/// <summary>
/// Sets the spatial transform parameters of the scan head in order to properly
/// transform the data from a camera based coordinate system to one based on
/// mill placement. Parameters are applied to all cameras.
/// </summary>
/// <param name="p">The p.</param>
internal void SetAlignment(AlignmentParameters p)
{
if (IsConnected)
{
throw new Exception("Can not set alignment while connected.");
}
Alignment[Camera.Camera0] = new AlignmentParameters(p);
Alignment[Camera.Camera1] = new AlignmentParameters(p);
}
/// <summary>
/// Sets the spatial transform parameters of the <see cref="ScanHead"/> in order to properly
/// transform the data from a scan head based coordinate system to one based on
/// mill placement. Parameters are applied only to specified <see cref="Camera"/>. This method
/// should not be used in most cases as all cameras should be aligned to each other by factory
/// calibration. In most cases <see cref="SetAlignment(double,double,double,ScanHeadOrientation)"/> should be
/// used instead.
/// </summary>
/// <param name="camera">The <see cref="Camera"/> which to set the alignment of.</param>
/// <param name="rollDegrees">The rotation around the Z axis in the mill coordinate system in degrees.</param>
/// <param name="shiftX">The shift along the X axis in the mill coordinate system in inches.</param>
/// <param name="shiftY">The shift along the Y axis in the mill coordinate system in inches.</param>
/// <param name="orientation">The <see cref="ScanHeadOrientation"/>.</param>
/// <exception cref="Exception">
/// <see cref="IsConnected"/> is `true`.
/// </exception>
public void SetAlignment(Camera camera, double rollDegrees, double shiftX, double shiftY,
ScanHeadOrientation orientation)
{
if (IsConnected)
{
throw new Exception("Can not set alignment while connected.");
}
Alignment[camera] = new AlignmentParameters(rollDegrees, shiftX, shiftY, orientation);
}
