///
/// \brief Vespucci::Math::Smoothing::MedianFilterMat
/// \param X
/// \param window_size
/// \return
/// Performs Median Filter over a arma::matrix with spectra in columns
arma::mat Vespucci::Math::Smoothing::MedianFilterMat(const arma::mat &X, arma::uword window_size)
{
arma::mat filtered;
filtered.set_size(X.n_rows, X.n_cols);
for(arma::uword i = 0; i < X.n_cols; ++i)
filtered.col(i) = MedianFilter(X.col(i), window_size);
return filtered;
}
void stereo_MedianFilter(void* inputFIFOs[], void* outputFIFOs[], Param inParams[], Param outParams[]){
MedianFilter(
/* height */ (Param) inParams[2],
/* width */ (Param) inParams[0],
/* sizeFilter */ (Param) inParams[1],
/* in */ (uint8_t*) inputFIFOs[0],
/* out */ (uint8_t*) outputFIFOs[0]
);
}
void Document::medianFilter(uint radius)
{
QImage orig = m_image.copy();
QList<MedianFilter> jobs;
for (int x = m_selection.x(); x <= m_selection.right(); ++x)
jobs.append(MedianFilter(radius, orig, m_image, QPoint(x, m_selection.top()), m_selection.height()));
QtConcurrent::blockingMap(jobs, MedianFilter::process);
setModified(true);
emit repaint(m_selection);
}
///
/// \brief Vespucci::Math::Smoothing::MedianFilterMat
/// \param X
/// \param window_size
/// \return
/// Performs Median Filter over a arma::matrix with spectra in columns
arma::mat Vespucci::Math::Smoothing::MedianFilterMat(const arma::mat &X, arma::uword window_size)
{
arma::mat filtered;
filtered.set_size(X.n_rows, X.n_cols);
#ifdef _WIN32
#pragma omp parallel for default(none) \
shared(X, window_size, filtered)
for (intmax_t i = 0; i < (intmax_t) X.n_cols; ++i)
#else
#pragma omp parallel for default(none) \
shared(X, window_size, filtered)
for (size_t i = 0; i < X.n_cols; ++i)
#endif
{
filtered.col(i) = MedianFilter(X.col(i), window_size);
}
return filtered;
}
void CLjz153View::OnMedianFilter()
{
// TODO: Add your command handler code here
MedianFilter();
Invalidate();
}
float SimpleFilter::WindowFilter(float* list, int windowSize) {
float av = Average(MedianFilter(list, windowSize), 3);
return av;
}
double FitCurve(TGraphErrors* g, int debug=0)
{
double vdep=0;
if(!g) return vdep;
TF1* f3 = new TF1("fp1", "pol1", 20, 360);
f3->SetLineColor(4);
double y;
double xlow=350;
double ymax=0;
double vdep1=0;
// prendre le point le plus haut est robuste et marche bien pour les hauts vdep
TGraphErrors *gsmooth = MedianFilter(g);
gsmooth = MedianFilter(gsmooth);
for(int ipt=0; ipt<gsmooth->GetN(); ipt++)
{
gsmooth->GetPoint(ipt, xlow, y);
if(y>ymax) {ymax=y; vdep1=xlow;}
}
//g=gsmooth;
int npt = g->GetN()-5;
xlow=350;
double chi2=0;
int status = 0;
while(chi2<5. && xlow>100 && npt>=0)
{
g->GetPoint(npt, xlow, y);
f3->SetRange(xlow, 350);
status = g->Fit("fp1", "rqn");
chi2 = f3->GetChisquare()/f3->GetNDF();
if(debug>=1) cout<<"xlow "<<xlow<<" chi2 "<<chi2<<endl;
npt--;
}
g->GetPoint(npt+2, xlow, y);
f3->SetRange(xlow, 350);
g->Fit("fp1", "rqn");
vdep = xlow;
//if(vdep>230) vdep = vdep1;
//else if(fabs(vdep-vdep1)>40) vdep = vdep1;
//vdep=vdep1;
cout<<" Vdepl = "<<vdep<<endl;
TF1* f1 = new TF1("fitsigmo", fitsigmo, 50, 350, 5);
f1->SetParameter(0, 3.);
f1->SetParameter(1, 0.02);
f1->SetParameter(2, vdep);
f1->SetParameter(3, -10.);
f1->SetParameter(4, -0.00001);
f1->SetParLimits(2, 100., 300.);
f1->SetParLimits(4, -0.1, 0);
TF1* f2 = new TF1("fitpol", fitpol, 20, 360, 6);
f2->SetParLimits(4, 100., 300.);
f2->SetParLimits(5, -0.1, 0);
/* xlow = 30;
chi2 = 100;
double xmin = xlow;
double chi2min = chi2;
string opt="rq";
if(debug>=2) opt="r";
while(chi2>0.1 && xlow<vdep-80)
{
f2->SetParameter(0, 1.);
f2->SetParameter(1, 0.005);
f2->SetParameter(2, 0.0001);
f2->SetParameter(3, 0.);
f2->SetParameter(4, vdep);
f2->SetParameter(5, -0.00001);
f2->SetRange(xlow, 350);
status = g->Fit("fitpol", opt.c_str());
if(status!=0) status = g->Fit("fitpol", opt.c_str());
chi2 = f2->GetChisquare()/f2->GetNDF();
if(debug>=1) cout<<"xlow "<<xlow<<" chi2 "<<chi2<<endl;
if(debug>=2) cout<<" chi2 "<<f2->GetChisquare()<<" ndf "<<f2->GetNDF()<<endl;
if(chi2<chi2min) {chi2min=chi2; xmin=xlow;}
xlow+=10;
}
f2->SetParameter(0, 1.);
f2->SetParameter(1, 0.005);
f2->SetParameter(2, 0.0001);
f2->SetParameter(3, 0.);
f2->SetParameter(4, vdep);
f2->SetParameter(5, -0.00001);
f2->SetRange(xmin, 350);
status = g->Fit("fitpol", opt.c_str());
if(status!=0) status = g->Fit("fitpol", opt.c_str());
vdep = f2->GetParameter(4);
cout<<" Vdepl2 = "<<vdep<<" xmin "<<xmin<<endl;
if(fabs(vdep-vdep1)>30) vdep = vdep1;
*/
TGraphErrors* gmedian;
gmedian = MedianFilter( g );
int nfilt=1;
/*while (!IsMonoton(gmedian) && nfilt<4) {
gmedian = MedianFilter( gmedian );
nfilt++;
}*/
gmedian = HanningFilter(gsmooth);
cout<<nfilt<<" median filter applied"<<endl;
TGraphErrors* gscurv = GetCurvatureGraph( gmedian );
gscurv->SetMarkerStyle(20);
TGraph* g3pts = new TGraph();
float xopt = GetOptimalMinNPts(gscurv, g3pts);
vdep = xopt;
cout<<" Kink = "<<xopt<<endl;
TCanvas *c1;
TCanvas *c2;
if(debug>=1)
{
c1 = new TCanvas();
g->Draw("AP");
f2->Draw("same");
f3->Draw("same");
//gsmooth->SetMarkerColor(17);
//gsmooth->Draw("P");
//gmedian->SetMarkerColor(4);
//gmedian->Draw("P");
TLine *l = new TLine(vdep,2, vdep, ymax+0.1);
l->SetLineStyle(3);
l->Draw();
c1->Modified();
c1->Update();
string detid = g->GetTitle();
detid.erase(0,6);
//c1->Print(Form("ClusterWidthVsVbias_detid_%s_run203832.eps", detid.c_str()));
c2 = new TCanvas;
gscurv->Draw("AP");
g3pts->Draw("P");
g3pts->Fit("pol2", "q");
c2->Modified();
c2->Update();
//c2->Print(Form("ClusterWidthVsVbias_detid_%s_curv_run203832.eps", detid.c_str()));
getchar();
c1->Close();
c2->Close();
}
return vdep;
}
MedianFilter operator =(const MedianFilter& other) {
return MedianFilter(other.m_radius, other.m_orig, other.m_image, other.m_start, other.m_height);
}
void CStereoMatching::MatchOneLayer(cv::Mat disparity[], int Pyrm_depth)
{
if (Verbose>=1)
printf("\tprocessing layer %d...\n",Pyrm_depth);
clock_t start = clock();
cv::Mat image[2], mask[2];
cv::Mat image_inv[2], mask_inv[2];
image[0] = m_data->imagePyrm[Pyrm_depth][0];
image[1] = m_data->imagePyrm[Pyrm_depth][1];
mask[0] = m_data->maskPyrm[Pyrm_depth][0];
mask[1] = m_data->maskPyrm[Pyrm_depth][1];
image_inv[0] = image[1];
image_inv[1] = image[0];
mask_inv[0] = mask[1];
mask_inv[1] = mask[0];
FindMargin(margin[0], m_data->maskPyrm[Pyrm_depth][0]);
FindMargin(margin[1], m_data->maskPyrm[Pyrm_depth][1]);
if (Pyrm_depth == 0)
{
LowestLevelInitialMatch(image, mask, disparity[0], true);
LowestLevelInitialMatch(image_inv, mask_inv, disparity[1], false);
}
else
{
HighLevelInitialMatch(image, mask, disparity[0], Pyrm_depth, true);
HighLevelInitialMatch(image_inv, mask_inv, disparity[1], Pyrm_depth, false);
}
// DisparityToCloud<short>(disparity[0], mask[0], Q, 0, true, 10);
// m_data->SaveMat(disparity[0], "disparity0.dat");
// m_data->SaveMat(disparity[1], "disparity01.dat");
SmoothConstraint(disparity[0], true);
SmoothConstraint(disparity[1], false);
// DisparityToCloud<short>(disparity[0], mask[0], Q, 0, true, 11);
//m_data->SaveMat(disparity[0], "disparity1.dat");
//m_data->SaveMat(disparity[1], "disparity11.dat");
OrderConstraint(disparity[0], true);
OrderConstraint(disparity[1], false);
//m_data->SaveMat(disparity[0], "disparity2.dat");
//m_data->SaveMat(disparity[1], "disparity21.dat");
UniquenessContraint<short>(disparity);
//m_data->SaveMat(disparity[0], "disparity3.dat");
//m_data->SaveMat(disparity[1], "disparity31.dat");
// MedianFilter(disparity[0], mask[0], 1, true);
// MedianFilter(disparity[1], mask[1], 1, false);
Rematch(image, mask, disparity[0], true);
Rematch(image_inv, mask_inv, disparity[1], false);
// SmoothConstraint(disparity[0], true);
// SmoothConstraint(disparity[1], false);
// OrderConstraint(disparity[0], true);
// OrderConstraint(disparity[1], false);
UniquenessContraint<short>(disparity);
//m_data->SaveMat(disparity[0], "disparity4.dat");
//m_data->SaveMat(disparity[1], "disparity41.dat");
MedianFilter(disparity[0], mask[0], 1, true);
MedianFilter(disparity[1], mask[1], 1, false);
// m_data->SaveMat(disparity[0], "disparity50.dat");
// m_data->SaveMat(disparity[1], "disparity51.dat");
// DisparityToCloud<short>(disparity[0], mask[0], Q, Pyrm_depth, true, 11+10*Pyrm_depth);
int iteration = 30+Pyrm_depth*30;
// clock_t part = clock();
DisparityRefine(disparity[0], image, iteration, true);
DisparityRefine(disparity[1], image_inv, iteration, false);
// printf("\ttime: %.3f s\n", double(clock()-part)/1e3);
// disparity[0].convertTo(disparity[0],CV_64FC1);
// disparity[1].convertTo(disparity[1],CV_64FC1);
// m_data->SaveMat(disparity[0], "disparity6.dat");
// m_data->SaveMat(disparity[1], "disparity61.dat");
// char filename[512];
// sprintf(filename, "disparity%d_0.dat", Pyrm_depth);
// m_data->SaveMat(disparity[0], filename);
// sprintf(filename, "disparity%d_1.dat", Pyrm_depth);
// m_data->SaveMat(disparity[1], filename);
UniquenessContraint<double>(disparity);
// m_data->SaveMat(disparity[0], "disparity70.dat");
printf("\ttime: %.3f s\n", double(clock()-start)/1e3);
}
void TOUCHSCR_Handler( void )
{
static s32 divider_coord = 0;
vs32 vX = 0;
vs32 vY = 0;
vs32 vT = 0;
vs32 X, Y, T, q;
tPOINT display, screen;
// Don't execute, if it's not time
if (( divider_coord++ % Max_cnt_ts ) != 0 )
return;
// Filtered values out of ADC_NB_SAMPLES samples
vX = MedianFilter( ADC_ConvertedValue + OFS_CHANNEL_TS + 0 );
vY = MedianFilter( ADC_ConvertedValue + OFS_CHANNEL_TS + 1 );
vT = MedianFilter( ADC_ConvertedValue + OFS_CHANNEL_TS + 2 );
// Conversion voltage => points
q = ( 4096 - vY );
X = ( 1000 * vX ) / q;
Y = ( 1000 * ( vY - vT ) ) / q;
T = ( 1000 * ( vT - vX ) ) / q;
// See if touch pressed
TOUCHSCR_Info.TouchPress = ( vT < TS_Sensibility );
if ( TOUCHSCR_Info.TouchPress )
{
TOUCHSCR_Info.xRaw = X;
TOUCHSCR_Info.yRaw = Y;
// Correction with calibration coefficients
vX = (( TS_CalibrationSetup.A * X )
+ ( TS_CalibrationSetup.B * Y )
+ ( TS_CalibrationSetup.C ) )
/ TS_CalibrationSetup.R;
Y = (( TS_CalibrationSetup.D * X )
+ ( TS_CalibrationSetup.E * Y )
+ ( TS_CalibrationSetup.F ) )
/ TS_CalibrationSetup.R;
X = vX;
if ( X < 0 ) X = 0;
if ( Y < 0 ) Y = 0;
// Adapt coordinates versus screen position
s32 x2 = 0, y2 = 0;
switch ( LCD_GetScreenOrientation() )
{
case V12:
x2 = X;
y2 = Y;
break;
case V9:
x2 = Screen_Height - Y;
y2 = X;
break;
case V3:
x2 = Y ;
y2 = Screen_Width - X;
break;
case V6:
x2 = ( Screen_Width - X );
y2 = Screen_Height - Y;
break;
}
// Update global structure for diffusion
TOUCHSCR_Info.xAbsPos = X;
TOUCHSCR_Info.yAbsPos = Y;
TOUCHSCR_Info.xPos = x2 - LCD_Offset;
TOUCHSCR_Info.yPos = y2 - LCD_Offset;
// Reset stanby time-out
POWER_Set_Time();
}
else
{
TOUCHSCR_Info.xRaw = -1;
TOUCHSCR_Info.yRaw = -1;
TOUCHSCR_Info.xAbsPos = -1;
TOUCHSCR_Info.yAbsPos = -1;
TOUCHSCR_Info.xPos = -1;
TOUCHSCR_Info.yPos = -1;
} // End if touchpress
switch ( TOUCHSCR_Info.Mode )
{
case TS_CALIBRATION:
TOUCHSCREEN_Calibration();
break;
case TS_DRAWING:
if ( Y < Screen_Height ) // Discard buttons
TOUCHSCREEN_Drawing();
break;
case TS_NORMAL:
default:
break;
}
} // End of touchscreen handler