Matching and processing series

src/main/java/com/elphel/imagej/correction/Eyesis_Correction.java

@@ -876,6 +876,7 @@ public class Eyesis_Correction implements PlugIn, ActionListener {
 					jpanelLWIRWorld = new JPanel();
 					jpanelLWIRWorld.setLayout(new GridLayout(1, 0, 5, 5)); // rows, columns, vgap, hgap
 					addJButton("Aux Build Series", jpanelLWIRWorld, color_stop);
+					addJButton("CUAS Combine",     jpanelLWIRWorld, color_stop);
 					addJButton("Build World", jpanelLWIRWorld, color_process);
 					addJButton("Test IMX5", jpanelLWIRWorld, color_process);
 					addJButton("Show mice", jpanelLWIRWorld, color_process);
@@ -1283,6 +1284,7 @@ public class Eyesis_Correction implements PlugIn, ActionListener {
 			panelLWIRWorld = new Panel();
 			panelLWIRWorld.setLayout(new GridLayout(1, 0, 5, 5)); // rows, columns, vgap, hgap
 			addButton("Aux Build Series", panelLWIRWorld, color_stop);
+			addButton("CUAS Combine", panelLWIRWorld, color_stop);
 			addButton("Build World", panelLWIRWorld, color_process);
 			addButton("Test IMX5", panelLWIRWorld, color_process);
 			addButton("Show mice", panelLWIRWorld, color_process);
@@ -5688,9 +5690,21 @@ public class Eyesis_Correction implements PlugIn, ActionListener {
 			DEBUG_LEVEL = MASTER_DEBUG_LEVEL;
 			EYESIS_CORRECTIONS.setDebug(DEBUG_LEVEL);
 			CLT_PARAMETERS.batch_run = true;
-			buildSeries(true);
+			buildSeries(
+					true,
+					0); // int     cuas_proc_mode); // 0 - old, 1 combine scene series) {);
 			return;
 			/* ======================================================================== */
+		} else if (label.equals("CUAS Combine")) {
+			DEBUG_LEVEL = MASTER_DEBUG_LEVEL;
+			EYESIS_CORRECTIONS.setDebug(DEBUG_LEVEL);
+			CLT_PARAMETERS.batch_run = true;
+			buildSeries(
+					true,
+					1); // int     cuas_proc_mode); // 0 - old, 1 combine scene series) {);
+			return;
+			//"CUAS Combine"
+			/* ======================================================================== */
 		} else if (label.equals("Aux Inter Test")) {
 			DEBUG_LEVEL = MASTER_DEBUG_LEVEL;
 			EYESIS_CORRECTIONS.setDebug(DEBUG_LEVEL);
@@ -7832,7 +7846,9 @@ public class Eyesis_Correction implements PlugIn, ActionListener {
 	}
 	
 	
-	public boolean buildSeries(boolean use_aux) {
+	public boolean buildSeries(
+			boolean use_aux,
+			int     cuas_proc_mode) { // 0 - old, 1 combine scene series) {
 		long startTime = System.nanoTime();
 		// load needed sensor and kernels files
 		if (!prepareRigImages())
@@ -7893,23 +7909,21 @@ public class Eyesis_Correction implements PlugIn, ActionListener {
 		
 		try {
 			TwoQuadCLT.buildSeriesTQ(
-		    		0, // int                                                  cuas_proc_mode, // 0 - old, 1 combine scene series
-					quadCLT, // QUAD_CLT, // QuadCLT quadCLT_main,
-					-1, // int  ref_index,
-					0,  // int  ref_step, 
-					// QUAD_CLT_AUX, // QuadCLT quadCLT_aux,
-					CLT_PARAMETERS, // EyesisCorrectionParameters.DCTParameters dct_parameters,
-					DEBAYER_PARAMETERS, // EyesisCorrectionParameters.DebayerParameters debayerParameters,
-					colorProcParameters, // COLOR_PROC_PARAMETERS, //EyesisCorrectionParameters.ColorProcParameters
-											// colorProcParameters,
-					CHANNEL_GAINS_PARAMETERS, // CorrectionColorProc.ColorGainsParameters channelGainParameters,
-					RGB_PARAMETERS, // EyesisCorrectionParameters.RGBParameters rgbParameters,
+					cuas_proc_mode,             // int  cuas_proc_mode, // 0 - old, 1 combine scene series
+					quadCLT,                    // QUAD_CLT, // QuadCLT quadCLT_main,
+					-1,                         // int  ref_index,
+					0,                          // int  ref_step, 
+					CLT_PARAMETERS,             // EyesisCorrectionParameters.DCTParameters dct_parameters,
+					DEBAYER_PARAMETERS,         // EyesisCorrectionParameters.DebayerParameters debayerParameters,
+					colorProcParameters,        // COLOR_PROC_PARAMETERS, //EyesisCorrectionParameters.ColorProcParameters
+					CHANNEL_GAINS_PARAMETERS,   // CorrectionColorProc.ColorGainsParameters channelGainParameters,
+					RGB_PARAMETERS,             // EyesisCorrectionParameters.RGBParameters rgbParameters,
 					EQUIRECTANGULAR_PARAMETERS, // EyesisCorrectionParameters.EquirectangularParameters
 												// equirectangularParameters,
-					PROPERTIES, // Properties properties,
-					true, // false, // boolean reset_from_extrinsics,
-					THREADS_MAX, // final int threadsMax, // maximal number of threads to launch
-					UPDATE_STATUS, // final boolean updateStatus,
+					PROPERTIES,                 // Properties properties,
+					true,                       // false, // boolean reset_from_extrinsics,
+					THREADS_MAX,                // final int threadsMax, // maximal number of threads to launch
+					UPDATE_STATUS,              // final boolean updateStatus,
 					DEBUG_LEVEL);
 		} catch (Exception e) {
 			// TODO Auto-generated catch block

src/main/java/com/elphel/imagej/cuas/CuasMotion.java

@@ -131,9 +131,16 @@ public class CuasMotion {
 	public int getSeqLength() {
 		return clt_parameters.imp.cuas_corr_offset + clt_parameters.imp.cuas_corr_pairs;
 	}
-	public int getCorrInc() { // == frame_step;
+	
+	public static int getCorrInc(
+			CLTParameters  clt_parameters) {
 		return clt_parameters.imp.cuas_half_step ? (clt_parameters.imp.cuas_corr_offset/2) : clt_parameters.imp.cuas_corr_offset;
 	}
+	
+	public int getCorrInc() { // == frame_step;
+		return getCorrInc(clt_parameters);
+//		return clt_parameters.imp.cuas_half_step ? (clt_parameters.imp.cuas_corr_offset/2) : clt_parameters.imp.cuas_corr_offset;
+	}
 	public int getNumCorrSamples() {
 		return slice_titles.length;
 	}
@@ -148,6 +155,26 @@ public class CuasMotion {
 		return 0.5* getCorrInc()/corr_offset;
 	}
 	
+	/**
+	 * Multiply RESULT_VX,RESULT_VX to get pixel offset per scene (at ~60Hz) 
+	 * @param clt_parameters
+	 * @return coefficient for VX, VY
+	 */
+	public static double getFrameVelocityScale(CLTParameters  clt_parameters) {
+		return 1.0/clt_parameters.imp.cuas_corr_offset;
+	}
+
+	/**
+	 * Multiply RESULT_VX,RESULT_VX to get pixel offset per key frame (now ~6Hz) 
+	 * @param clt_parameters
+	 * @return coefficient for VX, VY
+	 */
+	public static double getKeyFrameVelocityScale(CLTParameters  clt_parameters) {
+		return getCorrInc(clt_parameters)/clt_parameters.imp.cuas_corr_offset;
+	}
+	
+	
+	
 	public String [] getSceneTitles() {
 		return scene_titles;
 	}
@@ -1914,7 +1941,7 @@ public class CuasMotion {
 		return vf;
 	}
 	
-	public static double [][][] getTargetsFromHyperAugment(
+	public static double [][][] getTargetsFromHyperAugment_old(
 			String path){ // add empty fields to the end of each target if shorter than CuasMotionLMA.RSLT_LEN
 		int [] wh = new int [2];
 		String [][] pvf_top_titles = new String[1][];
@@ -1952,6 +1979,56 @@ public class CuasMotion {
 		return target_sequence;
 	}
 
+	public static double [][][] getTargetsFromHyperAugment(
+			String path) {
+		return getTargetsFromHyperAugment(
+				null,  // String [][] pvf_top_titles,
+				null,  // String [][] pvf_titles,
+				path); //String path)
+	}
+	
+	public static double [][][] getTargetsFromHyperAugment(
+			String [][] pvf_top_titles,
+			String [][] pvf_titles,
+			String path){ // add empty fields to the end of each target if shorter than CuasMotionLMA.RSLT_LEN
+		int [] wh = new int [2];
+		if (pvf_top_titles == null) pvf_top_titles = new String[1][];
+		if (pvf_titles == null)     pvf_titles = new String[1][];
+		double [][][] targets_file = ShowDoubleFloatArrays.readDoubleHyperstack(
+						path, // String      path,
+						wh,            // int []      wh,            // should be null or int[2] 
+						pvf_top_titles,   // String [][] ptop_titles,   // should be null or String [1][]
+						pvf_titles);      // String [][] pslice_titles){// should be null or String [1][]
+		if (targets_file == null) {
+			return null;
+		}
+		int num_fields = targets_file.length;
+		// fix - discarding last slice if it is called CuasMotionLMA.EXTRA_SLICE_DISCARD_ON_LOAD ("Targets")
+		if (pvf_top_titles[0][pvf_top_titles[0].length-1].equals(CuasMotionLMA.EXTRA_SLICE_DISCARD_ON_LOAD)) {
+			System.out.println("getTargetsFromHyperAugment(): removing last slice called "+ pvf_top_titles[0][pvf_top_titles[0].length-1]);
+			num_fields--;
+			String [] ss = new String[num_fields];
+			System.arraycopy(pvf_top_titles[0], 0, ss, 0, num_fields);
+			pvf_top_titles[0] = ss;
+		}
+		int num_fields_augmented = Math.max(num_fields, CuasMotionLMA.RSLT_LEN);
+		int num_seq = targets_file[0].length;
+		int num_tiles = targets_file[0][0].length;
+		double [][][] target_sequence = new double [num_seq][num_tiles][];
+		for (int nseq=0; nseq < num_seq; nseq++) {
+			for (int ntile = 0; ntile < num_tiles; ntile++) if (!Double.isNaN(targets_file[0][nseq][ntile])){
+				double [] v = new double[num_fields_augmented]; // cut to originally calculated fields
+				for (int i = 0; i < num_fields; i++) {
+					v[i] = targets_file[i][nseq][ntile];
+				}
+				for (int i = num_fields; i < num_fields_augmented; i++) {
+					v[i] = Double.NaN;
+				}
+				target_sequence[nseq][ntile] = v;
+			}
+		}
+		return target_sequence;
+	}
 	
 	
 	
@@ -6101,7 +6178,7 @@ public class CuasMotion {
 	}
 	
 	/**
-	 * Same for singl-layer targets (one target per tile)
+	 * Same for single-layer targets (one target per tile)
 	 * @param targets_single [num_sequences][num_tiles][CuasMotionLMA.RSLT_LEN] source targets array
 	 * @return variable-length (may be empty) arrays following targets
 	 */

src/main/java/com/elphel/imagej/cuas/CuasMotionLMA.java

@@ -98,8 +98,8 @@ public class CuasMotionLMA {
 	public static final int RSLT_FL_DISP =         56; // flight log true disparity
 	public static final int RSLT_FL_RANGE =        57; // flight log range (meters)
 	public static final int RSLT_INFINITY =        58; // disparity at infinity used for range calculation
-	
-	public static final int RSLT_LEN = RSLT_INFINITY + 1;
+	public static final int RSLT_TARGET_ID =       59; // unique target id for the whole sequence of segments. 1 is reserved for the UAS
+	public static final int RSLT_LEN = RSLT_TARGET_ID + 1;
 	
 	public static final String [] LMA_TITLES = 
 		{"X-OFFS","Y-OFFS", "AMPLITUDE", "RADIUS","RAD_POS", "OVERSHOOT","OFFSET","RMSE","RMSE/A","MAX2A","ITERATIONS",
@@ -117,7 +117,8 @@ public class CuasMotionLMA {
 				"WHEN", "FAILURE",
 				"Disparity","Disparity-Diff","Strength","Range","Global-index",
 				"segment-length","segment-disparity","segment_disp-diff", "segment-strength", "segment-range",
-				"FLOG-px","FLOG-pY","FLOG-DISP","FLOG-range","infinity"};
+				"FLOG-px","FLOG-pY","FLOG-DISP","FLOG-range","infinity",
+				"GTarget-ID"};
 	public static final String EXTRA_SLICE_DISCARD_ON_LOAD = "Targets"; 
 	public static final int FAIL_NONE =      0;
 	public static final int FAIL_MOTION =    1;  // motion strength/fraction too low

src/main/java/com/elphel/imagej/cuas/CuasRanging.java

@@ -27,6 +27,7 @@ public class CuasRanging {
 	public static final String   TARGET_RANGING_LOGS_SUFFIX =      "-TARGET_RANGING.log";
 	public static final String   TARGET_RANGING_LOGS_FULL_SUFFIX = "-TARGET_RANGING_FULL.log";
 	public static final String   TARGET_DISPARITIES_SUFFIX =       "-TARGET_DISPARITIES";
+	public static final String   TARGET_GLOBALS_SUFFIX =           "-TARGET_GLOBALS";
 	public static final String   TARGET_STATS_SUFFIX =             "-TARGETS"; // *.csv
 
 	

src/main/java/com/elphel/imagej/tileprocessor/QuadCLTCPU.java

@@ -72,6 +72,7 @@ import com.elphel.imagej.correction.Eyesis_Correction;
 import com.elphel.imagej.cuas.CorrectionFPN;
 import com.elphel.imagej.cuas.Cuas;
 import com.elphel.imagej.cuas.CuasData;
+import com.elphel.imagej.gpu.GPUTileProcessor;
 import com.elphel.imagej.gpu.GpuQuad;
 import com.elphel.imagej.gpu.TpTask;
 import com.elphel.imagej.ims.Did_gps_pos;
@@ -3125,13 +3126,30 @@ public class QuadCLTCPU {
     
     */
     public int getTileSize() {
+    	if (tp == null) {
+    		return GPUTileProcessor.DTT_SIZE;
+    	}
     	return tp.getTileSize();
     }
     
     public int getTilesX() {
+    	if (tp == null) {
+//    		if (geometryCorrection == null) {
+    		// if QuadCLT use gpuQuad    			
+//    		} else {
+    			return geometryCorrection.getSensorWH()[0]/GPUTileProcessor.DTT_SIZE;
+//   		}
+    	}
     	return tp.getTilesX();
     }
     public int getTilesY() {
+    	if (tp == null) {
+//    		if (geometryCorrection == null) {
+// if QuadCLT use gpuQuad    			
+//    		} else {
+    			return geometryCorrection.getSensorWH()[1]/GPUTileProcessor.DTT_SIZE;
+//    		}
+    	}
     	return tp.getTilesY();
     }
     public int getNumColors(){