#include "StdAfx.h"
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#include "CoordCalibrator.h"
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#include <math.h>
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CCoordCalibrator::CCoordCalibrator() : CAlignCalibrator()
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{
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m_dOriginMotorX = 0.0;
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m_dOriginMotorY = 0.0;
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m_bUseAOICam = FALSE;
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m_nARDirX = 1;
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m_nARDirY = 1;
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m_dARDistX = 0.0;
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m_dARDistY = 0.0;
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}
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CCoordCalibrator::~CCoordCalibrator(void)
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{
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}
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void CCoordCalibrator::ResetAlignResult()
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{
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m_nResultCode = 0;
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m_sAlignResult.Reset();
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m_sAlignResult.dOriginX = m_dOriginMotorX;
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m_sAlignResult.dOriginY = m_dOriginMotorY;
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}
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void CCoordCalibrator::SetOriginMotorPosition(double dPosX, double dPosY)
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{
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m_nResultCode = 0;
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m_sAlignResult.Reset();
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m_dOriginMotorX = m_sAlignResult.dOriginX = dPosX;
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m_dOriginMotorY = m_sAlignResult.dOriginY = dPosY;
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}
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void CCoordCalibrator::SetRotationInfo(double dMotorPosX, double dMotorPosY, double dGlassPosX, double dGlassPosY, double dDegree)
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{
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m_sAlignResult.Reset();
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m_dRotateCenterX = dMotorPosX;
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m_dRotateCenterY = dMotorPosY;
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m_dRotateDegree = dDegree;
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m_sAlignResult.dDegree = dDegree;
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m_sAlignResult.dRadian = ToRadian(m_sAlignResult.dDegree);
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m_sAlignResult.dSinValue = sin(m_sAlignResult.dRadian);
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m_sAlignResult.dCosValue = cos(m_sAlignResult.dRadian);
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// 기준 얼라인 마크의 모터 위치를 회전중심으로 정/역 회전변환 행렬 계산
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m_sAlignResult.SetRotateMatrix(dMotorPosX, dMotorPosY);
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// 기준 얼라인 마크의 모터 위치와 글라스 위치로 글라스 원점의 모터 위치 설정
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m_sAlignResult.dOriginX = dMotorPosX - (dGlassPosX * m_dDirectionX);
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m_sAlignResult.dOriginY = dMotorPosY - (dGlassPosY * m_dDirectionY);
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m_nResultCode = 1;
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}
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void CCoordCalibrator::SetTransDirection(int nDirectionX, int nDirectionY)
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{
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CAlignCalibrator::SetDirection(nDirectionX, nDirectionY);
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}
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void CCoordCalibrator::GetTransDirection(int& nDirectionX, int& nDirectionY) const
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{
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CAlignCalibrator::GetDirection(nDirectionX, nDirectionY);
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}
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void CCoordCalibrator::TransGlass2Motor(const SCoordInfo* pCoordInfo, double& dPositionX, double& dPositionY) const
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{
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double dTransX = 0.0, dTransY = 0.0;
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// 글라스 좌표를 기준카메라의 모터좌표로 변환
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CAlignCalibrator::TransformGlass2Motor(dPositionX, dPositionY, dTransX, dTransY);
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// 해당 카메라 모터좌표 변환
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dPositionX = (dTransX - pCoordInfo->dDistanceX) * pCoordInfo->nDirectionX;
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dPositionY = (dTransY - pCoordInfo->dDistanceY) * pCoordInfo->nDirectionY;
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}
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void CCoordCalibrator::TransMotor2Glass(const SCoordInfo* pCoordInfo, SMotorPosition* pMotorPosition) const
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{
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double dTransX = 0.0, dTransY = 0.0;
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// 기준 카메라 모터 좌표로 변환
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dTransX = pCoordInfo->dDistanceX + pCoordInfo->nDirectionX * pMotorPosition->dMotorPosX;
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dTransY = pCoordInfo->dDistanceY + pCoordInfo->nDirectionY * pMotorPosition->dMotorPosY;
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// 원점기준 글라스 좌표 변환
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CAlignCalibrator::TransformMotor2Glass(dTransX, dTransY, pMotorPosition->dGlassPosX, pMotorPosition->dGlassPosY);
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if (pMotorPosition->bUseWSI)
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{
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// 기준 카메라 모터 좌표로 변환
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dTransX = pCoordInfo->dDistanceX + pCoordInfo->nDirectionX * (pMotorPosition->dMotorPosX + pMotorPosition->dWSIOffsetX);
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dTransY = pCoordInfo->dDistanceY + pCoordInfo->nDirectionY * (pMotorPosition->dMotorPosY + pMotorPosition->dWSIOffsetY);
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// 원점기준 글라스 좌표 변환
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CAlignCalibrator::TransformMotor2Glass(dTransX, dTransY, pMotorPosition->dWSIPosX, pMotorPosition->dWSIPosY);
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}
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}
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void CCoordCalibrator::SetARMotorInfo(int nDirX, int nDirY, double dDistX, double dDistY)
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{
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m_nARDirX = (nDirX==0) ? 1: nDirX;
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m_nARDirY = (nDirY==0) ? 1: nDirY;
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m_dARDistX = dDistX;
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m_dARDistY = dDistY;
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}
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void CCoordCalibrator::TransAOI2Review(const SCoordInfo* pCoordInfo, double dAOIPosX, double dAOIPosY, double& dReviewPosX, double& dReviewPosY) const
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{
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double dReviewX=0, dReviewY=0;
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// AOI 모터 좌표를 Review 모터 좌표로 변환
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dReviewX = (dAOIPosX - m_dARDistX) * m_nARDirX;
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dReviewY = (dAOIPosY - m_dARDistY) * m_nARDirY;
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// 해당 Review 카메라 모터 좌표로 변환
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dReviewPosX = (dReviewX - pCoordInfo->dDistanceX) * pCoordInfo->nDirectionX;
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dReviewPosY = (dReviewY - pCoordInfo->dDistanceY) * pCoordInfo->nDirectionY;
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}
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void CCoordCalibrator::TransReview2AOI(const SCoordInfo* pCoordInfo, double dReviewPosX, double dReviewPosY, double& dAOIPosX, double& dAOIPosY) const
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{
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double dReviewX=0, dReviewY=0;
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// 기준 Review 카메라 모터 좌표로 변환
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dReviewX = pCoordInfo->dDistanceX + pCoordInfo->nDirectionX * dReviewPosX;
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dReviewY = pCoordInfo->dDistanceY + pCoordInfo->nDirectionY * dReviewPosY;
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// Review 모터 좌표를 AOI 모터 좌표로 변환
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dAOIPosX = m_dARDistX + m_nARDirX * dReviewX;
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dAOIPosY = m_dARDistY + m_nARDirY * dReviewY;
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}
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void CCoordCalibrator::TransMain2Sub(const SCoordInfo* pCoordInfo, double dMainPosX, double dMainPosY, double& dSubPosX, double& dSubPosY) const
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{
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// main 카메라 좌표를 sub 카메라 좌표로 변환
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dSubPosX = (dMainPosX - pCoordInfo->dDistanceX) * pCoordInfo->nDirectionX;
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dSubPosY = (dMainPosY - pCoordInfo->dDistanceY) * pCoordInfo->nDirectionY;
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}
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void CCoordCalibrator::TransSub2Main(const SCoordInfo* pCoordInfo, double dSubPosX, double dSubPosY, double& dMainPosX, double& dMainPosY) const
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{
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// sub 카메라 좌표를 main 카메라 좌표로 변환
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dMainPosX = pCoordInfo->dDistanceX + pCoordInfo->nDirectionX * dSubPosX;
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dMainPosY = pCoordInfo->dDistanceY + pCoordInfo->nDirectionY * dSubPosY;
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}
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/*
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void CCoordCalibrator::TransGlass2Motor(SCoordInfo* pCoordInfo, double& dPositionX, double& dPositionY)
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{
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double dTempX = 0.0, dTempY = 0.0, dTransX = 0.0, dTransY = 0.0;
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//1. 기준 카메라 모터좌표로 변환
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dTempX = (dPositionX - m_dOriginMotorX) * (m_nTransDirectionX * -1);
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dTempY = (dPositionY - m_dOriginMotorY) * (m_nTransDirectionY * -1);
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//2. 얼라인 역보정
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dTransX = (cos(m_dAlignTheta * -1) * dTempX) - (sin(m_dAlignTheta * -1) * dTempY);
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dTransY = (sin(m_dAlignTheta * -1) * dTempX) + (cos(m_dAlignTheta * -1) * dTempY);
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//3. 해당 카메라 모터좌표 변환
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dPositionX = pCoordInfo->dDistanceX + (pCoordInfo->nDirectionX * -1) * dTransX;
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dPositionY = pCoordInfo->dDistanceY + (pCoordInfo->nDirectionY * -1) * dTransY;
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}
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void CCoordCalibrator::TransMotor2Glass(SCoordInfo* pCoordInfo, SMotorPosition* pMotorPosition)
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{
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double dTempX = 0.0, dTempY = 0.0, dTransX = 0.0, dTransY = 0.0;
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//1. 기준 카메라 모터 좌표로 변환
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dTempX = pCoordInfo->dDistanceX + pCoordInfo->nDirectionX * pMotorPosition->dMotorPosX;
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dTempY = pCoordInfo->dDistanceY + pCoordInfo->nDirectionY * pMotorPosition->dMotorPosY;
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//2. 얼라인 보정
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dTransX = (cos(m_dAlignTheta) * dTempX) - (sin(m_dAlignTheta) * dTempY);
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dTransY = (sin(m_dAlignTheta) * dTempX) + (cos(m_dAlignTheta) * dTempY);
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//3. 원점기준 글라스 좌표로 변환
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pMotorPosition->dGlassPosX = (dTransX - m_dOriginMotorX) * m_nTransDirectionX;
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pMotorPosition->dGlassPosY = (dTransY - m_dOriginMotorY) * m_nTransDirectionY;
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}
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*/
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