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Copy pathLSF.cpp
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1154 lines (990 loc) · 44 KB
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//
// LSF.cpp
//
//
// Created by Myoung-Jong Noh on 3/30/20.
//
#include "LSF.hpp"
//LSF smoothing
void LSFSmoothing_DEM(const char *savepath, const char* outputpath, const double MPP, const int divide)
{
time_t total_ST = 0, total_ET = 0;
double total_gap;
total_ST = time(0);
char str_DEMfile[1000];
char str_smooth_file[500];
char DEM_header[500];
char DEM_GEOTIFF_filename[500];
char DEM_GEOTIFF_filename_slope[500];
char metafilename[500];
char str_matchfile[1000];
char str_matchfile_tif[1000];
char result_file[500];
if(divide == 0)
{
sprintf(str_DEMfile, "%s/%s_dem.tif", savepath,outputpath);
sprintf(str_smooth_file,"%s/%s_smooth.raw",savepath,outputpath);
sprintf(DEM_header, "%s/%s_smooth.hdr", savepath,outputpath);
sprintf(DEM_GEOTIFF_filename, "%s/%s_dem_smooth.tif", savepath, outputpath);
sprintf(DEM_GEOTIFF_filename_slope, "%s/%s_dem_smooth_slope.tif", savepath, outputpath);
sprintf(metafilename,"%s/%s_meta.txt",savepath,outputpath);
sprintf(str_matchfile,"%s/%s_matchtag.raw",savepath,outputpath);
sprintf(str_matchfile_tif,"%s/%s_matchtag.tif",savepath,outputpath);
sprintf(result_file,"%s/%s_smooth_result.txt",savepath,outputpath);
}
else
{
sprintf(str_DEMfile, "%s/%s_%d_dem.tif", savepath,outputpath,divide);
sprintf(str_smooth_file,"%s/%s_%d_smooth.raw",savepath,outputpath,divide);
sprintf(DEM_header, "%s/%s_%d_smooth.hdr", savepath,outputpath,divide);
sprintf(DEM_GEOTIFF_filename, "%s/%s_%d_dem_smooth.tif", savepath, outputpath,divide);
sprintf(metafilename,"%s/%s_meta.txt",savepath,outputpath);
sprintf(str_matchfile,"%s/%s_%d_matchtag.raw",savepath,outputpath,divide);
sprintf(str_matchfile_tif,"%s/%s_%d_matchtag.tif",savepath,outputpath,divide);
sprintf(result_file,"%s/%s_%d_smooth_result.txt",savepath,outputpath,divide);
}
printf("dem file %s\n",str_DEMfile);
printf("metafilename %s\n",metafilename);
printf("matchfile %s\n",str_matchfile);
printf("smooth DEM %s\n",str_smooth_file);
printf("DEM_header %s\n",DEM_header);
printf("DEM_GEOTIFF %s\n", DEM_GEOTIFF_filename);
printf("result file %s\n",result_file);
FILE *pFile_DEM = fopen(str_DEMfile,"r");
printf("check exist %s %d\n",str_DEMfile,!!pFile_DEM);
if(pFile_DEM)
{
printf("MPP_stereo_angle %f\n",MPP);
double minX, maxY;
double grid_size;
CSize DEM_size;
TransParam param;
param.bHemisphere = 3; //no assigned
DEM_size = GetDEMsize(str_DEMfile,metafilename,¶m,&grid_size,&minX,&maxY);
printf("DEM_size %d\t%d\n",DEM_size.width,DEM_size.height);
float *seeddem = GetDEMValue(str_DEMfile,DEM_size);
printf("Done seeddem\n");
long DEM_length = (long)(DEM_size.height)*(long)(DEM_size.width);
printf("Done matchtag memory allocation %ld\n",DEM_length);
printf("%d\n",DEM_size.width);
printf("%d\n",DEM_size.height);
printf("%f\n",grid_size);
LSFINFO *Grid_info = (LSFINFO*)calloc(sizeof(LSFINFO),DEM_length);
for(long count_index = 0 ; count_index < DEM_length; count_index++)
Grid_info[count_index].lsf_kernel = 2;
float *smooth_DEM = (float*)calloc(sizeof(float),DEM_length);
double max_std = -100000;
int max_std_iter = -1;
int min_std_iter = 100;
double min_std = 100000;
double sigma_avg = 10000;
double sigma_std = 10000;
const int max_iter_count = 5;
int s_iter = 0;
bool check_smooth_iter = true;
while(check_smooth_iter && s_iter < max_iter_count)
{
printf("start LSF\n");
if((sigma_avg < 0.5 && sigma_std < 1) || s_iter == max_iter_count-1)
{
if(s_iter > 2)
{
printf("final local suface fitting\n");
check_smooth_iter = false;
}
}
DEM_STDKenel_LSF(Grid_info, &sigma_avg,&sigma_std, seeddem,smooth_DEM, grid_size, s_iter, DEM_size,MPP);
if(sigma_avg > max_std)
{
max_std = sigma_avg;
max_std_iter = s_iter;
}
if(sigma_avg < min_std)
{
min_std = sigma_avg;
min_std_iter = s_iter;
}
printf("End LSF %d\tsigma avg std %f\t%f\n",s_iter,sigma_avg,sigma_std);
memcpy(seeddem,smooth_DEM,sizeof(float)*DEM_length);
s_iter++;
}
free(smooth_DEM);
free(Grid_info);
WriteGeotiff(DEM_GEOTIFF_filename, seeddem, DEM_size.width, DEM_size.height, grid_size, minX, maxY, param.projection, param.utm_zone, param.bHemisphere, 4);
float *slope = (float*)malloc(sizeof(float)*DEM_size.width*DEM_size.height);
MakeSlopeImage(DEM_size,seeddem,slope,grid_size);
WriteGeotiff(DEM_GEOTIFF_filename_slope, slope, DEM_size.width, DEM_size.height, grid_size, minX, maxY, param.projection, param.utm_zone, param.bHemisphere, 4);
free(slope);
FILE* presult = fopen(result_file,"w");
fprintf(presult,"%d\t%f\t%d\t%f\n",max_std_iter,max_std,min_std_iter,min_std);
fclose(presult);
printf("%d\t%f\t%d\t%f\n",max_std_iter,max_std,min_std_iter,min_std);
free(seeddem);
fclose(pFile_DEM);
}
total_ET = time(0);
total_gap = difftime(total_ET,total_ST);
printf("LSF processing time[min] = %5.2f\n",total_gap/60.0);
}
CSize GetDEMsize(char *GIMP_path, char* metafilename,TransParam* param, double *grid_size, double* _minX, double* _maxY)
{
CSize seeddem_size;
int check_ftype = 1; // 1 = tif, 2 = raw
char *ext = strrchr(GIMP_path,'.');
if (!strcmp("tif",ext+1) || !strcmp("TIF",ext+1))
check_ftype = 1;
else if(!strcmp("raw",ext+1))
check_ftype = 2;
FILE *pFile_meta = fopen(metafilename,"r");
printf("meta file = %s\n",metafilename);
printf("DEM file = %s\n",GIMP_path);
bool check_open_header = false;
double minX, maxX, minY,maxY;
if(check_ftype == 1)
{
char *tmp_str = remove_ext(GIMP_path);
char *hdr_path = (char*)calloc(strlen(tmp_str) + 1 + 4, 1); //null term + extlen
sprintf(hdr_path,"%s.tfw",tmp_str);
FILE *pfile = fopen(hdr_path,"r");
if(pfile)
{
char dir[500];
printf("tfw path %s \n",hdr_path);
TFW_reader_LSFDEM(hdr_path, &minX, &maxY, grid_size, ¶m->utm_zone, dir);
if(param->projection == 2)
{
sprintf(param->direction,"%s",dir);
printf("projection %d\t%d\t%s\n",param->projection,param->utm_zone,param->direction);
}
GetImageSize(GIMP_path,&seeddem_size);
fclose(pfile);
check_open_header = true;
}
else
{
printf("geotiff info %s\n",GIMP_path);
seeddem_size = ReadGeotiff_info(GIMP_path, &minX, &maxY, grid_size);
SetTranParam_fromGeoTiff(param,GIMP_path);
check_open_header = true;
}
free(tmp_str);
free(hdr_path);
}
else if(check_ftype == 2)
{
char *tmp_str = remove_ext(GIMP_path);
char *hdr_path = (char*)calloc(strlen(tmp_str) + 1 + 4, 1); //null term + extlen
sprintf(hdr_path,"%s.hdr",tmp_str);
printf("hdr path %s\n",hdr_path);
FILE *phdr = fopen(hdr_path,"r");
if(phdr)
{
seeddem_size = Envihdr_reader_seedDEM(*param,hdr_path, &minX, &maxY, grid_size);
fclose(phdr);
check_open_header = true;
}
free(hdr_path);
free(tmp_str);
}
if(pFile_meta && !check_open_header)
{
char bufstr[500];
printf("open Boundary\n");
while(!feof(pFile_meta))
{
fgets(bufstr,500,pFile_meta);
if (strstr(bufstr,"Output Resolution=")!=NULL)
{
printf("%s\n",bufstr);
sscanf(bufstr,"Output Resolution=%lf\n",grid_size);
}
else if (strstr(bufstr,"Output Projection=")!=NULL)
{
printf("%s\n",bufstr);
char projection[500];
sscanf(bufstr,"Output Projection='+proj=%s",projection);
if(!strcmp(projection,"stere"))
{
double lat;
char t_str1[500];
param->projection = 1;
sscanf(bufstr,"Output Projection='+proj=stere +lat_0=%lf +lat_ts=%s",&lat,t_str1);
if(lat >= 0)
param->bHemisphere = true;
else
param->bHemisphere = false;
printf("projection %d\tlat %f\themisphere %d\n",param->projection,lat,param->bHemisphere);
}
else
{
double lat;
char t_str1[500];
char hh[100];
char com[100] = "M";
int t_int;
param->projection = 2;
sscanf(bufstr,"Output Projection='+proj=utm +zone=%d +north=%s +datum=%s",&t_int,hh,t_str1);
param->utm_zone = t_int;
if(strcmp(hh,com) > 0)
param->bHemisphere = true;
else
param->bHemisphere = false;
printf("projection %d\themisphere %d\tzone %d\n",param->projection,param->bHemisphere,param->utm_zone);
}
}
else if (strstr(bufstr,"Output dimensions=")!=NULL)
{
printf("%s\n",bufstr);
sscanf(bufstr,"Output dimensions=%d\t%d\n",&seeddem_size.width,&seeddem_size.height);
}
else if (strstr(bufstr,"Upper left coordinates=")!=NULL)
{
printf("%s\n",bufstr);
sscanf(bufstr,"Upper left coordinates=%lf\t%lf\n",&minX,&maxY);
}
}
check_open_header = true;
fclose(pFile_meta);
}
if(!check_open_header)
{
printf("No information about input tif!!\n");
exit(1);
}
maxX = minX + (*grid_size)*((double)seeddem_size.width);
minY = maxY - (*grid_size)*((double)seeddem_size.height);
printf("%d\n",seeddem_size.width);
printf("%d\n",seeddem_size.height);
printf("%f\n",minX);
printf("%f\n",minY);
printf("%f\n",maxX);
printf("%f\n",maxY);
printf("%f\n",*grid_size);
*_minX = minX;
*_maxY = maxY;
return seeddem_size;
}
void DEM_STDKenel_LSF(LSFINFO *Grid_info, double* sigma_average,double* sigma_std, float *seeddem, float *smooth_DEM, const double grid_size, const int smooth_iteration,const CSize seeddem_size, const double MPP_stereo_angle)
{
long total_selected_points = 0;
double sigma_sum = 0;
double sigma2_sum = 0;
long data_length = (long)seeddem_size.width*(long)seeddem_size.height;
double max_sigma = 20;
if(MPP_stereo_angle > 10)
max_sigma = MPP_stereo_angle*5;
#pragma omp parallel for schedule(guided) reduction(+:sigma_sum, total_selected_points, sigma2_sum)
for(long iter_count = 0 ; iter_count < data_length ; iter_count++)
{
long pts_row = floor(iter_count/seeddem_size.width);
long pts_col = iter_count % seeddem_size.width;
double fitted_Z = seeddem[iter_count];
double sigma;
if(pts_col >= 0 && pts_col < seeddem_size.width && pts_row >= 0 && pts_row < seeddem_size.height)
{
if(seeddem[iter_count] > -50 )
{
long selected_count = 0;
sigma = LocalSurfaceFitting_DEM(Grid_info, seeddem, selected_count, &fitted_Z, MPP_stereo_angle, smooth_iteration, seeddem_size.height, seeddem_size.width, grid_size, pts_col, pts_row);
if(sigma < max_sigma && sigma > 0 && selected_count > 6)
{
smooth_DEM[iter_count] = fitted_Z;
total_selected_points++;
sigma_sum += sigma;
sigma2_sum += (sigma*sigma);
}
else
smooth_DEM[iter_count] = seeddem[iter_count];
}
else
smooth_DEM[iter_count] = seeddem[iter_count];
}
}
printf("sigma %f\t%ld\n",sigma_sum,total_selected_points);
*sigma_average = sigma_sum/(double)total_selected_points;
*sigma_std = sqrt( sigma2_sum/(double)total_selected_points - (*sigma_average)*(*sigma_average) );
printf("avg sigma %f\tstd sigma %f\ttotal_pts %ld\n",*sigma_average,*sigma_std,total_selected_points);
}
double LocalSurfaceFitting_DEM(LSFINFO *Grid_info, float *input, long &numpts, double *fitted_Z, const double MPP, const int smooth_iter, const long row_size, const long col_size, const double grid, const long X, const long Y)
{
double sigma = 999999;
long row,col;
long final_interval = 5;
const long data_length = row_size*col_size;
const long t_index = Y*col_size + X;
const double MPP_th = 5;
long int mask_interval = 1;
long int add_interval = 0;
if(MPP > MPP_th)
add_interval = 2;
else if(MPP > MPP_th*2)
add_interval = 3;
if(smooth_iter > 0)
{
long pre_final_interval = Grid_info[t_index].lsf_kernel;
if(add_interval > 0)
{
mask_interval = floor(pre_final_interval/5.0);
if(mask_interval <= 0)
mask_interval = 1;
}
else
{
if(grid < 1)
mask_interval = 2;
}
final_interval = (long int)Grid_info[t_index].lsf_kernel;
}
else
{
int max_pts = 9;
if(grid >= 8)
max_pts = 7;
long count1,count2,count3,count4;
long row_interval = 15;
if(MPP > 20)
row_interval = 30;
long interval = 2;
bool check_stop = false;
while (!check_stop)
{
numpts = 0;
count1 = 0;
count2 = 0;
count3 = 0;
count4 = 0;
for(row = -interval;row <= interval;row++)
{
for(col = -interval;col <= interval ; col++)
{
long int grid_pos = (long int)((Y+row)*(long int)col_size + (X+col));
if(grid_pos >= 0 && grid_pos < data_length && Y+row >= 0 && Y+row < row_size && X+col >= 0 && X+col < col_size)
{
if(input[grid_pos] > -100)
{
if(row >= 0 && row <= interval && col >= 0 && col <= interval)
{
count1++;
numpts++;
}
else if (row >= 0 && row <= interval && col <= 0 && col >= -interval)
{
count2++;
numpts++;
}
else if (row < 0 && row >= -interval && col < 0 && col >= -interval)
{
count3++;
numpts++;
}
else if (row < 0 && row >= -interval && col > 0 && col <= interval)
{
count4++;
numpts++;
}
}
}
}
}
if (interval >= row_interval || (numpts > max_pts && count1 > 2 && count2 > 2 && count3 > 2 && count4 > 2))
{
check_stop = true;
final_interval = interval;
Grid_info[t_index].lsf_kernel = (unsigned char)final_interval;
}
else
interval = interval + 1;
}
}
double maxX_ptslists = -10000000;
double maxY_ptslists = -10000000;
double minX_ptslists = 10000000;
double minY_ptslists = 10000000;
double distX_ptslists = 0;
double distY_ptslists = 0;
const double Scale_ptslists = 1000;
vector<D3DPOINT> XY_save;
XY_save.clear();
long count = 0;
for(row = -final_interval;row <= final_interval;row+= mask_interval)
{
for(col = -final_interval;col <= final_interval ; col+= mask_interval)
{
long int grid_pos = (long int)((Y+row)*(long int)col_size + (X+col));
long int grid_pos_col = (long int)((X+col));
long int grid_pos_row = (long int)((Y+row));
if(grid_pos >= 0 && grid_pos < data_length &&
grid_pos_row >= 0 && grid_pos_row < row_size && grid_pos_col >= 0 && grid_pos_col < col_size)
{
if(input[grid_pos] > - 100)
{
D3DPOINT temp;
temp.m_X = grid_pos_col*grid;
temp.m_Y = grid_pos_row*grid;
temp.m_Z = input[grid_pos];
temp.flag = true;
XY_save.push_back(temp);
count++;
if(maxX_ptslists < grid_pos_col*grid)
maxX_ptslists = grid_pos_col*grid;
if(maxY_ptslists < grid_pos_row*grid)
maxY_ptslists = grid_pos_row*grid;
if(minX_ptslists > grid_pos_col*grid)
minX_ptslists = grid_pos_col*grid;
if(minY_ptslists > grid_pos_row*grid)
minY_ptslists = grid_pos_row*grid;
}
}
}
}
distX_ptslists = maxX_ptslists - minX_ptslists;
distY_ptslists = maxY_ptslists - minY_ptslists;
double scale_factor_X = 1.0/distX_ptslists*Scale_ptslists;
double scale_factor_Y = 1.0/distY_ptslists*Scale_ptslists;
double X_scaled = ((double)X*grid - minX_ptslists)*scale_factor_X;
double Y_scaled = ((double)Y*grid - minY_ptslists)*scale_factor_Y;
double X_plane = ((double)X*grid - minX_ptslists);
double Y_plane = ((double)Y*grid - minY_ptslists);
numpts = 0;
if(count > 15)
{
GMA_double *A_matrix = GMA_double_create(XY_save.size(), 3);
GMA_double *L_matrix = GMA_double_create(XY_save.size(), 1);
GMA_double *AT_matrix = GMA_double_create(3,XY_save.size());
GMA_double *ATA_matrix = GMA_double_create(3,3);
GMA_double *ATAI_matrix = GMA_double_create(3,3);
GMA_double *ATL_matrix = GMA_double_create(3,1);
GMA_double *X_matrix = GMA_double_create(3,1);
GMA_double *AX_matrix = GMA_double_create(XY_save.size(),1);
GMA_double *V_matrix = GMA_double_create(XY_save.size(),1);
//plane fitting
vector<D3DPOINT>::iterator it;
count = 0;
for(it = XY_save.begin() ; it != XY_save.end() ; ++it)
{
A_matrix->val[count][0] = it->m_X-minX_ptslists;
A_matrix->val[count][1] = it->m_Y-minY_ptslists;
A_matrix->val[count][2] = 1.0;
L_matrix->val[count][0] = it->m_Z;
count++;
}
GMA_double_Tran(A_matrix,AT_matrix);
GMA_double_mul(AT_matrix,A_matrix,ATA_matrix);
GMA_double_inv(ATA_matrix,ATAI_matrix);
GMA_double_mul(AT_matrix,L_matrix,ATL_matrix);
GMA_double_mul(ATAI_matrix,ATL_matrix,X_matrix);
GMA_double_mul(A_matrix,X_matrix,AX_matrix);
GMA_double_sub(AX_matrix,L_matrix,V_matrix);
double sum_V = 0;
for(row = 0; row < XY_save.size() ; row++)
sum_V += V_matrix->val[row][0];
if(!std::isnan(sum_V) && !std::isnan(X_matrix->val[0][0]) && !std::isnan(X_matrix->val[1][0]) && !std::isnan(X_matrix->val[2][0]))
{
double plane_Z = X_plane*X_matrix->val[0][0] + Y_plane*X_matrix->val[1][0] + X_matrix->val[2][0];
if(plane_Z > -100 && plane_Z < 15000)
{
D3DPOINT N(X_matrix->val[0][0], X_matrix->val[1][0], 1.0 , 0);
double norm = SQRT(N);
double angle = acos(fabs(N.m_Z)/norm)*RadToDeg;
SetAngle(angle);
long hist[20] = {0};
for(row = 0; row < XY_save.size() ; row++)
{
int hist_index = (int)(std::abs(V_matrix->val[row][0]));
if(hist_index > 19)
hist_index = 19;
if(hist_index >= 0 && hist_index <= 19)
hist[hist_index]++;
}
double hist_th = 0.8;
if(grid >= 8)
hist_th = 0.9;
else
hist_th = 0.8;
int V_th = 20;
int hist_sum = 0;
double hist_rate;
bool check_V = true;
row = 0;
while(check_V && row < 20)
{
hist_sum += hist[row];
hist_rate = (double)hist_sum/(double)XY_save.size();
if(hist_rate > hist_th)
{
V_th = row;
check_V = false;
}
row++;
}
count = 0;
vector<D3DPOINT> XY_selected;
for(it = XY_save.begin() ; it != XY_save.end() ; ++it)
{
if(std::abs(V_matrix->val[count][0]) < V_th+1)
{
D3DPOINT temp((it->m_X-minX_ptslists)*scale_factor_X, (it->m_Y-minY_ptslists)*scale_factor_Y, it->m_Z, it->flag);
XY_selected.push_back(temp);
}
count++;
}
GMA_double_destroy(A_matrix);
GMA_double_destroy(L_matrix);
GMA_double_destroy(AT_matrix);
GMA_double_destroy(ATA_matrix);
GMA_double_destroy(ATAI_matrix);
GMA_double_destroy(ATL_matrix);
GMA_double_destroy(X_matrix);
GMA_double_destroy(AX_matrix);
GMA_double_destroy(V_matrix);
long selected_count = XY_selected.size();
if(selected_count > 15)
{
A_matrix = GMA_double_create(selected_count, 6);
L_matrix = GMA_double_create(selected_count, 1);
AT_matrix = GMA_double_create(6,selected_count);
ATA_matrix = GMA_double_create(6,6);
ATAI_matrix = GMA_double_create(6,6);
ATL_matrix = GMA_double_create(6,1);
X_matrix = GMA_double_create(6,1);
AX_matrix = GMA_double_create(selected_count,1);
V_matrix = GMA_double_create(selected_count,1);
count = 0;
for(it = XY_selected.begin() ; it != XY_selected.end() ; ++it)
{
A_matrix->val[count][0] = it->m_X*it->m_X;
A_matrix->val[count][1] = it->m_X*it->m_Y;
A_matrix->val[count][2] = it->m_Y*it->m_Y;
A_matrix->val[count][3] = it->m_X;
A_matrix->val[count][4] = it->m_Y;
A_matrix->val[count][5] = 1.0;
L_matrix->val[count][0] = it->m_Z;
count++;
}
GMA_double_Tran(A_matrix,AT_matrix);
GMA_double_mul(AT_matrix,A_matrix,ATA_matrix);
GMA_double_inv(ATA_matrix,ATAI_matrix);
GMA_double_mul(AT_matrix,L_matrix,ATL_matrix);
GMA_double_mul(ATAI_matrix,ATL_matrix,X_matrix);
GMA_double_mul(A_matrix,X_matrix,AX_matrix);
GMA_double_sub(AX_matrix,L_matrix,V_matrix);
double sum = 0;
count = 0;
vector<D3DPOINT>::iterator it_sel;
for(it_sel = XY_selected.begin() ; it_sel != XY_selected.end() ; ++it_sel)
{
sum += V_matrix->val[count][0] * V_matrix->val[count][0];
double temp_fitted_Z = X_matrix->val[0][0]*it_sel->m_X*it_sel->m_X + X_matrix->val[1][0]*it_sel->m_X*it_sel->m_Y +
X_matrix->val[2][0]*it_sel->m_Y*it_sel->m_Y + X_matrix->val[3][0]*it_sel->m_X + X_matrix->val[4][0]*it_sel->m_Y + X_matrix->val[5][0];
count++;
}
const double p = 1.5;
if(!std::isnan(sum) && sum > 0 )
{
sigma = sqrt(sum/(double)selected_count);
double A = X_matrix->val[0][0];
double B = X_matrix->val[2][0];
double C = X_matrix->val[3][0];
double D = X_matrix->val[4][0];
double E = X_matrix->val[1][0];
double det = 4*A*B - E*E;
double det1 = D*E - 2*C*B;
double det2 = 2*A*D - C*E;
bool check_clinder = false;
if(det == 0 && det1 == det2)
check_clinder = true;
if(!check_clinder)
{
*fitted_Z = X_matrix->val[0][0]*X_scaled*X_scaled + X_matrix->val[1][0]*X_scaled*Y_scaled + X_matrix->val[2][0]*Y_scaled*Y_scaled +X_matrix->val[3][0]*X_scaled + X_matrix->val[4][0]*Y_scaled + X_matrix->val[5][0];
}
else
{
double sum_weight = 0;
double sum_weigtdist = 0;
for(it_sel = XY_selected.begin() ; it_sel != XY_selected.end() ; ++it_sel)
{
double dist = sqrt((it_sel->m_X - X_scaled)*(it_sel->m_X - X_scaled) + (it_sel->m_Y - Y_scaled)*(it_sel->m_Y - Y_scaled));
sum_weight += (1.0/pow(dist,p));
sum_weigtdist += (it_sel->m_Z/pow(dist,p));
}
if(sum_weight > 0)
{
*fitted_Z = sum_weigtdist/sum_weight;
sigma = 1;
}
else
sigma = 999999;
}
}
else
{
double sum_weight = 0;
double sum_weigtdist = 0;
for(it_sel = XY_selected.begin() ; it_sel != XY_selected.end() ; ++it_sel)
{
double dist = sqrt((it_sel->m_X - X_scaled)*(it_sel->m_X - X_scaled) + (it_sel->m_Y - Y_scaled)*(it_sel->m_Y - Y_scaled));
sum_weight += (1.0/pow(dist,p));
sum_weigtdist += (it_sel->m_Z/pow(dist,p));
}
if(sum_weight > 0)
{
*fitted_Z = sum_weigtdist/sum_weight;
sigma = 1;
}
else
sigma = 999999;
}
if(grid > 2)
{
if(angle < 10)
Grid_info[t_index].lsf_kernel = 4;
else if(angle < 20)
Grid_info[t_index].lsf_kernel = 3;
else if(angle < 30)
Grid_info[t_index].lsf_kernel = 2;
else if(Grid_info[t_index].lsf_kernel < 2)
Grid_info[t_index].lsf_kernel = 2;
}
else if(grid == 2)
{
if(angle < 10)
Grid_info[t_index].lsf_kernel = (unsigned char)(5 + add_interval);
else if(angle < 20)
Grid_info[t_index].lsf_kernel = (unsigned char)(4 + add_interval);
else if(angle < 30)
Grid_info[t_index].lsf_kernel = (unsigned char)(3 + add_interval);
else if(Grid_info[t_index].lsf_kernel < 2 + add_interval)
Grid_info[t_index].lsf_kernel = (unsigned char)(2 + add_interval);
}
else if(grid == 1)
{
if(angle < 10)
Grid_info[t_index].lsf_kernel = (unsigned char)(7 + add_interval*2);
else if(angle < 20)
Grid_info[t_index].lsf_kernel = (unsigned char)(6 + add_interval*2);
else if(angle < 30)
Grid_info[t_index].lsf_kernel = (unsigned char)(5 + add_interval*2);
else if(Grid_info[t_index].lsf_kernel < 4 + add_interval*2)
Grid_info[t_index].lsf_kernel = (unsigned char)(4 + add_interval*2);
}
else
{
if(angle < 10)
Grid_info[t_index].lsf_kernel = (unsigned char)(9 + add_interval*3);
else if(angle < 20)
Grid_info[t_index].lsf_kernel = (unsigned char)(8 + add_interval*3);
else if(angle < 30)
Grid_info[t_index].lsf_kernel = (unsigned char)(7 + add_interval*3);
else if(Grid_info[t_index].lsf_kernel < 6 + add_interval*3)
Grid_info[t_index].lsf_kernel = (unsigned char)(6 + add_interval*3);
}
GMA_double_destroy(A_matrix);
GMA_double_destroy(L_matrix);
GMA_double_destroy(AT_matrix);
GMA_double_destroy(ATA_matrix);
GMA_double_destroy(ATAI_matrix);
GMA_double_destroy(ATL_matrix);
GMA_double_destroy(X_matrix);
GMA_double_destroy(AX_matrix);
GMA_double_destroy(V_matrix);
numpts = selected_count;
}
else
{
sigma = 999999;
numpts = 0;
}
XY_selected.clear();
vector<D3DPOINT>().swap(XY_selected);
}
else
{
GMA_double_destroy(A_matrix);
GMA_double_destroy(L_matrix);
GMA_double_destroy(AT_matrix);
GMA_double_destroy(ATA_matrix);
GMA_double_destroy(ATAI_matrix);
GMA_double_destroy(ATL_matrix);
GMA_double_destroy(X_matrix);
GMA_double_destroy(AX_matrix);
GMA_double_destroy(V_matrix);
sigma = 999999;
numpts = 0;
}
}
}
else
{
sigma = 999999;
}
XY_save.clear();
vector<D3DPOINT>().swap(XY_save);
return sigma;
}
double LocalSurfaceFitting_Kernel(vector<double> K_height, vector<int> X_array, vector<int> Y_array, long &numpts, double *fitted_Z, const double MPP, const double grid, const long X, const long Y)
{
double sigma = 999999;
double maxX_ptslists = -10000000;
double maxY_ptslists = -10000000;
double minX_ptslists = 10000000;
double minY_ptslists = 10000000;
double distX_ptslists = 0;
double distY_ptslists = 0;
const double Scale_ptslists = 1000;
vector<D3DPOINT> XY_save;
XY_save.clear();
long count = 0;
for(count = 0 ; count < K_height.size() ; count ++)
{
D3DPOINT temp;
temp.m_X = X_array[count]*grid;
temp.m_Y = Y_array[count]*grid;
temp.m_Z = K_height[count];
temp.flag = true;
XY_save.push_back(temp);
if(maxX_ptslists < temp.m_X)
maxX_ptslists = temp.m_X;
if(maxY_ptslists < temp.m_Y)
maxY_ptslists = temp.m_Y;
if(minX_ptslists > temp.m_X)
minX_ptslists = temp.m_X;
if(minY_ptslists > temp.m_Y)
minY_ptslists = temp.m_Y;
}
distX_ptslists = maxX_ptslists - minX_ptslists;
distY_ptslists = maxY_ptslists - minY_ptslists;
double scale_factor_X = 1.0/distX_ptslists*Scale_ptslists;
double scale_factor_Y = 1.0/distY_ptslists*Scale_ptslists;
double X_scaled = ((double)X*grid - minX_ptslists)*scale_factor_X;
double Y_scaled = ((double)Y*grid - minY_ptslists)*scale_factor_Y;
double X_plane = ((double)X*grid - minX_ptslists);
double Y_plane = ((double)Y*grid - minY_ptslists);
numpts = 0;
//if(count > 15)
{
GMA_double *A_matrix = GMA_double_create(XY_save.size(), 3);
GMA_double *L_matrix = GMA_double_create(XY_save.size(), 1);
GMA_double *AT_matrix = GMA_double_create(3,XY_save.size());
GMA_double *ATA_matrix = GMA_double_create(3,3);
GMA_double *ATAI_matrix = GMA_double_create(3,3);
GMA_double *ATL_matrix = GMA_double_create(3,1);
GMA_double *X_matrix = GMA_double_create(3,1);
GMA_double *AX_matrix = GMA_double_create(XY_save.size(),1);
GMA_double *V_matrix = GMA_double_create(XY_save.size(),1);
//plane fitting
vector<D3DPOINT>::iterator it;
count = 0;
for(it = XY_save.begin() ; it != XY_save.end() ; ++it)
{
A_matrix->val[count][0] = it->m_X-minX_ptslists;
A_matrix->val[count][1] = it->m_Y-minY_ptslists;
A_matrix->val[count][2] = 1.0;
L_matrix->val[count][0] = it->m_Z;
count++;
}
GMA_double_Tran(A_matrix,AT_matrix);
GMA_double_mul(AT_matrix,A_matrix,ATA_matrix);
GMA_double_inv(ATA_matrix,ATAI_matrix);
GMA_double_mul(AT_matrix,L_matrix,ATL_matrix);
GMA_double_mul(ATAI_matrix,ATL_matrix,X_matrix);
GMA_double_mul(A_matrix,X_matrix,AX_matrix);
GMA_double_sub(AX_matrix,L_matrix,V_matrix);
double sum_V = 0;
for(int row = 0; row < XY_save.size() ; row++)
sum_V += V_matrix->val[row][0];
if(!std::isnan(sum_V) && !std::isnan(X_matrix->val[0][0]) && !std::isnan(X_matrix->val[1][0]) && !std::isnan(X_matrix->val[2][0]))
{
double plane_Z = X_plane*X_matrix->val[0][0] + Y_plane*X_matrix->val[1][0] + X_matrix->val[2][0];
if(plane_Z > -100 && plane_Z < 15000)
{
D3DPOINT N(X_matrix->val[0][0], X_matrix->val[1][0], 1.0 , 0);
double norm = SQRT(N);
double angle = acos(fabs(N.m_Z)/norm)*RadToDeg;
SetAngle(angle);
int max_H = 25;
long hist[25] = {0};
for(int row = 0; row < XY_save.size() ; row++)
{
int hist_index = (int)(std::abs(V_matrix->val[row][0]));
if(hist_index > max_H-1)
hist_index = max_H-1;
if(hist_index >= 0 && hist_index <= max_H-1)
hist[hist_index]++;
}
double hist_th = 1.0;
if(grid >= 8)
hist_th = 0.9;
else
hist_th = 0.8;
int V_th = max_H;
int hist_sum = 0;
double hist_rate;
bool check_V = true;
int row = 0;
while(check_V && row < max_H)
{
hist_sum += hist[row];
hist_rate = (double)hist_sum/(double)XY_save.size();
if(hist_rate > hist_th)
{
V_th = row;
check_V = false;
}
row++;
}
count = 0;
vector<D3DPOINT> XY_selected;
for(it = XY_save.begin() ; it != XY_save.end() ; ++it)
{
if(std::abs(V_matrix->val[count][0]) < V_th+1)
{
D3DPOINT temp((it->m_X-minX_ptslists)*scale_factor_X, (it->m_Y-minY_ptslists)*scale_factor_Y, it->m_Z, it->flag);
XY_selected.push_back(temp);
}
count++;
}
GMA_double_destroy(A_matrix);
GMA_double_destroy(L_matrix);
GMA_double_destroy(AT_matrix);
GMA_double_destroy(ATA_matrix);
GMA_double_destroy(ATAI_matrix);
GMA_double_destroy(ATL_matrix);
GMA_double_destroy(X_matrix);
GMA_double_destroy(AX_matrix);
GMA_double_destroy(V_matrix);
long selected_count = XY_selected.size();
if(selected_count > 10)
{
A_matrix = GMA_double_create(selected_count, 6);