public PartLocation Map2(PartLocation from)
{
if (ScaleX == 0 || ScaleY == 0)
{
throw new Exception("LeastSquareMapping not intialized");
}
var p = new PartLocation(from);
p.X = (from.X + OffsetX) * ScaleX;
// Why there's a -1 necessary here is beyond me but it works so
p.Y = (from.Y + OffsetY) * ScaleY - 1;
p.Rotate(Rotation_);
return(p);
}
public void TakePhotoOfPartAtCurrentLocation(TapeObj t)
{
if (t == null)
{
return;
}
var dir = Global.BaseDirectory + @"\images\";
Directory.CreateDirectory(dir);
var size = t.GetComponentSize();
if (size == null)
{
return;
}
var s = new PartLocation(size.Width, size.Height); //assumes 0 degree rotation
s = (1.5 * s) / MainForm.cameraView.downVideoProcessing.mmPerPixel; //convert to pixels and ad extra 25%
s.Rotate(t.PartAngle * Math.PI / 180d); //and rotate to final position
s.X = Math.Abs(s.X); //correct for sign changes
s.Y = Math.Abs(s.Y);
MainForm.cameraView.SetDownCameraFunctionSet("ComponentPhoto");
Global.DoBackgroundWork(); //let new images be processed
var topleft = MainForm.cameraView.downVideoProcessing.FrameCenter - (.5 * s);
var rect = new Rectangle(topleft.ToPoint(), s.ToSize());
var filter = new Crop(rect);
using (var image = MainForm.cameraView.downVideoProcessing.GetMeasurementFrame()) {
using (var cropped = filter.Apply(image)) {
var filename = dir + t.ID.Replace(" ", "_") + ".jpg";
if (File.Exists(filename))
{
File.Delete(filename);
}
cropped.Save(filename, ImageFormat.Jpeg);
t.TemplateFilename = filename;
}
}
}
// Part Orientation = orientation if tape is perfectly oriented the way it is oriented
// deltaOrientation = how far offf the tape is from it's stated orientation
public PartLocation GetPartLocation(int componentNumber)
{
PartLocation part;
if (FirstPart != null)
{
part = GetPartBasedLocation(componentNumber);
}
else
{
var offset = new PartLocation(componentNumber * PartPitch + HoleToPartSpacingX, HoleToPartSpacingY);
// add the vector to the part rotated by the tape orientation
part = new PartLocation(FirstHole) + offset.Rotate(TapeOrientation.ToRadians());
}
// add deviation from expected orientation to part orientation
var deltaOrientation = tapeOrientation.ToRadians() - OriginalTapeOrientationVector.ToRadians();
part.A = (OriginalPartOrientationVector.ToRadians() + deltaOrientation) * 180d / Math.PI;
return(part);
}
public static PointF[] ToRotatedRectangle(Shapes.Rectangle s)
{
s.ToRawResolution();
PointF[] p = new PointF[5];
p[0].X = (float)s.Left; p[0].Y = (float)s.Top;
p[1].X = (float)s.Right; p[1].Y = (float)s.Top;
p[2].X = (float)s.Right; p[2].Y = (float)s.Bottom;
p[3].X = (float)s.Left; p[3].Y = (float)s.Bottom;
p[4].X = (float)s.Left; p[4].Y = (float)s.Top;
// roate about center
double angle = s.A * Math.PI / 180d;
PartLocation center = new PartLocation(s);
for (int i = 0; i < p.Length; i++)
{
PartLocation pp = new PartLocation(p[i]) - center; //shift to zero
pp = pp.Rotate(angle) + center;
p[i] = pp.ToPointF();
}
return(p);
}
// Part Orientation = orientation if tape is perfectly oriented the way it is oriented
// deltaOrientation = how far offf the tape is from it's stated orientation
public PartLocation GetPartLocation(int componentNumber)
{
PartLocation part;
if (FirstPart != null) {
part = GetPartBasedLocation(componentNumber);
} else {
var offset = new PartLocation(componentNumber * PartPitch + HoleToPartSpacingX, HoleToPartSpacingY);
// add the vector to the part rotated by the tape orientation
part = new PartLocation(FirstHole) + offset.Rotate(TapeOrientation.ToRadians());
}
// add deviation from expected orientation to part orientation
var deltaOrientation = tapeOrientation.ToRadians() - OriginalTapeOrientationVector.ToRadians();
part.A = (OriginalPartOrientationVector.ToRadians() + deltaOrientation) * 180d / Math.PI;
return part;
}
public PartLocation Map2(PartLocation from)
{
if (ScaleX == 0 || ScaleY == 0) throw new Exception("LeastSquareMapping not intialized");
var p = new PartLocation(from);
p.X = (from.X + OffsetX) * ScaleX;
// Why there's a -1 necessary here is beyond me but it works so
p.Y = (from.Y + OffsetY) * ScaleY - 1;
p.Rotate(Rotation_);
return p;
}
public void TakePhotoOfPartAtCurrentLocation(TapeObj t)
{
if (t == null) return;
var dir = Global.BaseDirectory + @"\images\";
Directory.CreateDirectory(dir);
var size = t.GetComponentSize();
if (size == null) return;
var s = new PartLocation(size.Width, size.Height); //assumes 0 degree rotation
s = (1.5 * s) / MainForm.cameraView.downVideoProcessing.mmPerPixel; //convert to pixels and ad extra 25%
s.Rotate(t.PartAngle * Math.PI / 180d); //and rotate to final position
s.X = Math.Abs(s.X); //correct for sign changes
s.Y = Math.Abs(s.Y);
MainForm.cameraView.SetDownCameraFunctionSet("ComponentPhoto");
Global.DoBackgroundWork(); //let new images be processed
var topleft = MainForm.cameraView.downVideoProcessing.FrameCenter - (.5 * s);
var rect = new Rectangle(topleft.ToPoint(), s.ToSize());
var filter = new Crop(rect);
using (var image = MainForm.cameraView.downVideoProcessing.GetMeasurementFrame()) {
using (var cropped = filter.Apply(image)) {
var filename = dir + t.ID.Replace(" ", "_") + ".jpg";
if (File.Exists(filename)) File.Delete(filename);
cropped.Save(filename, ImageFormat.Jpeg);
t.TemplateFilename = filename;
}
}
}
public void Recomputer3()
{
// calculate centroids
int fiducialCount = 0;
List<PartLocation> sourceFiducials = new List<PartLocation>();
List<PartLocation> destFiducials = new List<PartLocation>();
PartLocation tempDest;
foreach (var fiducial in source.Where(part => part.physicalComponent.IsFiducial).ToArray())
{
sourceCentroidX += fiducial.physicalComponent.X_nominal;
sourceCentroidY += fiducial.physicalComponent.Y_nominal;
sourceFiducials.Add(fiducial);
tempDest = dest[source.IndexOf(fiducial)];
if (tempDest.physicalComponent != null) {
destCentroidX += tempDest.physicalComponent.X_machine;
destCentroidY += tempDest.physicalComponent.Y_machine;
} else {
destCentroidX += tempDest.X;
destCentroidY += tempDest.Y;
}
destFiducials.Add(tempDest);
fiducialCount++;
}
sourceCentroidX /= fiducialCount;
sourceCentroidY /= fiducialCount;
destCentroidX /= fiducialCount;
destCentroidY /= fiducialCount;
OffsetX = -sourceCentroidX + destCentroidX;
OffsetY = -sourceCentroidY + destCentroidY;
List <double> destRotation = new List<double>();
List <double> sourceRotation = new List<double>();
List <double> destOffset = new List<double>();
List <double> sourceOffset = new List<double>();
List <double> scale = new List<double>();
List<double> rotationOffset = new List<double>();
ScaleX = 0; ScaleY = 0; Rotation_ = 0;
// Calculate offsets from centroids, rotation from source to destination and scale difference
PartLocation sourceFiducial = null, destFiducial = null;
for (int i=0; i<fiducialCount; i++) {
sourceFiducial = sourceFiducials.ElementAt(i);
destFiducial = destFiducials.ElementAt(i);
/*
sourceOffset.Add(Math.Sqrt(Math.Pow(sourceFiducial.X -
sourceCentroidX, 2) + Math.Pow(sourceFiducial.Y -
sourceCentroidY, 2)));
destOffset.Add(Math.Sqrt(Math.Pow(destFiducial.X -
destCentroidX, 2) + Math.Pow(destFiducial.Y -
destCentroidY, 2)));
*/
/*
sourceRotation.Add(Math.Asin((sourceFiducial.Y - sourceCentroidY) /
sourceOffset[i]));
if ((sourceFiducial.X - sourceCentroidX) < 0) {
sourceRotation[i] = Math.PI - sourceRotation[i]; }
if (sourceRotation[i] < 0) { sourceRotation[i] += Math.PI * 2; }
destRotation.Add(Math.Asin((destFiducial.Y - destCentroidY) /
destOffset[i]));
if ((destFiducial.X - destCentroidX) < 0) {
destRotation[i] = Math.PI - destRotation[i]; }
if (destRotation[i] < 0) { destRotation[i] += Math.PI * 2; }
*/
sourceRotation.Add(Math.Atan2(sourceFiducial.Y - sourceCentroidY,
sourceFiducial.X - sourceCentroidX));
destRotation.Add(Math.Atan2(destFiducial.Y - destCentroidY,
destFiducial.X - destCentroidX));
rotationOffset.Add(destRotation[i] - sourceRotation[i]);
//scale.Add(destOffset[i] / sourceOffset[i]);
Rotation_ += rotationOffset[i];
ScaleX += (destFiducial.X - destCentroidX) / (sourceFiducial.X - sourceCentroidX);
ScaleY += (destFiducial.Y - destCentroidY) / (sourceFiducial.Y - sourceCentroidY);
}
Rotation_ /= fiducialCount;
ScaleX /= fiducialCount;
ScaleY /= fiducialCount;
var p = new PartLocation();
double xFid, yFid;
foreach (PartLocation fiducial in sourceFiducials)
{
p.X = (fiducial.X - sourceCentroidX) * ScaleX;
p.Y = (fiducial.Y - sourceCentroidY) * ScaleY;
p.Rotate(Rotation_);
p.X += sourceCentroidX + OffsetX;
p.Y += sourceCentroidY + OffsetY;
}
}
public PartLocation Map2(PartLocation from)
{
if (ScaleX == 0 || ScaleY == 0) throw new Exception("LeastSquareMapping not intialized");
var p = new PartLocation(from);
//(Rotation * (x - SourceCentroid)) + Offset + SourceCentroid;
/*
p.X = (from.X + OffsetX) * ScaleX; // -0.5;
p.Y = (from.Y + OffsetY) * ScaleY; // -1;
p.Rotate(Rotation_);
*/
p.X = (from.X - sourceCentroidX) * ScaleX;
p.Y = (from.Y - sourceCentroidY) * ScaleY;
p.Rotate(Rotation_);
p.X += sourceCentroidX + OffsetX;
p.Y += sourceCentroidY + OffsetY;
// double check this
p.A = from.A + Angle;
return p;
}
public static PointF[] ToRotatedRectangle(Shapes.Rectangle s)
{
s.ToRawResolution();
PointF[] p = new PointF[5];
p[0].X = (float)s.Left; p[0].Y = (float)s.Top;
p[1].X = (float)s.Right; p[1].Y = (float)s.Top;
p[2].X = (float)s.Right; p[2].Y = (float)s.Bottom;
p[3].X = (float)s.Left; p[3].Y = (float)s.Bottom;
p[4].X = (float)s.Left; p[4].Y = (float)s.Top;
// roate about center
double angle = s.A * Math.PI / 180d;
PartLocation center = new PartLocation(s);
for (int i = 0; i < p.Length; i++) {
PartLocation pp = new PartLocation(p[i]) - center; //shift to zero
pp = pp.Rotate(angle) + center;
p[i] = pp.ToPointF();
}
return p;
}