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")
