keep_failed,// final boolean keep_failed, // keep failed targets
niter,// final int when, // set if >=0 for failures
false,// final boolean centered,
boost_accum_pairs,// final double boost_exposure,
targets_nonoverlap,// final double [][][] vector_fields, // centers
fpixels_accumulated,// final double [][] accum_data, // should be around 0, no low-freq
lmax_fraction,// final double cuas_lmax_fraction, // 0.7; // Check if local maximum is separated from tye surrounding by this fraction of the maximum value
lma_rrms=clt_parameters.imp.cuas_lma_rrms2;// = 0.15; // Maximal relative to A rms. OK is when (RMS < cuas_lma_arms) || (RMS < cuas_lma_rrms * A)
lma_mina=clt_parameters.imp.cuas_lma_mina2;// = 1.0; // Minimal A (amplitude)
doublelma_rrms2=clt_parameters.imp.cuas_lma_rrms2;// = 0.15; // Maximal relative to A rms. OK is when (RMS < cuas_lma_arms) || (RMS < cuas_lma_rrms * A)
doublelma_mina2=clt_parameters.imp.cuas_lma_mina2;// = 1.0; // Minimal A (amplitude)
if(debugLevel>-4){
System.out.println("Updated for the centered pass lma_rrms="+lma_rrms);
System.out.println("Updated for the centered pass lma_mina="+lma_mina);
...
...
@@ -8179,14 +8179,6 @@ public class CuasMotion {
filter5);// boolean [][] filter5)
// Anything remains? we'll see after extension
/*
double [][][] extended_scan = extendMotionScan(
targets_nonoverlap, // final double [][][] motion_scan,
null, // filter5, // final boolean [][] filtered, // centers, should be non-overlapped
cuasMotion.tilesX, // final int tilesX)
2, // final int range, // 1 or 2
null); // remain); // final int [] remain)
*/
if(save_filtered_low&&debug_more){
// targets_nonoverlap will contain motion vectors used fro the next fpixels_accumulated
keep_failed,// final boolean keep_failed, // keep failed targets
niter,// final int when, // set if >=0 for failures
true,// final boolean centered,
targets_nonoverlap,// final double [][][] vector_fields, // centers
fpixels_accumulated,// final double [][] accum_data, // should be around 0, no low-freq
lmax_fraction,// final double cuas_lmax_fraction, // 0.7; // Check if local maximum is separated from tye surrounding by this fraction of the maximum value
lmax_flt_neglim,// final double lmax_flt_neglim, // -0.3; // limit negative data to reduce ridge influence (make -10 to disable)
lmax_flt_hsigma,// final double lmax_flt_hsigma, // 1.0 // HPF (~UM) subtract GB with this sigma from the data tile
lmax_flt_lsigma,// final double lmax_flt_lsigma, // 1.0 // LPF - GB result of the previous subtraction
lmax_flt_scale,// final double lmax_flt_scale, // 5.0 // scale filtering result
cuasMotion.sky_mask,// final double sky_mask,
sky_threshold,// final double sky_threshold, // 0.9 // minimal value of the sky mask where target is possible
target_horizon+filter_below_horizon,// final double lma_horizon,
lmax_hack_ridge,// final double lmax_hack_ridge, // 0.45; // Hack for ridges: remove horizontal streaks, where average(abs()) for the line exceeds fraction of abs max 0.32-good, 0.55 - bad
lmax_radius,// final int cuas_lmax_radius, // 3; // look inside cuas_lmax_radius* 2 + 1 square for the local maximum isolation
lmax_radius,// final double centered_radius,
0.5,// final double centered_radius_blur,
1.0,// final double pix_tolerance, //
// lmax_zero, // final boolean cuas_lmax_zero, // true; // zero all data outside this radius from the maximum
target_radius,// final double centroid_radius,
n_recenter,// final int n_recenter, // re-center window around new maximum. 0 -no refines (single-pass)
cuasMotion.tilesX,// final int tilesX){
no_border,// final boolean no_border,
// Moving target LMA
lma_sigma,// final double lma_sigma,
wnd_pedestal,// final double wnd_pedestal,
lma_r0,// final double lma_r0,
lma_ovrsht,// final double lma_ovrsht,
// CUAS Motion LMA parameters
lma_fit_xy,// final boolean lma_fit_xy,
lma_fit_a,// final boolean lma_fit_a,
lma_fit_c,// final boolean lma_fit_c,
lma_fit_r,// final boolean lma_fit_r,
lma_fit_k,// final boolean lma_fit_k,
lambda,// final double lambda,
lambda_good,// final double lambda_good,
lambda_bad,// final double lambda_bad,
lambda_max,// final double lambda_max,
rms_diff,// final double rms_diff,
num_iter,// final int num_iter,0, // final double pre_min_a, // pre-filter minimal LMA-A (half finbal?)
lma_pre_mina*lma_mina,// final double pre_min_a, // 0.5 //scale cuas_lma_mina to filter initial candidates (if there are > one of them)
min_keep,// final int min_keep, // 2; // keep at least this number of candidates before using cuas_lma_pre_mina filter
accum_debug,// final float [][] accum_debug,
parentCLT,// final QuadCLT parentCLT, // debug only, maybe null in other cases
keep_failed,// final boolean keep_failed, // keep failed targets
niter,// final int when, // set if >=0 for failures
true,// final boolean centered,
boost_accum_pairs,// final double boost_exposure,
targets_nonoverlap,// final double [][][] vector_fields, // centers
fpixels_accumulated,// final double [][] accum_data, // should be around 0, no low-freq
lmax_fraction,// final double cuas_lmax_fraction, // 0.7; // Check if local maximum is separated from tye surrounding by this fraction of the maximum value
lmax_flt_neglim,// final double lmax_flt_neglim, // -0.3; // limit negative data to reduce ridge influence (make -10 to disable)
lmax_flt_hsigma,// final double lmax_flt_hsigma, // 1.0 // HPF (~UM) subtract GB with this sigma from the data tile
lmax_flt_lsigma,// final double lmax_flt_lsigma, // 1.0 // LPF - GB result of the previous subtraction
lmax_flt_scale,// final double lmax_flt_scale, // 5.0 // scale filtering result
cuasMotion.sky_mask,// final double sky_mask,
sky_threshold,// final double sky_threshold, // 0.9 // minimal value of the sky mask where target is possible
target_horizon+filter_below_horizon,// final double lma_horizon,
lmax_hack_ridge,// final double lmax_hack_ridge, // 0.45; // Hack for ridges: remove horizontal streaks, where average(abs()) for the line exceeds fraction of abs max 0.32-good, 0.55 - bad
lmax_radius,// final int cuas_lmax_radius, // 3; // look inside cuas_lmax_radius* 2 + 1 square for the local maximum isolation
lmax_radius,// final double centered_radius,
0.5,// final double centered_radius_blur,
1.0,// final double pix_tolerance, //
// lmax_zero, // final boolean cuas_lmax_zero, // true; // zero all data outside this radius from the maximum
target_radius,// final double centroid_radius,
n_recenter,// final int n_recenter, // re-center window around new maximum. 0 -no refines (single-pass)
cuasMotion.tilesX,// final int tilesX){
no_border,// final boolean no_border,
// Moving target LMA
lma_sigma,// final double lma_sigma,
wnd_pedestal,// final double wnd_pedestal,
lma_r0,// final double lma_r0,
lma_ovrsht,// final double lma_ovrsht,
// CUAS Motion LMA parameters
lma_fit_xy,// final boolean lma_fit_xy,
lma_fit_a,// final boolean lma_fit_a,
lma_fit_c,// final boolean lma_fit_c,
lma_fit_r,// final boolean lma_fit_r,
lma_fit_k,// final boolean lma_fit_k,
lambda,// final double lambda,
lambda_good,// final double lambda_good,
lambda_bad,// final double lambda_bad,
lambda_max,// final double lambda_max,
rms_diff,// final double rms_diff,
num_iter,// final int num_iter,0, // final double pre_min_a, // pre-filter minimal LMA-A (half finbal?)
lma_pre_mina*lma_mina,// final double pre_min_a, // 0.5 //scale cuas_lma_mina to filter initial candidates (if there are > one of them)
min_keep,// final int min_keep, // 2; // keep at least this number of candidates before using cuas_lma_pre_mina filter
accum_debug,// final float [][] accum_debug,
cuasMotion.parentCLT,// final QuadCLT parentCLT, // debug only, maybe null in other cases
publicstaticfinalintRSLT_FL_RANGE=57;// flight log range (meters)
publicstaticfinalintRSLT_INFINITY=58;// disparity at infinity used for range calculation
publicstaticfinalintRSLT_TARGET_ID=59;// unique target id for the whole sequence of segments. 1 is reserved for the UAS
publicstaticfinalintRSLT_VEL_AWAY=60;// axial velocity (positive - away), range derivative (m/s), calculated from the difference to the previous/next series range
publicstaticfinalintRSLT_VEL_RIGHT=61;// lateral velocity, right ( calculated from angular and RSLT_GRANGE
publicstaticfinalintRSLT_VEL_UP=62;// lateral velocity, up ( calculated from angular and RSLT_GRANGE
publicstaticfinalintRSLT_RANGE_LIN=63;// range linear interpolated using previous/next series if the same target is present there
publicstaticfinalintRSLT_FL_RANGE=59;// flight log range (meters)
publicstaticfinalintRSLT_INFINITY=60;// disparity at infinity used for range calculation
publicstaticfinalintRSLT_TARGET_ID=61;// unique target id for the whole sequence of segments. 1 is reserved for the UAS
publicstaticfinalintRSLT_VEL_AWAY=62;// axial velocity (positive - away), range derivative (m/s), calculated from the difference to the previous/next series range
publicstaticfinalintRSLT_VEL_RIGHT=63;// lateral velocity, right ( calculated from angular and RSLT_GRANGE
publicstaticfinalintRSLT_VEL_UP=64;// lateral velocity, up ( calculated from angular and RSLT_GRANGE
publicstaticfinalintRSLT_RANGE_LIN=65;// range linear interpolated using previous/next series if the same target is present there
