Commit e61d71b1 authored by Andrey Filippov's avatar Andrey Filippov
Browse files

First SfM tests - 0.05m from 75m AGL

parent b3dc65da

src/main/java/com/elphel/imagej/tileprocessor/Correlation2d.java

+83 −0
Original line number Diff line number Diff line
@@ -2506,6 +2506,89 @@ public class Correlation2d { 
	}



	

	public static double [] getMaxProjCm(

			double []  data,

			int        data_width,   //  = 2 * transform_size - 1;

			double     radius,       //  0 - all same weight, > 0 cosine(PI/2*sqrt(dx^2+dy^2)/rad)

			int        refine,       //  re-center window around new maximum. 0 -no refines (single-pass)

			double []  direction_XY,

			boolean    debug)

	{

		int data_height = data.length/data_width;

		int center_xy = (data_width - 1)/2; //  = transform_size - 1;

		double x0 = center_xy, y0 = center_xy;

		int imax= 0;

		for (int i= 1; i < data.length;i++) {

			if (data[i] > data[imax]) {

				imax = i;

			}

		}

		double mx = data[imax];

		int ix0 = imax % data_width;

		int iy0 = imax / data_width;

		x0 = ix0;

		y0 = iy0;

		double disp0 = x0 * direction_XY[0] + y0 * direction_XY[1]; 

		// if (fpn_mask != null

		//calculate as "center of mass"

		if (radius == 0) {

			double s0 = 0, sx=0,sy = 0, sdisp = 0;

			for (int iy = 0; iy < data_height; iy++) {

				double y = iy - y0;

				for (int ix = 0; ix < data_width; ix++) {

					double x = ix - x0;

					double d =  data[iy * data_width + ix];

					if (d > 0) { // ignore negative

						s0 += d;

						sx += d * x;

						sy += d * y;

						sdisp += d * (x * direction_XY[0] + y * direction_XY[1]);

					} else if (Double.isNaN(d)) {

						System.out.println("NaN in getMaxProjCm()");

						return null;

					}

				}

			}

			x0 += sx / s0;

			y0 += sy / s0;

			disp0 += sdisp / s0;

		} else {

			double radius2 = radius*radius;

			for (int nref = 0; nref <= refine; nref++) {

				double s0 = 0, sx=0, sy = 0, sdisp = 0;

				for (int iy = 0; iy < data_height; iy++) {

					double y = iy - y0;

					for (int ix = 0; ix < data_width; ix++) {

						double x = ix - x0;

						double r2= x*x + y*y;

						if (r2 < radius2) {

							double r = Math.sqrt(r2);	

							double d =  data[iy * data_width + ix];

							if (d > 0) { // ignore negative

								d *=  Math.cos(0.5*Math.PI*r/radius);

								s0 += d;

								sx += d * x;

								sy += d * y;

								sdisp += d * (x * direction_XY[0] + y * direction_XY[1]);

							}

						}

					}

				}

				x0 += sx / s0;

				y0 += sy / s0;

				disp0 += sdisp / s0;

				

			}

		}

//		double [] rslt = {x0 - center_xy, y0 - center_xy, mx};

		double [] rslt = {disp0 - center_xy * (direction_XY[0] + direction_XY[1]), mx};

		if (debug){

			System.out.println("getMaxProjCm() -> "+rslt[0]+":"+rslt[1]);

		}

		return rslt;

	}

	

	

	

	/**

	 * Analyze 1d correlation (single centerline of the 3D phase correlation combined output

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

+1 −1
Original line number Diff line number Diff line
@@ -1077,7 +1077,7 @@ public class GeometryCorrection { 
						debugLevel);                // int debugLevel)

				int pars = jt_delta.length;

				int tilesX = qc_main.tp.getTilesX();

				int tilesY = qc_main.tp.getTilesX();

				int tilesY = qc_main.tp.getTilesY(); // 10.14.2023: was getTilesX()!

				String [] titles = new String[6 * pars];

				double [][] dbg_data = new double [6 * pars][tilesY * tilesX];

				for (int i = 0; i < dbg_data.length; i++) for (int j = 0; j < dbg_data[i].length; j++) dbg_data[i][j]=Double.NaN;

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

+13 −6
Original line number Diff line number Diff line
@@ -4892,14 +4892,21 @@ public class OpticalFlow { 
							mb_max_gain,              // double                       mb_max_gain,

							batch_mode,               // final boolean                batch_mode,

							debugLevel);              // final int                    debugLevel)

					

					QuadCLT[]  scenes_pair = new QuadCLT[]{

							quadCLTs[ref_index - 1],

							quadCLTs[earliest_scene]};

					StructureFromMotion.sfmPair(

					int      num_avg_pairs = 16; // 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][1] = quadCLTs[earliest_scene + num_avg_pairs - 1 - i];

					}

//					QuadCLT[]  scenes_pair = new QuadCLT[]{

//							quadCLTs[ref_index - 1],

//							quadCLTs[earliest_scene]};

					combo_dsn_final = StructureFromMotion.sfmPair(

							clt_parameters,           // final CLTParameters          clt_parameters,

							quadCLTs[ref_index],      // final QuadCLT                ref_scene,

							scenes_pair,              // final QuadCLT []             scenes,

							scenes_pairs,             // final QuadCLT [][]           scenes_pairs,

//							scenes_pair,              // final QuadCLT []             scenes,

//							num_avg_pairs,            // final int                    num_avg_pairs, // number of scene pairs to average

							mb_max_gain,              // double                       mb_max_gain,

							batch_mode,               // final boolean                batch_mode,

							debugLevel);              // final int                    debugLevel)

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

+321 −139

File changed.

Preview size limit exceeded, changes collapsed.

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

+0 −1
Original line number Diff line number Diff line
@@ -347,7 +347,6 @@ public class TDCorrTile { 
		final int [] corr_indices = new int [num_tiles];

		final Thread[] threads = ImageDtt.newThreadArray(ImageDtt.THREADS_MAX);

		final AtomicInteger ai = new AtomicInteger(0);

		final AtomicInteger anum_tiles = new AtomicInteger(0);

		for (int ithread = 0; ithread < threads.length; ithread++) {

			threads[ithread] = new Thread() {

				public void run() {