private void buttonCalibrate_Click(object sender, RoutedEventArgs e)
{
//Load data from file and initialize the acc array
Sensor[] sensors;
String path = textBoxInput.Text;
try
{
StreamReader sr = new StreamReader(path);
labelResults.Content = "";
string line;
string[] lineDiv = new string[] { "" };
line = sr.ReadLine();
int N = Int32.Parse(line.Split(',')[0]);
int M = Int32.Parse(line.Split(',')[1]);
int L = Int32.Parse(line.Split(',')[2]);
sensors = new Sensor[N + M + L];
for (int i = 0; i < N; i++)
{
sensors[i] = new Accelerometer();
}
for (int i = N; i < N + M; i++)
{
//CREATE GYROS
}
for (int i = N + M; i < N + M + L; i++)
{
//CREATE MAGNETOMETERS
}
while ((line = sr.ReadLine()) != null)
{
lineDiv = line.Split(',');
for (int i = 0; i < N; i++)
{
Measurement meas = new Measurement
(new decimal[] { Decimal.Parse(lineDiv[5 + i * 3]), Decimal.Parse(lineDiv[6 + i * 3]), Decimal.Parse(lineDiv[7 + i * 3]) },
Decimal.Parse(lineDiv[2]), Decimal.Parse(lineDiv[4]), Decimal.Parse(lineDiv[3]));
sensors[i].data.Add(meas);
}
}
//MessageBox.Show(sensors[0].data[3].data[0].ToString()+" "+ sensors[1].data[3].data[0].ToString() + " "+ sensors[2].data[3].data[0].ToString() + " ");
//TODO: Foreach i in sensors, compute calibration parameters and save them in the respective fields of the accelerometer objects
//decimal[] res = LinearAlgebra.BackwardSubstitutionLow(new decimal[,] { { 65, 0, 0, 0, 0 }, { 10, 2, 0, 0, 0 }, { 3, 1, 1, 0, 0 }, { 23, 1, 1, 20, 0 }, { 23, 4, 10, 20, 40 } }, new decimal[] { 1, 2, 3, 4, 5 });
decimal[] p = { 1, 0.5M, 7M };
decimal[,] A = { { 1, 1 }, { 1, 2 }, { 1, 3 }, { 1, 4 } };
//decimal[] pAdd = { 0.1M, 0.5M, 0.7M };
//decimal[] res =Optimization.GaussNewton(pAdd);
//Measurement mеas1 = new Measurement(new decimal[] { 1, 2, 3 }, 0);
//Accelerometer acc1 = new BGDrilling.Accelerometer();
decimal[] res = sensors[0].calibrate(); //Optimization.LinearLeastSquares(A, new decimal[4] { 6, 5, 7, 10 });//
// for (int j = 0; j < res.GetLength(0); j++)
// labelResults.Content += res[j].ToString() + "\n";
// decimal[,] res= sensors[0].computeJ(new decimal[] { 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0 });//test.calibrate();
// decimal[] res = sensors[0].computeR(new decimal[12] { 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0 });
/*decimal[,] J = sensors[0].computeJ(new decimal[12] { 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0 });
* double[,] JDouble = new double[J.GetLength(0), J.GetLength(1)];
* for (int i = 0; i < J.GetLength(0); i++)
* for (int j = 0; j < J.GetLength(1); j++)
* JDouble[i, j] = (double)J[i, j];
* decimal[] r = sensors[0].computeR(new decimal[12] { 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0 });
* decimal[] res =Optimization.LinearLeastSquares(sensors[0].computeJ(new decimal[12] { 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0 }),
* MathDecimal.Negative(sensors[0].computeR(new decimal[12] { 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0 })), "SVD");*/
/*Matrix<double> JMatrix = DenseMatrix.OfArray(JDouble);
* MathNet.Numerics.LinearAlgebra.Factorization.Svd<double> Jsvd = JMatrix.Svd();
* double[,] res = Jsvd.VT.ToArray();*/
// decimal[] res = LinearAlgebra.Gauss(MathDecimal.Prod(MathDecimal.Transpose(J),J),
//MathDecimal.Negative(MathDecimal.Prod(MathDecimal.Transpose(J), r)));
String[] lines = new string[res.GetLength(0)];
for (int i = 0; i < res.GetLength(0); i++)
{
labelResults.Content += res[i].ToString() + "\n";
lines[i] += res[i].ToString() + ", ";
//lines[i] += res[i].ToString();
labelResults.Content += "\n";
lines[i] += "},";
}
//decimal res = Accelerometer.incl(new decimal[] { 10, 10, 0.5M });
//labelResults.Content += res.ToString();
/* String [] lines=new string[res.GetLength(0)];
* for (int i = 0; i < res.GetLength(0); i++)
* {
* lines[i] += "{";
* //lines[i] += res[i].ToString();
* for (int j = 0; j < res.GetLength(1); j++)
* {
* labelResults.Content += res[i, j].ToString() + "\n";
* lines[i] += res[i, j].ToString() + ", ";
* }
* labelResults.Content += "\n";
* lines[i] += "},";
* }*/
//bool res1 = MathDecimal.Pow2(MathDecimal.Norm2(pAdd)) - MathDecimal.Pow2(MathDecimal.Norm2(MathDecimal.Sum(p, MathDecimal.Prod(a, pAdd)))) <
// 1M / 2M * a * MathDecimal.Pow2(MathDecimal.Norm2(MathDecimal.Prod(J, p))) && a >= 0.00001M;
//labelResults.Content += res.ToString() + "\n";
//System.Console.WriteLine(lines);
/*for (int i = 0; i < res.GetLength(0); i++)
* {
* labelResults.Content += res[i].ToString() + " ";
* //lines[i] += res[i].ToString() + " ";
* //for (int j=0; j<res.GetLength(1); j++)
* {
* // labelResults.Content += res[i, j].ToString()+" ";
* //
* }
*
* //labelResults.Content += "\n";
* //
* /*for (int i = 0; i < res.Length; i++)
* {
* labelResults.Content += res[i].ToString() + " ";
* }
* }*/
System.IO.File.WriteAllLines(@"C:\Users\Tihomir\Desktop\writeLines.txt", lines);
}
catch (Exception exc)
{
MessageBox.Show("Invalid path to the input file.\n");
}
//TODO: Save in archive
//TODO: Print results
labelResults.Visibility = Visibility.Visible;
buttonSave.Visibility = Visibility.Visible;
}
private void buttonCalibrate_Click(object sender, RoutedEventArgs e)
{
//Load data from file and initialize the acc array
Sensor[] sensors;
String path = textBoxInput.Text;
try
{
StreamReader sr = new StreamReader(path);
labelResults.Content = "";
string line;
string[] lineDiv = new string[] { "" };
line = sr.ReadLine();
int N = Int32.Parse(line.Split(',')[0]);
int M = Int32.Parse(line.Split(',')[1]);
int L = Int32.Parse(line.Split(',')[2]);
sensors = new Sensor[N + M + L];
for (int i = 0; i < N; i++)
{
sensors[i] = new Accelerometer();
}
for (int i = N; i < N + M; i++)
{
//CREATE GYROS
}
for (int i = N + M; i < N + M + L; i++)
{
//CREATE MAGNETOMETERS
}
while ((line = sr.ReadLine()) != null)
{
lineDiv = line.Split(',');
for (int i = 0; i < N; i++)
{
Measurement meas = new Measurement
(new decimal[] { Decimal.Parse(lineDiv[5 + i * 3]), Decimal.Parse(lineDiv[6 + i * 3]), Decimal.Parse(lineDiv[7 + i * 3]) },
Decimal.Parse(lineDiv[2]), Decimal.Parse(lineDiv[4]), Decimal.Parse(lineDiv[3]));
sensors[i].data.Add(meas);
}
}
//MessageBox.Show(sensors[0].data[3].data[0].ToString()+" "+ sensors[1].data[3].data[0].ToString() + " "+ sensors[2].data[3].data[0].ToString() + " ");
//TODO: Foreach i in sensors, compute calibration parameters and save them in the respective fields of the accelerometer objects
//for (int i = 0; i < sensors.GetLength(0); i++)
{
decimal[] res = sensors[0].calibrate();//calibrate data and save them in the respective fields
String[] lines = new string[res.GetLength(0)];
for (int i = 0; i < res.GetLength(0); i++)
{
labelResults.Content += res[i].ToString() + "\n";
lines[i] += res[i].ToString() + ", ";
}
System.IO.File.WriteAllLines(@"C:\Users\Gali\Desktop\writeLines.txt", lines);
}
}
catch (Exception exc)
{
MessageBox.Show("Invalid path to the input file.\n");
}
//TODO: Save in archive
//TODO: Print results
labelResults.Visibility = Visibility.Visible;
buttonSave.Visibility = Visibility.Visible;
}
