Debugging, before refactoring

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

@@ -1912,6 +1912,7 @@ public class CuasMotion {
 		return vf;
 	}
 	
+	@Deprecated
 	public static double [][][] getTargetsFromHyper(String path){
 		int [] wh = new int [2];
 		String [][] pvf_top_titles = new String[1][];
@@ -2016,7 +2017,8 @@ public class CuasMotion {
 		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])){
+			for (int ntile = 0; ntile < num_tiles; ntile++) if (!Double.isNaN(targets_file[CuasMotionLMA.RSLT_X][nseq][ntile]) || 
+					!Double.isNaN(targets_file[CuasMotionLMA.RSLT_FL_PX][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];
@@ -4408,6 +4410,7 @@ public class CuasMotion {
 			double         target_vx,
 			double         target_vy) {
 		double   ifov =  clt_parameters.imp.cuas_ifov; // 0.05;  // degree per pixel
+		
 		int      px0 =   clt_parameters.imp.cuas_px0;  // 283;   // pixel with known azimuth 
 		int      py0 =   clt_parameters.imp.cuas_py0;  // 386;   // pixel with known elevation
 		double   az0 =   clt_parameters.imp.cuas_az0;  // 201.5; // degrees for cuas_px0;

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

@@ -87,19 +87,22 @@ public class CuasMotionLMA {
 	public static final int RSLT_DISP_DIFF=        45;
 	public static final int RSLT_DISP_STR =        46;
 	public static final int RSLT_RANGE =           47;
-	public static final int RSLT_GLOBAL =          48;
-	public static final int RSLT_GLENGTH =         49;
+	public static final int RSLT_GLOBAL =          48; // local target ID (1-based)
+	public static final int RSLT_GLENGTH =         49; // length (symmetrical around this one) for which disparity and range are provided
 	public static final int RSLT_GDISPARITY=       50;
 	public static final int RSLT_GDISP_DIFF=       51;
 	public static final int RSLT_GDISP_STR =       52;
-	public static final int RSLT_GRANGE =          53;
+	public static final int RSLT_GRANGE =          53; // global range - calculated for long sequences (and its fractions)
 	public static final int RSLT_FL_PX =           54; // flight log px
 	public static final int RSLT_FL_PY =           55; // flight log py
 	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_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 int RSLT_VEL_AXIAL =       60; // axial velocity (positive - away), range derivative (m/s), calculated from the difference to the previous/next series range 
+	public static final int RSLT_VEL_LATERAL =     61; // lateral velocity ( calculated from angular and RSLT_GRANGE
+	public static final int RSLT_RANGE_LIN =       62; // range linear interpolated using previous/next series if the same target is present there 
+	public static final int RSLT_LEN = RSLT_RANGE_LIN + 1;
 	
 	public static final String [] LMA_TITLES = 
 		{"X-OFFS","Y-OFFS", "AMPLITUDE", "RADIUS","RAD_POS", "OVERSHOOT","OFFSET","RMSE","RMSE/A","MAX2A","ITERATIONS",
@@ -118,7 +121,7 @@ public class CuasMotionLMA {
 				"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",
-				"GTarget-ID"};
+				"GTarget-ID","Range-derivative"};
 	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/tileprocessor/GeometryCorrection.java

@@ -1796,15 +1796,23 @@ public class GeometryCorrection {
 	public double getDisparityFromZ(double z){ // USED in lwir
 		return (1000.0 * SCENE_UNITS_SCALE * this.focalLength * this.disparityRadius / this.pixelSize) / z;
 	}
-
-
-	public double getFOVPix(){ // get ratio of 1 pixel X/Y to Z (distance to object) // USED in lwir
+	
+	/**
+	 * Get Intrinsic FOV - angular size of 1 pixel
+	 * @return IFOV
+	 */
+	public double getIFOV(){ // get Intrinsic FOV - angular size of 1 pixel. Ratio of 1 pixel X/Y to Z (distance to object) // USED in lwir
 		return 0.001 * this.pixelSize / this.focalLength;
 	}
+	
+	public double getIFOVDegrees() {
+		return getIFOV() * 180 /Math.PI;
+	}
 
 	public double getFOVWidth(){ // get FOV ratio: width to distance  // USED in lwir
 		return this.pixelCorrectionWidth * 0.001 * this.pixelSize / this.focalLength;
 	}
+
 	public double getFOVHeight(){ // get FOV ratio: width to distance // USED in lwir
 		return this.pixelCorrectionHeight * 0.001 * this.pixelSize / this.focalLength;
 	}

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

@@ -898,7 +898,7 @@ min_str_neib_fpn	0.35
 	
 	public boolean  cuas_reset_disparity =  true;  // reset target disparities from infinity
 	public double   cuas_initial_disparity = 1.0;  // Start correlation with this disparity (in addition to infinity) after reset
-	public double   cuas_infinity =         0.65;  // disparity at infinity for targets
+	public double   cuas_infinity =         0.6466;// disparity at infinity for targets
 	
 	public boolean  cuas_rng_img =         false;  // Generate/save per-sensor target images
 	public boolean  cuas_rng_glob=         true;   // Generate/save integrated target disparities (one per target) TODO: add first/second half

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

@@ -17117,7 +17117,7 @@ public class QuadCLTCPU {
 			  boolean noalpha, // only with fillBlack, otherwise ignored
 			  int debugLevel)
 	  {
-		  double backdropPixels = 2.0/geometryCorrection.getFOVPix();
+		  double backdropPixels = 2.0/geometryCorrection.getIFOV();
 		  if (debugLevel > -1) {
 			  System.out.println("backdropPixels = "+backdropPixels);
 		  }