target icon changes for known targets

src/main/java/com/elphel/imagej/cameras/EyesisCorrectionParameters.java

@@ -1721,8 +1721,10 @@ public class EyesisCorrectionParameters {
                 				ArrayList<String> extras = new ArrayList<String>();
                 				for (int i= 3; i < tokens.length; i++) {
                 					extras.add(tokens[i]);
+                        			System.out.print("tokens ["+i+"] = "+tokens[i]+", ");
                 				}
                 				extra_map.put(dir_name, extras);
+                				System.out.println();
                 			}
                 			break parse_set;
                 		}

src/main/java/com/elphel/imagej/ims/UasLogReader.java

@@ -241,6 +241,16 @@ public class UasLogReader {
 		return getUasPxPyD(timestamp);
 	}
 	
+	public double [] getUasPxPyDRange (
+			String   stimestamp) {
+		double [] uasPxPyD = getUasPxPyD (stimestamp);
+		if (uasPxPyD == null) {
+			return null;
+		}
+		double range = getUasRange(stimestamp);
+		return new double[] {uasPxPyD[0],uasPxPyD[1],uasPxPyD[2], range};
+	}	
+	
 	
 	public double [] getUasPxPyD (
 			double   timestamp) {
@@ -259,6 +269,18 @@ public class UasLogReader {
 				atr); // double [] camera_atr); // camera orientation relative to world frame
 		return pXpYD;
 	}
+
+	public double getUasRange(double   timestamp) {
+		double [] ned = getNED(timestamp);
+		return Math.sqrt(ned[0]*ned[0]+ned[1]*ned[1]+ned[2]*ned[2]);
+	}
+	public double getUasRange(String stimestamp) {
+		double timestamp = Double.parseDouble(stimestamp.replace("_", "."));
+		return getUasRange(timestamp);
+	}
+	
+	//
+
 	
 	public static void testUasLogReader(
 			String filePath,

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

@@ -783,6 +783,9 @@ min_str_neib_fpn	0.35
 	public boolean  cuas_mask_round =   true;
 	
 	public int      cuas_target_type =     0; // 0 - unknown, 1 - known, 2 - friend, 3 - foe
+	public int      cuas_known_type =      2; // 0 - unknown, 1 - known, 2 - friend, 3 - foe
+	public double   cuas_known_err =      20; // pix, mark as "identified" when closer to the flight log position 
+	
 	public double   cuas_input_range =     5;
 	public boolean  cuas_scale2x =       true;
 	public boolean  cuas_ra_background = true; // apply running average to the background of the moving targets (false - use high-noise no-averaged images
@@ -811,8 +814,7 @@ min_str_neib_fpn	0.35
 	public int      cuas_py0 =           386;   // pixel with known elevation
 	public double   cuas_az0 =           201.5; // degrees for cuas_px0;
 	public double   cuas_el0 =           0.0;   // degrees for cuas_px0;
-	
-	
+	public boolean  cuas_show_true_rng = true;  // show true range (from the flight log)
 	
 	public boolean  cuas_debug =           true; // save debug images (and show them if not in batch mode)
 	public boolean  cuas_step_debug =      true; // save debug images during per-step cuas recalculation (and show them if not in batch mode)
@@ -2378,8 +2380,12 @@ min_str_neib_fpn	0.35
 		gd.addCheckbox ("Mask round",                               this.cuas_mask_round,
 				"Use round mask. Unchesked - use sharp square mask without any transition.");
 		
-		gd.addNumericField("Targets icon type",                     this.cuas_target_type, 0,3,"",
+		gd.addNumericField("Unidentified targets icon type",        this.cuas_target_type, 0,3,"",
+				"0 - unknown (dashed square), 1 - known (square), 2 - friend (circle), 3 - foe (diamond).");
+		gd.addNumericField("Identified Targets icon type",          this.cuas_known_type, 0,3,"",
 				"0 - unknown (dashed square), 1 - known (square), 2 - friend (circle), 3 - foe (diamond).");
+		gd.addNumericField("Maximal distance from log position",     this.cuas_known_err, 5,8,"pix",
+				"Maximal distance between the detected target and UAS log position (in raw image pixels).");
 		
 		gd.addNumericField("Image range",                           this.cuas_input_range, 5,8,"10mK",
 				"Dispaly pixel values range (1.0 ~= 10 mK).");
@@ -2435,6 +2441,8 @@ min_str_neib_fpn	0.35
 				"Azimuth corresponding to the known pixel X.");
 		gd.addNumericField("Known pixel azimuth",                   this.cuas_el0, 5,8,"degree",
 				"Elevation corresponding to the known pixel Y.");
+		gd.addCheckbox ("Show true range", this.cuas_show_true_rng,
+				"Show range true from the UAS log.");
 		
 		gd.addMessage("=== Debug ===");
 		gd.addCheckbox ("Save/show debug images",                    this.cuas_debug,
@@ -3467,6 +3475,9 @@ min_str_neib_fpn	0.35
 		this.cuas_mask_blur =           gd.getNextNumber();
 		this.cuas_mask_round =          gd.getNextBoolean();
 		this.cuas_target_type=    (int) gd.getNextNumber();
+		this.cuas_known_type=     (int) gd.getNextNumber();
+		this.cuas_known_err=            gd.getNextNumber();
+		   
 		this.cuas_input_range =         gd.getNextNumber();
 		this.cuas_scale2x =             gd.getNextBoolean();
 		this.cuas_ra_background =       gd.getNextBoolean();
@@ -3501,6 +3512,7 @@ min_str_neib_fpn	0.35
 		this.cuas_py0 =           (int) gd.getNextNumber();
 		this.cuas_az0 =                 gd.getNextNumber();
 		this.cuas_el0 =                 gd.getNextNumber();
+		this.cuas_show_true_rng =       gd.getNextBoolean();
 		
 		this.cuas_debug =               gd.getNextBoolean();
 		this.cuas_step_debug =          gd.getNextBoolean();
@@ -4455,6 +4467,9 @@ min_str_neib_fpn	0.35
 		properties.setProperty(prefix+"cuas_mask_blur",       this.cuas_mask_blur+"");      // double
 		properties.setProperty(prefix+"cuas_mask_round",      this.cuas_mask_round+"");     // boolean
 		properties.setProperty(prefix+"cuas_target_type",     this.cuas_target_type+"");    // int
+		properties.setProperty(prefix+"cuas_known_type",      this.cuas_known_type+"");     // int
+		properties.setProperty(prefix+"cuas_known_err",       this.cuas_known_err+"");      // double
+		
 		properties.setProperty(prefix+"cuas_input_range",     this.cuas_input_range+"");    // double
 		properties.setProperty(prefix+"cuas_scale2x",         this.cuas_scale2x+"");        // boolean
 		properties.setProperty(prefix+"cuas_ra_background",   this.cuas_ra_background+"");  // boolean
@@ -4479,11 +4494,12 @@ min_str_neib_fpn	0.35
 		properties.setProperty(prefix+"cuas_font_name",       this.cuas_font_name+"");      // String
 		properties.setProperty(prefix+"cuas_font_size",       this.cuas_font_size+"");      // int
 		properties.setProperty(prefix+"cuas_font_type",       this.cuas_font_type+"");      // int
-		properties.setProperty(prefix+"cuas_ifov",            this.cuas_ifov+"");       // double
-		properties.setProperty(prefix+"cuas_px0",             this.cuas_px0+"");  // int
-		properties.setProperty(prefix+"cuas_py0",             this.cuas_py0+"");  // int
-		properties.setProperty(prefix+"cuas_az0",             this.cuas_az0+"");       // double
-		properties.setProperty(prefix+"cuas_el0",             this.cuas_el0+"");       // double
+		properties.setProperty(prefix+"cuas_ifov",            this.cuas_ifov+"");           // double
+		properties.setProperty(prefix+"cuas_px0",             this.cuas_px0+"");            // int
+		properties.setProperty(prefix+"cuas_py0",             this.cuas_py0+"");            // int
+		properties.setProperty(prefix+"cuas_az0",             this.cuas_az0+"");            // double
+		properties.setProperty(prefix+"cuas_el0",             this.cuas_el0+"");            // double
+		properties.setProperty(prefix+"cuas_show_true_rng",   this.cuas_show_true_rng+"");  // boolean
 		
 		properties.setProperty(prefix+"cuas_debug",           this.cuas_debug+"");          // boolean
 		properties.setProperty(prefix+"cuas_step_debug",      this.cuas_step_debug+"");     // boolean
@@ -5411,6 +5427,9 @@ min_str_neib_fpn	0.35
 		if (properties.getProperty(prefix+"cuas_mask_blur")!=null)       this.cuas_mask_blur=Double.parseDouble(properties.getProperty(prefix+"cuas_mask_blur"));
 		if (properties.getProperty(prefix+"cuas_mask_round")!=null)      this.cuas_mask_round=Boolean.parseBoolean(properties.getProperty(prefix+"cuas_mask_round"));
 		if (properties.getProperty(prefix+"cuas_target_type")!=null)     this.cuas_target_type=Integer.parseInt(properties.getProperty(prefix+"cuas_target_type"));
+		if (properties.getProperty(prefix+"cuas_known_type")!=null)      this.cuas_known_type=Integer.parseInt(properties.getProperty(prefix+"cuas_known_type"));
+		if (properties.getProperty(prefix+"cuas_known_err")!=null)       this.cuas_known_err=Double.parseDouble(properties.getProperty(prefix+"cuas_known_err"));
+		
 		if (properties.getProperty(prefix+"cuas_input_range")!=null)     this.cuas_input_range=Double.parseDouble(properties.getProperty(prefix+"cuas_input_range"));
 		if (properties.getProperty(prefix+"cuas_scale2x")!=null)         this.cuas_scale2x=Boolean.parseBoolean(properties.getProperty(prefix+"cuas_scale2x"));
 		if (properties.getProperty(prefix+"cuas_ra_background")!=null)   this.cuas_ra_background=Boolean.parseBoolean(properties.getProperty(prefix+"cuas_ra_background"));
@@ -5440,6 +5459,7 @@ min_str_neib_fpn	0.35
 		if (properties.getProperty(prefix+"cuas_py0")!=null)             this.cuas_py0=Integer.parseInt(properties.getProperty(prefix+"cuas_py0"));
 		if (properties.getProperty(prefix+"cuas_az0")!=null)             this.cuas_az0=Double.parseDouble(properties.getProperty(prefix+"cuas_az0"));
 		if (properties.getProperty(prefix+"cuas_el0")!=null)             this.cuas_el0=Double.parseDouble(properties.getProperty(prefix+"cuas_el0"));
+		if (properties.getProperty(prefix+"cuas_show_true_rng")!=null)   this.cuas_show_true_rng=Boolean.parseBoolean(properties.getProperty(prefix+"cuas_show_true_rng"));
 		
 		if (properties.getProperty(prefix+"cuas_debug")!=null)           this.cuas_debug=Boolean.parseBoolean(properties.getProperty(prefix+"cuas_debug"));
 		if (properties.getProperty(prefix+"cuas_step_debug")!=null)      this.cuas_step_debug=Boolean.parseBoolean(properties.getProperty(prefix+"cuas_step_debug"));
@@ -6366,6 +6386,9 @@ min_str_neib_fpn	0.35
 		imp.cuas_mask_blur =        this.cuas_mask_blur;  
 		imp.cuas_mask_round =       this.cuas_mask_round; 
 		imp.cuas_target_type=       this.cuas_target_type;
+		imp.cuas_known_type=        this.cuas_known_type;
+		imp.cuas_known_err=         this.cuas_known_err;
+		
 		imp.cuas_input_range =		this.cuas_input_range;
 		imp.cuas_scale2x =    		this.cuas_scale2x;    
 		imp.cuas_ra_background =    this.cuas_ra_background;
@@ -6392,6 +6415,7 @@ min_str_neib_fpn	0.35
 		imp.cuas_py0 =              this.cuas_py0;
 		imp.cuas_az0 =              this.cuas_az0;
 		imp.cuas_el0 =              this.cuas_el0;
+		imp.cuas_show_true_rng =    this.cuas_show_true_rng;
 		
 		imp.cuas_debug =            this.cuas_debug;
 		imp.cuas_step_debug =       this.cuas_step_debug;