def __init__(self, model, Qxx, paramBool, paramList, pathToData, xyzUnProjected):
QtGui.QDialog.__init__(self)
self.ui = Ui_ReportGCP()
self.ui.setupUi(self)
self.center()
self.pathToData = pathToData
self.xyzUnProjected = xyzUnProjected
self.totalPointsOnHill = 0
self.model = model
rowCount = model.rowCount()
errorsPixels = zeros((rowCount,1))
errors3D = []
n_outOfHorizon = 0
for row in range(0,rowCount):
if model.checkValid(row)==0:
continue
index = model.index(row, 6)
error3D = model.data(index)
if error3D > 0:
errors3D.append(error3D)
else:
n_outOfHorizon += 1
index = model.index(row,7)
errorsPixels[row] = model.data(index)
if len(errors3D)>0:
text = ''
text += 'Projections errors:'
text += '\n mean: ' + str(round(mean(errorsPixels),2)) + ' [pixel]'
text += '\n min: ' + str(min(errorsPixels)) + ' [pixel]'
text += '\n max: ' + str(max(errorsPixels)) + ' [pixel]'
text += '\n std: ' + str(round(std(errorsPixels),2)) + ' [pixel]'
text += '\n\n3D reprojections errors:'
text += '\n mean: ' + str(round(mean(errors3D),2)) + ' [m]'
text += '\n min: ' + str(min(errors3D)) + ' [m]'
text += '\n max: ' + str(max(errors3D)) + ' [m]'
text += '\n std: ' + str(round(std(errors3D),2)) + ' [m]'
"""
text += '\n' + str(round(mean(errorsPixels),2))
text += '\n' + str(min(errorsPixels))
text += '\n' + str(max(errorsPixels))
text += '\n' + str(round(std(errorsPixels),2))
text += '\n' + str(round(mean(errors3D),2))
text += '\n' + str(min(errors3D))
text += '\n' + str(max(errors3D))
text += '\n' + str(round(std(errors3D),2))
"""
text += '\n\nPose estimation parameters:'
paramText = ['X position','Y Position','Z Position','Tilt [rad]','Heading [rad]', 'Swing [rad]', 'Focal [pixel]']
for name, bool, value, prec in zip(paramText, paramBool, paramList, Qxx):
if bool:
text += '\n'+ name + ', Free :' + ' ' + str(round(value,6)) + ' (Precision : '+ str(round(prec,6)) + ")"
else:
text += '\n'+ name + ', Fixed: ' + ' ' + str(round(value,6))
self.ui.reportBrowser.setText(text)
self.ui.saveButton.pressed.connect(self.saveReport)
test = self.isBehindHill(paramList,errors3D)
if test:
QMessageBox.warning(self, "Reprojection - Warning",
"%i GCP seems to be not visible from the camera location! The computed position could be behind relief or within the ground." % self.totalPointsOnHill)
else:
QMessageBox.warning(self, "Reprojection - Warning",
"inconsistent pose, consider to provide apriori values")
class ReportDialog(QtGui.QDialog):
#This class create a report about errors in projection and back-projection
#It is also here that points are considered behind a hill or not.
#More generally, if you want to add some functions for checking consistency of
#projections or back projections, you can do it here.
#
#When the Pose dialog window is closed, the errors
def __init__(self, model, Qxx, paramBool, paramList, pathToData, xyzUnProjected):
QtGui.QDialog.__init__(self)
self.ui = Ui_ReportGCP()
self.ui.setupUi(self)
self.center()
self.pathToData = pathToData
self.xyzUnProjected = xyzUnProjected
self.totalPointsOnHill = 0
self.model = model
rowCount = model.rowCount()
errorsPixels = zeros((rowCount,1))
errors3D = []
n_outOfHorizon = 0
for row in range(0,rowCount):
if model.checkValid(row)==0:
continue
index = model.index(row, 6)
error3D = model.data(index)
if error3D > 0:
errors3D.append(error3D)
else:
n_outOfHorizon += 1
index = model.index(row,7)
errorsPixels[row] = model.data(index)
if len(errors3D)>0:
text = ''
text += 'Projections errors:'
text += '\n mean: ' + str(round(mean(errorsPixels),2)) + ' [pixel]'
text += '\n min: ' + str(min(errorsPixels)) + ' [pixel]'
text += '\n max: ' + str(max(errorsPixels)) + ' [pixel]'
text += '\n std: ' + str(round(std(errorsPixels),2)) + ' [pixel]'
text += '\n\n3D reprojections errors:'
text += '\n mean: ' + str(round(mean(errors3D),2)) + ' [m]'
text += '\n min: ' + str(min(errors3D)) + ' [m]'
text += '\n max: ' + str(max(errors3D)) + ' [m]'
text += '\n std: ' + str(round(std(errors3D),2)) + ' [m]'
"""
text += '\n' + str(round(mean(errorsPixels),2))
text += '\n' + str(min(errorsPixels))
text += '\n' + str(max(errorsPixels))
text += '\n' + str(round(std(errorsPixels),2))
text += '\n' + str(round(mean(errors3D),2))
text += '\n' + str(min(errors3D))
text += '\n' + str(max(errors3D))
text += '\n' + str(round(std(errors3D),2))
"""
text += '\n\nPose estimation parameters:'
paramText = ['X position','Y Position','Z Position','Tilt [rad]','Heading [rad]', 'Swing [rad]', 'Focal [pixel]']
for name, bool, value, prec in zip(paramText, paramBool, paramList, Qxx):
if bool:
text += '\n'+ name + ', Free :' + ' ' + str(round(value,6)) + ' (Precision : '+ str(round(prec,6)) + ")"
else:
text += '\n'+ name + ', Fixed: ' + ' ' + str(round(value,6))
self.ui.reportBrowser.setText(text)
self.ui.saveButton.pressed.connect(self.saveReport)
test = self.isBehindHill(paramList,errors3D)
if test:
QMessageBox.warning(self, "Reprojection - Warning",
"%i GCP seems to be not visible from the camera location! The computed position could be behind relief or within the ground." % self.totalPointsOnHill)
else:
QMessageBox.warning(self, "Reprojection - Warning",
"inconsistent pose, consider to provide apriori values")
def center(self):
qr = self.frameGeometry()
cp = QtGui.QDesktopWidget().availableGeometry().center()
qr.moveCenter(cp)
self.move(qr.topLeft())
def saveReport(self):
#Save a small text file which contain the same information as the dialog.
path = self.pathToData + '/report.txt'
fSaveName = QFileDialog.getSaveFileName(self, 'Save your report as...',\
path,"File (*.txt)")
f = open(fSaveName, 'w')
data = self.ui.reportBrowser.toPlainText()
f.write(data)
f.close()
self.close()
def isBehindHill(self, paramList,errors3D):
# For checking if a point stand behind a hill, we compare the error
# with the distance between camera position and back-projection
x0 = -paramList[0]
y0 = paramList[1]
totalPointsOnHill = 0
for xyz,error in zip(self.xyzUnProjected,errors3D):
x = xyz[0]
y = xyz[2]
planimetricDistanceToCameraPosition = sqrt((x-x0)**2+(y-y0)**2)
#If the error is bigger than the distance between camera position and
# back-projection, the point is considered to be behind a hill.
if planimetricDistanceToCameraPosition < error:
totalPointsOnHill += 1
if totalPointsOnHill == 0:
return False
else:
self.totalPointsOnHill = totalPointsOnHill
return True
