private double[,] GetV(double[,] X, double[,] Y, CoordTrans7Param dpp)
{
int rowNum = X.GetLength(0);
double[,] B, F, A, B2, B3, F2, V;
double[,] AT = MatrixTool.Init(6, 3);
A = GetA();
MatrixTool.AT(A, ref AT);
MatrixTool.MutliConst(ref AT, 1 / (1 + (1 + k) * (1 + k)));
F = GetF(X, Y);
B = GetB(X);
B2 = MatrixTool.Init(3, 7);
B3 = MatrixTool.Init(3, 1);
F2 = MatrixTool.Init(rowNum, 1);
for (int i = 0; i < rowNum / 3; i++)
{
MatrixTool.CopySub(B, i * 3, 0, 3, 7, ref B2, 0, 0);
MatrixTool.Multi(B2, dpp.values, ref B3);
MatrixTool.CopySub(B3, 0, 0, 3, 1, ref F2, i * 3, 0);
}
MatrixTool.Sub(F, F2, ref F2);
V = specialMulti(AT, F2);
return(V);
}
/// <summary>
/// 获取观测方程。 -DeltaX - ((1+k)*RotateMatrix*X - Y)， 或者 Y = DeltaX + (1+k)*RotateMatrix*X (布尔沙方程)
/// </summary>
/// <param name="X">原始点</param>
/// <param name="Y">目标点</param>
/// <returns></returns>
private double[,] GetF(double[,] X, double[,] Y)
{
double[,] f0;
double[,] qx = MatrixTool.Init(X.GetLength(0), 1);
double[,] K = { { -dx }, { -dy } };
//double[,] S = { { 1 } };
//MatrixTool.Multi(X, S, ref qx);
double[,] M = GetM();
qx = specialMulti(M, X);
MatrixTool.Sub(qx, Y, ref qx);
f0 = specialSub(K, qx);
return(f0);
}
private double[,] specialSub(double[,] m, double[,] X)
{
int rowNumM = m.GetLength(0);
int colNumM = m.GetLength(1);
int rowNumX = X.GetLength(0);
int colNumX = X.GetLength(1);
int lines = rowNumX / rowNumM;
double[,] subX = MatrixTool.Init(rowNumM, colNumX);
double[,] res = MatrixTool.Init(rowNumX, colNumX);
for (int i = 0; i < rowNumX; i += rowNumM)
{
MatrixTool.CopySub(X, i, 0, rowNumM, colNumX, ref subX, 0, 0);
MatrixTool.Sub(m, subX, ref subX);
MatrixTool.CopySub(subX, 0, 0, rowNumM, colNumX, ref res, i, 0);
}
return(res);
}