using System;

using GeometRi;

​

public class Program

{

    static double COORD_CAM_ANGLE_deg = 1.38;

    public static void Main()

    {

        double COORD_CAM_ANGLE_rad = COORD_CAM_ANGLE_deg * Math.PI / 180.0d;

        double focus_distance = 0.1895d;

        double refference_radius = 0.03d;

        double ref_x =  0.00480d;

        double ref_y = -0.02651d;

        double ref_z = -0.03050d;

        double ref_Rx_rad = 0.0340d;

        double ref_Ry_rad = 0.0000d;

        double ref_Rz_rad = 0.0230d;

        double ref_R = focus_distance + refference_radius;

        double ref_rot_deg = 90.0;

        double ref_rot_rad = ToRadians(ref_rot_deg);

        Point3d O = new Point3d(0, 0, 0);

        Point3d O_cam = new Point3d();

        Point3d O_cam_shifted = new Point3d();

        // --------------------------------------------------------------------------

        // --------- Cam coordinate system

        // Vector oriented along the X axis of cam coordinate

        double Xrand_on_cam_x = -1.0d;

        double Xrand_on_cam_y = Math.Abs(Xrand_on_cam_x) * Math.Tan(COORD_CAM_ANGLE_rad);

        double[] Xrand_on_cam = new double[] {Xrand_on_cam_x, Xrand_on_cam_y, 0.0d};        

        // Vector in the XY plane of cam coordinate

        double XYrand_on_cam_x = 2.0d;

        double XYrand_on_cam_y = 2.0d;

        double[] XYrand_on_cam = new double[] {XYrand_on_cam_x, XYrand_on_cam_y, 0.0d};     

        // Camera coordinate

        Coord3d coord_cam = new Coord3d( O, Xrand_on_cam, XYrand_on_cam, "Cam coordinate");     

        Console.WriteLine(coord_cam);       

        // --------------------------------------------------------------------------

        // --------------------------------------------------------------------------

        // --------- Cam corrected coordinate system

        // Point on X axis of cam coordinate

        double Xrand_on_cam_x = -1.0d;

        double Xrand_on_cam_y = Math.Abs(Xrand_on_cam_x) * Math.Tan(COORD_CAM_ANGLE_rad);

        double[] Xrand_on_cam = new double[] {Xrand_on_cam_x, Xrand_on_cam_y, 0.0d};        

        // Vector in the XY plane of cam coordinate

        double XYrand_on_cam_x = 2.0d;

        double XYrand_on_cam_y = 2.0d;

        double[] XYrand_on_cam = new double[] {XYrand_on_cam_x, XYrand_on_cam_y, 0.0d};     

        // Camera coordinate

        Coord3d coord_cam = new Coord3d( O, Xrand_on_cam, XYrand_on_cam, "Cam coordinate");     

        Console.WriteLine(coord_cam);       

        // --------------------------------------------------------------------------

        // A point on Cam coordinate (1,0,0)

        Point3d One_on_cam = new Point3d(1,0,0,coord_cam);

        Console.WriteLine(One_on_cam);

        Console.WriteLine("[ " + One_on_cam.X + ", " + One_on_cam.Y + ", " + One_on_cam.Z + " ]" );

        Console.WriteLine(Coord3d.GlobalCS);

        Console.WriteLine("Hello World");

    }

    public static double ToRadians(double val)

    {

        return (Math.PI / 180) * val;

    }

}

​