/// <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);
}
private void запускToolStripMenuItem_Click(object sender, EventArgs e)
{
listKalmanPC = CalcKalman(listSourcePC);
//KallFil.CalcEstimationScalar(;
}
/// <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);
}
public static PointsCoordSet GetListOnName(string Name)
{
int index = PointsCoordSet.GetIndex(Name);
if (index == -1)
{
return(null);
}
return(PointsCoordSet.ListPointsSet[index]);
}
public static void DeletePointsList(string Name)
{
int index = PointsCoordSet.GetIndex(Name);
if (index == -1)
{
return;
}
PointsCoordSet.ListPointsSet.RemoveAt(index);
}
private void graphicsToolStripMenuItem_Click(object sender, EventArgs e)
{
var fkd = new FormKalmanDraw();
fkd.Show();
fkd.Graph("Marked Estimate", PointsCoordSet.GetListOnName("Marked"), Color.Black);
//PointsCoordSet.GetListOnIndex(1).RemoveAt(19);
// PointsCoordSet.GetListOnIndex(1).RemoveAt(19);
fkd.Graph("Kalman XY", PointsCoordSet.GetListOnName("3D"), Color.Red);
fkd.ConfigureGraph();
}
//bool isInitPoint = false;
private void директорияToolStripMenuItem_Click(object sender, EventArgs e)
{
sPictureDir = SelectDir();
if (sPictureDir == "")
{
return;
}
var files = Directory.GetFiles(sPictureDir, "*.txt");
if (files.Length > 1)
{
MessageBox.Show("Более одного лог файла в директории. Выберите файл отдельно");
логФайлToolStripMenuItem.Enabled = true;
return;
}
if (files.Length == 0)
{
MessageBox.Show("Лог файл в директории отсутствует. Выберите файл отдельно");
логФайлToolStripMenuItem.Enabled = true;
return;
}
NCurrentFile = -1;
strLogName = files[0];
strMark = strLogName.Substring(0, strLogName.Length - 3);
strMark += "mrk";
listMarkedPC = new PointsCoordSet("Marked");
if (File.Exists(strMark))
{
var strMarkRead = new StreamReader(strMark);
FillCoordData(strMarkRead, listMarkedPC, false, Color.Green);
}
strLog = new StreamReader(strLogName);
listSourcePC = new PointsCoordSet("Source");
FillCoordData(strLog, listSourcePC, true, Color.Red);
ShowImages();
отметитьОбъектыToolStripMenuItem.Enabled = true;
фильтрКальманаToolStripMenuItem.Enabled = true;
матрицаToolStripMenuItem.Enabled = true;
}
/// <summary>
///
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void отметитьОбъектыToolStripMenuItem_Click(object sender, EventArgs e)
{
if (sPictureDir == "")
{
MessageBox.Show("Не задана директория");
return;
}
if (strLog == null)
{
MessageBox.Show("Не задан файл координат");
return;
}
listMarkedPC = new PointsCoordSet("Marked");
PointsCoordSet.AddList(listMarkedPC);
//
//FillCoordData();
отметитьОбъектыToolStripMenuItem.Enabled = false;
bMark = true;
buttonright.Enabled = false;
buttonLeft.Enabled = false;
}
private void выбратьОтображениеToolStripMenuItem_Click(object sender, EventArgs e)
{
var FC = new FormSelectCompare();
FC.Set1Select();
if (FC.ShowDialog() != DialogResult.OK)
{
return;
}
bool bRes;
var iRez = FC.ReturnRes(out bRes);
if (bRes == false)
{
return;
}
listKalman1XY = PointsCoordSet.GetListOnIndex(iRez[0]);
/*for (int i = 0; i < iRez.Length; i++)
* listKalmans[i] = PointsCoordSet.GetListOnIndex(iRez[i]);*/
bDrawKalmanXY = true;
//pictureBoxTrack.Refresh();
}
private PointsCoordSet CalcKalman(PointsCoordSet list)
{
var listKalman = new PointsCoordSet("Kalman");
if (list.Count <= 0)
{
return(listKalman);
}
var KallFil = new KalmanFilter();
var Num = list[0].NumFrame - 1;
for (var jc = 0; jc < list.Count; jc++)
{
var pt = new Point(list[jc].X, list[jc].Y);
if (list[jc].X == -1)
{
list[jc].Y = -1;
}
var ptC = KallFil.CalcEstimationPoint(pt, list[jc].NumFrame) + list[jc];
ptC.col = Color.Fuchsia;
listKalman.Add(ptC);
}
return(listKalman);
}
public static void AddList(PointsCoordSet list)
{
PointsCoordSet.DeletePointsList(list.strName);
PointsCoordSet.ListPointsSet.Add(list);
}
private void сравнитьКалмановToolStripMenuItem_Click(object sender, EventArgs e)
{
var FC = new FormSelectCompare();
if (FC.ShowDialog() != DialogResult.OK)
{
return;
}
bool bRes;
var iRez = FC.ReturnRes(out bRes);
if (bRes == false)
{
return;
}
var pEtalon = PointsCoordSet.GetListOnIndex(iRez[0]);
var p1 = PointsCoordSet.GetListOnIndex(iRez[1]);
var p2 = PointsCoordSet.GetListOnIndex(iRez[2]);
if ((pEtalon == null) || (pEtalon == null) || (pEtalon == null))
{
return;
}
var iMax = pEtalon.Count;
var sHeader = "Records " + pEtalon[0].NumFrame.ToString() + "-" + pEtalon[iMax - 1].NumFrame.ToString();
LogFile.WriteLog(sHeader);
sHeader = "Et= " + pEtalon.strName + " E1=" + p1.strName + " E2= " + p2.strName + " dl=" + "E1-E2";
LogFile.WriteLog(sHeader);
var sLog = "Et" + "\t" + "E1" + "\t" + "E2" + "\t" + "dl";
LogFile.WriteLog(sLog);
int iE;
int iE12;
LogFile.WriteLog("X");
double M1X;
double SD1X;
double M2X;
double SD2X;
int MMax1;
int MMax2;
var iE1X = CalcCompareParams(pEtalon, p1, true, out M1X, out SD1X, out MMax1);
var iE2X = CalcCompareParams(pEtalon, p2, true, out M2X, out SD2X, out MMax2);
for (var jc = 0; jc < iMax; jc++)
{
iE = pEtalon[jc].X;
iE12 = iE1X[jc] - iE2X[jc];
var sLog1 = iE.ToString() + "\t" + p1[jc].X.ToString() + "(" + iE1X[jc].ToString() + ")" + "\t" +
p2[jc].X.ToString() + "(" + iE2X[jc].ToString() + ")" + "\t" + iE12.ToString();
LogFile.WriteLog(sLog1);
}
sLog = "M1X = " + M1X.ToString() + " SD1X = " + SD1X.ToString() + " M2X = " + M2X.ToString() + " SD2X = " +
SD2X.ToString();
LogFile.WriteLog(sLog);
double M1Y;
double SD1Y;
double M2Y;
double SD2Y;
var iE1Y = CalcCompareParams(pEtalon, p1, false, out M1Y, out SD1Y, out MMax1);
var iE2Y = CalcCompareParams(pEtalon, p2, false, out M2Y, out SD2Y, out MMax2);
LogFile.WriteLog("Y");
for (var jc = 0; jc < iMax; jc++)
{
iE = pEtalon[jc].Y;
iE12 = iE1Y[jc] - iE2Y[jc];
var sLog1 = iE.ToString() + "\t" + p1[jc].Y.ToString() + "(" + iE1Y[jc].ToString() + ")" + "\t" +
p2[jc].Y.ToString() + "(" + iE2Y[jc].ToString() + ")" + "\t" + iE12.ToString();
LogFile.WriteLog(sLog1);
}
sLog = "M1Y = " + M1Y.ToString() + " SD1Y = " + SD1Y.ToString() + " M2Y = " + M2Y.ToString() + " SD2Y = " +
SD2Y.ToString();
LogFile.WriteLog(sLog);
}
/// <summary>
/// Calc difference mean and deviation
/// </summary>
/// <param name="pEt"></param>
/// <param name="p1"></param>
/// <param name="M">Meaning</param>
/// <param name="SD">deviation</param>
/// <returns>difference[]</returns>
private int[] CalcCompareParams(PointsCoordSet pEt, PointsCoordSet p1, bool bIsX, out double M, out double SD,
out int MMax)
{
var iMax = pEt.Count;
int iE;
int i1;
var iE1 = new int[iMax];
M = 0;
SD = 0;
MMax = 0;
int jc;
var iEmpty = 0;
for (jc = 0; jc < iMax; jc++)
{
if (bIsX == true)
{
iE = pEt[jc].X;
i1 = p1[jc].X;
}
else
{
iE = pEt[jc].Y;
i1 = p1[jc].Y;
}
if (listSourcePC[jc].X == -1)
{
continue;
}
iEmpty++;
// i2 = p2[jc].X;
iE1[jc] = Math.Abs(iE - i1);
M += iE1[jc];
if (MMax < iE1[jc])
{
MMax = iE1[jc];
}
//iE2 = Math.Abs(iE - i2);
//iE12 = Math.Abs(iE1 - iE2);
//iE12 = iE1 - iE2;
//string sLog1 = iE.ToString() + "\t" + iE1.ToString() + "\t" + iE2.ToString() + "\t" + iE12.ToString();
//LogFile.WriteLog(sLog1);
}
double dPow = 0;
if (iEmpty == 0)
{
return(iE1);
}
M /= iEmpty;
for (jc = 0; jc < iMax; jc++)
{
if (listSourcePC[jc].X == -1)
{
continue;
}
dPow += Math.Pow(iE1[jc] - M, 2);
//iE2 = Math.Abs(iE - i2);
//iE12 = Math.Abs(iE1 - iE2);
//iE12 = iE1 - iE2;
//string sLog1 = iE.ToString() + "\t" + iE1.ToString() + "\t" + iE2.ToString() + "\t" + iE12.ToString();
//LogFile.WriteLog(sLog1);
}
SD = Math.Sqrt(dPow / iEmpty);
return(iE1);
}
/// <summary>
///
/// </summary>
/// <returns></returns>
//private bool FillCoordData(StreamReader sr, List<PointCoords> list,bool bIsNeed,Color col)
private bool FillCoordData(StreamReader sr, PointsCoordSet list, bool bIsNeed, Color col)
{
if (sr == null)
{
if (bIsNeed)
{
MessageBox.Show("Не задан файл координат");
}
return(false);
}
//list = new List<PointCoords>();
string strTemp;
var iNum = -1;
while (true)
{
strTemp = sr.ReadLine();
if (strTemp == null)
{
break;
}
var pC = new PointCoords();
if (pC.SetDataFromFile(strTemp, col) == false)
{
continue;
}
if (iNum == -1)
{
iNum = pC.NumFrame;
}
else
{
iNum++;
if (pC.NumFrame > iNum)
{
var iNumDel = pC.NumFrame;
while (iNumDel != iNum)
{
var pC1 = new PointCoords();
pC1.NumFrame = iNum;
pC1.col = pC.col;
pC1.Width = pC.Width;
list.Add(pC1);
iNum++;
}
}
}
list.Add(pC);
}
if (NCurrentFile == -1)
{
NCurrentFile = NFirstFile = list[0].NumFrame;
NLastFile = list[list.Count - 1].NumFrame;
}
var iReminder = NLastFile - NFirstFile + 1 - list.Count;
iNum++;
for (var jc = 0; jc < iReminder; jc++)
{
var pC1 = new PointCoords();
pC1.NumFrame = iNum;
pC1.col = Color.AntiqueWhite;
pC1.Width = 40;
list.Add(pC1);
iNum++;
}
PointsCoordSet.AddList(list);
return(true);
}
