// 모델 구하기
public void CalcModels()
{
try
{
// 난수 발생 용
m_Rand = new Random();
RANSAC_Models = new List <RANSAC_Model>();
for (int i = 0; i < 12; i++)
{
// Model 구해서
RANSAC_Model Model = new RANSAC_Model();
Model.SelectedPoints = SelectTwoPoint(this.InputPoints);
CalcConsensusPoints(Model, this.ConsensusThresholdDistance);
// RANSAC_Models에 Add.
this.RANSAC_Models.Add(Model);
}
}
catch (Exception)
{
throw;
}
}
// 지지 점들 구하기
public void CalcConsensusPoints(RANSAC_Model Model, Double ConsensusThreshold)
{
try
{
Model.ConsensusPoints.Clear();
TwoPoints TwoPoints = Model.SelectedPoints;
Double distance = 0;
Point ptOne = TwoPoints.pt1;
Point ptTwo = TwoPoints.pt2;
for (int i = 0; i < this.InputPoints.Count; i++)
{
Double x1 = this.InputPoints[i].X;
Double y1 = this.InputPoints[i].Y;
// 거리 구하기
if (ptTwo.X == ptOne.X)
{//x가 같으면
distance = Math.Abs(x1 - ptOne.X);
}
else if (ptTwo.Y == ptOne.Y)
{//y가 같으면
distance = Math.Abs(y1 - ptOne.Y);
}
else
{
// 점(ptOne.X,ptOne.Y)를 지나는 직선의 방정식 : mx-y-m*ptOne.X+ptOne.Y = 0
// =====점(x1,y1)과 직선(ax+by+c=0)의 거리 구하는 공식====
// |ax1+by1+c|
// ------------
// 루트(a제곱+b제곱)
Double Slope = CalcSlope(TwoPoints);
distance = Math.Abs(x1 * Slope + (-y1) + (-Slope * ptOne.X + ptOne.Y)) / (Math.Sqrt(Math.Pow(Slope, 2) + 1));
}
if (distance < ConsensusThreshold)
{
Model.ConsensusPoints.Add(this.InputPoints[i]);
}
}
}
catch (Exception)
{
throw;
}
}
public void CalcSelectedPoints()
{
try
{
// 최대 컨센서스를 갖는 모델은?
RANSAC_Model Model = new RANSAC_Model();
foreach (var model in this.RANSAC_Models)
{
if (Model.ConsensusPoints.Count < model.ConsensusPoints.Count)
{
Model = model;
}
}
this.SelectedPoints = Model.SelectedPoints;
}
catch (Exception)
{
throw;
}
}
// Coefficient구하기
public void CalcCoefficient()
{
try
{
// 최대 컨센서스를 갖는 모델은?
RANSAC_Model Model = new RANSAC_Model();
foreach (var model in this.RANSAC_Models)
{
if (Model.ConsensusPoints.Count < model.ConsensusPoints.Count)
{
Model = model;
}
}
// a, b 구하기
Point pt1 = Model.SelectedPoints.pt1;
Point pt2 = Model.SelectedPoints.pt2;
double a, b;
if (pt1.X != pt2.X)
{
a = (pt2.Y - pt1.Y) / (pt2.X - pt1.X);
b = (pt2.X * pt1.Y - pt1.X * pt2.Y) / (pt2.X - pt1.X);
}
else
{
// X = C 직선 (y축과 평행한 직선)
a = -9999;
b = -9999;
}
this.Coefficient = new Point(a, b);
}
catch (Exception)
{
throw;
}
}
