CQTransform

计算总的坐标转换

m_pDriver->SolverTransMeasure2Driver();

void CDriver::SolverTransMeasure2Driver()
{   
    //获得了平台坐标系
    CHPoint* hPoint = NULL;
    hPoint = origin_Intermediate_Measure;
    hPoint->x = m_pTransMeasureDriver->GetMatrixElement(0, 3);
    hPoint->y = m_pTransMeasureDriver->GetMatrixElement(1, 3);
    hPoint->z = m_pTransMeasureDriver->GetMatrixElement(2, 3);

    hPoint = e1_Intermediate_Measure;
    e1_Intermediate_Measure->x = m_pTransMeasureDriver->GetMatrixElement(0, 0) *100.f + origin_Intermediate_Measure->x;
    e1_Intermediate_Measure->y = m_pTransMeasureDriver->GetMatrixElement(0, 1) *100.f + origin_Intermediate_Measure->y;
    e1_Intermediate_Measure->z = m_pTransMeasureDriver->GetMatrixElement(0, 2) *100.f + origin_Intermediate_Measure->z;

    e2_Intermediate_Measure->x = m_pTransMeasureDriver->GetMatrixElement(1, 0) *100.f + origin_Intermediate_Measure->x;
    e2_Intermediate_Measure->y = m_pTransMeasureDriver->GetMatrixElement(1, 1) *100.f + origin_Intermediate_Measure->y;
    e2_Intermediate_Measure->z = m_pTransMeasureDriver->GetMatrixElement(1, 2) *100.f + origin_Intermediate_Measure->z;

    
    e3_Intermediate_Measure->x = m_pTransMeasureDriver->GetMatrixElement(2, 0) *100.f + origin_Intermediate_Measure->x;
    e3_Intermediate_Measure->y = m_pTransMeasureDriver->GetMatrixElement(2, 1) *100.f + origin_Intermediate_Measure->y;
    e3_Intermediate_Measure->z = m_pTransMeasureDriver->GetMatrixElement(2, 2) *100.f + origin_Intermediate_Measure->z;
}


    

获取Driver坐标系的Intermediate位置和Target位置的值（Measure坐标系下）

将Driver坐标系在Target位置的值（Measure坐标系下）转到Driver坐标系下

m_pDriver->m_pTransMeasureDriver->TransformPointSet(m_pOrdinate_Tag_ByMeas, m_pOrdinate_Tag_BySelf);


void CQTransform::TransformPointSet(CPointSet* m_pFromPointSet, CPointSet *m_pToPointSet){

    //先清空数据
    m_pToPointSet->DeleteAllPoints();
    //转换并添加新数据
    POSITION pos = m_pFromPointSet->m_PointList.GetHeadPosition();
    while (pos != NULL){
        CHPoint* fromPoint = m_pFromPointSet->m_PointList.GetNext(pos);
        CHPoint* toPoint = m_pToPointSet->AddPoint();
        TransformPoint(fromPoint, toPoint);
    }
}

给双相机发送指令

void CPlatformManualDlg::OnButMeasure() 
{
    // TODO: Add your control notification handler code here
    keybd_event(17,0,0,0);
    keybd_event(71,0,0,0);
    keybd_event(71,0,KEYEVENTF_KEYUP,0);
    keybd_event(17,0,KEYEVENTF_KEYUP,0);
    
}