//--------------------------------------------------------------------------------------
//
//--------------------------------------------------------------------------------------
void tDataSourcesDialog::RefreshValue()
{
if( m_SelectedSource.IsValid() )
{
if( m_pSourceSelection->DataTypeToSettingId(m_SelectedSource.DataType()) == DDS_GPS )
{
tDigitalData pos( DATA_TYPE_POSITION, m_SelectedSource );
tDigitalData epe( DATA_TYPE_POSITION_ERROR, m_SelectedSource );
tDigitalData snr( DATA_TYPE_GPS_BEST_OF_FOUR_SNR, m_SelectedSource );
m_pValue->setText( QString("%1 %2 %3 %4 %5 %6")
.arg(epe.Caption(true)).arg(epe.ValueStr()).arg(epe.UnitStr())
.arg(snr.Caption(true)).arg(snr.ValueStr())
.arg(pos.ValueStr()) );
}
else
{
tDigitalData data(m_SelectedSource);
if( data.Valid() )
{
tUnitsType unitsType = data.Units();
QString value = data.ValueStr(&unitsType);
QString unit = data.UnitStr(unitsType);
m_pValue->setText( QString("%1 %2 %3")
.arg(data.Caption())
.arg(value).arg( unit ) );
}
else
{
m_pValue->setText( QString("%1 %2")
.arg(data.Caption())
.arg(data.ValueStr()) ); // invalid ("---")
}
}
}
else
{
int count = m_pDataModel->UnselectedCount( m_pTreeView->currentIndex() );
if (count > 0)
m_pValue->setText( tr(" %1 Unselected").arg( count ) );
else
m_pValue->setText( "" );
}
}
float* FlowError::calcError(flowUV& UV, flowUV& GT, bool display){
int size = 0;
cv::Mat mask(UV.getU().rows, UV.getU().cols, CV_8U,cv::Scalar(0));
float* gu = (float*)GT.getU().data;
float* gv = (float*)GT.getV().data;
uchar* m = mask.data;
for (int i = 0 ; i < GT.getU().rows * GT.getU().cols; ++i, ++gu, ++gv, ++m){
if ((std::abs(*gv) == 0 && std::abs(*gu) == 0) | (std::abs(*gv) > 1000000000) | (std::abs(*gu) > 1000000000))
{
*m = 0;
}
else
{
*m = 1;
++size;
}
}
float* u = (float*)UV.getU().data;
float* v = (float*)UV.getV().data;
gu = (float*)GT.getU().data;
gv = (float*)GT.getV().data;
cv::Mat msu(size, 1, OPTFLOW_TYPE);
cv::Mat msv(size, 1, OPTFLOW_TYPE);
cv::Mat mstu(size, 1, OPTFLOW_TYPE);
cv::Mat mstv(size, 1, OPTFLOW_TYPE);
float* pmsu = (float*)msu.data;
float* pmsv = (float*)msv.data;
float* pmstu = (float*)mstu.data;
float* pmstv = (float*)mstv.data;
m = mask.data;
for(int i = 0; i < UV.getU().rows * UV.getU().cols; ++i, ++u, ++v, ++gu, ++gv, ++m){
if (*m){
*(pmsu++) = *(u);
*(pmsv++) = *(v);
*(pmstu++) = *(gu);
*(pmstv++) = *(gv);
}
}
cv::Mat n(size, 1, OPTFLOW_TYPE,cv::Scalar(0));
pmsu = (float*)msu.data;
pmsv = (float*)msv.data;
float* pn = (float*)n.data;
for(int i = 0; i < size; ++i, ++pmsu, ++pmsv, ++pn){
*pn = (1.0f/ std::sqrtf((*pmsu) * (*pmsu) + (*pmsv) * (*pmsv) + 1));
}
cv::Mat un = msu.mul(n);
cv::Mat vn = msv.mul(n);
cv::Mat tn(size, 1, OPTFLOW_TYPE,cv::Scalar(0));
pmstu = (float*)mstu.data;
pmstv = (float*)mstv.data;
float* ptn = (float*)tn.data;
for(int i = 0; i < size; ++i, ++pmstu, ++pmstv, ++ptn){
*ptn = (1.0f/ std::sqrtf((*pmstu) * (*pmstu) + (*pmstv) * (*pmstv) + 1));
}
cv::Mat tun = mstu.mul(tn);
cv::Mat tvn = mstv.mul(tn);
cv::Mat ang(size, 1, OPTFLOW_TYPE,cv::Scalar(0));
cv::Mat angtmp = un.mul(tun)+ vn.mul(tvn) +(n.mul(tn));
float* pAng = (float*)ang.data;
float* pAngtmp = (float*)angtmp.data;
ptn = (float*)tn.data;
for(int i = 0; i < size; ++i){
*(pAng++) = std::acos(std::max<float>(-1, std::min<float>(1,*(pAngtmp++))));
}
float mang = (float)cv::mean(ang).val[0];
static float pi = 3.14159265358979323846f;
mang = mang * 180 / pi;
cv::Scalar meanTmp, meanStd;
cv::meanStdDev(cv::Mat(ang*180/pi), meanTmp, meanStd);
float stdang = (float)meanStd.val[0];
cv::Mat epe1 = (GT.getU() - UV.getU()).mul((GT.getU() - UV.getU())) + (GT.getV() - UV.getV()).mul((GT.getV() - UV.getV()));
cv::Mat epe2(UV.getU().rows, UV.getU().cols, OPTFLOW_TYPE,cv::Scalar(0));;
cv::sqrt(epe1, epe2);
cv::Mat epe(size, 1, OPTFLOW_TYPE,cv::Scalar(0));
float* pepe2 = (float*)epe2.data;
float* pepe = (float*)epe.data;
m = mask.data;
for(int i = 0; i < UV.getU().rows * UV.getU().cols; ++i, ++pepe2, ++m){
if (*m){
*(pepe++) = *(pepe2);
}
}
float mepe = (float)cv::mean(epe).val[0];
float* ret = new float[3];
ret[0] = mang;
ret[1] = stdang;
ret[2] = mepe;
if (display){
UtilsMat::clamp<float>(epe2,0,1);
pepe2 = (float*)epe2.data;
m = mask.data;
for(int i = 0; i < epe2.cols * epe2.rows; ++i, ++pepe2, ++m)
*(pepe2) = *(pepe2) * *(m);
cv::imshow("End Point Error Visualization", epe2);
cv::waitKey(1);
}
return ret;
}
