public int[,] HomographyProjection(int[,] alignPoints, int[,] recordedPoints, int[,] padPoints)
{
Accord.IntPoint[] correlationPoints1 = new Accord.IntPoint[alignPoints.GetLength(0)];
Accord.IntPoint[] correlationPoints2 = new Accord.IntPoint[recordedPoints.GetLength(0)];
for (int i = 0; i < alignPoints.GetLength(0); i++)
{
correlationPoints1[i] = new Accord.IntPoint(alignPoints[i, 0], alignPoints[i, 1]);
correlationPoints2[i] = new Accord.IntPoint(recordedPoints[i, 0], recordedPoints[i, 1]);
}
RansacHomographyEstimator ransac = new RansacHomographyEstimator(0.001, 0.99);
var homography = ransac.Estimate(correlationPoints1, correlationPoints2);
PointF[] testPoints = new PointF[padPoints.GetLength(0)];
for (int i = 0; i < padPoints.GetLength(0); i++)
{
testPoints[i] = new PointF(padPoints[i, 0], padPoints[i, 1]);
}
var transformed = homography.TransformPoints(testPoints);
int[,] results = new int[padPoints.GetLength(0), 3];
float[] equ = equation_plane(recordedPoints[0, 0], recordedPoints[0, 1], recordedPoints[0, 2],
recordedPoints[1, 0], recordedPoints[1, 1], recordedPoints[1, 2],
recordedPoints[2, 0], recordedPoints[2, 1], recordedPoints[2, 2]
);
for (int i = 0; i < padPoints.GetLength(0); i++)
{
results[i, 0] = (int)transformed[i].X;
results[i, 1] = (int)transformed[i].Y;
results[i, 2] = (int)(results[i, 0] * equ[0] + results[i, 1] * equ[1] + equ[2]);
}
return(results);
}
public int[,] AlignmentProjection(int[,] dxfPoints, int[,] plattenPoints, int[,] padPoints)
{
Accord.DoublePoint[] points = new Accord.DoublePoint[dxfPoints.GetLength(0)];
Accord.DoublePoint[] targetPoints = new Accord.DoublePoint[plattenPoints.GetLength(0)];
for (int i = 0; i < dxfPoints.GetLength(0); i++)
{
points[i] = new Accord.IntPoint(dxfPoints[i, 0], dxfPoints[i, 1]);
targetPoints[i] = new Accord.IntPoint(plattenPoints[i, 0], plattenPoints[i, 1]);
}
if (points.Length == 2)
{
var line = points[1] - points[0];
var targetLine = targetPoints[1] - targetPoints[0];
var reScale = targetLine.EuclideanNorm() / line.EuclideanNorm();
var angleChange = Math.Atan2(targetLine.Y, targetLine.X) - Math.Atan2(line.Y, line.X);
int[,] results = new int[padPoints.GetLength(0), 3];
var slopeDir = targetLine / targetLine.EuclideanNorm();
var d = (targetPoints[1].X - targetPoints[0].X) * slopeDir.X + (targetPoints[1].Y - targetPoints[0].Y) * slopeDir.Y;
var slope = (plattenPoints[1, 2] - plattenPoints[0, 2]) / d;
var b = plattenPoints[0, 2];
var C = Math.Cos(angleChange);
var S = Math.Sin(angleChange);
for (int i = 0; i < padPoints.GetLength(0); i++)
{
var x = padPoints[i, 0] - points[0].X;
var y = padPoints[i, 1] - points[0].Y;
var xC = (x * C - y * S) * reScale + targetPoints[0].X;
var yC = (x * S + y * C) * reScale + targetPoints[0].Y;
d = (xC - targetPoints[0].X) * slopeDir.X + (yC - targetPoints[0].Y) * slopeDir.Y;
results[i, 0] = (int)xC;
results[i, 1] = (int)yC;
results[i, 2] = (int)(d * slope + b);
}
return(results);
}
if (points.Length == 3)
{
var line1 = points[1] - points[0];
var line2 = points[2] - points[0];
var targetLine1 = targetPoints[1] - targetPoints[0];
var targetLine2 = targetPoints[2] - targetPoints[0];
var reScale1 = targetLine1.EuclideanNorm() / line1.EuclideanNorm();
var reScale2 = targetLine2.EuclideanNorm() / line2.EuclideanNorm();
var angleChange1 = Math.Atan2(targetLine1.Y, targetLine1.X) - Math.Atan2(line1.Y, line1.X);
var angleChange2 = Math.Atan2(targetLine2.Y, targetLine2.X) - Math.Atan2(line2.Y, line2.X);
if (angleChange1 < 0)
{
angleChange1 = 6.28 + angleChange1;
}
if (angleChange2 < 0)
{
angleChange2 = 6.28 + angleChange2;
}
if (angleChange1 > 5 && angleChange2 < 3)
{
angleChange2 += 6.28;
}
if (angleChange2 > 5 && angleChange1 < 3)
{
angleChange1 += 6.28;
}
var angleChange = ((angleChange1 + angleChange2) / 2) % 6.28;
var reScale = (reScale1 + reScale2) / 2;
int[,] results = new int[padPoints.GetLength(0), 3];
float[] equ = equation_plane(plattenPoints[0, 0], plattenPoints[0, 1], plattenPoints[0, 2],
plattenPoints[1, 0], plattenPoints[1, 1], plattenPoints[1, 2],
plattenPoints[2, 0], plattenPoints[2, 1], plattenPoints[2, 2]);
var C = Math.Cos(angleChange);
var S = Math.Sin(angleChange);
for (int i = 0; i < padPoints.GetLength(0); i++)
{
var x = padPoints[i, 0] - points[0].X;
var y = padPoints[i, 1] - points[0].Y;
var xC = (x * C - y * S) * reScale + targetPoints[0].X;
var yC = (x * S + y * C) * reScale + targetPoints[0].Y;
results[i, 0] = (int)xC;
results[i, 1] = (int)yC;
results[i, 2] = (int)(results[i, 0] * equ[0] + results[i, 1] * equ[1] + equ[2]);
}
return(results);
}
return(HomographyProjection(dxfPoints, plattenPoints, padPoints));
}
