public static Matrix4x4 GetAlignmentTransform(MAlignmentType alignmentType, List <MarkGeometryPoint> estimatedPoints, List <MarkGeometryPoint> measuredPoints)
{
if (alignmentType == MAlignmentType.Type1 && measuredPoints?.Count > 0)
{
return(GeometricArithmeticModule.GetTranslationTransformationMatrix(
measuredPoints[0].X, measuredPoints[0].Y
));
}
return(GeometricArithmeticModule.EstimateTransformationMatrixFromPoints(
estimatedPoints, measuredPoints
));
}
public async Task <Matrix4x4> GetAbsoluteTransformFromStageOrigin(
IProcessConfigurationTasksHandler taskHandler,
ICamToBeam cam2Beam,
MRecipe recipe,
MRecipeBaseNode recipeNode,
CancellationToken ctIn
)
{
// firstly, find closest parent with fiducials
var parent = recipeNode;
while (
parent != null &&
parent.Fiducials.Count <= 0
)
{
parent = parent.Parent as MRecipeBaseNode;
}
if (parent != null)
{
// recursion - get it's parent's transform
var baseTransform = await GetAbsoluteTransformFromStageOrigin(
taskHandler, cam2Beam, recipe, parent.Parent as MRecipeBaseNode, ctIn
);
var fiducialPoints = new List <MarkGeometryPoint>();
var measuredPoints = new List <MarkGeometryPoint>();
for (int i = 0; i < parent.Fiducials.Count; i++)
{
var fiducial = parent.Fiducials[i];
if (!_cachedFiducials.ContainsKey(fiducial))
{
// estimate stage position
var stageLocation = new MarkGeometryPoint(
fiducial.X, fiducial.Y, fiducial.Z
);
stageLocation.Transform(baseTransform);
// goto estimated position
if (!await taskHandler.GotoXY(
stageLocation.X, stageLocation.Y, ctIn
))
{
throw new Exception($"Failed to goto the estimated position; origin: {await taskHandler.GetStageOrigin(ctIn)}, fiducial: {(fiducial.X, fiducial.Y)} est: {stageLocation}");
}
// find and centre
{
if (!await cam2Beam.MoveBeamToCamOffset(ctIn))
{
throw new Exception($"Failed to move beam to cam offset");
}
if (!await taskHandler.MovetoCameraFocus(ctIn))
{
throw new Exception($"Failed to move camera to focus");
}
await taskHandler.SwitchCameraLedOn(ctIn);
// attempt to centre on fiducial
if (!await taskHandler.CentreOnVisibleObject(ctIn))
{
_logger.Info($"Failed to centre on fiducial");
// ask user to locate fiducials
Application.Current.Dispatcher.Invoke(
() =>
{
var fidVm = taskHandler.GetNewFidFindViewModel();
var inspectionDialog = new InspectionWindow(fidVm, Application.Current.MainWindow);
inspectionDialog.Owner = Application.Current.MainWindow;
if (inspectionDialog.ShowDialog() != true)
{
throw new Exception("Failed to find fiducial");
}
// TODO : think about updating the machine's origin
}
);
}
if (!await cam2Beam.MoveCamToBeamOffset(ctIn))
{
throw new Exception($"Failed to move camera to beam offset");
}
}
// read fiducial position
var(stgX, stgY, success) = await taskHandler.GetStageXY(ctIn);
if (!success)
{
throw new Exception("Failed to read the current stage position");
}
// update cache
_cachedFiducials[fiducial] = new MarkGeometryPoint(stgX, stgY);
}
// update measured points
fiducialPoints.Add(new MarkGeometryPoint(fiducial.X, fiducial.Y));
measuredPoints.Add(_cachedFiducials[fiducial]);
}
// calculate transform from measured fiducials
var parentTransform = GeometricArithmeticModule.EstimateTransformationMatrixFromPoints(
fiducialPoints, measuredPoints
);
return(GeometricArithmeticModule.CombineTransformations(
parentTransform,
await InvertTransform(
taskHandler,
parentTransform,
MRecipe.GetRelativeTransformFromParent(
parent, recipeNode
),
ctIn
)
));
}
var origin = await taskHandler.GetStageOrigin(ctIn);
var stageOrigin = GeometricArithmeticModule.GetTranslationTransformationMatrix(
origin.X, origin.Y
);
return(GeometricArithmeticModule.CombineTransformations(
stageOrigin,
await InvertTransform(
taskHandler,
stageOrigin,
MRecipe.GetRelativeTransform(
recipe, recipeNode
),
ctIn
)
));
}