void RansacCircleFiler(List<Point2f> points, out double cx, out double cy, out double rr, int iterations = 1000, double sigma = 1.0) { int n = points.Count; cx = 0; cy = 0; rr = 0; if (n < 3) { return; } Random random = new Random(); double bestScore = -1.0; for (int k = 0; k < iterations; k++) { // Select three non-colinear points at random int i1, i2, i3; do { i1 = random.Next(n); i2 = random.Next(n); i3 = random.Next(n); } while (i1 == i2 || i1 == i3 || i2 == i3 || !NonCollinear(points[i1], points[i2], points[i3])); // Compute circle from three selected points Point2f center = CircleCenter(points[i1], points[i2], points[i3]); double radius = CircleRadius(points[i1], points[i2], points[i3]); // Compute score of circle by counting inliers double score = 0; for (int i = 0; i < n; i++) { double distance = Math.Abs(Point.Distance(center, points[i]) - radius); if (distance < sigma) { score++; } } // Update best circle if current circle has higher score if (score > bestScore) { bestScore = score; cx = center.X; cy = center.Y; rr = radius; } } }优化并行计算

可以使用并行计算来提高程序的运行效率。可以将for循环中的每个迭代都视为一个独立的任务，然后使用并行循环来执行这些任务。这样可以利用多核处理器的优势，提高程序的运行速度。

具体实现可以使用Parallel.For方法来代替for循环。例如：

Parallel.For(0, iterations, k =>
{
    // Select three non-colinear points at random
    int i1, i2, i3;
    do
    {
        i1 = random.Next(n);
        i2 = random.Next(n);
        i3 = random.Next(n);
    } while (i1 == i2 || i1 == i3 || i2 == i3 || !NonCollinear(points[i1], points[i2], points[i3]));

    // Compute circle from three selected points
    Point2f center = CircleCenter(points[i1], points[i2], points[i3]);
    double radius = CircleRadius(points[i1], points[i2], points[i3]);

    // Compute score of circle by counting inliers
    double score = 0;
    for (int i = 0; i < n; i++)
    {
        double distance = Math.Abs(Point.Distance(center, points[i]) - radius);
        if (distance < sigma)
        {
            score++;
        }
    }

    // Update best circle if current circle has higher score
    lock (bestScoreLocker)
    {
        if (score > bestScore)
        {
            bestScore = score;
            cx = center.X;
            cy = center.Y;
            rr = radius;
        }
    }
});

在并行计算中需要注意的是，多个任务可能会同时访问和修改共享的变量。为了避免这种情况下的竞争条件，需要使用锁来保护共享变量的访问和修改。在上述代码中，使用了一个锁来保护bestScore变量的访问和修改。