/// <summary>
///
/// </summary>
/// <param name="list"></param>
/// <returns></returns>
private PointsCoordSet CalcKalmanOpt(PointsCoordSet list, string strName, Kalc3Dim KallFil, bool iIsPredict,
bool bNoA, bool bIsX)
{
var listKalman = new PointsCoordSet(strName);
var Num = list[0].NumFrame - 1;
for (var jc = 0; jc < list.Count; jc++)
{
var pt = new Point(list[jc].X, list[jc].Y);
var ptC = list[jc] + pt;
ptC.col = Color.Fuchsia;
if (list[jc].X == -1)
{
ptC.col = Color.Yellow;
}
if (bIsX == true)
{
var x = KallFil.SetData(list[jc].X, list[jc].NumFrame, iIsPredict, bNoA);
ptC.X = (int)x;
}
else
{
var y = KallFil.SetData(list[jc].Y, list[jc].NumFrame, iIsPredict, bNoA);
ptC.Y = (int)y;
}
listKalman.Add(ptC);
}
//PointsCoordSet.AddList(listKalman);
return(listKalman);
}
/// <summary>
/// Работаем со скоростью
/// </summary>
/// <param name="list"></param>
/// <returns></returns>
private void CalcKalmanV(List <PointCoords> list, string strName, bool iIsPredict, bool bNoA)
{
var listKalman = new PointsCoordSet(strName);
if (list.Count <= 0)
{
return;
}
var KallFilX = new Kalc3Dim("X", true);
var KallFilY = new Kalc3Dim("Y", false);
var Num = list[0].NumFrame - 1;
for (var jc = 0; jc < list.Count; jc++)
{
var pt = new Point(list[jc].X, list[jc].Y);
var ptC = list[jc] + pt;
ptC.col = Color.Fuchsia;
if (list[jc].X == -1)
{
ptC.col = Color.Yellow;
}
var x = KallFilX.SetData(list[jc].X, list[jc].NumFrame, iIsPredict, bNoA);
var y = KallFilY.SetData(list[jc].Y, list[jc].NumFrame, iIsPredict, bNoA);
ptC.X = (int)x;
ptC.Y = (int)y;
//PointCoords ptC = KallFil.CalcEstimationPoint(pt, list[jc].NumFrame) + list[jc];
listKalman.Add(ptC);
}
PointsCoordSet.AddList(listKalman);
}
private void optimToolStripMenuItem_Click(object sender, EventArgs e)
{
var fKM = new FormKalmanParms();
if (fKM.ShowDialog() != DialogResult.OK)
{
return;
}
var iBeg = fKM.dBeg;
var iFin = fKM.dFin;
var iStep = fKM.dStep;
var iNums = (int)((iFin - iBeg) / iStep) + 1;
var M1X = new double[iNums];
var SD1X = new double[iNums];
var i = 0;
string sLog;
sLog = "X: " + listSourcePC[0].NumFrame.ToString() + "-" +
listSourcePC[listSourcePC.Count - 1].NumFrame.ToString();
LogFile.WriteLog(sLog);
sLog = "Predict()";
LogFile.WriteLog(sLog);
int MMax;
for (var jc = iBeg; jc < iFin; jc += iStep)
{
var KallFilX = new Kalc3Dim("X", true);
//KallFilX.SetInitParmsQ(jc);
//KallFilX.SetInitParmsR(jc);
KallFilX.SetInitParmsQ(jc);
//private PointsCoordSet CalcKalmanOpt(PointsCoordSet list, string strName,Kalc3Dim KallFil, bool iIsPredict, bool bNoA)
var listKalmanTemp = CalcKalmanOpt(listSourcePC, sLog, KallFilX, true, false, true);
// PointsCoordSet listKalmanTemp = CalcKalmanOpt(listSourcePC, sLog, KallFilX, false, false);
var iE1X = CalcCompareParams(listMarkedPC, listKalmanTemp, true, out M1X[i], out SD1X[i], out MMax);
sLog = "Q[i,i] =" + jc.ToString() + " MX = " + M1X[i].ToString() + " SDX = " + SD1X[i].ToString() +
" Max=" + MMax.ToString();
/*sLog = "Q[i,i] =" + jc.ToString() + " MX = " + M1X[i].ToString() + " SDX = " + SD1X[i].ToString();*/
//sLog = "" + jc.ToString() + " " + M1X[i].ToString() + " " + SD1X[i].ToString();
//sLog = "" + SD1X[i.ToString();
i++;
LogFile.WriteLog(sLog);
}
}
private int FindOptim(bool bIsX)
{
var fKM = new FormKalmanParms();
if (fKM.ShowDialog() != DialogResult.OK)
{
return(-1);
}
var iBeg = fKM.dBeg;
var iFin = fKM.dFin;
var iStep = fKM.dStep;
var iNums = (int)((iFin - iBeg) / iStep) + 1;
double M1Min = 10000;
double SD1Min = 10000;
var NMaxMin = 10000;
var iOpt = 0;
var i = 0;
var sLog = "Predict()";
LogFile.WriteLog(sLog);
double M1;
double SD1;
int NMax;
//List <int> lInt = new List<int>();
for (var jc = iBeg; jc < iFin; jc += iStep)
{
Kalc3Dim KallFil;
if (bIsX == true)
{
KallFil = new Kalc3Dim("X", true);
}
else
{
KallFil = new Kalc3Dim("Y", false);
}
//KallFilX.SetInitParmsQ(jc);
//KallFilX.SetInitParmsR(jc);
KallFil.SetInitParmsQ(jc);
//private PointsCoordSet CalcKalmanOpt(PointsCoordSet list, string strName,Kalc3Dim KallFil, bool iIsPredict, bool bNoA)
var listKalmanTemp = CalcKalmanOpt(listSourcePC, sLog, KallFil, true, false, bIsX);
// PointsCoordSet listKalmanTemp = CalcKalmanOpt(listSourcePC, sLog, KallFilX, false, false);
var iE1 = CalcCompareParams(listMarkedPC, listKalmanTemp, true, out M1, out SD1, out NMax);
i++;
if (NMax > NMaxMin)
{
continue;
}
if (NMax == NMaxMin)
{
if (M1 > M1Min)
{
continue;
}
if (M1 == M1Min)
{
if (SD1 >= SD1Min)
{
continue;
}
}
iOpt = i - 1;
}
//string sLog1 = "Q[i,i] =" + jc.ToString() + " MX = " + M1X[i].ToString() + " SDX = " + SD1X[i].ToString() + " Max=" + MMax.ToString();
//LogFile.WriteLog(sLog1);
}
return(iOpt);
}