RoboidControl/RoboidControl-csharp
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Lots of improvements, but RANSAC still does not give the right results

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This commit is contained in:
Pascal Serrarens 2025-01-23 15:07:24 +01:00
parent e178306128
commit bed6d95916
1 changed files with 31 additions and 6 deletions
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37
LinearAlgebra/Matrix.cs
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@ -9,12 +9,15 @@ public class Matrix {
}
public static float[,] Transpose(float[,] m) {
float[,] r = new float[m.GetLength(1), m.GetLength(0)];
for (uint rowIx = 0; rowIx < m.GetLength(0); rowIx++) {
for (uint colIx = 0; colIx < m.GetLength(1); colIx++)
int rows = m.GetLength(0);
int cols = m.GetLength(1);
float[,] r = new float[cols, rows];
for (uint rowIx = 0; rowIx < rows; rowIx++) {
for (uint colIx = 0; colIx < cols; colIx++)
r[colIx, rowIx] = m[rowIx, colIx];
}
return r;
// double checked code
}
public static void NegateColumn(float[,] m, uint colIx) {
@ -75,14 +78,36 @@ public class Matrix {
for (int i = 0; i < rowsA; i++) {
for (int j = 0; j < colsB; j++) {
float sum = 0;
for (int k = 0; k < colsA; k++) {
float sum = 0.0f;
for (int k = 0; k < colsA; k++)
sum += A[i, k] * B[k, j];
}
result[i, j] = sum;
}
}
return result;
// double checked code
}
public static float[] GetColumn(float[,] M, int col) {
int rows = M.GetLength(0);
float[] column = new float[rows];
for (int i = 0; i < rows; i++) {
column[i] = M[i, col];
}
return column;
}
public static float Dot(float[] a, float[] b) {
float sum = 0;
for (int i = 0; i < a.Length; i++) sum += a[i] * b[i];
return sum;
}
public static float[,] IdentityMatrix(int size) {
float[,] I = new float[size, size];
for (int i = 0; i < size; i++) I[i, i] = 1.0f;
return I;
}
}