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Commit fadcab9e authored by Andrey Filippov's avatar Andrey Filippov
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Working on radar

parent 692610be
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Showing with 1155 additions and 230 deletions
src/main/java/com/elphel/imagej/cuas/CuasMotionLMA.java
View file @ fadcab9e
...@@ -99,9 +99,10 @@ public class CuasMotionLMA { ...@@ -99,9 +99,10 @@ public class CuasMotionLMA {
public static final int RSLT_FL_RANGE = 57; // flight log range (meters) 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_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_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_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_LATERAL = 61; // lateral velocity ( calculated from angular and RSLT_GRANGE public static final int RSLT_VEL_RIGHT = 61; // lateral velocity, right ( 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_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 int RSLT_LEN = RSLT_RANGE_LIN + 1;
public static final String [] LMA_TITLES = public static final String [] LMA_TITLES =
...@@ -121,7 +122,7 @@ public class CuasMotionLMA { ...@@ -121,7 +122,7 @@ public class CuasMotionLMA {
"Disparity","Disparity-Diff","Strength","Range","Global-index", "Disparity","Disparity-Diff","Strength","Range","Global-index",
"segment-length","segment-disparity","segment_disp-diff", "segment-strength", "segment-range", "segment-length","segment-disparity","segment_disp-diff", "segment-strength", "segment-range",
"FLOG-px","FLOG-pY","FLOG-DISP","FLOG-range","infinity", "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 String EXTRA_SLICE_DISCARD_ON_LOAD = "Targets";
public static final int FAIL_NONE = 0; public static final int FAIL_NONE = 0;
public static final int FAIL_MOTION = 1; // motion strength/fraction too low public static final int FAIL_MOTION = 1; // motion strength/fraction too low
......
src/main/java/com/elphel/imagej/cuas/CuasRanging.java
View file @ fadcab9e
...@@ -77,6 +77,7 @@ public class CuasRanging { ...@@ -77,6 +77,7 @@ public class CuasRanging {
boolean smooth_omegas = clt_parameters.imp.cuas_smooth_omegas; boolean smooth_omegas = clt_parameters.imp.cuas_smooth_omegas;
boolean log_ranging = clt_parameters.imp.cuas_log_ranging; // true; // Log ranging iterations boolean log_ranging = clt_parameters.imp.cuas_log_ranging; // true; // Log ranging iterations
boolean reuse_disparity = clt_parameters.imp.cuas_reuse_disparity; boolean reuse_disparity = clt_parameters.imp.cuas_reuse_disparity;
boolean radar_mode = clt_parameters.imp.cuas_reuse_globals;
/// double rng_limit = clt_parameters.imp.cuas_rng_limit; /// double rng_limit = clt_parameters.imp.cuas_rng_limit;
boolean generate_output = clt_parameters.imp.cuas_generate; // generate and save targets Tiff and/or video files boolean generate_output = clt_parameters.imp.cuas_generate; // generate and save targets Tiff and/or video files
...@@ -212,20 +213,44 @@ public class CuasRanging { ...@@ -212,20 +213,44 @@ public class CuasRanging {
center_CLT, // QuadCLT parentCLT, center_CLT, // QuadCLT parentCLT,
uasLogReader, // UasLogReader uasLogReader, uasLogReader, // UasLogReader uasLogReader,
debugLevel); // int debugLevel) debugLevel); // int debugLevel)
double[][][] targets; // = null;
/*
cuasMotion.processMovingTargetsMulti( // will remove rendering cuasMotion.processMovingTargetsMulti( // will remove rendering
batch_mode, // final boolean batch_mode, batch_mode, // final boolean batch_mode,
fpixels, // final float [][] fpixels, fpixels, // final float [][] fpixels,
debugLevel); // final int debugLevel) { debugLevel); // final int debugLevel) {
double[][][] targets = cuasMotion.getTargets(); double[][][] targets = cuasMotion.getTargets();
*/
// String model_prefix = center_CLT.getImageName()+CuasMotion.getParametersSuffixRanging(clt_parameters,null); // String model_prefix = center_CLT.getImageName()+CuasMotion.getParametersSuffixRanging(clt_parameters,null);
// double [][] glob_stats = null; // double [][] glob_stats = null;
if (radar_mode) {
double [][][] disparity_targets = null;
String disparity_path = center_CLT.getImageName()+CuasMotion.getParametersSuffixRanging(clt_parameters,TARGET_GLOBALS_SUFFIX); // may later be directly provided (e.g. select specific version)
if (disparity_path.indexOf(Prefs.getFileSeparator()) < 0) { // now always
String x3d_path = center_CLT.getX3dDirectory();
disparity_path = x3d_path + Prefs.getFileSeparator() + disparity_path+".tiff";
}
disparity_targets = CuasMotion.getTargetsFromHyperAugment(disparity_path);
if (disparity_targets == null) {
System.out.println("processMovingTargetsMulti(): FAILED TO READ TARGET DATA FROM "+disparity_path);
return null;
} else {
targets = disparity_targets;
System.out.println("processMovingTargetsMulti(): re-using target disparities from "+disparity_path+", generating radar mode images");
}
} else {
cuasMotion.processMovingTargetsMulti( // will remove rendering
batch_mode, // final boolean batch_mode,
fpixels, // final float [][] fpixels,
debugLevel); // final int debugLevel) {
// double[][][]
targets = cuasMotion.getTargets();
if (rng_disp || rng_glob) { if (rng_disp || rng_glob) {
double [][][] disparity_targets = null; double [][][] disparity_targets = null;
if (reuse_disparity) { if (reuse_disparity) {
// String disparity_path = model_prefix+TARGET_DISPARITIES_SUFFIX; // may later be directly provided (e.g. select specific version) // String disparity_path = model_prefix+TARGET_DISPARITIES_SUFFIX; // may later be directly provided (e.g. select specific version)
String disparity_path = center_CLT.getImageName()+CuasMotion.getParametersSuffixRanging(clt_parameters,TARGET_DISPARITIES_SUFFIX); // may later be directly provided (e.g. select specific version) String disparity_path = center_CLT.getImageName()+CuasMotion.getParametersSuffixRanging(clt_parameters,TARGET_DISPARITIES_SUFFIX); // may later be directly provided (e.g. select specific version)
if (disparity_path.indexOf(Prefs.getFileSeparator()) < 0) { // now always if (disparity_path.indexOf(Prefs.getFileSeparator()) < 0) { // now always
String x3d_path = center_CLT.getX3dDirectory(); String x3d_path = center_CLT.getX3dDirectory();
...@@ -239,7 +264,7 @@ public class CuasRanging { ...@@ -239,7 +264,7 @@ public class CuasRanging {
System.out.println("processMovingTargetsMulti(): re-using target disparities from "+disparity_path); System.out.println("processMovingTargetsMulti(): re-using target disparities from "+disparity_path);
} }
} }
// if ((disparity_targets == null) || rng_glob) { // for now - always recalculate if // if ((disparity_targets == null) || rng_glob) { // for now - always recalculate if
if (disparity_targets == null) { if (disparity_targets == null) {
if (debugLevel > -4) { if (debugLevel > -4) {
System.out.println("detectTargets(): Generating target disparities"); System.out.println("detectTargets(): Generating target disparities");
...@@ -312,10 +337,12 @@ public class CuasRanging { ...@@ -312,10 +337,12 @@ public class CuasRanging {
if (generate_csv) { if (generate_csv) {
saveTargetStats(targets); // final double [][][] targets_single) { saveTargetStats(targets); // final double [][][] targets_single) {
} }
}
if (generate_output) { if (generate_output) {
cuasMotion.generateExtractFilterMovingTargets( // move parameters to clt_parameters cuasMotion.generateExtractFilterMovingTargets( // move parameters to clt_parameters
radar_mode, // final boolean radar_mode,
false, // final boolean video_pass, // if clt_parameters.cuas_clean_video=true, video_pass=0 - output TIFFS, but no video. If video_pass==1 - only video with no debug false, // final boolean video_pass, // if clt_parameters.cuas_clean_video=true, video_pass=0 - output TIFFS, but no video. If video_pass==1 - only video with no debug
batch_mode, // final boolean batch_mode, batch_mode, // final boolean batch_mode,
fpixels, // final float [][] fpixels, fpixels, // final float [][] fpixels,
...@@ -323,6 +350,7 @@ public class CuasRanging { ...@@ -323,6 +350,7 @@ public class CuasRanging {
debugLevel); // final int debugLevel) debugLevel); // final int debugLevel)
if (clean_video) { if (clean_video) {
cuasMotion.generateExtractFilterMovingTargets( // move parameters to clt_parameters cuasMotion.generateExtractFilterMovingTargets( // move parameters to clt_parameters
radar_mode, // final boolean radar_mode,
true, // final boolean video_pass, // if clt_parameters.cuas_clean_video=true, video_pass=0 - output TIFFS, but no video. If video_pass==1 - only video with no debug true, // final boolean video_pass, // if clt_parameters.cuas_clean_video=true, video_pass=0 - output TIFFS, but no video. If video_pass==1 - only video with no debug
batch_mode, // final boolean batch_mode, batch_mode, // final boolean batch_mode,
fpixels, // final float [][] fpixels, fpixels, // final float [][] fpixels,
...@@ -2680,6 +2708,7 @@ public class CuasRanging { ...@@ -2680,6 +2708,7 @@ public class CuasRanging {
public void saveTargetStats( public void saveTargetStats(
final double [][][] targets_single) { final double [][][] targets_single) {
final int tilesX = cuasMotion.getTilesX(); final int tilesX = cuasMotion.getTilesX();
final GeometryCorrection gc = center_CLT.getGeometryCorrection();
final int tileSize = GPUTileProcessor.DTT_SIZE; final int tileSize = GPUTileProcessor.DTT_SIZE;
double cuas_infinity = clt_parameters.imp.cuas_infinity ; // 0.63; // disparity at infinity for targets double cuas_infinity = clt_parameters.imp.cuas_infinity ; // 0.63; // disparity at infinity for targets
int flw_levels = clt_parameters.imp.cuas_flw_levels; // 1 - all, 2 - all and two halves, 3 - all, two halves and 4 quaters int flw_levels = clt_parameters.imp.cuas_flw_levels; // 1 - all, 2 - all and two halves, 3 - all, two halves and 4 quaters
...@@ -2722,6 +2751,7 @@ public class CuasRanging { ...@@ -2722,6 +2751,7 @@ public class CuasRanging {
double [] uas_pXpYDRange = uasLogReader.getUasPxPyDRange(timestamp); // px, py, d- cuas_infinity (true disparity), range double [] uas_pXpYDRange = uasLogReader.getUasPxPyDRange(timestamp); // px, py, d- cuas_infinity (true disparity), range
double [][] az_el_oaz_oel= CuasMotion.getPixToAzElev( double [][] az_el_oaz_oel= CuasMotion.getPixToAzElev(
clt_parameters, // CLTParameters clt_parameters, clt_parameters, // CLTParameters clt_parameters,
gc, // GeometryCorrection gc,
uas_pXpYDRange[0], // double target_x, uas_pXpYDRange[0], // double target_x,
uas_pXpYDRange[1], // double target_y, uas_pXpYDRange[1], // double target_y,
0, // double target_vx, 0, // double target_vx,
...@@ -2750,6 +2780,7 @@ public class CuasRanging { ...@@ -2750,6 +2780,7 @@ public class CuasRanging {
// calculate and output target azimuth, elevation, disparity (full) and range // calculate and output target azimuth, elevation, disparity (full) and range
az_el_oaz_oel= CuasMotion.getPixToAzElev( az_el_oaz_oel= CuasMotion.getPixToAzElev(
clt_parameters, // CLTParameters clt_parameters, clt_parameters, // CLTParameters clt_parameters,
gc, // GeometryCorrection gc,
xc, // double target_x, // null xc, // double target_x, // null
yc, // double target_y, yc, // double target_y,
vx, // double target_vx, vx, // double target_vx,
......
src/main/java/com/elphel/imagej/tileprocessor/IntersceneMatchParameters.java
View file @ fadcab9e
...@@ -855,7 +855,8 @@ min_str_neib_fpn 0.35 ...@@ -855,7 +855,8 @@ min_str_neib_fpn 0.35
public int cuas_font_size = 8; // before scaling public int cuas_font_size = 8; // before scaling
public int cuas_font_type = 1; // 0 - PLAIN, 1 - BOLD, 2 - ITALIC public int cuas_font_type = 1; // 0 - PLAIN, 1 - BOLD, 2 - ITALIC
// AZ/EL calibration // 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_px0 = 283; // pixel with known azimuth
public int cuas_py0 = 386; // pixel with known elevation public int cuas_py0 = 386; // pixel with known elevation
public double cuas_az0 = 201.5; // degrees for cuas_px0; public double cuas_az0 = 201.5; // degrees for cuas_px0;
...@@ -927,6 +928,9 @@ min_str_neib_fpn 0.35 ...@@ -927,6 +928,9 @@ min_str_neib_fpn 0.35
public double cuas_tmtch_disp = 0.1; // minimal disparity difference to estimate lateral velocity (smaller - consider matching) 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) 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 // debug parameters
public boolean cuas_debug = false; // save debug images (and show them if not in batch mode) 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) public int cuas_dbg_rng_seq = -1; // Debug single sequence ranging (-1 - process all)
...@@ -946,6 +950,7 @@ min_str_neib_fpn 0.35 ...@@ -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 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 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_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_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_min_disp_str = 0.4; // Minimal disparity strength to consider disparity valid
public double cuas_rng_limit = 5000; // maximal displayed distance to target public double cuas_rng_limit = 5000; // maximal displayed distance to target
...@@ -2768,6 +2773,9 @@ min_str_neib_fpn 0.35 ...@@ -2768,6 +2773,9 @@ min_str_neib_fpn 0.35
"Minimal disparity difference to estimate lateral velocity (smaller - consider matching)."); "Minimal disparity difference to estimate lateral velocity (smaller - consider matching).");
gd.addCheckbox ("Prefer shortest gap", this.cuas_tmtch_short, gd.addCheckbox ("Prefer shortest gap", this.cuas_tmtch_short,
"When multiple conflicting matches, prefer shortest gap (false - longest combo pair length)."); "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.addMessage("=== Debug ===");
gd.addCheckbox ("Save/show debug images", this.cuas_debug, gd.addCheckbox ("Save/show debug images", this.cuas_debug,
...@@ -2805,6 +2813,8 @@ min_str_neib_fpn 0.35 ...@@ -2805,6 +2813,8 @@ min_str_neib_fpn 0.35
"Either suffix (if all the parameters the same) or the full path (contains \"/\")."); "Either suffix (if all the parameters the same) or the full path (contains \"/\").");
gd.addCheckbox ("Reuse previosly calculated disparities", this.cuas_reuse_disparity, gd.addCheckbox ("Reuse previosly calculated disparities", this.cuas_reuse_disparity,
"Read previously calculated non-conflict (one per tile) targets with disparities (recalculate ranges)."); "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", gd.addNumericField("Maximal disparity difference", this.cuas_max_disp_diff, 6,8,"pix",
"Maximal disparity difference during last change to consider disparity valid."); "Maximal disparity difference during last change to consider disparity valid.");
gd.addNumericField("Minimal target disparity strength", this.cuas_min_disp_str, 6,8,"", gd.addNumericField("Minimal target disparity strength", this.cuas_min_disp_str, 6,8,"",
...@@ -3984,6 +3994,8 @@ min_str_neib_fpn 0.35 ...@@ -3984,6 +3994,8 @@ min_str_neib_fpn 0.35
this.cuas_tmtch_disp= gd.getNextNumber(); this.cuas_tmtch_disp= gd.getNextNumber();
this.cuas_tmtch_short = gd.getNextBoolean(); this.cuas_tmtch_short = gd.getNextBoolean();
this.cuas_radar_range= gd.getNextNumber();
this.cuas_debug = gd.getNextBoolean(); this.cuas_debug = gd.getNextBoolean();
this.cuas_dbg_rng_seq = (int) gd.getNextNumber(); this.cuas_dbg_rng_seq = (int) gd.getNextNumber();
this.cuas_dbg_rng_tgt = (int) gd.getNextNumber(); this.cuas_dbg_rng_tgt = (int) gd.getNextNumber();
...@@ -4003,6 +4015,7 @@ min_str_neib_fpn 0.35 ...@@ -4003,6 +4015,7 @@ min_str_neib_fpn 0.35
this.cuas_reuse_targets = gd.getNextBoolean(); this.cuas_reuse_targets = gd.getNextBoolean();
this.cuas_reuse_path = gd.getNextString(); this.cuas_reuse_path = gd.getNextString();
this.cuas_reuse_disparity = gd.getNextBoolean(); this.cuas_reuse_disparity = gd.getNextBoolean();
this.cuas_reuse_globals = gd.getNextBoolean();
this.cuas_max_disp_diff = gd.getNextNumber(); this.cuas_max_disp_diff = gd.getNextNumber();
this.cuas_min_disp_str = gd.getNextNumber(); this.cuas_min_disp_str = gd.getNextNumber();
this.cuas_rng_limit = gd.getNextNumber(); this.cuas_rng_limit = gd.getNextNumber();
...@@ -5089,6 +5102,8 @@ min_str_neib_fpn 0.35 ...@@ -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_disp", this.cuas_tmtch_disp+""); // double
properties.setProperty(prefix+"cuas_tmtch_short", this.cuas_tmtch_short+""); // boolean 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_debug", this.cuas_debug+""); // boolean
properties.setProperty(prefix+"cuas_dbg_rng_seq", this.cuas_dbg_rng_seq+""); // int 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 properties.setProperty(prefix+"cuas_dbg_rng_tgt", this.cuas_dbg_rng_tgt+""); // int
...@@ -5109,6 +5124,7 @@ min_str_neib_fpn 0.35 ...@@ -5109,6 +5124,7 @@ min_str_neib_fpn 0.35
properties.setProperty(prefix+"cuas_reuse_path", this.cuas_reuse_path+""); // String 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_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_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_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
...@@ -6170,6 +6186,8 @@ min_str_neib_fpn 0.35 ...@@ -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_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_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_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_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")); 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 ...@@ -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_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_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_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_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")); if (properties.getProperty(prefix+"cuas_rng_limit")!=null) this.cuas_rng_limit=Double.parseDouble(properties.getProperty(prefix+"cuas_rng_limit"));
...@@ -7239,6 +7258,8 @@ min_str_neib_fpn 0.35 ...@@ -7239,6 +7258,8 @@ min_str_neib_fpn 0.35
imp.cuas_tmtch_disp = this.cuas_tmtch_disp; imp.cuas_tmtch_disp = this.cuas_tmtch_disp;
imp.cuas_tmtch_short = this.cuas_tmtch_short; imp.cuas_tmtch_short = this.cuas_tmtch_short;
imp.cuas_radar_range = this.cuas_radar_range;
imp.cuas_debug = this.cuas_debug; imp.cuas_debug = this.cuas_debug;
imp.cuas_dbg_rng_seq = this.cuas_dbg_rng_seq; imp.cuas_dbg_rng_seq = this.cuas_dbg_rng_seq;
imp.cuas_dbg_rng_tgt = this.cuas_dbg_rng_tgt; imp.cuas_dbg_rng_tgt = this.cuas_dbg_rng_tgt;
...@@ -7257,6 +7278,7 @@ min_str_neib_fpn 0.35 ...@@ -7257,6 +7278,7 @@ min_str_neib_fpn 0.35
imp.cuas_reuse_targets = this.cuas_reuse_targets; imp.cuas_reuse_targets = this.cuas_reuse_targets;
imp.cuas_reuse_path= this.cuas_reuse_path; imp.cuas_reuse_path= this.cuas_reuse_path;
imp.cuas_reuse_disparity = this.cuas_reuse_disparity; 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_max_disp_diff = this.cuas_max_disp_diff;
imp.cuas_min_disp_str = this.cuas_min_disp_str; imp.cuas_min_disp_str = this.cuas_min_disp_str;
imp.cuas_rng_limit = this.cuas_rng_limit; imp.cuas_rng_limit = this.cuas_rng_limit;
......
src/main/java/com/elphel/imagej/tileprocessor/OpticalFlow.java
View file @ fadcab9e
...@@ -6236,10 +6236,14 @@ public class OpticalFlow { ...@@ -6236,10 +6236,14 @@ public class OpticalFlow {
CuasMotion cuasMotion = cuasRanging.detectTargets( CuasMotion cuasMotion = cuasRanging.detectTargets(
uasLogReader, // UasLogReader uasLogReader, uasLogReader, // UasLogReader uasLogReader,
batch_mode); // boolean batch_mode) batch_mode); // boolean batch_mode)
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) { if (debugLevel > -4) {
System.out.println("Target detection DONE"); System.out.println("Target detection DONE");
} }
} }
}
if (generate_mapped || reuse_video) { // modifies combo_dsn_final ? if (generate_mapped || reuse_video) { // modifies combo_dsn_final ?
int tilesX = master_CLT.getTileProcessor().getTilesX(); int tilesX = master_CLT.getTileProcessor().getTilesX();
......
src/main/java/com/elphel/imagej/tileprocessor/TwoQuadCLT.java
View file @ fadcab9e
...@@ -8647,6 +8647,15 @@ if (debugLevel > -100) return true; // temporarily ! ...@@ -8647,6 +8647,15 @@ if (debugLevel > -100) return true; // temporarily !
cuas_centers = new String [] {quadCLT_main.correctionsParameters.getCuasDir(),""}; 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) { switch (cuas_proc_mode) {
case 0 : case 0 :
String uas_sky_mask_path = quadCLT_main.correctionsParameters.getUasSkyMask(); String uas_sky_mask_path = quadCLT_main.correctionsParameters.getUasSkyMask();
...@@ -8684,6 +8693,7 @@ if (debugLevel > -100) return true; // temporarily ! ...@@ -8684,6 +8693,7 @@ if (debugLevel > -100) return true; // temporarily !
int ref_index = -1; // -1 - last int ref_index = -1; // -1 - last
int [] start_ref_pointers = new int[2]; //{earlist, reference} - reference may be center int [] start_ref_pointers = new int[2]; //{earlist, reference} - reference may be center
boolean first_in_series = true; boolean first_in_series = true;
/*
// Process UAS logs // Process UAS logs
UasLogReader uasLogReader = null; UasLogReader uasLogReader = null;
String uas_log_path = quadCLT_main.correctionsParameters.getUasLogsPath(); String uas_log_path = quadCLT_main.correctionsParameters.getUasLogsPath();
...@@ -8693,6 +8703,7 @@ if (debugLevel > -100) return true; // temporarily ! ...@@ -8693,6 +8703,7 @@ if (debugLevel > -100) return true; // temporarily !
uasLogReader.setCameraATR(quadCLT_main.correctionsParameters.cuasCameraATR); uasLogReader.setCameraATR(quadCLT_main.correctionsParameters.cuasCameraATR);
uasLogReader.setUASHomeNed(quadCLT_main.correctionsParameters.cuasSetHome? quadCLT_main.correctionsParameters.cuasUASHome : null); uasLogReader.setUASHomeNed(quadCLT_main.correctionsParameters.cuasSetHome? quadCLT_main.correctionsParameters.cuasUASHome : null);
} }
*/
if (debugLevel > -4) { if (debugLevel > -4) {
System.out.println("cuas_centers="+((cuas_centers != null)?("[\""+cuas_centers[0]+"\",\""+cuas_centers[1]+"\"]"):"null")); 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 ! ...@@ -8942,6 +8953,7 @@ if (debugLevel > -100) return true; // temporarily !
case 1: case 1:
CuasMultiSeries cuasMultiSeries = new CuasMultiSeries( CuasMultiSeries cuasMultiSeries = new CuasMultiSeries(
clt_parameters, // CLTParameters clt_parameters, clt_parameters, // CLTParameters clt_parameters,
uasLogReader, //UasLogReader uasLogReader,
quadCLT_main, // QuadCLT quadCLT_main, quadCLT_main, // QuadCLT quadCLT_main,
quadCLT_main.correctionsParameters.linkedCenters, quadCLT_main.correctionsParameters.linkedCenters,
quadCLT_main.correctionsParameters.x3dModelVersion); quadCLT_main.correctionsParameters.x3dModelVersion);
......
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