123 lines
4.5 KiB
C#
123 lines
4.5 KiB
C#
using Aurora.Api;
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using VisionCommon;
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using System.Collections.Generic;
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namespace VisionAligner {
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public class AlignerImpl {
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private static Logger _Logger = new Logger("AlignerImpl");
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#region N-Point Align
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/// <summary>
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/// Source(이동)를 Target(고정)에 맞추는 얼라인 XYT
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/// <para>
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/// Head 얼라인 : Source(RefPoint), Target(MeaPoint)
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/// </para>
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/// <para>
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/// Stage 얼라인 : Source(MeaPoint), Target(RefPoint)
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/// </para>
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/// </summary>
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/// <param name="srcPoints">이동 포인트</param>
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/// <param name="tgtPoints">고정 포인트</param>
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/// <param name="flipY">Y축 반전</param>
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/// <returns>보정량 XYT</returns>
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public static AlignDelta CalculateT(
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List<DoublePoint> srcPoints,
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List<DoublePoint> tgtPoints,
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int flipY) {
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var alignDeltaT = NativeAligner.AlignT(srcPoints, tgtPoints);
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alignDeltaT.T = CoordSystem.DenormalizeAngleDirection(alignDeltaT.T, flipY);
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return alignDeltaT;
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}
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/// <summary>
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/// ICP 알고리즘을 이용하여 Source(이동)를 Target(고정)에 맞추는 얼라인 XYT
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/// <para>
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/// Head 얼라인 : Source(RefPoint), Target(MeaPoint)
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/// </para>
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/// <para>
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/// Stage 얼라인 : Source(MeaPoint), Target(RefPoint)
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/// </para>
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/// </summary>
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/// <param name="srcPoints">이동 포인트</param>
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/// <param name="tgtPoints">고정 포인트</param>
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/// <param name="flipY">Y축 반전</param>
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/// <returns>보정량 XYT</returns>
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public static AlignDelta CalculateT_ICP(
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List<DoublePoint> srcPoints,
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List<DoublePoint> tgtPoints,
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int flipY) {
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var alignDeltaT = NativeAligner.AlignT_ICP(srcPoints, tgtPoints);
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alignDeltaT.T = CoordSystem.DenormalizeAngleDirection(alignDeltaT.T, flipY);
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return alignDeltaT;
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}
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/// <summary>
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/// Source(이동)를 Target(고정)에 맞추는 얼라인 XY
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/// </summary>
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/// <param name="srcPoints">이동 포인트 리스트</param>
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/// <param name="tgtPoints">고정 포인트 리스트</param>
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/// <returns>보정량 XY</returns>
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public static AlignDelta CalculateXY(
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List<DoublePoint> srcPoints,
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List<DoublePoint> tgtPoints) {
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var alignDeltaXY = NativeAligner.AlignXY(srcPoints, tgtPoints);
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return new AlignDelta(
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alignDeltaXY.Translation,
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Angle.CreateWithDegree(0));
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}
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#endregion
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#region 1-Point Align
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/// <summary>
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/// Source(이동)를 Target(고정)에 맞추는 얼라인 XYT
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/// <para>
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/// Head 얼라인 : Source(RefPoint), Target(MeaPoint)
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/// </para>
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/// <para>
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/// Stage 얼라인 : Source(MeaPoint), Target(RefPoint)
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/// </para>
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/// </summary>
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/// <param name="srcPoint">이동 포인트</param>
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/// <param name="tgtPoint">고정 포인트</param>
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/// <param name="theta">패턴 틀어진 각도 보정량</param>
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/// <param name="thetaOrigin">회전 원점</param>
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/// <param name="flipY">Y축 반전</param>
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/// <returns>보정량 XYT</returns>
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public static AlignDelta CalculateXYT(
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DoublePoint srcPoint,
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DoublePoint tgtPoint,
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Angle theta,
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DoublePoint thetaOrigin,
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int flipY) {
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var rotatedSrcPoints = MathUtil.Rotate(
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srcPoint,
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CoordSystem.NormalizeAngleDirection(theta, flipY),
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thetaOrigin);
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AlignDelta alignDeltaXY = CalculateXY(rotatedSrcPoints, tgtPoint);
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return new AlignDelta(alignDeltaXY.Translation, theta);
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}
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/// <summary>
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/// Source(이동)를 Target(고정)에 맞추는 얼라인 XY
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/// </summary>
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/// <param name="srcPoint">이동 포인트</param>
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/// <param name="tgtPoint">고정 포인트</param>
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/// <returns>보정량 XY</returns>
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public static AlignDelta CalculateXY(
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DoublePoint srcPoint,
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DoublePoint tgtPoint) {
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var alignDeltaXY = NativeAligner.AlignXY(srcPoint, tgtPoint);
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return new AlignDelta(
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alignDeltaXY.Translation,
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Angle.CreateWithDegree(0));
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}
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#endregion
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}
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}
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