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@@ -0,0 +1,74 @@
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+using System;
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+using Newtonsoft.Json;
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+using Newtonsoft.Json.Linq;
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+using o0._9Axis;
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+using MathNet.Numerics.LinearAlgebra;
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+
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+public class MagJsonConverter : JsonConverter
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+{
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+ public override bool CanConvert(Type objectType)
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+ {
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+ return typeof(MagnetometerAutoCalibrater) == objectType;
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+ }
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+
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+ public override object ReadJson(JsonReader reader, Type objectType, object existingValue, JsonSerializer serializer)
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+ {
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+ var jo = JObject.Load(reader);
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+ var tg = new MagnetometerAutoCalibrater();
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+ tg.MaxCount = jo.GetValue("MaxCount").ToObject<int>();
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+ tg.Lock = jo.GetValue("Lock").ToObject<bool>();
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+ tg.Variance = jo.GetValue("Variance").ToObject<double>();
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+ tg.EllipsoidFitting = ToEllipsoidFitting(jo.GetValue("EllipsoidFitting"));
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+ tg.FitThreshold = jo.GetValue("FitThreshold").ToObject<int>();
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+ tg.FitCountLeft = jo.GetValue("FitCountLeft").ToObject<int>();
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+ tg.NewBlockAccumulation = jo.GetValue("NewBlockAccumulation").ToObject<double>();
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+ tg.NewBlock = jo.GetValue("NewBlock").ToObject<int>();
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+ tg.CountPerLength = jo.GetValue("CountPerLength").ToObject<double>();
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+ foreach (JProperty item in jo.GetValue("VectorByBlock"))
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+ tg.VectorByBlock[ToVectorInt(JArray.Parse(item.Name))] = ToVectorDouble(item.Value as JArray);
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+ tg.LastTimestamp = jo.GetValue("LastTimestamp").ToObject<long>();
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+ return tg;
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+ }
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+
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+ public override void WriteJson(JsonWriter writer, object value, JsonSerializer serializer) {
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+ var jo = JObject.FromObject(value);
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+ var tg = value as MagnetometerAutoCalibrater;
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+ jo.Remove("Complete");
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+ jo.Remove("EllipsoidFitting");
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+ var EllipsoidFitting = tg.EllipsoidFitting;
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+ JObject _EllipsoidFitting = new JObject();
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+ _EllipsoidFitting.Add("Center", JToken.FromObject(EllipsoidFitting.Center));
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+ _EllipsoidFitting.Add("CorrectMatrixArray", JToken.FromObject(EllipsoidFitting.CorrectMatrixArray));
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+ _EllipsoidFitting.Add("Radius", JToken.FromObject(EllipsoidFitting.Radius));
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+ jo.Add("EllipsoidFitting", _EllipsoidFitting);
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+ jo.WriteTo(writer);
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+ }
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+
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+ private EllipsoidFitting ToEllipsoidFitting(JToken jToken)
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+ {
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+ var Center = ToVectorDouble(jToken["Center"] as JArray);
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+ var CorrectMatrix = ToMatrixDouble(jToken["CorrectMatrixArray"] as JArray);
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+ var Radius = ToVectorDouble(jToken["Radius"] as JArray);
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+ return new EllipsoidFitting(Center, CorrectMatrix, Radius);
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+ }
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+
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+ private Matrix<double> ToMatrixDouble(JArray arr)
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+ {
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+ int rcCount = arr.Count;
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+ Matrix<double> matrix = CreateMatrix.Dense<double>(rcCount, rcCount);
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+ for (var i = 0; i < rcCount; ++i)
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+ for (var j = 0; j < rcCount; ++j)
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+ matrix[i, j] = arr[i][j].Value<double>();
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+ return matrix;
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+ }
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+
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+ private o0.Geometry.Vector<double> ToVectorDouble(JArray arr)
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+ {
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+ return new o0.Geometry.Vector<double>(arr[0].Value<double>(), arr[1].Value<double>(), arr[2].Value<double>());
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+ }
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+
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+ private o0.Geometry.Vector<int> ToVectorInt(JArray arr)
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+ {
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+ return new o0.Geometry.Vector<int>(arr[0].Value<int>(), arr[1].Value<int>(), arr[2].Value<int>());
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+ }
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+}
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lvjincheng