/// <summary>
/// Initialize Transformation and Invert Matrices for transforming
/// points from frame to Foosbot World and Back
/// </summary>
/// <param name="frameWidth">Frame width</param>
/// <param name="frameHeight">Frame height</param>
/// <param name="worldWidth">Foosbot world width</param>
/// <param name="worldHeight">Foosbot world height</param>
private void InitializeTransformation(float frameWidth, float frameHeight, float worldWidth, float worldHeight)
{
//Create corners of frame
System.Drawing.PointF[] originalPoints = new System.Drawing.PointF[4];
originalPoints[0] = new System.Drawing.PointF(0, 0);
originalPoints[1] = new System.Drawing.PointF(frameWidth, 0);
originalPoints[2] = new System.Drawing.PointF(0, frameHeight);
originalPoints[3] = new System.Drawing.PointF(frameWidth, frameHeight);
//Create corners of foosbot world
System.Drawing.PointF[] transformedPoints = new System.Drawing.PointF[4];
transformedPoints[0] = new System.Drawing.PointF(0, 0);
transformedPoints[1] = new System.Drawing.PointF(worldWidth, 0);
transformedPoints[2] = new System.Drawing.PointF(0, worldHeight);
transformedPoints[3] = new System.Drawing.PointF(worldWidth, worldHeight);
//Calculate trabsformation matrix and store in static class
Transformation.CalculateAndSetHomographyMatrix(originalPoints, transformedPoints);
}
