public void GenerateFiducialPattern(double radius = 2.5, int numOfLines = 4)
{
_fiducialPattern = new List <IMarkGeometry>();
var baseLine = new MarkGeometryLine(new MarkGeometryPoint(-radius, 0), new MarkGeometryPoint(radius, 0));
var transform = GeometricArithmeticModule.GetRotationTransformationMatrix(
0, 0, Math.PI / numOfLines
);
for (int i = 0; i < numOfLines; i++)
{
_fiducialPattern.Add((IMarkGeometry)baseLine.Clone());
baseLine.Transform(transform);
}
_fiducialPattern.Add(new MarkGeometryCircle(radius));
}
public Matrix4x4 ToMatrix4x4()
{
return(GeometricArithmeticModule.CombineTransformations(
// apply scale
GeometricArithmeticModule.GetScalingTransformationMatrix(
ScaleX, ScaleY, ScaleZ
),
// apply rotation - don't forget to convert degrees to radians
GeometricArithmeticModule.GetRotationTransformationMatrix(
GeometricArithmeticModule.ToRadians(RotationDegX),
GeometricArithmeticModule.ToRadians(RotationDegY),
GeometricArithmeticModule.ToRadians(RotationDegZ)
),
// apply offset
GeometricArithmeticModule.GetTranslationTransformationMatrix(
OffsetX, OffsetY, OffsetZ
)
));
}
// TODO: Implement mask angle align func
// 1. The mask angle is measured directly by camera.
// 2. The mask is rotated to compensate for the angle.
// 3. The procedure continues until the angle is zero.
public MVertex ConvertCADToMachineCoordinate(MVertex cadOrigin, MVertex pointOnCAD)
{
var transform = GeometricArithmeticModule.CombineTransformations(
GeometricArithmeticModule.GetTranslationTransformationMatrix(
-cadOrigin.X, -cadOrigin.Y
),
GeometricArithmeticModule.GetRotationTransformationMatrix(
0, 0, Angle
),
GeometricArithmeticModule.GetTranslationTransformationMatrix(
OriginRelativeBEAM.X, OriginRelativeBEAM.Y
)
);
var result = Vector3.Transform(
new Vector3((float)pointOnCAD.X, (float)pointOnCAD.Y, 0),
transform
);
return(new MVertex(Inverts.X * result.X, Inverts.Y * result.Y));
}
