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);
}
