//计算多点坐标近似值
public void cal0(CImage image1, CImage image2, CPoints[] cps)
{
int i, num;
num = cps.GetLength(0);
for (i = 0; i <= num - 1; i++)
{
cal0(image1, image2, cps[i]);
}
}
//计算单点坐标近似值
public void cal0(CImage image1, CImage image2, CPoints cps)
{
double a1, a2, a3, b1, b2, b3, c1, c2, c3;
double d1, d2, d3, e1, e2, e3, f1, f2, f3;
double u1, v1, w1;
double u2, v2, w2;
double bx, by, bz;
double n1, n2;
//左像点计算
a1 = Math.Cos(image1.fiu) * Math.Cos(image1.kaf) - Math.Sin(image1.fiu) * Math.Sin(image1.omg) * Math.Sin(image1.kaf);
a2 = -Math.Cos(image1.fiu) * Math.Sin(image1.kaf) - Math.Sin(image1.fiu) * Math.Sin(image1.omg) * Math.Cos(image1.kaf);
a3 = -Math.Sin(image1.fiu) * Math.Cos(image1.omg);
b1 = Math.Cos(image1.omg) * Math.Sin(image1.kaf);
b2 = Math.Cos(image1.omg) * Math.Cos(image1.kaf);
b3 = -Math.Sin(image1.omg);
c1 = Math.Sin(image1.fiu) * Math.Cos(image1.kaf) + Math.Cos(image1.fiu) * Math.Sin(image1.omg) * Math.Sin(image1.kaf);
c2 = -Math.Sin(image1.fiu) * Math.Sin(image1.kaf) + Math.Cos(image1.fiu) * Math.Sin(image1.omg) * Math.Cos(image1.kaf);
c3 = Math.Cos(image1.fiu) * Math.Cos(image1.omg);
u1 = a1 * (cps.x1 - image1.x0) + a2 * (cps.y1 - image1.y0) - a3 * image1.f;
v1 = b1 * (cps.x1 - image1.x0) + b2 * (cps.y1 - image1.y0) - b3 * image1.f;
w1 = c1 * (cps.x1 - image1.x0) + c2 * (cps.y1 - image1.y0) - c3 * image1.f;
//右像点计算
d1 = Math.Cos(image2.fiu) * Math.Cos(image2.kaf) - Math.Sin(image2.fiu) * Math.Sin(image2.omg) * Math.Sin(image2.kaf);
d2 = -Math.Cos(image2.fiu) * Math.Sin(image2.kaf) - Math.Sin(image2.fiu) * Math.Sin(image2.omg) * Math.Cos(image2.kaf);
d3 = -Math.Sin(image2.fiu) * Math.Cos(image2.omg);
e1 = Math.Cos(image2.omg) * Math.Sin(image2.kaf);
e2 = Math.Cos(image2.omg) * Math.Cos(image2.kaf);
e3 = -Math.Sin(image2.omg);
f1 = Math.Sin(image2.fiu) * Math.Cos(image2.kaf) + Math.Cos(image2.fiu) * Math.Sin(image2.omg) * Math.Sin(image2.kaf);
f2 = -Math.Sin(image2.fiu) * Math.Sin(image2.kaf) + Math.Cos(image2.fiu) * Math.Sin(image2.omg) * Math.Cos(image2.kaf);
f3 = Math.Cos(image2.fiu) * Math.Cos(image2.omg);
u2 = d1 * (cps.x2 - image2.x0) + d2 * (cps.y2 - image2.y0) - d3 * image2.f;
v2 = e1 * (cps.x2 - image2.x0) + e2 * (cps.y2 - image2.y0) - e3 * image2.f;
w2 = f1 * (cps.x2 - image2.x0) + f2 * (cps.y2 - image2.y0) - f3 * image2.f;
//坐标计算
bx = image2.xs - image1.xs;
by = image2.ys - image1.ys;
bz = image2.zs - image1.zs;
n1 = (bx * w2 - bz * u2) / (u1 * w2 - u2 * w1);
n2 = (bx * w1 - bz * u1) / (u1 * w2 - u2 * w1);
cps.xt = image1.xs + n1 * u1;
cps.yt = ((image1.ys + n1 * v1) + (image2.ys + n2 * v2)) / 2;
cps.zt = image1.zs + n1 * w1;
}
//单点精确计算
public void cal1(CImage image1, CImage image2, CPoints cps)
{
CMat mat = new CMat();
//定义平差计算变量
int i, j;
double[,] b = mat.MatZero(4, 3);
double[] l = mat.MatZero(4);
double[,] n = mat.MatZero(3, 3);
double[] w = mat.MatZero(3);
double[,] q = mat.MatZero(3, 3);
double[] x = mat.MatZero(3);
double a1, a2, a3, b1, b2, b3, c1, c2, c3;
double d1, d2, d3, e1, e2, e3, f1, f2, f3;
double xh, yh, zh;
double xp0, yp0;
//左像点计算
a1 = Math.Cos(image1.fiu) * Math.Cos(image1.kaf) - Math.Sin(image1.fiu) * Math.Sin(image1.omg) * Math.Sin(image1.kaf);
a2 = -Math.Cos(image1.fiu) * Math.Sin(image1.kaf) - Math.Sin(image1.fiu) * Math.Sin(image1.omg) * Math.Cos(image1.kaf);
a3 = -Math.Sin(image1.fiu) * Math.Cos(image1.omg);
b1 = Math.Cos(image1.omg) * Math.Sin(image1.kaf);
b2 = Math.Cos(image1.omg) * Math.Cos(image1.kaf);
b3 = -Math.Sin(image1.omg);
c1 = Math.Sin(image1.fiu) * Math.Cos(image1.kaf) + Math.Cos(image1.fiu) * Math.Sin(image1.omg) * Math.Sin(image1.kaf);
c2 = -Math.Sin(image1.fiu) * Math.Sin(image1.kaf) + Math.Cos(image1.fiu) * Math.Sin(image1.omg) * Math.Cos(image1.kaf);
c3 = Math.Cos(image1.fiu) * Math.Cos(image1.omg);
xh = a1 * (cps.xt - image1.xs) + b1 * (cps.yt - image1.ys) + c1 * (cps.zt - image1.zs);
yh = a2 * (cps.xt - image1.xs) + b2 * (cps.yt - image1.ys) + c2 * (cps.zt - image1.zs);
zh = a3 * (cps.xt - image1.xs) + b3 * (cps.yt - image1.ys) + c3 * (cps.zt - image1.zs);
xp0 = -image1.f * (xh / zh);
yp0 = -image1.f * (yh / zh);
l[0] = cps.x1 - image1.x0 - xp0;
l[1] = cps.y1 - image1.y0 - yp0;
b[0, 0] = -(a1 * image1.f + a3 * (cps.x1 - image1.x0)) / zh;
b[0, 1] = -(b1 * image1.f + b3 * (cps.x1 - image1.x0)) / zh;
b[0, 2] = -(c1 * image1.f + c3 * (cps.x1 - image1.x0)) / zh;
b[1, 0] = -(a2 * image1.f + a3 * (cps.y1 - image1.y0)) / zh;
b[1, 1] = -(b2 * image1.f + b3 * (cps.y1 - image1.y0)) / zh;
b[1, 2] = -(c2 * image1.f + c3 * (cps.y1 - image1.y0)) / zh;
//右像点计算
d1 = Math.Cos(image2.fiu) * Math.Cos(image2.kaf) - Math.Sin(image2.fiu) * Math.Sin(image2.omg) * Math.Sin(image2.kaf);
d2 = -Math.Cos(image2.fiu) * Math.Sin(image2.kaf) - Math.Sin(image2.fiu) * Math.Sin(image2.omg) * Math.Cos(image2.kaf);
d3 = -Math.Sin(image2.fiu) * Math.Cos(image2.omg);
e1 = Math.Cos(image2.omg) * Math.Sin(image2.kaf);
e2 = Math.Cos(image2.omg) * Math.Cos(image2.kaf);
e3 = -Math.Sin(image2.omg);
f1 = Math.Sin(image2.fiu) * Math.Cos(image2.kaf) + Math.Cos(image2.fiu) * Math.Sin(image2.omg) * Math.Sin(image2.kaf);
f2 = -Math.Sin(image2.fiu) * Math.Sin(image2.kaf) + Math.Cos(image2.fiu) * Math.Sin(image2.omg) * Math.Cos(image2.kaf);
f3 = Math.Cos(image2.fiu) * Math.Cos(image2.omg);
xh = d1 * (cps.xt - image2.xs) + e1 * (cps.yt - image2.ys) + f1 * (cps.zt - image2.zs);
yh = d2 * (cps.xt - image2.xs) + e2 * (cps.yt - image2.ys) + f2 * (cps.zt - image2.zs);
zh = d3 * (cps.xt - image2.xs) + e3 * (cps.yt - image2.ys) + f3 * (cps.zt - image2.zs);
xp0 = -image2.f * (xh / zh);
yp0 = -image2.f * (yh / zh);
l[2] = cps.x2 - image2.x0 - xp0;
l[3] = cps.y2 - image2.y0 - yp0;
b[2, 0] = -(d1 * image2.f + d3 * (cps.x2 - image2.x0)) / zh;
b[2, 1] = -(e1 * image2.f + e3 * (cps.x2 - image2.x0)) / zh;
b[2, 2] = -(f1 * image2.f + f3 * (cps.x2 - image2.x0)) / zh;
b[3, 0] = -(d2 * image2.f + d3 * (cps.y2 - image2.y0)) / zh;
b[3, 1] = -(e2 * image2.f + e3 * (cps.y2 - image2.y0)) / zh;
b[3, 2] = -(f2 * image2.f + f3 * (cps.y2 - image2.y0)) / zh;
//建立法方程
n = mat.MatMulti(mat.MatTrans(b), b);
w = mat.MatMulti(mat.MatTrans(b), l);
// //求逆
q = mat.MatInver(n);
//求未知数
x = mat.MatMulti(q, w);
cps.xt = cps.xt + x[0];
cps.yt = cps.yt + x[1];
cps.zt = cps.zt + x[2];
//误差
double[] v = new double[4];
double vv, m0;
for (i = 0; i <= 3; i++)
{
v[i] = -l[i];
}
vv = 0;
double[] bx = mat.MatMulti(b, x);
for (i = 0; i <= 3; i++)
{
for (j = 0; j <= 2; j++)
{
v[i] = v[i] + bx[i];
}
}
for (i = 0; i <= 3; i++)
{
vv = vv + v[i] * v[i];
}
//
m0 = Math.Sqrt(vv);
cps.mx = m0 * Math.Sqrt(q[0, 0]);
cps.my = m0 * Math.Sqrt(q[1, 1]);
cps.mz = m0 * Math.Sqrt(q[2, 2]);
}
//独立像对相对定向
public void IndRelRor(CImage image1, CImage image2, CPoints[] cps)
{
}