/// <summary>
/// Writes the transformation matrix to a mat file.
/// </summary>
/// <param name="matFile">The MAT file to write.</param>
/// <param name="rotationMatrix">The rotation matrix.</param>
/// <param name="translation">The translation matrix.</param>
private void WriteRotationMatrixAndTranslationToMatFile(File matFile, double[,] rotationMatrix, double[] translation)
{
// Delete the file if a previous one exists
if (System.IO.File.Exists(matFile.Path))
{
System.IO.File.Delete(matFile.Path);
}
string xLine = null;
string yLine = null;
var zLine = "";
// PowerInspect writes the MAT files using Invariant culture.
string transLine = " T " + Convert.ToString(translation[0], CultureInfo.InvariantCulture) + " " +
Convert.ToString(translation[1], CultureInfo.InvariantCulture) + " " +
Convert.ToString(translation[2], CultureInfo.InvariantCulture);
var rotations = Angles.GetRotationsFromMatrixXYZ(rotationMatrix);
zLine = " R Z " + Convert.ToString(rotations[0].Value, CultureInfo.InvariantCulture);
yLine = " R Y " + Convert.ToString(rotations[1].Value, CultureInfo.InvariantCulture);
xLine = " R X " + Convert.ToString(rotations[2].Value, CultureInfo.InvariantCulture);
var lines = new List <string>();
lines.Add(xLine);
lines.Add(yLine);
lines.Add(zLine);
lines.Add(transLine);
lines.Add("*");
lines.Add("");
// create a new text document
System.IO.File.WriteAllLines(matFile.Path, lines);
}
/// <summary>
/// Writes the transformation matrix to a TRX file.
/// </summary>
/// <param name="trxFile">The TRX file to write.</param>
/// <param name="rotationMatrix">The rotation matrix.</param>
/// <param name="translation">The translation matrix.</param>
private void WriteRotationMatrixAndTranslationToTrxFile(
File trxFile,
double[,] rotationMatrix,
double[] translation)
{
trxFile.Delete();
Degree[] rotations = Angles.GetRotationsFromMatrixXYZ(rotationMatrix);
string xRotationLine = "ROT_X: " +
(rotations[2].Value >= 0.0
? rotations[2].Value.ToString("+0.000")
: rotations[2].Value.ToString("0.000"));
string yRotationLine = "ROT_Y: " +
(rotations[1].Value >= 0.0
? rotations[1].Value.ToString("+0.000")
: rotations[1].Value.ToString("0.000"));
string zRotationLine = "ROT_Z: " +
(rotations[0].Value >= 0.0
? rotations[0].Value.ToString("+0.000")
: rotations[0].Value.ToString("0.000"));
string xTranslationLine = "SHIFT_X: " +
(translation[0] >= 0.0
? translation[0].ToString("+0.000")
: translation[0].ToString("0.000"));
string yTranslationLine = "SHIFT_Y: " +
(translation[1] >= 0.0
? translation[1].ToString("+0.000")
: translation[1].ToString("0.000"));
string zTranslationLine = "SHIFT_Z: " +
(translation[0] >= 0.0
? translation[2].ToString("+0.000")
: translation[2].ToString("0.000"));
var lines = new List <string>(6);
lines.Add(xRotationLine);
lines.Add(yRotationLine);
lines.Add(zRotationLine);
lines.Add(xTranslationLine);
lines.Add(yTranslationLine);
lines.Add(zTranslationLine);
trxFile.WriteTextLines(lines);
}
