + imgInput.Height)) * txtFOVCamera.Text
   
   ' find intersect
   If (testdot(cur_laser).Left >= shpCurrent.Left And testdot(cur_laser).Left <= shpCurrent.Left + shpCurrent.Width) Then
      If (testdot(cur_laser).Top >= shpCurrent.Top And testdot(cur_laser).Top <= shpCurrent.Top + shpCurrent.Height) Then
         ' intersected
         
         Dim angle_A As Double, dist_b As Double
         If (txtLaserAngleX.Text >= 90 And txtLaserAngleX.Text < 180 And txtScanAngleX.Text >= 0 And txtScanAngleX.Text < 90) Then
            angle_A = 180 - txtLaserAngleX.Text
            dist_b = (txtDistBetween.Text * Sin(DtoR(txtScanAngleX.Text))) / Sin(DtoR(180 - angle_A - txtScanAngleX.Text))
            txtDistance.Text = dist_b * Sin(DtoR(angle_A))
'            txtDistance.Text = dist_b
         Else
            txtDistance.Text = "-1"
         End If
         
         MsgBox "hit at (" & testdot(cur_laser).Left & ", " & testdot(cur_laser).Top & ")"
      End If
   End If
   
End Sub


Private Sub tmrMain_Timer()
   cmdStep_Click
End Sub

Function DtoR(degrees As Double)
   DtoR = degrees * (3.141592654 / 180)
End Function

Function RtoD(radians As Double)
   RtoD = radians * (180 / 3.141592654)
End Function