/// <summary>
/// Creates a transformation matrix from a MAT file.
/// </summary>
/// <param name="matFile">The MAT file.</param>
/// <returns>The transformation matrix.</returns>
private Tuple <double[, ], double[]> GetRotationMatrixAndTranslationFromMatFile(File matFile)
{
StreamReader myFile = new StreamReader(matFile.Path);
double xRotation = 0;
double yRotation = 0;
double zRotation = 0;
var translation = new double[3];
bool invert = false;
double rotationInDegrees;
while (myFile.EndOfStream == false)
{
string myLine = myFile.ReadLine();
string[] splitLine = myLine.Split();
var lineValues = splitLine.Where(x => !string.IsNullOrEmpty(x)).ToList();
// PowerInspect writes the MAT files using InvariantCulture
if (lineValues.Any())
{
switch (lineValues[0])
{
case "R":
switch (lineValues[1])
{
case "X":
rotationInDegrees = Convert.ToDouble(lineValues[2], CultureInfo.InvariantCulture);
xRotation = rotationInDegrees * Math.PI / 180;
break;
case "Y":
rotationInDegrees = Convert.ToDouble(lineValues[2], CultureInfo.InvariantCulture);
yRotation = rotationInDegrees * Math.PI / 180;
break;
case "Z":
rotationInDegrees = Convert.ToDouble(lineValues[2], CultureInfo.InvariantCulture);
zRotation = rotationInDegrees * Math.PI / 180;
break;
}
break;
case "T":
translation[0] = Convert.ToDouble(lineValues[1], CultureInfo.InvariantCulture);
translation[1] = Convert.ToDouble(lineValues[2], CultureInfo.InvariantCulture);
translation[2] = Convert.ToDouble(lineValues[3], CultureInfo.InvariantCulture);
break;
case "I":
invert = true;
break;
}
}
}
myFile.Close();
// PowerInspect uses the convention XYZ extrinsic (which means 1st rotate around x, then y, then z regarding to the world)
double[,] rotationMatrix = new Angles(xRotation, yRotation, zRotation, Conventions.XYZ).Matrix;
if (invert)
{
//Invert the Rotation matrix and invert the Translation vector.
//This is equivalent to transpose the Rotation Matrix(Rt) and for the translation vector is equivalent to multiply it by -Rt
//(http://www.cg.info.hiroshima-cu.ac.jp/~miyazaki/knowledge/teche53.html)
rotationMatrix = rotationMatrix.Transpose();
var negativeRotationMatrix = rotationMatrix.Multiply(-1);
translation = negativeRotationMatrix.Multiply(translation);
translation[0] = translation[0];
translation[1] = translation[1];
translation[2] = translation[2];
}
return(new Tuple <double[, ], double[]>(rotationMatrix, translation));
}
