Use a Cog3DDisplayV2 control to visualize range images and 3D graphics in your Visual Studio applications.

Be aware that VisionPro also supports Cog3DDisplayV2WF, a Windows Forms version of the control that supports the same functionality.

This topic contains the following sections.

• Displaying 3D Data
• 3D Viewer Utility
• 3D Display Status Bar
• Sample Application

This section contains the following subsections.

• Displaying Range Images
• Displaying 3D graphics

VisionPro supports two types of 3D data:

• Vision data captured by supported 3D sensors
• Geometric graphics such as 3D boxes and 3D planes

The 3D Display control allows you to combine the display of both vision data and geometric graphics.

Use a Cog3DRangeImageGraphic object to contain 3D vision data that you want to display. The object stores either:

• A CogImage16Range range image

• A CogImage16Range range image and its CogImage16Grey grey-scale pair.

  VisionPro automatically checks to verify that the grey-scale image is not null and the range image and its grey-scale counterpart have the same dimensions in width and height.

Use the Add method of the 3D display control to add your Cog3DRangeImageGraphic to what is currently shown. See the sample application included with VisionPro for an example.

VisionPro supports the following 3D graphic types:

• Cog3DBoxGraphic
• Cog3DCircleGraphic
• Cog3DLineSegGraphic
• Cog3DPointGraphic
• Cog3DRectangleGraphic
• Cog3DSphereGraphic

Unlike 2D shapes, VisionPro maintains separate classes for 3D shapes and 3D graphics. To display a 3D graphic, you must create and configure the 3D shape you want to use and then pass the 3D shape to the appropriate 3D graphic object. See the sample application included with VisionPro for an example.

Your VisionPro installation includes the 3D Viewer utility, available from the Start menu. The utility implements the Cog3DDisplayV2WF version of the user control while offering the following additional features:

• Toggling the view between range images as well as range images that include grey-image data.
• Changing the color the viewer uses to display range the image.
• Changing the resolution of all displayed images.

The following figure shows the 3D Viewer utility in use:

See the topic Viewing 3D Range Images with the 3D Viewer for more information about the 3D Viewer utility.

VisionPro also inclues the Cog3DDisplayV2StatusBar control to offfer status bar features for a 3D Display. Use the status bar to report mouse coordinates of the display and the name of the current coordinate space.

Your VisionPro installatoin includes a sample Visual Studio solution at %VPRO_ROOT%\samples\Programming\3D\Cog3DDisplayV2WithGraphics\C#\Cog3DDisplayV2WithGraphics. The sample application:

• Loads the %VPRO_ROOT%\Images\RangeWithGrey.idb file containing RangeWithGrey range images.
• Demonstrates how to create a graphic wrapper for a range image.
• Uses a preconfigured CogToolBlock (ToolBlock.vpp) that searches for a 2D Data Matrix code on the grey image data and displays the result within a transparent 3D bounding-box.
• Illustrates the steps necessary to process the results of the grey image data, which are stored in Sensor2D space.
• Shows how to transform (x,y) coordinates in Sensor2D space into (x,y, z) coordinates in Sensor3D space.

The following figure shows the sample application in use: