//计算点的摄影测量坐标
public List <MyPoint> GetPhotogrammetryCoords()
{
List <MyPoint> photogrammtryCoords = new List <MyPoint>();
int num = leftMCoords.Count();
float deno, N1, N2;
float s = (float)(scale / 1000.0);
float f = -leftPCoords[0].Z;
MyPoint temp;
for (int i = 0; i < num; i++)
{
//计算第i+1个点在右片中的像空间辅助坐标
temp = RightEE.Photo2Model(rightPCoords[i]);
//计算点投影系数
deno = leftMCoords[i].X * temp.Z - temp.X * leftMCoords[i].Z;
N1 = (bx * temp.Z - bz * temp.X) / deno;
N2 = (bx * leftMCoords[i].Z - bz * leftMCoords[i].X) / deno;
//计算点的模型坐标
temp.X = N1 * leftMCoords[i].X * s;
temp.Y = (N1 * leftMCoords[i].Y + N2 * temp.Y + by) / 2 * s;
temp.Z = N1 * leftMCoords[i].Z * s + s * f;
photogrammtryCoords.Add(temp);
}
return(photogrammtryCoords);
}
//计算点的模型坐标
public List <MyPoint> GetModelCoords()
{
List <MyPoint> modelCoords = new List <MyPoint>();
int num = leftMCoords.Count();
float deno, N1, N2;
float f = -leftPCoords[0].Z;
MyPoint temp;
for (int i = 0; i < num; i++)
{
//计算第i+1个点在右片中的像空间辅助坐标
temp = RightEE.Photo2Model(rightPCoords[i]);
//计算点投影系数
deno = leftMCoords[i].X * temp.Z - temp.X * leftMCoords[i].Z;
N1 = (bx * temp.Z - bz * temp.X) / deno;
N2 = (bx * leftMCoords[i].Z - bz * leftMCoords[i].X) / deno;
//计算点的模型坐标
temp.X = N1 * leftMCoords[i].X;
temp.Y = (N1 * leftMCoords[i].Y + N2 * temp.Y + by) / 2;
temp.Z = N1 * leftMCoords[i].Z;
modelCoords.Add(temp);
}
return(modelCoords);
}
//计算误差方程的系数矩阵和常数项
private void CalFactor()
{
int num = leftPCoords.Count();
float deno, N1, N2;
MyPoint temp2;
for (int i = 0; i < num; i++)
{
//求解第i+1个点的像空间辅助坐标
temp2 = RightEE.Photo2Model(rightPCoords[i]);//右片
//计算点投影系数
deno = leftMCoords[i].X * temp2.Z - temp2.X * leftMCoords[i].Z;
N1 = (bx * temp2.Z - bz * temp2.X) / deno;
N2 = (bx * leftMCoords[i].Z - bz * leftMCoords[i].X) / deno;
//为系数矩阵赋值
A[i, 0] = bx;
A[i, 1] = -temp2.Y / temp2.Z * bx;
A[i, 2] = -temp2.X * temp2.Y / temp2.Z * N2;
A[i, 3] = -(temp2.Z + temp2.Y * temp2.Y / temp2.Z) * N2;
A[i, 4] = temp2.X * N2;
L[i, 0] = N1 * leftMCoords[i].Y - N2 * temp2.Y - by;
}
}
