Working on radar

src/main/java/com/elphel/imagej/cuas/CuasMotionLMA.java

@@ -99,9 +99,10 @@ public class CuasMotionLMA {
 	public static final int RSLT_FL_RANGE =        57; // flight log range (meters)
 	public static final int RSLT_INFINITY =        58; // disparity at infinity used for range calculation
 	public static final int RSLT_TARGET_ID =       59; // unique target id for the whole sequence of segments. 1 is reserved for the UAS
-	public static final int RSLT_VEL_AXIAL =       60; // axial velocity (positive - away), range derivative (m/s), calculated from the difference to the previous/next series range 
-	public static final int RSLT_VEL_LATERAL =     61; // lateral velocity ( calculated from angular and RSLT_GRANGE
-	public static final int RSLT_RANGE_LIN =       62; // range linear interpolated using previous/next series if the same target is present there 
+	public static final int RSLT_VEL_AWAY =        60; // axial velocity (positive - away), range derivative (m/s), calculated from the difference to the previous/next series range 
+	public static final int RSLT_VEL_RIGHT =       61; // lateral velocity, right ( calculated from angular and RSLT_GRANGE
+	public static final int RSLT_VEL_UP =          62; // lateral velocity, up ( calculated from angular and RSLT_GRANGE
+	public static final int RSLT_RANGE_LIN =       63; // range linear interpolated using previous/next series if the same target is present there 
 	public static final int RSLT_LEN = RSLT_RANGE_LIN + 1;
 	
 	public static final String [] LMA_TITLES = 
@@ -121,7 +122,7 @@ public class CuasMotionLMA {
 				"Disparity","Disparity-Diff","Strength","Range","Global-index",
 				"segment-length","segment-disparity","segment_disp-diff", "segment-strength", "segment-range",
 				"FLOG-px","FLOG-pY","FLOG-DISP","FLOG-range","infinity",
-				"GTarget-ID","Range-derivative"};
+				"GTarget-ID","Vel-away", "Vel-right", "Vel-up","Range-linear"};
 	public static final String EXTRA_SLICE_DISCARD_ON_LOAD = "Targets"; 
 	public static final int FAIL_NONE =      0;
 	public static final int FAIL_MOTION =    1;  // motion strength/fraction too low

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

@@ -855,7 +855,8 @@ min_str_neib_fpn	0.35
 	public int      cuas_font_size =     8; // before scaling
 	public int      cuas_font_type =     1; // 0 - PLAIN, 1 - BOLD, 2 - ITALIC
 	// AZ/EL calibration
-	public double   cuas_ifov =          0.05;  // degree per pixel
+	@Deprecated
+	public double   cuas_ifov =          0.05;  // degree per pixel Use gc.getIFOVDegrees() and gc.getIFOV() instead
 	public int      cuas_px0 =           283;   // pixel with known azimuth 
 	public int      cuas_py0 =           386;   // pixel with known elevation
 	public double   cuas_az0 =           201.5; // degrees for cuas_px0;
@@ -926,7 +927,10 @@ min_str_neib_fpn	0.35
 	public double   cuas_tmtch_axv_k =     3.0; // maximal axial (range) velocity to lateral velocity ratio (take max)
 	public double   cuas_tmtch_disp =      0.1; // minimal disparity difference to estimate lateral velocity (smaller - consider matching)
 	public boolean  cuas_tmtch_short =    true; // when multiple conflicting matches, prefer shortest gap (false - longest combo pair length)
-
+	
+	// parameters for "radar" image generation 
+	public double   cuas_radar_range =    1500.0; // maximal radar range in meters
+	
 	// debug parameters
 	public boolean  cuas_debug =           false;  // save debug images (and show them if not in batch mode)
 	public int      cuas_dbg_rng_seq =    -1;     // Debug single sequence ranging (-1 - process all)
@@ -946,6 +950,7 @@ min_str_neib_fpn	0.35
 	public boolean  cuas_reuse_targets =   true;  // read previously calculated non-conflict (one per tile) targets
 	public String   cuas_reuse_path =      "-TARGETS_SINGLE-FINAL";    // either suffix (all parameters the same) or the full path (contains "/") 
 	public boolean  cuas_reuse_disparity = true;  // read previously calculated non-conflict targets data with disparities (recalculate ranges)
+	public boolean  cuas_reuse_globals =   true;  // if globally combined data is available, read it. If successful show 16:9 video
 	public double   cuas_max_disp_diff =   0.05;  // Maximal disparity difference during last change to consider disparity valid
 	public double   cuas_min_disp_str =    0.4;   // Minimal disparity strength to consider disparity valid
 	public double   cuas_rng_limit =       5000;  // maximal displayed distance to target
@@ -2768,6 +2773,9 @@ min_str_neib_fpn	0.35
 				"Minimal disparity difference to estimate lateral velocity (smaller - consider matching).");
 		gd.addCheckbox ("Prefer shortest gap",                       this.cuas_tmtch_short,
 				"When multiple conflicting matches, prefer shortest gap (false - longest combo pair length).");
+		gd.addMessage("=== Radar image generation (check Radar mode below) ===");
+		gd.addNumericField("Maximal Radar distance",                 this.cuas_radar_range, 5,8,"m",
+				"Maximal Radar range in meters.");
 		
 		gd.addMessage("=== Debug ===");
 		gd.addCheckbox ("Save/show debug images",                    this.cuas_debug,
@@ -2805,6 +2813,8 @@ min_str_neib_fpn	0.35
 				"Either suffix (if all the parameters the same) or the full path (contains \"/\").");
 		gd.addCheckbox ("Reuse previosly calculated disparities",    this.cuas_reuse_disparity,
 				"Read previously calculated non-conflict (one per tile) targets with disparities (recalculate ranges).");
+		gd.addCheckbox ("Reuse combined series (Radar mode)",        this.cuas_reuse_globals,
+				"Read target data updated after global processing of scene series \"CUAS Combine\" command. If successful, go directly to output generation with 16:9 and a radar image.");
 		gd.addNumericField("Maximal disparity difference",           this.cuas_max_disp_diff, 6,8,"pix",
 				"Maximal disparity difference during last change to consider disparity valid.");
 		gd.addNumericField("Minimal target disparity strength",      this.cuas_min_disp_str, 6,8,"",
@@ -3984,6 +3994,8 @@ min_str_neib_fpn	0.35
 		this.cuas_tmtch_disp=           gd.getNextNumber();
 		this.cuas_tmtch_short =         gd.getNextBoolean();
 		
+		this.cuas_radar_range=          gd.getNextNumber();
+
 		this.cuas_debug =               gd.getNextBoolean();
 		this.cuas_dbg_rng_seq =   (int) gd.getNextNumber();
 		this.cuas_dbg_rng_tgt =   (int) gd.getNextNumber();
@@ -4003,6 +4015,7 @@ min_str_neib_fpn	0.35
 		this.cuas_reuse_targets =       gd.getNextBoolean();
 		this.cuas_reuse_path =          gd.getNextString();
 		this.cuas_reuse_disparity =     gd.getNextBoolean();
+		this.cuas_reuse_globals =       gd.getNextBoolean();
 		this.cuas_max_disp_diff =       gd.getNextNumber();
 		this.cuas_min_disp_str =        gd.getNextNumber();
 		this.cuas_rng_limit =           gd.getNextNumber();
@@ -5089,6 +5102,8 @@ min_str_neib_fpn	0.35
 		properties.setProperty(prefix+"cuas_tmtch_disp",      this.cuas_tmtch_disp+"");     // double
 		properties.setProperty(prefix+"cuas_tmtch_short",     this.cuas_tmtch_short+"");    // boolean
 		
+		properties.setProperty(prefix+"cuas_radar_range",     this.cuas_radar_range+"");    // double
+
 		properties.setProperty(prefix+"cuas_debug",           this.cuas_debug+"");          // boolean
 		properties.setProperty(prefix+"cuas_dbg_rng_seq",     this.cuas_dbg_rng_seq+"");    // int
 		properties.setProperty(prefix+"cuas_dbg_rng_tgt",     this.cuas_dbg_rng_tgt+"");    // int
@@ -5109,9 +5124,10 @@ min_str_neib_fpn	0.35
 		properties.setProperty(prefix+"cuas_reuse_path",      this.cuas_reuse_path+"");     // String
 		
 		properties.setProperty(prefix+"cuas_reuse_disparity", this.cuas_reuse_disparity+"");// boolean
+		properties.setProperty(prefix+"cuas_reuse_globals",   this.cuas_reuse_globals+"");  // boolean
 		properties.setProperty(prefix+"cuas_max_disp_diff",   this.cuas_max_disp_diff+"");  // double
 		properties.setProperty(prefix+"cuas_min_disp_str",    this.cuas_min_disp_str+"");   // double
-		properties.setProperty(prefix+"cuas_rng_limit",       this.cuas_rng_limit+"");       // double
+		properties.setProperty(prefix+"cuas_rng_limit",       this.cuas_rng_limit+"");      // double
 		
 		properties.setProperty(prefix+"mb_gain_index_pose",   this.mb_gain_index_pose+"");  // int
 		properties.setProperty(prefix+"mb_gain_index_depth",  this.mb_gain_index_depth+""); // int
@@ -6170,6 +6186,8 @@ min_str_neib_fpn	0.35
 		if (properties.getProperty(prefix+"cuas_tmtch_disp")!=null)      this.cuas_tmtch_disp=Double.parseDouble(properties.getProperty(prefix+"cuas_tmtch_disp"));
 		if (properties.getProperty(prefix+"cuas_tmtch_short")!=null)     this.cuas_tmtch_short=Boolean.parseBoolean(properties.getProperty(prefix+"cuas_tmtch_short"));
 		
+		if (properties.getProperty(prefix+"cuas_radar_range")!=null)     this.cuas_radar_range=Double.parseDouble(properties.getProperty(prefix+"cuas_radar_range"));
+
 		if (properties.getProperty(prefix+"cuas_debug")!=null)           this.cuas_debug=Boolean.parseBoolean(properties.getProperty(prefix+"cuas_debug"));
 		if (properties.getProperty(prefix+"cuas_dbg_rng_seq")!=null)     this.cuas_dbg_rng_seq=Integer.parseInt(properties.getProperty(prefix+"cuas_dbg_rng_seq"));
 		if (properties.getProperty(prefix+"cuas_dbg_rng_tgt")!=null)     this.cuas_dbg_rng_tgt=Integer.parseInt(properties.getProperty(prefix+"cuas_dbg_rng_tgt"));
@@ -6189,6 +6207,7 @@ min_str_neib_fpn	0.35
 		if (properties.getProperty(prefix+"cuas_reuse_path")!=null)      this.cuas_reuse_path=(String) properties.getProperty(prefix+"cuas_reuse_path");
 		
 		if (properties.getProperty(prefix+"cuas_reuse_disparity")!=null) this.cuas_reuse_disparity=Boolean.parseBoolean(properties.getProperty(prefix+"cuas_reuse_disparity"));
+		if (properties.getProperty(prefix+"cuas_reuse_globals")!=null)   this.cuas_reuse_globals=Boolean.parseBoolean(properties.getProperty(prefix+"cuas_reuse_globals"));
 		if (properties.getProperty(prefix+"cuas_max_disp_diff")!=null)   this.cuas_max_disp_diff=Double.parseDouble(properties.getProperty(prefix+"cuas_max_disp_diff"));
 		if (properties.getProperty(prefix+"cuas_min_disp_str")!=null)    this.cuas_min_disp_str=Double.parseDouble(properties.getProperty(prefix+"cuas_min_disp_str"));
 		if (properties.getProperty(prefix+"cuas_rng_limit")!=null)       this.cuas_rng_limit=Double.parseDouble(properties.getProperty(prefix+"cuas_rng_limit"));
@@ -7239,7 +7258,9 @@ min_str_neib_fpn	0.35
         imp.cuas_tmtch_disp =       this.cuas_tmtch_disp;
 		imp.cuas_tmtch_short =      this.cuas_tmtch_short;
 		
-		imp.cuas_debug =            this.cuas_debug;
+        imp.cuas_radar_range =      this.cuas_radar_range;
+
+        imp.cuas_debug =            this.cuas_debug;
 		imp.cuas_dbg_rng_seq =      this.cuas_dbg_rng_seq;
 		imp.cuas_dbg_rng_tgt =      this.cuas_dbg_rng_tgt;
 		imp.cuas_dbg_show_mode =    this.cuas_dbg_show_mode;
@@ -7257,6 +7278,7 @@ min_str_neib_fpn	0.35
 		imp.cuas_reuse_targets =    this.cuas_reuse_targets;
 		imp.cuas_reuse_path=        this.cuas_reuse_path;
 		imp.cuas_reuse_disparity =  this.cuas_reuse_disparity;
+		imp.cuas_reuse_globals =    this.cuas_reuse_globals;
 		imp.cuas_max_disp_diff =    this.cuas_max_disp_diff;
 		imp.cuas_min_disp_str =     this.cuas_min_disp_str;
 		imp.cuas_rng_limit =        this.cuas_rng_limit;

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

@@ -6236,8 +6236,12 @@ public class OpticalFlow {
 			CuasMotion cuasMotion = cuasRanging.detectTargets(
 					uasLogReader, // UasLogReader    uasLogReader,
 					batch_mode);  // boolean         batch_mode)
-			if (debugLevel > -4) {
-				System.out.println("Target detection DONE");
+			if (cuasMotion == null) {
+				System.out.println("Failed target detection. Probably, radar mode was selected but target file does not exist (created with \"CUAS Combine\" command)");
+			} else {
+				if (debugLevel > -4) {
+					System.out.println("Target detection DONE");
+				}
 			}
 		}		
 		

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

@@ -8647,6 +8647,15 @@ if (debugLevel > -100) return true; // temporarily !
 			cuas_centers = new String [] {quadCLT_main.correctionsParameters.getCuasDir(),""};
 		}
 		*/
+		// Process UAS logs moved here to be used in 2 commands 
+		UasLogReader uasLogReader = null;
+		String uas_log_path = quadCLT_main.correctionsParameters.getUasLogsPath();
+		System.out.println("Using UAS log file: "+uas_log_path);
+		if ((uas_log_path != null) && (uas_log_path.length() > 0)) {
+			uasLogReader = new UasLogReader(uas_log_path, quadCLT_main.correctionsParameters.cuasUasTimeStamp, null, quadCLT_main);
+			uasLogReader.setCameraATR(quadCLT_main.correctionsParameters.cuasCameraATR);
+			uasLogReader.setUASHomeNed(quadCLT_main.correctionsParameters.cuasSetHome? quadCLT_main.correctionsParameters.cuasUASHome : null);
+		}
 		switch (cuas_proc_mode) {
 		case 0 :
 			String uas_sky_mask_path = quadCLT_main.correctionsParameters.getUasSkyMask();
@@ -8684,6 +8693,7 @@ if (debugLevel > -100) return true; // temporarily !
 				int ref_index = -1; // -1 - last
 				int [] start_ref_pointers = new int[2]; //{earlist, reference} - reference may be center
 				boolean     first_in_series = true;
+				/*
 				// Process UAS logs 
 				UasLogReader uasLogReader = null;
 				String uas_log_path = quadCLT_main.correctionsParameters.getUasLogsPath();
@@ -8693,6 +8703,7 @@ if (debugLevel > -100) return true; // temporarily !
 					uasLogReader.setCameraATR(quadCLT_main.correctionsParameters.cuasCameraATR);
 					uasLogReader.setUASHomeNed(quadCLT_main.correctionsParameters.cuasSetHome? quadCLT_main.correctionsParameters.cuasUASHome : null);
 				}
+				*/
 				if (debugLevel > -4)  {
 					System.out.println("cuas_centers="+((cuas_centers != null)?("[\""+cuas_centers[0]+"\",\""+cuas_centers[1]+"\"]"):"null"));
 				}
@@ -8942,6 +8953,7 @@ if (debugLevel > -100) return true; // temporarily !
 		case 1:
 			CuasMultiSeries cuasMultiSeries = new CuasMultiSeries(
 					clt_parameters, // CLTParameters     clt_parameters,
+					uasLogReader,   //UasLogReader                                         uasLogReader,					
 					quadCLT_main,   // QuadCLT quadCLT_main,
 					quadCLT_main.correctionsParameters.linkedCenters,
 					quadCLT_main.correctionsParameters.x3dModelVersion);