public List<CalibrationPoint> AddNoise(List<CalibrationPoint> points,
double varReal, double varImg, int seed = 0)
{
List<CalibrationPoint> noisedPoints = new List<CalibrationPoint>(points.Count);
GaussianNoiseGenerator noiseReal = new GaussianNoiseGenerator();
noiseReal.Variance = varReal;
noiseReal.Mean = 0.0;
noiseReal.RandomSeed = seed != 0;
noiseReal.Seed = seed;
noiseReal.UpdateDistribution();
GaussianNoiseGenerator noiseImage = new GaussianNoiseGenerator();
noiseImage.Variance = varImg;
noiseImage.Mean = 0.0;
noiseImage.RandomSeed = seed != 0;
noiseImage.Seed = seed;
noiseImage.UpdateDistribution();
for(int i = 0; i < _pointsCount; ++i)
{
CalibrationPoint cpoint = new CalibrationPoint();
cpoint.RealX = points[i].RealX + noiseReal.GetSample();
cpoint.RealY = points[i].RealY + noiseReal.GetSample();
cpoint.RealZ = points[i].RealZ + noiseReal.GetSample();
cpoint.ImgX = points[i].ImgX + noiseImage.GetSample();
cpoint.ImgY = points[i].ImgY + noiseImage.GetSample();
noisedPoints.Add(cpoint);
}
return noisedPoints;
}
public void LoadFromFile(Stream file, string path)
{
XmlDocument dataDoc = new XmlDocument();
dataDoc.Load(file);
_pointList.Clear();
XmlNodeList points = dataDoc.GetElementsByTagName("Point");
foreach(XmlNode pointNode in points)
{
CalibrationPoint cpoint = new CalibrationPoint();
var imgx = pointNode.Attributes["imgx"];
if(imgx != null)
cpoint.ImgX = double.Parse(imgx.Value);
var imgy = pointNode.Attributes["imgy"];
if(imgy != null)
cpoint.ImgY = double.Parse(imgy.Value);
var gridNum = pointNode.Attributes["grid"];
if(gridNum != null)
cpoint.GridNum = int.Parse(gridNum.Value);
var col = pointNode.Attributes["gridColumn"];
if(col != null)
cpoint.RealCol = int.Parse(col.Value);
var row = pointNode.Attributes["gridRow"];
if(row != null)
cpoint.RealRow = int.Parse(row.Value);
var realx = pointNode.Attributes["realx"];
if(realx != null)
cpoint.RealX = double.Parse(realx.Value);
var realy = pointNode.Attributes["realy"];
if(realy != null)
cpoint.RealY = double.Parse(realy.Value);
var realz = pointNode.Attributes["realz"];
if(realz != null)
cpoint.RealZ = double.Parse(realz.Value);
_pointList.Add(cpoint);
}
}
private void AcceptImagePoint(object sender, RoutedEventArgs e)
{
// Open real point dialog
ChooseRealGridPointDialog realPointDialog = new ChooseRealGridPointDialog();
bool? res = realPointDialog.ShowDialog();
if(res != null && res == true)
{
CalibrationPoint cp = new CalibrationPoint()
{
ImgX = (double)_curPoint.X,
ImgY = (double)_curPoint.Y,
GridNum = realPointDialog.GridNum,
RealCol = realPointDialog.X,
RealRow = realPointDialog.Y
};
_currentImageGrid.Add(cp);
_imageControl.AcceptTempPoint(cp);
_butAcceptGrid.IsEnabled = true;
}
}
private void AddPoint(object sender, RoutedEventArgs e)
{
CalibrationPoint point = new CalibrationPoint();
point.GridNum = _pointList.Count;
_pointList.Add(point);
}
public List<CalibrationPoint> GenerateCalibrationPoints_Random(int seed = 0)
{
List<CalibrationPoint> pointList = new List<CalibrationPoint>(_pointsCount);
Random rand;
if(seed == 0)
rand = new Random();
else
rand = new Random(seed);
for(int i = 0; i < _pointsCount; ++i)
{
double rx = rand.NextDouble() * (_rangeReal_MaxX - _rangeReal_MinX) + _rangeReal_MinX;
double ry = rand.NextDouble() * (_rangeReal_MaxY - _rangeReal_MinY) + _rangeReal_MinY;
double rz = rand.NextDouble() * (_rangeReal_MaxZ - _rangeReal_MinZ) + _rangeReal_MinZ;
CalibrationPoint cpoint = new CalibrationPoint();
cpoint.Real = new Vector3(rx, ry, rz);
Vector<double> rp = new DenseVector(4);
rp[0] = rx;
rp[1] = ry;
rp[2] = rz;
rp[3] = 1.0;
var imagePoint = _CM * rp;
cpoint.Img = new Vector2(imagePoint[0] / imagePoint[2], imagePoint[1] / imagePoint[2]);
pointList.Add(cpoint);
}
return pointList;
}
