First SfM tests - 0.05m from 75m AGL (e61d71b1) · Commits · Elphel / imagej-elphel

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

+83 −0

Original line number	Original line	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= xx + yy;
			if (r2 < radius2) {
			double r = Math.sqrt(r2);
			double d = data[iy * data_width + ix];
			if (d > 0) { // ignore negative
			d = Math.cos(0.5Math.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		* 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	Original line	Diff line number	Diff line
	@@ -1077,7 +1077,7 @@ public class GeometryCorrection {
	debugLevel); // int debugLevel)		debugLevel); // int debugLevel)
	int pars = jt_delta.length;		int pars = jt_delta.length;
	int tilesX = qc_main.tp.getTilesX();		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];		String [] titles = new String[6 * pars];
	double [][] dbg_data = new double [6 * pars][tilesY * tilesX];		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;		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	Original line	Diff line number	Diff line
	@@ -4892,14 +4892,21 @@ public class OpticalFlow {
	mb_max_gain, // double mb_max_gain,		mb_max_gain, // double mb_max_gain,
	batch_mode, // final boolean batch_mode,		batch_mode, // final boolean batch_mode,
	debugLevel); // final int debugLevel)		debugLevel); // final int debugLevel)
			int num_avg_pairs = 16; // number of scene pairs to average
	QuadCLT[] scenes_pair = new QuadCLT[]{		QuadCLT[][] scenes_pairs = new QuadCLT[num_avg_pairs][2];
	quadCLTs[ref_index - 1],		for (int i = 0; i < num_avg_pairs; i++) {
	quadCLTs[earliest_scene]};		scenes_pairs[i][0] = quadCLTs[ref_index - 1 - i];
	StructureFromMotion.sfmPair(		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,		clt_parameters, // final CLTParameters clt_parameters,
	quadCLTs[ref_index], // final QuadCLT ref_scene,		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,		mb_max_gain, // double mb_max_gain,
	batch_mode, // final boolean batch_mode,		batch_mode, // final boolean batch_mode,
	debugLevel); // final int debugLevel)		debugLevel); // final int debugLevel)

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