VP引导定位软件-旋转标定

VP引导定位软件-旋转标定

一 确定通讯协议

Rotate,Angle,第几个点 Rotate,-20,1Rotate,-10,2Rotate,0,3Rotate,10,4Rotate,20,5

二 解析上位机数据

elseif(GlobalParameters.SoftModel=="Rotate"){// 如果是第一个点，则清空之前的数据if(Convert.ToInt32(msg.Split(',')[2])==1){// AlgorithmService.Instance.ClearRotateCali();}}

三 算法实现

/// <summary>/// 旋转点坐标/// </summary>publicList<Double>ImageX_Rotate_List=newList<Double>();publicList<Double>ImageY_Rotate_List=newList<Double>();

/// <summary>/// 添加旋转标定的点/// </summary>/// <param name="imageX"></param>/// <param name="imageY"></param>publicvoidAppendCirclePoint(doubleimageX,doubleimageY){ImageX_Rotate_List.Append(imageX);ImageY_Rotate_List.Append(imageY);}

/// <summary>/// 生成旋转中心标定/// </summary>publicvoidGenRotateCalibrationFile(outDoubleCenterX,outDoubleCenterY){if(ImageX_Rotate_List.Count==5){CenterX=0;CenterY=0;MessageBox.Show("生成旋转中心成功！");}else{CenterX=0;CenterY=0;}}

CircleFitter

publicclassCircleFitter{/// <summary>/// 通过三个点计算圆心坐标/// </summary>/// <param name="point1">第一个点 (x1, y1)</param>/// <param name="point2">第二个点 (x2, y2)</param>/// <param name="point3">第三个点 (x3, y3)</param>/// <returns>圆心坐标 (cx, cy)</returns>publicstatic(doublecx,doublecy)FitCircleFromThreePoints((doublex,doubley)point1,(doublex,doubley)point2,(doublex,doubley)point3){// 解法基于三点确定一个圆的几何原理// 设圆心为 (cx, cy)，则有：// (x1-cx)² + (y1-cy)² = (x2-cx)² + (y2-cy)² = (x3-cx)² + (y3-cy)² = r²doublex1=point1.x,y1=point1.y;doublex2=point2.x,y2=point2.y;doublex3=point3.x,y3=point3.y;// 计算中间变量doubleA=x2-x1;doubleB=y2-y1;doubleC=x3-x1;doubleD=y3-y1;doubleE=A*(x1+x2)+B*(y1+y2);doubleF=C*(x1+x3)+D*(y1+y3);doubleG=2*(A*(y3-y1)-B*(x3-x1));// 避免除以零（三点共线的情况）if(Math.Abs(G)<1e-10){thrownewArgumentException("三点共线，无法确定唯一的圆");}// 计算圆心坐标doublecx=(D*E-B*F)/G;doublecy=(A*F-C*E)/G;return(cx,cy);}/// <summary>/// 计算圆的半径/// </summary>publicstaticdoubleCalculateRadius((doublex,doubley)center,(doublex,doubley)point){doubledx=point.x-center.x;doubledy=point.y-center.y;returnMath.Sqrt(dx*dx+dy*dy);}}