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> /// X¾ØÕóÈçÏÂËùʾ /// /// /// </summary> /// <param name="X"></param> /// <param name="Y"></param> /// <returns></returns> public double CalculateTrans7Param(double[,] X, double[,] Y) { int PtNum = X.GetLength(0) / 3; double[,] B; double[,] F; double[,] BT = MatrixTool.Init(7, 3 * PtNum); double[,] BTB = MatrixTool.Init(7, 7); double[,] BTF = MatrixTool.Init(7, 1); //init pararm CoordTrans7Param dpp = new CoordTrans7Param(); Set4Param(0, 0, 0, 0); this.SetRotationParamMM(0, 0, 0); //debug //this.TransCoord(X[0,0],X[1,0],X[2,0],out x2,out y2,out z2); int round = 0; while (round++ < 20) { F = GetF(X, Y); B = GetB(X); MatrixTool.AT(B, ref BT); MatrixTool.Multi(BT, B, ref BTB); MatrixTool.Inv(BTB); MatrixTool.Multi(BT, F, ref BTF); MatrixTool.Multi(BTB, BTF, ref dpp.values); if (dpp.isSmall()) { break; } else { MatrixTool.Add(this.values, dpp.values, ref this.values); } } //this.TransCoord(X[0,0],X[1,0],X[2,0],out x2,out y2,out z2); double[,] V = GetV(X, Y, dpp); double vMax = -1; for (int i = 0; i < V.GetLength(0); i++) { if (Math.Abs(V[i, 0]) > vMax) { vMax = Math.Abs(V[i, 0]); } } return(vMax); }