Commit e868199f authored by Andrey Filippov's avatar Andrey Filippov
Browse files

More improvements/bug fixes to egomotion calculation

parent 2f7a08d9

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

+4 −3
Original line number Diff line number Diff line
@@ -2728,15 +2728,16 @@ public class ImageDtt extends ImageDttCPU { 
							double [] mv = new double[3];

							if (mv_pd != null) {

								mv = mv_pd;

								mv[2] *= pd_weight;

								// mv[2] *= pd_weight;

								if ((mv_td != null) && !td_nopd_only) {  // mix

									mv[0] = (mv[0] * pd_weight + mv_td[0] * td_weight)/ (pd_weight + td_weight);

									mv[1] = (mv[1] * pd_weight + mv_td[1] * td_weight)/ (pd_weight + td_weight);

									mv[2] += mv_td[2] * td_weight;

									//mv[2] += mv_td[2] * td_weight;

									mv[2] = (mv[2] * pd_weight + mv_td[2] * td_weight)/ (pd_weight + td_weight);

								} // mix

							} else { // (mv_pd == null) &&  (mv_td != null)  below

								mv = mv_td;

								mv[2] *= td_weight;

								//mv[2] *= td_weight;

							}

							if (mv != null) {

								if (pXpYD == null) {

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

+8 −4
Original line number Diff line number Diff line
@@ -5807,6 +5807,7 @@ public class OpticalFlow { 
		double [][] pose = new double [2][3];

    	double angle_per_step = reference_QuadClt.getGeometryCorrection().getCorrVector().getTiltAzPerPixel() * pix_step;

    	double [][] atrs = new double [(2*search_rad+1)*(2*search_rad+1)][];

    	boolean [] good_offset =    new boolean [atrs.length];

    	double [] confidences_sum = new double [atrs.length];

    	double [] confidences_avg = new double [atrs.length];

    	double [] confidences_fom = new double [atrs.length];
@@ -5874,6 +5875,7 @@ public class OpticalFlow { 
    					confidences_avg[ntry] = avg_strength;

    					confidences_fom[ntry] = fom;

    					boolean good = (num_defined > min_defined) && (rms < max_search_rms) && (fom > maybe_fom) && (sum_strength > maybe_sum) && (avg_strength > maybe_avg);

    					good_offset[ntry] = good;

    					if (debugLevel > -2) {

    						System.out.println ((good?"* ":"  ")+"ntry = "+ntry+", num_defined = "+num_defined+" ("+min_defined+")"+

    								", FOM="+fom+
@@ -5890,6 +5892,9 @@ public class OpticalFlow { 
    						}

    						num_good++;

    					}

//    					if (ntry == 105) {

//    						System.out.println("spiralSearchATR(): ntry="+ntry);

//    					}

    					ntry++;

    				}

    			}
@@ -5900,10 +5905,9 @@ public class OpticalFlow { 
    		return null;

    	}

    	if (use_atr == null) {

    		int best_ntry = 0;

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

//    			if (confidences_sum[i] > confidences_sum[best_ntry]) {

       			if (confidences_fom[i] > confidences_fom[best_ntry]) {

    		int best_ntry = -1;

    		for (int i = 0; i <  atrs.length; i++) if (good_offset[i]){

       			if ((best_ntry < 0) || (confidences_fom[i] > confidences_fom[best_ntry])) {

    				best_ntry = i;

    			}

    		}