示例#1
0
        /// <summary>
        /// 计算旋转矩阵R
        /// </summary>
        /// <returns>R阵</returns>
        private Matrix MatrixR(BackMatch b)
        {
            double[,]
            Rp =
            {
                { Cos(b.p), 0, -Sin(b.p) },
                {        0, 1,         0 },
                { Sin(b.p), 0, Cos(b.p)  }
            },
            Rw =
            {
                { 1,        0,         0 },
                { 0, Cos(b.w), -Sin(b.w) },
                { 0, Sin(b.w), Cos(b.w)  }
            },
            Rk =
            {
                { Cos(b.k), -Sin(b.k), 0 },
                { Sin(b.k), Cos(b.k),  0 },
                {        0,         0, 1 }
            };

            Matrix mp = new Matrix(Rp, true),
                   mw = new Matrix(Rw, true),
                   mk = new Matrix(Rk, true);

            return(mp * mw * mk);
        }
示例#2
0
        /// <summary>
        /// 前方交会
        /// </summary>
        /// <param name="left">左影像的后方交会结果</param>
        /// <param name="right">右影像的后方交会结果</param>
        /// <param name="tar">要匹配的点</param>
        /// <param name="cam">相机参数</param>
        public FrontMatch(BackMatch left, BackMatch right, List <DataList> tar, CameraPara cam)
        {
            this.HasProcessed = false;
            this._l           = left;
            this._r           = right;
            this._cam         = cam;
            this._targetList  = tar;

            _l0 = (cam.WidthPix - 1) / 2.0 + cam.MainPosX / cam.PixSize;
            _h0 = (cam.HeightPix - 1) / 2.0 + cam.MainPosY / cam.PixSize;

            MakeTargetList(tar);
            this._r1r2 = GetR1R2();
            this._bUvw = CalcBaselineB();
        }