Commit 96ea490a authored by Andrey Filippov's avatar Andrey Filippov
Browse files

fixing for scene==ref_scene

parent 3430abee

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

+4 −2
Original line number Diff line number Diff line
@@ -4895,10 +4895,12 @@ public class OpticalFlow { 
							batch_mode,               // final boolean                batch_mode,

							debugLevel);              // final int                    debugLevel)

					*/

					int      num_avg_pairs = 16; // number of scene pairs to average

//					int      num_avg_pairs = 16; // number of scene pairs to average

					int      num_avg_pairs = 1;  // number of scene pairs to average

					QuadCLT[][] scenes_pairs = new QuadCLT[num_avg_pairs][2];

					for (int i = 0; i < num_avg_pairs; i++) {

						scenes_pairs[i][0] = quadCLTs[ref_index - 1 - i];

//						scenes_pairs[i][0] = quadCLTs[ref_index - 1 - i];

						scenes_pairs[i][0] = quadCLTs[ref_index - i];

						scenes_pairs[i][1] = quadCLTs[earliest_scene + num_avg_pairs - 1 - i];

					}

					double [][] sfm_dsn = StructureFromMotion.sfmPair(

src/main/java/com/elphel/imagej/tileprocessor/sfm/StructureFromMotion.java

+20 −15
Original line number Diff line number Diff line
@@ -576,6 +576,10 @@ public class StructureFromMotion { 
    		QuadCLT [] scenes = scene_pairs[npair];

    		for (int nscene = 0; nscene < scenes.length; nscene++) {

    			String ts = scenes[nscene].getImageName();

    			if (ts.equals(ref_scene.getImageName())) {

    				scenes_xyzatr[npair][nscene] = ref_xyzatr;

    				scenes_xyzatr_dt[npair][nscene]= ref_xyzatr_dt;

    			} else {

    				if ((ers_reference.getSceneXYZ(ts)== null) || (ers_reference.getSceneATR(ts)== null)) {

    					System.out.println("sfmPair(): no pose for timestamp "+ts);

    					return null;
@@ -586,7 +590,7 @@ public class StructureFromMotion { 
    					scenes_xyzatr_dt[npair][nscene]= new double[][] {

    						ers_reference.getSceneErsXYZ_dt(ts),

    						ers_reference.getSceneErsATR_dt(ts)};

    					for (int i = 0; i < scenes_xyzatr_dt[nscene].length; i++) {

    						for (int i = 0; i < scenes_xyzatr_dt[npair][nscene].length; i++) {

    							if (scenes_xyzatr_dt[npair][nscene][i] == null) {

    								System.out.println("sfmPair(): scene_xyzatr_dt["+i+"] == null");

    								scenes_xyzatr_dt[npair][nscene][i] = ZERO3.clone();
@@ -594,6 +598,7 @@ public class StructureFromMotion { 
    						}

    			}

    		}

    	}        

    	

        for (int ntry = 0; ntry < num_readjust; ntry++) {

        	SfmCorr [] sfmCorr = getSfmCorr(