cheind / parsley Goto Github PK

System.Drawing.Point structures from System.Drawing.PointF are created by 
(int)pf.X, i.e taking the floor of the value. A better technique would be to 
use Math.Round (performance?).

A plane's equation is ax + by + cz = d. For the Parsley.Core.Plane it is 
defined as ax + by +cz = -d. All other algorithms seems to correctly invert the 
meaning of d.

Currently we use a rotary-positioner to rotate the workpiece in a known way. 
Since not everybody has a rotary positioner at hands, here's a new idea to 
track the position of the workpiece.

Instead of the rotary-positioner, we add a simple marker-positioner that uses 
the newly added feature of marker-tracking: we place the workpiece on a piece 
of paper along with a marker printed on the paper. Since the relative position 
between the marker and the workpiece does not change, we can establish a common 
coordinate system for all scanned points by representing them in the 
corresponding marker coordinate system.

To be clear, assume that the current marker coordinate frame with respect to 
the sensor coordinate frame is M. Assume that point p is scanned. Each point is 
scanned with respect to the camera coordinate system. By representing the point 
in M, by multiplying p with M^-1, we can represent all points , no matter what 
M is, in a common coordinate system , since the relative position between M and 
the workpiece does not change.

Usually all points are represented in the camera coordinate frame, so we should 
transform points by : M0 * M^-1 where M0 is the initial detected marker frame.

I've attached an image to illustrate the process

fusioning of 3d views in parsley

License is currently shipped as separate file. Probably needs to be placed in 
headers as well.

If the z-coordinate of the translation vector is set in the pattern editor (in 
order to include the thickness of the calibration_planes), the function 
findpattern (circles.cs) crashes. 
When the function approximatePlane is called in findpattern, ic.Calibrate 
catches a EMGU.CV First Chance Exception (in function approximatePlane).

preview of detected pattern in pattern editor

To improve accuracy, pixels need to be undistorted before eye-rays are 
created. This can happen inside Ray.EyeRays