单像空间后方交会c#

在 C# 中实现单像空间后方交会可以使用以下步骤：

1. 首先，定义一个模型来表示相机参数，包括焦距（focal length）、像素尺寸（pixel size）和图像中心点（image center）等。

public class CameraModel
{
    public double FocalLength { get; set; }
    public double PixelSize { get; set; }
    public double ImageCenterX { get; set; }
    public double ImageCenterY { get; set; }
}

2. 接下来，定义一个方法来进行单像空间后方交会的计算。

public class CameraCalibration
{
    public Point3D BackProjection(Point2D imagePoint, CameraModel camera)
    {
        double x = (imagePoint.X - camera.ImageCenterX) * camera.PixelSize / camera.FocalLength;
        double y = (imagePoint.Y - camera.ImageCenterY) * camera.PixelSize / camera.FocalLength;
        return new Point3D(x, y, 1);
    }
}

3. 创建一个示例相机模型和图像点，并使用上述方法进行后方交会计算。

CameraModel camera = new CameraModel
{
    FocalLength = 50,
    PixelSize = 0.02,
    ImageCenterX = 640,
    ImageCenterY = 480
};

Point2D imagePoint = new Point2D(320, 240);

CameraCalibration calibration = new CameraCalibration();
Point3D worldPoint = calibration.BackProjection(imagePoint, camera);

Console.WriteLine($"World point (X, Y, Z): ({worldPoint.X}, {worldPoint.Y}, {worldPoint.Z})");

输出结果将显示图像点对应的世界坐标点。