public cyOXYCoordinate(cylineParam x, cylineParam y)
{
xline = x;
yline = y;
cyOXYLine.IntersectPoint(xline, yline, out orig);
}
/// <summary>
/// 根据拟合的两条直线，mainline ，coorline， 并取拟合coorline上某些点，做mainline的垂线，与coorline相交、
/// 交点到直线mainline的距离， 根据【rows ,cols】的比例关系，换算成实际的距离尺寸，预期后期要做更改
/// Date：2019 08 16
/// </summary>
/// <param name="mainline">基准线</param>
/// <param name="coorline">测量线</param>
/// <param name="measureRatio">图像方向上的坐标矩阵， 目前只用了x方向和y方向的，后期需要增加一些补偿因子等</param>
/// <param name="xCoorPoint">拟合测量线用的点坐标 X， Image中的</param>
/// <param name="yCoorPoint">拟合测量线用的点坐标 Y， Image中的</param>
/// <param name="dist">计算得到的距离，后期看是算最大值还是最小值，还是平均值</param>
/// <returns>当直线合理的时候，将返回true</returns>
public static bool CalculateDistanceOfLine(ref cylineParam mainline, ref cylineParam coorline, double[] measureRatio, double[] xCoorPoint, double[] yCoorPoint, out float[] dist)
{
dist = new float[yCoorPoint.Length];
if (xCoorPoint.Length != yCoorPoint.Length || xCoorPoint.Length <= 0)
{
return(false);
}
double div1 = coorline.B * mainline.B + coorline.A * mainline.A;
for (int i = 0; i < xCoorPoint.Length; i++)
{
double c_justify = coorline.B * xCoorPoint[i] - coorline.A * yCoorPoint[i];
double value1 = (mainline.B * (c_justify) + coorline.A * mainline.C) / div1;
double value2 = (-mainline.A * c_justify + coorline.B * mainline.C) / div1;
double r1 = coorline.A * measureRatio[0];
double r2 = coorline.B * measureRatio[1];
//double ratio = Math.Sqrt((r1 * r1 + r2 * r2) / 2);
//这个比例系数需要修正，但哪种修正方式合适，目前还没有想出合理的方式，
//double ratio = r1;
double ratio = measureRatio[0];
double dist1 = coorline.A * value1 + coorline.B * value2 - coorline.C;
dist[i] = (float)(Math.Abs(dist1) * ratio);
}
return(true);
}
public void SetCoordinateImageOrig(cyPoint2d orgPoint)
{
cylineParam line1 = xline;
line1.C = xline.A * orgPoint.x + xline.B * orgPoint.y;
xline = line1;
line1 = yline;
line1.C = yline.A * orgPoint.x + yline.B * orgPoint.y;
yline = line1;
orig = orgPoint;
}
public cylineParam OnYPosLine(double yBias)
{
cyPoint2d localPoint;
OnCoordinatePoint2Image(new cyPoint2d()
{
y = yBias, x = 0
}, out localPoint);
cylineParam line = xline;
line.C = line.A * localPoint.x + line.B * localPoint.y;
return(line);
}
public cylineParam OnXPosLine(double xBias)
{
//做一条x = A的直线
cyPoint2d localPoint;
OnCoordinatePoint2Image(new cyPoint2d()
{
x = xBias, y = 0
}, out localPoint);
cylineParam line = yline;
line.C = line.A * localPoint.x + line.B * localPoint.y;
return(line);
}
//根据x方向和y方向的比例关系，换算出新的坐标系关系
public cyOXYCoordinate OnRatioCoordinate(double xRatio, double yRation)
{
cylineParam newXline = new cylineParam()
{
A = 0, B = 0, C = 0
};
cylineParam newYline = new cylineParam()
{
A = 0, B = 0, C = 0
};
newXline.A = xline.A * xRatio; newXline.B = xline.B * yRation; newXline.C = xline.C;
newYline.A = yline.A * xRatio; newYline.B = yline.B * yRation; newYline.C = yline.C;
double sqrt1 = 1 / Math.Sqrt(newXline.A * newXline.A + newXline.B * newXline.B);
newXline = newXline * sqrt1;
sqrt1 = 1 / Math.Sqrt(newYline.A * newYline.A + newYline.B * newYline.B);
newYline = newYline * sqrt1;
return(new cyOXYCoordinate(newXline, newYline));
}
/// <summary>
/// 将坐标的原点，移动到相对应的点上，作为原点。
/// 也就是将坐标系中的点（x,y） 移动到 （0，0）， 也就是 两条直线的交点处。
/// </summary>
/// <param name="coorlocalPoint"></param>
public void SetCoordinateRelativateOrig(cyPoint2d PointValue)
{
cyPoint2d imgPoint1;
OnCoordinatePoint2Image(PointValue, out imgPoint1);
List <double> matrix = new List <double>(4)
{
xline.A, xline.B, yline.A, yline.B
};
List <double> outResult;
Matrix_Mult2X1(matrix, imgPoint1.ToList(), out outResult);
xline = new cylineParam()
{
A = xline.A, B = xline.B, C = outResult[0]
};
yline = new cylineParam()
{
A = yline.A, B = yline.B, C = outResult[1]
};
cyOXYLine.IntersectPoint(xline, yline, out orig);
}
public static void IxLine2WxLine(cylineParam IxLine, out cylineParam Wxline, List <double> Rmatrix, List <double> offsetT)
{
/// Iz 用于补偿 图像中z的方向值
Wxline = new cylineParam()
{
A = 0, B = 0, C = 0
};
List <double> RInvmatrix = new List <double>();
MatrixInv3X3(Rmatrix, out RInvmatrix);
if (RInvmatrix.Count != 9)
{
return;
}
Wxline.A = IxLine.A * RInvmatrix[0] + RInvmatrix[3] * IxLine.B;
Wxline.B = IxLine.A * RInvmatrix[1] + RInvmatrix[4] * IxLine.B;
double cAdd = Wxline.A * offsetT[0] + Wxline.B * offsetT[1];
Wxline.C = cAdd + IxLine.C;
double div = Math.Sqrt(Wxline.A * Wxline.A + Wxline.B * Wxline.B);
Wxline.A /= div; Wxline.B /= div; Wxline.C /= div;
}
/// <summary>
/// 根据指定的点的图像中的坐标， 修正坐标直线的方向
/// </summary>
/// <param name="checkPoint">测试点</param>
/// <param name="partIndex">测试点所在象限</param>
public void OnMdodifyCoordilateXy(cyPoint2d checkPoint, int partIndex)
{
cyPoint2d coorPoint;
OnPoint2Coordinate(checkPoint, out coorPoint);
switch (partIndex)
{
case 1: //(x > 0, y > 0 )
{
if (coorPoint.x < 0)
{
yline = yline * (-1);
}
if (coorPoint.y < 0)
{
xline = xline * (-1);
}
break;
}
case 2: //(x < 0, y > 0)
{
//1,4
if (coorPoint.x > 0)
{
yline = yline * (-1);
}
if (coorPoint.y < 0)
{
xline = xline * (-1);
}
break;
}
case 3: //(x <0, y < 0)
{
if (coorPoint.x > 0)
{
yline = yline * (-1);
}
if (coorPoint.y > 0)
{
xline = xline * (-1);
}
break;
}
case 4: //(x > 0, y < 0)
{
if (coorPoint.x < 0)
{
yline = xline * (-1);
}
if (coorPoint.y > 0)
{
xline = yline * (-1);
}
break;
}
default: break;
}
OnPoint2Coordinate(checkPoint, out coorPoint);
}
