private void button6_Click(object sender, EventArgs e)
        {
            int point_count = 0;

            for (int i = 0; i < point.Length; i++)   //  边缘检测
            {
                if ((point[i].X > 0) && point[i].Y > 0)
                {
                    point_count++;
                }
            }

            Point[] point_select = new Point[point_count];

            int j = 0;

            for (int i = 0; i < point.Length; i++)   //  边缘检测
            {
                if ((point[i].X > 0) && point[i].Y > 0)
                {
                    point_select[j].X = point[i].X;
                    point_select[j].Y = point[i].Y;
                    j++;
                }
            }

            line_struct a = lineCalculate(point_select);

            richTextBox1.Text += string.Format("RCA:{0}\n", a.RCA);
            richTextBox1.Text += string.Format("RCB:{0}\n", a.RCB);
            richTextBox1.Text += string.Format("Angle:{0}\n", a.angle);
            //richTextBox1.Text += string.Format("getDistanceFormPointToLine:{0}\n", (int)getDistanceFormPointToLine(1,1,1,1,0));

            Point startPoint = new Point();
            Point endPoint   = new Point();

            startPoint = getFootOfPerpendicular((int)point[0].X, (int)point[0].Y, a.RCB, -1, a.RCA);
            endPoint   = getFootOfPerpendicular((int)point[point_count - 1].X, (int)point[point_count - 1].Y, a.RCB, -1, a.RCA);

            g.DrawLine(laser, halfWidth + startPoint.X, halfHeight - startPoint.Y, halfWidth + endPoint.X, halfHeight - endPoint.Y);
            g.DrawLine(bluePen, halfWidth + point[0].X, halfHeight - (point[0].X * a.RCB + a.RCA), halfWidth + point[point_count - 1].X, halfHeight - (point[point_count - 1].X * a.RCB + a.RCA));

            for (int i = 0; i < point_count; i++)
            {
                double distance = getDistanceFormPointToLine((int)point[i].X, (int)point[i].Y, a.RCB, -1, a.RCA);
                richTextBox1.Text += string.Format("Point:{0}的直线距离是:{1}\n", i, distance);
            }
        }
        /// <summary>
        /// 尝试5度一个区间  360度共6300个数据,每一度的数据是17.5个
        /// </summary>
        /// <param name="Angledelta"></param>
        public void angelSplit(int StartAngle, int EndAngle)
        {
            int   startCount;
            int   endCount;
            float theta_temp;

            Point[]    selectPoint = new Point[100];
            List <int> index_      = new List <int>();


            //数据的范围角度换计数值
            selectPoint.Initialize();
            index_.Clear();
            startCount = (int)Math.Ceiling(StartAngle * 17.5);
            endCount   = (int)Math.Ceiling(EndAngle * 17.5);
            for (int i = startCount; i < endCount; i++)
            {
                if (LaserAngleAndLength[i] > 25000)
                {
                    return;
                }
            }

            int count_temp = 0;
            int index;

            for (int i = StartAngle; i < EndAngle; i++)   //  数据抽选
            {
                index = (int)Math.Ceiling(i * 17.5);
                selectPoint[count_temp].X = (int)lengthX[index];
                selectPoint[count_temp].Y = (int)lengthY[index];
                count_temp++;
            }

            Point[] point_select = new Point[count_temp];
            for (int i = 0; i < count_temp; i++)   //  边缘检测
            {
                point_select[i].X = selectPoint[i].X;
                point_select[i].Y = selectPoint[i].Y;
            }
            line_struct a = lineCalculate(point_select);

            richTextBox1.Text += string.Format("RCA:{0}\n", a.RCA);
            richTextBox1.Text += string.Format("RCB:{0}\n", a.RCB);
            richTextBox1.Text += string.Format("Angle:{0}\n", a.angle);

            Point startPoint = new Point();
            Point endPoint   = new Point();

            startPoint = getFootOfPerpendicular((int)point_select[0].X, (int)point_select[0].Y, a.RCB, -1, a.RCA);
            endPoint   = getFootOfPerpendicular((int)point_select[count_temp - 1].X, (int)point_select[count_temp - 1].Y, a.RCB, -1, a.RCA);

            success_count++;
            g.DrawLine(outLine, halfWidth + startPoint.X * addsd, halfHeight - startPoint.Y * addsd, halfWidth + endPoint.X * addsd, halfHeight - endPoint.Y * addsd);

            for (int i = 0; i < count_temp; i++)
            {
                double distance = getDistanceFormPointToLine((int)point_select[i].X, (int)point_select[i].Y, a.RCB, -1, a.RCA);
                richTextBox1.Text += string.Format("point_select:{0}的直线距离是:{1}\n", i, distance);
            }
        }
        /// <summary>
        /// 尝试5度一个区间  360度共6300个数据,每一度的数据是17.5个
        /// </summary>
        /// <param name="Angledelta"></param>
        public int angelSplit_explane(int StartAngle, int EndAngle)
        {
            int   startCount;
            int   endCount;
            float theta_temp;

            Point[]    selectPoint = new Point[100];
            List <int> index_      = new List <int>();

            int next_startAngle = EndAngle;

            //数据的范围角度换计数值
            selectPoint.Initialize();
            index_.Clear();
            startCount = (int)Math.Ceiling(StartAngle * 17.5);
            endCount   = (int)Math.Ceiling(EndAngle * 17.5);
            for (int i = startCount; i < endCount; i++)
            {
                if (LaserAngleAndLength[i] == 30000)
                {
                    return(next_startAngle);
                }
            }
            //************************************//
            int count_temp = 0;
            int index;

            for (int i = StartAngle; i < EndAngle; i++)   //  数据抽选
            {
                index = (int)Math.Ceiling(i * 17.5);
                selectPoint[count_temp].X = (int)lengthX[index];
                selectPoint[count_temp].Y = (int)lengthY[index];
                count_temp++;
            }

            Point[] point_select = new Point[count_temp];
            for (int i = 0; i < count_temp; i++)   //  边缘检测
            {
                point_select[i].X = selectPoint[i].X;
                point_select[i].Y = selectPoint[i].Y;
            }
            line_struct a = lineCalculate(point_select);

            richTextBox1.Text += string.Format("RCA:{0}\n", a.RCA);
            richTextBox1.Text += string.Format("RCB:{0}\n", a.RCB);
            richTextBox1.Text += string.Format("Angle:{0}\n", a.angle);
            //*****************************************//

            int detect_nextAngle = EndAngle;

            while (detect_nextAngle < 359)
            {
                detect_nextAngle++;
                count_temp++;
                index = (int)Math.Ceiling(detect_nextAngle * 17.5);
                selectPoint[count_temp].X = (int)lengthX[index];
                selectPoint[count_temp].Y = (int)lengthY[index];

                double distance = getDistanceFormPointToLine(selectPoint[count_temp].X, selectPoint[count_temp].Y, a.RCB, -1, a.RCA);

                if (distance > 100)
                {
                    detect_nextAngle--;
                    count_temp--;
                    break;
                }
            }
            next_startAngle = detect_nextAngle;

            //************************************//
            count_temp = 0;
            point_select.Initialize();
            for (int i = StartAngle; i < next_startAngle; i++)   //  数据抽选
            {
                index = (int)Math.Ceiling(i * 17.5);
                selectPoint[count_temp].X = (int)lengthX[index];
                selectPoint[count_temp].Y = (int)lengthY[index];
                count_temp++;
            }

            point_select = new Point[count_temp];
            for (int i = 0; i < count_temp; i++)   //  边缘检测
            {
                point_select[i].X = selectPoint[i].X;
                point_select[i].Y = selectPoint[i].Y;
            }
            a = lineCalculate(point_select);
            richTextBox1.Text += string.Format("RCA:{0}\n", a.RCA);
            richTextBox1.Text += string.Format("RCB:{0}\n", a.RCB);
            richTextBox1.Text += string.Format("Angle:{0}\n", a.angle);
            //*****************************************//



            Point startPoint = new Point();
            Point endPoint   = new Point();

            startPoint = getFootOfPerpendicular((int)point_select[0].X, (int)point_select[0].Y, a.RCB, -1, a.RCA);
            endPoint   = getFootOfPerpendicular((int)point_select[count_temp - 1].X, (int)point_select[count_temp - 1].Y, a.RCB, -1, a.RCA);

            success_count++;
            g.DrawLine(outLine, halfWidth + startPoint.X * addsd, halfHeight - startPoint.Y * addsd, halfWidth + endPoint.X * addsd, halfHeight - endPoint.Y * addsd);

            for (int i = 0; i < count_temp; i++)
            {
                double distance = getDistanceFormPointToLine((int)point_select[i].X, (int)point_select[i].Y, a.RCB, -1, a.RCA);
                richTextBox1.Text += string.Format("point_select:{0}的直线距离是:{1}\n", i, distance);
            }

            if (success_count == 10)
            {
                ;
            }
            Thread.Sleep(300);

            return(next_startAngle);
        }
        public line_struct lineCalculate(Point[] point_select)
        {
            ArrayList pointX = new ArrayList();
            ArrayList pointY = new ArrayList();

            float[] ArrPoint_X = new float[400];
            float[] ArrPoint_Y = new float[400];

            int ArrPoint_Count = 0;

            pointX.Clear();
            pointY.Clear();
            try
            {
                for (int i = 0; i < point_select.Length; i++)   //  边缘检测
                {
                    pointX.Add(point_select[i].X);
                    pointY.Add(point_select[i].Y);
                    ArrPoint_X[ArrPoint_Count] = point_select[i].X;
                    ArrPoint_Y[ArrPoint_Count] = point_select[i].Y;
                    ArrPoint_Count++;
                }
            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.ToString());
            }

            float averagex = 0, averagey = 0;

            foreach (int i in pointX)
            {
                averagex += i;
            }
            foreach (int j in pointY)
            {
                averagey += j;
            }
            averagex /= pointX.Count;        //  取X坐标的平均数
            averagey /= pointY.Count;        //  取Y坐标的平均数

            //经验回归系数的分子与分母
            float numerator   = 0;
            float denominator = 0;

            for (int i = 0; i < pointX.Count; i++)
            {
                numerator   += (ArrPoint_X[i] - averagex) * (ArrPoint_Y[i] - averagey);
                denominator += (ArrPoint_X[i] - averagex) * (ArrPoint_X[i] - averagex);
            }
            //回归系数b(Regression Coefficient)   y = bx + a ; ==> bx-y+a =0
            float RCB = numerator / denominator;
            //回归系数a
            float  RCA   = averagey - RCB * averagex;
            double angle = 180 * Math.Atan(RCB) / Math.PI;

            line_struct param = new line_struct();

            param.RCB   = RCB;
            param.RCA   = RCA;
            param.angle = angle;
            return(param);
        }