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3133 lines (2571 loc) · 159 KB
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//
// SDM.cpp
//
//
// Created by Myoung-Jong Noh on 3/30/20.
//
#include "SDM.hpp"
#include "readtiff.hpp"
const char setsm_version[] = "5.0.0";
//SDM ortho
bool SDM_ortho(char* _filename, ARGINFO args, double** Coreg_param)
{
ProInfo proinfo;
if(OpenProject(_filename,&proinfo,args))
{
bool check_cal = false;
char check_file[500];
sprintf(check_file, "%s/%s_dmag.tif", proinfo.save_filepath, proinfo.Outputpath_name);
FILE *pcheckFile = fopen(check_file,"r");
if(!pcheckFile)
check_cal = true;
if(!args.check_sdm_file)
check_cal = true;
proinfo.pre_SDM = args.check_sdm_seed;
if(!pcheckFile && proinfo.pre_SDM)
{
printf("No sdm exists!!\n");
exit(1);
}
if(check_cal)
{
if(Maketmpfolders(&proinfo))
{
TransParam param;
param = args.param;
printf("param projection %d\t%d\n",param.projection, args.projection);
//exit(1);
SetTranParam_fromGeoTiff(¶m,proinfo.Imagefilename[0]);
double Rimageparam[2] = {0.0};
Rimageparam[0] = Coreg_param[1][0];
Rimageparam[1] = Coreg_param[1][1];
proinfo.SDM_SS = args.SDM_SS;
proinfo.SDM_days = args.SDM_days;
proinfo.SDM_AS = args.SDM_AS;
time_t current_time;
char* c_time_string;
current_time = time(NULL);
c_time_string = ctime(¤t_time);
char metafilename[500];
sprintf(metafilename, "%s/%s_meta.txt", proinfo.save_filepath, proinfo.Outputpath_name);
FILE *pMetafile = fopen(metafilename,"w");
fprintf(pMetafile,"SETSM Version=%s\n",setsm_version);
char temp_filepath[500];
double Image1_gsd, Image2_gsd;
ImageGSD GSD_image1, GSD_image2;
double image1_minX, image1_maxY, image2_minX, image2_maxY, image1_grid, image2_grid;
CSize Limagesize = ReadGeotiff_info(proinfo.Imagefilename[0], &image1_minX, &image1_maxY, &image1_grid);
CSize Rimagesize = ReadGeotiff_info(proinfo.Imagefilename[1], &image2_minX, &image2_maxY, &image2_grid);
GSD_image1.row_GSD = image1_grid;
GSD_image1.col_GSD = image1_grid;
GSD_image1.pro_GSD = image1_grid;
GSD_image2.row_GSD = image2_grid;
GSD_image2.col_GSD = image2_grid;
GSD_image2.pro_GSD = image2_grid;
printf("Limagesize %d\t%d\t Rimagesize %d\t%d\n",Limagesize.width,Limagesize.height,Rimagesize.width,Rimagesize.height);
double Boundary[4], LBoundary[4], RBoundary[4];
LBoundary[0] = image1_minX;
LBoundary[1] = image1_maxY - Limagesize.height*image1_grid;
LBoundary[2] = image1_minX + Limagesize.width*image1_grid;
LBoundary[3] = image1_maxY;
RBoundary[0] = image2_minX;
RBoundary[1] = image2_maxY - Rimagesize.height*image2_grid;
RBoundary[2] = image2_minX + Rimagesize.width*image2_grid;
RBoundary[3] = image2_maxY;
for(int i = 0 ; i < 4 ; i++)
{
proinfo.LBoundary[i] = LBoundary[i];
proinfo.RBoundary[i] = RBoundary[i];
}
if(args.check_boundary)
{
Boundary[0] = args.Min_X;
Boundary[1] = args.Min_Y;
Boundary[2] = args.Max_X;
Boundary[3] = args.Max_Y;
printf("boundary = %f\t%f\t%f\t%f\n",Boundary[0],Boundary[1],Boundary[2],Boundary[3]);
}
else
{
for(int i=0;i<4;i++)
{
if(i<2)
Boundary[i] = ceil((max(LBoundary[i], RBoundary[i]) ));
else
Boundary[i] = floor((min(LBoundary[i], RBoundary[i]) ));
}
}
printf("boundary = %f\t%f\t%f\t%f\n",Boundary[0],Boundary[1],Boundary[2],Boundary[3]);
proinfo.resolution = image1_grid;
printf("image resolution %f\t%f\n",proinfo.resolution,proinfo.DEM_resolution);
UI2DPOINT iter_row, iter_col,tile_count;
int tile_size;
if(args.check_tilesize)
tile_size = args.tilesize;
else
tile_size = 10000;
printf("SDM tilesize %d\n",tile_size);
//subBoundary setup
int Max_SDM_size = tile_size;
int lengthOfX = Boundary[2] - Boundary[0];
int lengthOfY = Boundary[3] - Boundary[1];
CSize SDM_size(lengthOfX/proinfo.DEM_resolution,lengthOfY/proinfo.DEM_resolution);
double buffer_area = 0;
double subX = lengthOfX;
double subY = lengthOfY;
printf("SDM_size %d\t%d\n",SDM_size.width,SDM_size.height);
if(SDM_size.width > Max_SDM_size/proinfo.DEM_resolution || SDM_size.height > Max_SDM_size/proinfo.DEM_resolution)
{
int division_X = (int) (ceil(lengthOfX / (double)(Max_SDM_size)));
int division_Y = (int) (ceil(lengthOfY / (double)(Max_SDM_size)));
subX = floor((ceil(ceil(lengthOfX / division_X) / proinfo.DEM_resolution) * proinfo.DEM_resolution) / 2) * 2;
subY = floor((ceil(ceil(lengthOfY / division_Y) / proinfo.DEM_resolution) * proinfo.DEM_resolution) / 2) * 2;
printf("dx = %d\tdy = %d\t%f\t%f\n", division_X, division_Y, subX, subY);
iter_row.m_X = 1;
iter_row.m_Y = division_Y+1;
iter_col.m_X = 1;
iter_col.m_Y = division_X+1;
if(iter_row.m_X == iter_row.m_Y)
iter_row.m_Y += 1;
if(iter_col.m_X == iter_col.m_Y)
iter_col.m_Y += 1;
buffer_area = (double)(Max_SDM_size)*0.05;
}
else
{
iter_row.m_X = 1;
iter_row.m_Y = 2;
iter_col.m_X = 1;
iter_col.m_Y = 2;
}
if (args.check_tiles_SR)
iter_row.m_X = args.start_row;
if (args.check_tiles_ER)
iter_row.m_Y = args.end_row;
if (args.check_tiles_SC)
iter_col.m_X = args.start_col;
if (args.check_tiles_EC)
iter_col.m_Y = args.end_col;
tile_count.m_X = iter_col.m_Y - iter_col.m_X;
tile_count.m_Y = iter_row.m_Y - iter_row.m_X;
int end_level = floor(log10(proinfo.DEM_resolution/(proinfo.resolution*15))/log10(2));
if(end_level < 0)
end_level = 0;
if(end_level > 4)
end_level = 4;
double th_grid = proinfo.resolution*pwrtwo(end_level);
proinfo.end_level = end_level;
proinfo.pyramid_level = args.pyramid_level;
proinfo.number_of_images = 2;
printf("pyramid level %d\tSDM_ss %d\tend_level = %d\t%f\n",proinfo.pyramid_level,proinfo.SDM_SS,end_level,th_grid);
int sdm_kernal_size = floor( (double)(proinfo.SDM_AS * proinfo.SDM_days) / (proinfo.resolution*pwrtwo(proinfo.pyramid_level)));
printf("sdm_kernel size %d\t%f\t%f\t%f\t%d\n",sdm_kernal_size,proinfo.SDM_AS,proinfo.SDM_days,proinfo.resolution,proinfo.pyramid_level);
/*if(proinfo.pre_DEMtif)
{
sdm_kernal_size = 3;
proinfo.SDM_SS = sdm_kernal_size;
proinfo.pyramid_level = args.pyramid_level;
proinfo.end_level = 0;
}
else*/
{
if(sdm_kernal_size > 3)
proinfo.SDM_SS = sdm_kernal_size;
else
proinfo.SDM_SS = 3;
printf("ks %d\t sdm_ss %d\n",sdm_kernal_size,proinfo.SDM_SS);
if(proinfo.SDM_SS > 5 && proinfo.pyramid_level >= 2)
{
bool check_while = false;
while(!check_while)
{
proinfo.pyramid_level++;
sdm_kernal_size = floor( (double)(proinfo.SDM_AS * proinfo.SDM_days) / (proinfo.resolution*pwrtwo(proinfo.pyramid_level)));
if(sdm_kernal_size > 3)
proinfo.SDM_SS = sdm_kernal_size;
else
proinfo.SDM_SS = 3;
if(proinfo.SDM_SS < 5)
check_while = true;
}
}
if(proinfo.pyramid_level <= proinfo.end_level)
{
if(proinfo.pyramid_level >= 1)
proinfo.end_level = proinfo.pyramid_level - 1;
else
proinfo.end_level = proinfo.pyramid_level;
}
if(proinfo.DEM_resolution < 50)
proinfo.end_level = 0;
}
printf("pyramid leve %d\tend level %d\n",proinfo.pyramid_level,proinfo.end_level);
printf("ks %d\t sdm_ss %d\n",sdm_kernal_size,proinfo.SDM_SS);
if (!args.check_DEM_space)
proinfo.DEM_resolution = proinfo.resolution;
if(!proinfo.check_checktiff && !args.check_ortho)
{
fprintf(pMetafile,"Creation Date=%s",c_time_string);
fprintf(pMetafile,"Image 1=%s\n",proinfo.Imagefilename[0]);
fprintf(pMetafile,"Image 2=%s\n",proinfo.Imagefilename[1]);
fprintf(pMetafile,"Output Resolution=%f\n",proinfo.DEM_resolution);
}
GetImageSize(proinfo.Imagefilename[0],&Limagesize); GetImageSize(proinfo.Imagefilename[1],&Rimagesize);
proinfo.image_bits = ReadGeotiff_bits(proinfo.Imagefilename[0]);
printf("Limagesize %d\t%d\t Rimagesize %d\t%d\n",Limagesize.width,Limagesize.height,Rimagesize.width,Rimagesize.height);
const uint8 pyramid_step = proinfo.pyramid_level;
const uint8 Template_size = 15;
proinfo.pyramid_level = pyramid_step;
printf("proinfo res %f\n",proinfo.resolution);
long matching_number = 0;
double ori_subX = subX;
double ori_subY = subY;
double ori_DEM_resolution = proinfo.DEM_resolution;
/*
iter_row.m_X = 1;
iter_row.m_Y = 5;
iter_col.m_X = 1;
iter_col.m_Y = 2;
*/
printf("tile row col %d\t%d\t%d\t%d\t%f\n",iter_row.m_X,iter_row.m_Y,iter_col.m_X,iter_col.m_Y,proinfo.DEM_resolution);
if(tile_count.m_X > 2 || tile_count.m_Y > 2)
{
/*
UI2DPOINT t_iter_row,t_iter_col;
t_iter_row.m_X = 1;
t_iter_row.m_Y = 2;
t_iter_col.m_X = 1;
t_iter_col.m_Y = 2;
subX = lengthOfX;
subY = lengthOfY;
proinfo.DEM_resolution = 100;
printf("tile row col %d\t%d\t%d\t%d\t%f\n",t_iter_row.m_X,t_iter_row.m_Y,t_iter_col.m_X,t_iter_col.m_Y,proinfo.DEM_resolution);
Matching_SETSM_SDM(proinfo, param, Template_size, Rimageparam, Limagesize, Rimagesize, Boundary, GSD_image1, GSD_image2, &matching_number,t_iter_row,t_iter_col,buffer_area,subX,subY);
int final_iteration = 3;
if(matching_number > 10)
{
printf("Tile merging start final iteration %d!!\n",final_iteration);
double mt_grid_size = MergeTiles_SDM(proinfo,iter_row.m_Y,iter_col.m_Y,buffer_area,final_iteration,param,pyramid_step);
}
printf("seed processin done\n");
proinfo.pre_SDM = true;
sprintf(proinfo.pre_shiftX, "%s/%s_dx.tif", proinfo.save_filepath, proinfo.Outputpath_name);
sprintf(proinfo.pre_shiftY, "%s/%s_dy.tif", proinfo.save_filepath, proinfo.Outputpath_name);
sprintf(proinfo.pre_roh, "%s/%s_roh.tif", proinfo.save_filepath, proinfo.Outputpath_name);
printf("%s\n%s\n%s\n",proinfo.pre_shiftX,proinfo.pre_shiftY,proinfo.pre_roh);
proinfo.pyramid_level = 2;
proinfo.end_level = 0;
proinfo.DEM_resolution = ori_DEM_resolution;
subX = ori_subX;
subY = ori_subY;
printf("full computation with seed\n");
printf("tile row col %d\t%d\t%d\t%d\t%f\n",iter_row.m_X,iter_row.m_Y,iter_col.m_X,iter_col.m_Y,proinfo.DEM_resolution);
*/
/*iter_row.m_X = 2;
iter_row.m_Y = 3;
iter_col.m_X = 1;
iter_col.m_Y = 5;
*/
Matching_SETSM_SDM(proinfo, param, Template_size, Rimageparam, Limagesize, Rimagesize, Boundary, GSD_image1, GSD_image2, &matching_number,iter_row,iter_col,buffer_area,subX,subY);
}
else
{
Matching_SETSM_SDM(proinfo, param, Template_size, Rimageparam, Limagesize, Rimagesize, Boundary, GSD_image1, GSD_image2, &matching_number,iter_row,iter_col,buffer_area,subX,subY);
}
int final_iteration = 3;
if(matching_number > 100)
{
printf("Tile merging start final iteration %d!!\n",final_iteration);
double mt_grid_size = MergeTiles_SDM(proinfo,iter_row.m_Y,iter_col.m_Y,buffer_area,final_iteration,param,pyramid_step);
}
fclose(pMetafile);
}
}
else
{
printf("SDM has been already processed. *_dmag.tif file exists!!\n");
}
}
return 0;
}
void Matching_SETSM_SDM(ProInfo proinfo, TransParam param, uint8 Template_size, double *Rimageparam, const CSize Limagesize, const CSize Rimagesize, const double *Boundary, const ImageGSD gsd_image1, const ImageGSD gsd_image2, long *matching_number, UI2DPOINT &iter_row, UI2DPOINT &iter_col, double buffer_area, double subX, double subY)
{
double LeftBoundary[4], RightBoundary[4];
for(int i = 0 ; i < 4 ; i++)
{
LeftBoundary[i] = proinfo.LBoundary[i];
RightBoundary[i] = proinfo.RBoundary[i];
}
//if(check_cal)
{
printf("start cal tile\n");
//exit(1);
for(int tile_iter_row = iter_row.m_X ; tile_iter_row < iter_row.m_Y ; tile_iter_row++)
{
for(int tile_iter_col = iter_col.m_X ; tile_iter_col < iter_col.m_Y ; tile_iter_col++)
{
bool check_cal = false;
char check_file[500];
sprintf(check_file,"%s/txt/tin_xshift_level_%d_%d_0_iter_3.txt",proinfo.save_filepath,tile_iter_row,tile_iter_col);
printf("check file %s\n",check_file);
FILE *pcheckFile = fopen(check_file,"r");
if(!pcheckFile)
check_cal = true;
//if(check_cal)
{
double subBoundary[4];
for(int i = 0 ; i < 4 ; i++)
{
proinfo.LBoundary[i] = LeftBoundary[i];
proinfo.RBoundary[i] = RightBoundary[i];
}
subBoundary[0] = Boundary[0] + subX*(tile_iter_col - 1) - buffer_area;
subBoundary[1] = Boundary[1] + subY*(tile_iter_row - 1) - buffer_area;
subBoundary[2] = Boundary[0] + subX*(tile_iter_col ) + buffer_area;
subBoundary[3] = Boundary[1] + subY*(tile_iter_row ) + buffer_area;
subBoundary[0] = (int)(floor(subBoundary[0]));
subBoundary[1] = (int)(floor(subBoundary[1]));
subBoundary[2] = (int)(floor(subBoundary[2]));
subBoundary[3] = (int)(floor(subBoundary[3]));
if(subBoundary[0] < Boundary[0])
subBoundary[0] = Boundary[0];
if(subBoundary[1] < Boundary[1])
subBoundary[1] = Boundary[1];
if(subBoundary[2] > Boundary[2])
subBoundary[2] = Boundary[2];
if(subBoundary[3] > Boundary[3])
subBoundary[3] = Boundary[3];
char save_file[500], Lsubsetfilename[500], Rsubsetfilename[500];
sprintf(save_file,"%s/txt/echo_result_row_%d_col_%d.txt",proinfo.save_filepath,tile_iter_row,tile_iter_col);
FILE *fid = fopen(save_file,"w");
fprintf(fid,"RA param X = %f\tY = %f\n",Rimageparam[0],Rimageparam[1]);
printf("Coreg param X = %f\tY = %f\n",Rimageparam[0],Rimageparam[1]);
sprintf(save_file,"%s/txt/headerinfo_row_%d_col_%d.txt",proinfo.save_filepath,tile_iter_row,tile_iter_col);
FILE *fid_header = fopen(save_file,"w");
printf("subBoundary = %f\t%f\t%f\t%f\n", subBoundary[0], subBoundary[1], subBoundary[2], subBoundary[3]);
char *filename = GetFileName(proinfo.Imagefilename[0]);
filename = remove_ext(filename);
sprintf(Lsubsetfilename,"%s/%s_subset_%d_%d.tif",proinfo.tmpdir,filename,tile_iter_row,tile_iter_col);
free(filename);
filename = GetFileName(proinfo.Imagefilename[1]);
filename = remove_ext(filename);
sprintf(Rsubsetfilename,"%s/%s_subset_%d_%d.tif",proinfo.tmpdir,filename,tile_iter_row,tile_iter_col);
free(filename);
printf("subsetimage level %d\n",proinfo.pyramid_level);
LevelInfo levelinfo = {NULL};
levelinfo.Boundary = subBoundary;
levelinfo.Template_size = &Template_size;
levelinfo.param = ¶m;
double **ImageAdjust = (double**)calloc(sizeof(double*),proinfo.number_of_images);
for(int ti = 0 ; ti < proinfo.number_of_images ; ti++)
ImageAdjust[ti] = (double*)calloc(sizeof(double*),2);
ImageAdjust[1][0] = Rimageparam[0];
ImageAdjust[1][1] = Rimageparam[1];
levelinfo.ImageAdjust = ImageAdjust;
CSize subsetsize[2];
D2DPOINT startpos_ori[2];
uint16 **SourceImages = (uint16 **)malloc(sizeof(uint16*)*2);
if(subsetImage_SDM(proinfo, subBoundary, startpos_ori, subsetsize, SourceImages))
{
for(int i = 0 ; i < 4 ; i++)
{
proinfo.LBoundary[i] = subBoundary[i];
proinfo.RBoundary[i] = subBoundary[i];
}
/*
WriteGeotiff(Rsubsetfilename, SourceImages[1], subsetsize[1].width, subsetsize[1].height, proinfo.resolution, subBoundary[0], subBoundary[3], param.projection, param.utm_zone, param.bHemisphere, 12);
WriteGeotiff(Lsubsetfilename, SourceImages[0], subsetsize[0].width, subsetsize[0].height, proinfo.resolution, subBoundary[0], subBoundary[3], param.projection, param.utm_zone, param.bHemisphere, 12);
*/
printf("Completion of subsetImage!!\n");
const int pyramid_step = proinfo.pyramid_level;
if( subsetsize[0].height > Template_size*pwrtwo(pyramid_step-1) && subsetsize[0].width > Template_size*pwrtwo(pyramid_step-1) &&
subsetsize[1].height > Template_size*pwrtwo(pyramid_step-1) && subsetsize[1].width > Template_size*pwrtwo(pyramid_step-1) )
{
double pre_grid_resolution = 0;
int level = pyramid_step;
bool lower_level_match = true;
bool flag_start = false;
CSize Size_Grid2D, pre_Size_Grid2D;
Size_Grid2D.height = 0;
Size_Grid2D.width = 0;
CSize **data_size_lr = (CSize**)malloc(sizeof(CSize*)*proinfo.number_of_images);
uint16 ***SubImages = (uint16***)malloc(sizeof(uint16**)*(level+1));
uint16 ***SubMagImages = (uint16***)malloc(sizeof(uint16**)*(level+1));
uint8 ***SubOriImages = (uint8***)malloc(sizeof(uint8**)*(level+1));
// set up data_size_lr
for(int image_index = 0 ; image_index < proinfo.number_of_images ; image_index++)
{
data_size_lr[image_index] = (CSize*)malloc(sizeof(CSize)*(pyramid_step+1));
SetPySizes(data_size_lr[image_index], subsetsize[image_index], pyramid_step);
}
for(int iter_level = 0 ; iter_level < pyramid_step + 1; iter_level++)
{
SubImages[iter_level] = (uint16**)malloc(sizeof(uint16*)*proinfo.number_of_images);
SubOriImages[iter_level] = (uint8**)malloc(sizeof(uint8*)*proinfo.number_of_images);
SubMagImages[iter_level] = (uint16**)malloc(sizeof(uint16*)*proinfo.number_of_images);
for(int image_index = 0 ; image_index < proinfo.number_of_images ; image_index++)
{
long data_length = (long)data_size_lr[image_index][iter_level].height*(long)data_size_lr[image_index][iter_level].width;
if(iter_level == 0)
SubImages[iter_level][image_index] = SourceImages[image_index];
else
SubImages[iter_level][image_index] = NULL;
SubOriImages[iter_level][image_index] = (uint8*)malloc(sizeof(uint8)*data_length);
SubMagImages[iter_level][image_index] = (uint16*)malloc(sizeof(uint16)*data_length);
}
}
//pyramid image generation
printf("Preprocessing start!!\n");
SetPyramidImages(&proinfo, level+1, data_size_lr, SubImages, SubMagImages, SubOriImages);
printf("Preprocessing finish(time[m] )!!\n");
printf("SDM generation start!!\n");
UGRIDSDM *GridPT3 = NULL, *Pre_GridPT3 = NULL;
D2DPOINT *GridPT = NULL;
int final_level_iteration = 1;
int total_matching_candidate_pts = 0;
double matching_rate = 0;
if(proinfo.pre_SDM)
{
level = 0;
final_level_iteration = 3;
}
while(lower_level_match && level >= 0)
{
int prc_level = level;
if(prc_level <= proinfo.end_level)
prc_level = proinfo.end_level;
if(proinfo.pre_SDM)
{
prc_level = level;
}
if(level > 4)
{
if(level <= 6)
Template_size = 11;
else if(level == 7)
Template_size = 7;
else
Template_size = 7;
}
printf("level = %d\t final_level_iteration %d\n",level,final_level_iteration);
vector<D2DPOINT> Startpos(2);
for(int image_index = 0 ; image_index < proinfo.number_of_images ; image_index++)
{
Startpos[image_index].m_X = (double)(startpos_ori[image_index].m_X/pwrtwo(prc_level));
Startpos[image_index].m_Y = (double)(startpos_ori[image_index].m_Y/pwrtwo(prc_level));
}
levelinfo.py_Images = SubImages[prc_level];
levelinfo.py_MagImages = SubMagImages[prc_level];
levelinfo.py_OriImages = SubOriImages[prc_level];
levelinfo.py_Startpos = &Startpos;
levelinfo.Pyramid_step = &prc_level;
levelinfo.py_Sizes = data_size_lr;
double Th_roh, Th_roh_min, Th_roh_start, Th_roh_next;
SetThs_SDM(level,final_level_iteration, &Th_roh, &Th_roh_min, &Th_roh_next, &Th_roh_start,pyramid_step);
double py_resolution = 0;
double grid_resolution = 0;
GridPT = SetGrids_SDM(proinfo,prc_level,level,pyramid_step, final_level_iteration, &Size_Grid2D, &py_resolution, &grid_resolution, subBoundary);
const long int Grid_length = (long int)Size_Grid2D.width*(long int)Size_Grid2D.height;
levelinfo.Size_Grid2D = &Size_Grid2D;
levelinfo.Grid_length = &Grid_length;
levelinfo.GridPts = GridPT;
levelinfo.grid_resolution = &grid_resolution;
if(!flag_start)
{
printf("GridPT3 start\t seed flag %d\t filename %s\timage_resolution %f \n",proinfo.pre_DEMtif,proinfo.priori_DEM_tif,proinfo.resolution);
GridPT3 = SetGrid3PT_SDM(proinfo,levelinfo, Size_Grid2D, Th_roh);
}
if(flag_start)
{
printf("start ResizeGridPT3 pre size %d %d size %d %d pre_resol %f\n",pre_Size_Grid2D.width,pre_Size_Grid2D.height,Size_Grid2D.width,Size_Grid2D.height,pre_grid_resolution);
GridPT3 = ResizeGirdPT3_SDM(pre_Size_Grid2D, Size_Grid2D, subBoundary, GridPT, Pre_GridPT3, pre_grid_resolution);
}
printf("end start ResizeGridPT3\n");
pre_Size_Grid2D.width = Size_Grid2D.width;
pre_Size_Grid2D.height = Size_Grid2D.height;
pre_grid_resolution = grid_resolution;
fprintf(fid,"level = %d, Completion of Gridinfo setup\t%d\t%d!!\n",level,Size_Grid2D.width,Size_Grid2D.height);
fprintf(fid_header, "%d\t%d\t%d\t%f\t%f\t%f\t%d\t%d\n", tile_iter_row,tile_iter_col, level, subBoundary[0], subBoundary[1], grid_resolution, Size_Grid2D.width,Size_Grid2D.height);
double left_mag_var, left_mag_avg, right_mag_var, right_mag_avg;
printf("load subimages\n");
total_matching_candidate_pts = (long)Size_Grid2D.width*(long)Size_Grid2D.height;
printf("End load subimages blunder_selected_level\n");
int iteration = 1;
if(level == 0)
iteration = final_level_iteration;
int pre_matched_pts=10;
double matching_change_rate = 100;
double rate_th = 0.00999999;
int max_iteration = 10 - (pyramid_step - level)*2;
if(max_iteration < 3)
max_iteration = 3;
NCCresultSDM *nccresult = (NCCresultSDM*)calloc(sizeof(NCCresultSDM),(long)Size_Grid2D.width*(long)Size_Grid2D.height);
if(level == 0 && iteration == 3)
matching_change_rate = 0.001;
bool check_pre_GridPT3 = false;
while((Th_roh >= Th_roh_min || (matching_change_rate > rate_th)))
{
printf("%f \t %f\n",Th_roh,Th_roh_min);
double Th_roh_update = 0;
fprintf(fid,"Starting computation of NCC\n iteration = %u\tTh_roh = %f\tTh_roh_start = %f\tGrid size %d %d\n",
iteration, Th_roh,Th_roh_start,Size_Grid2D.width,Size_Grid2D.height);
printf("template size =%d\n",Template_size);
bool check_smooth = false;
if(grid_resolution >= 200 && level == 0)
check_smooth = true;
else if(level < 2 && grid_resolution < 300)
check_smooth = true;
else if(grid_resolution < 20) // high resolution less than 1 meter
check_smooth = true;
if(check_smooth)
{
bool check_while = false;
bool check_last_iter = false;
int check_size = 3;
if(grid_resolution >= 300)
check_size = 3;
else if(grid_resolution >= 200)
check_size = 4;
else if(grid_resolution >= 100)
check_size = 5;
else if(grid_resolution >= 50)
check_size = 7;
else if(grid_resolution >= 25)
check_size = 11;
else if(grid_resolution >= 10)
check_size = 13;
else if(grid_resolution >= 5)
check_size = 15;
else
check_size = 17;
/*
if(grid_resolution >= 300)
check_size = 3;
else if(grid_resolution >= 200)
check_size = 4;
else if(grid_resolution >= 100)
check_size = 5;
else
check_size = 7;
*/
if(check_size < 3)
check_size = 3;
double template_area = 5.0;
int t_Template_size = (int)((template_area/(proinfo.resolution*pwrtwo(prc_level)))/2.0)*2+1;
if(check_size < (int)(t_Template_size/2.0))
check_size = (int)(t_Template_size/2.0);
int total_size = (2*check_size+1)*(2*check_size+1);
int sm_iter = 0;
uint8* t_ncc_array = (uint8*)calloc(sizeof(uint8),*levelinfo.Grid_length);
float* temp_col_shift = (float*)calloc(sizeof(float),*levelinfo.Grid_length);
float* temp_row_shift = (float*)calloc(sizeof(float),*levelinfo.Grid_length);
uint8* temp_mask = (uint8*)calloc(sizeof(uint8),*levelinfo.Grid_length);
double min_ncc_th = 0.3;
if(prc_level < 2 && proinfo.resolution <= 1)
min_ncc_th = 0.1;
if(!proinfo.pre_SDM)
{
while(check_while == 0 && sm_iter < 20)
{
#pragma omp parallel for schedule(guided)
for (long index = 0; index < *levelinfo.Grid_length; index++)
{
long row = (floor(index/Size_Grid2D.width));
long col = index%Size_Grid2D.width;
long search_index = (long)row*(long)Size_Grid2D.width + (long)col;
if(sm_iter > 0)
{
GridPT3[search_index].row_shift = temp_row_shift[search_index];
GridPT3[search_index].col_shift = temp_col_shift[search_index];
GridPT3[search_index].mask = temp_mask[search_index];
}
if(check_last_iter)
{
t_ncc_array[search_index] = 1;
check_while = 1;
}
else
{
if(t_ncc_array[search_index] != 2)
t_ncc_array[search_index] = 1;
}
}
int count_null_cell = 0;
sm_iter++;
#pragma omp parallel for schedule(guided) reduction(+:count_null_cell)
for (long index = 0; index < *levelinfo.Grid_length; index++)
{
long row = (floor(index/Size_Grid2D.width));
long col = index%Size_Grid2D.width;
long search_index = row*(long)Size_Grid2D.width + col;
const double p = 1.5;
if (t_ncc_array[search_index] == 1)
{
double sum_row_shift=0;
double sum_col_shift=0;
double sum_roh = 0;
long null_count_cell = 0;
long count_cell = 0;
long count_zero_cell = 0;
for (long t_i = -check_size; t_i <= check_size;t_i++ )
{
for (long t_j = -check_size; t_j <= check_size; t_j++)
{
long index_row = row + t_i;
long index_col = col + t_j;
long t_index = index_row*(long)Size_Grid2D.width + index_col;
if(index_row >= 0 && index_row < Size_Grid2D.height && index_col >= 0 && index_col < Size_Grid2D.width && t_i != 0 && t_j != 0)
{
if(GridPT3[t_index].ortho_ncc > 0.0)
{
double ncc = 1 + GridPT3[t_index].ortho_ncc;
double weith_n = pow(ncc,10);
sum_row_shift += (GridPT3[t_index].row_shift*weith_n);
sum_col_shift += (GridPT3[t_index].col_shift*weith_n);
sum_roh += weith_n;
count_cell++;
}
if(GridPT3[t_index].ortho_ncc < min_ncc_th)
null_count_cell ++;
}
}
}
if (count_cell >= total_size*0.3)
{
temp_col_shift[search_index] = sum_col_shift/sum_roh;
temp_row_shift[search_index] = sum_row_shift/sum_roh;
temp_mask[search_index] = 1;
t_ncc_array[search_index] = 2;
count_null_cell ++;
}
double filter_th = 0.4;
if (null_count_cell >= total_size*filter_th && level == 0 && final_level_iteration == 3)
{
//temp_col_shift[search_index] = 0;
//temp_row_shift[search_index] = 0;
temp_mask[search_index] = 0;
}
/* old version
if (null_count_cell >= total_size*0.4 && level == 0 && final_level_iteration == 3)
{
temp_col_shift[search_index] = 0;
temp_row_shift[search_index] = 0;
}
*/
}
else
{
temp_row_shift[search_index] = GridPT3[search_index].row_shift;
temp_col_shift[search_index] = GridPT3[search_index].col_shift;
temp_mask[search_index] = GridPT3[search_index].mask;
}
}
if(count_null_cell == 0)
check_last_iter = true;
printf("sm iteration %d\t%d\n",sm_iter,count_null_cell);
Update_ortho_NCC(proinfo, levelinfo, GridPT3, gsd_image1, gsd_image2, Rimageparam);
}
}
else
{
#pragma omp parallel for schedule(guided)
for (long index = 0; index < *levelinfo.Grid_length; index++)
{
long row = (floor(index/Size_Grid2D.width));
long col = index%Size_Grid2D.width;
long search_index = (long)row*(long)Size_Grid2D.width + (long)col;
temp_row_shift[search_index] = GridPT3[search_index].row_shift;
temp_col_shift[search_index] = GridPT3[search_index].col_shift;
temp_mask[search_index] = 1;
}
while(check_while == 0 && sm_iter < 20)
{
long count_zero_cell_all = 0;
printf("sm iteration start %d\t%ld\n",sm_iter,count_zero_cell_all);
if(check_last_iter)
check_while = true;
sm_iter++;
#pragma omp parallel for schedule(guided) reduction(+:count_zero_cell_all)
for (long index = 0; index < *levelinfo.Grid_length; index++)
{
long row = (floor(index/Size_Grid2D.width));
long col = index%Size_Grid2D.width;
long search_index = row*(long)Size_Grid2D.width + col;
//if (t_ncc_array[search_index] == 1)
{
long null_count_cell = 0;
long count_cell = 0;
long count_zero_cell = 0;
double sum_ncc = 0;
double sum_count = 0 ;
for (long t_i = -check_size; t_i <= check_size;t_i++ )
{
for (long t_j = -check_size; t_j <= check_size; t_j++)
{
long index_row = row + t_i;
long index_col = col + t_j;
long t_index = index_row*(long)Size_Grid2D.width + index_col;
if(index_row >= 0 && index_row < Size_Grid2D.height && index_col >= 0 && index_col < Size_Grid2D.width && t_i != 0 && t_j != 0)
{
if(GridPT3[t_index].ortho_ncc > 0.0)
{
count_cell++;
if( GridPT3[t_index].mask != 0 && GridPT3[search_index].mask == 0)
count_zero_cell ++;
}
sum_ncc += GridPT3[t_index].ortho_ncc;
sum_count++;
//if(GridPT3[t_index].ortho_ncc < min_ncc_th)
// null_count_cell ++;
}
}
}
double filter_th = 0.4;
filter_th = 0.15;
//if (null_count_cell >= total_size*filter_th && level == 0 && final_level_iteration == 3)
if (sum_ncc/sum_count <= 0.5 && level == 0 && final_level_iteration == 3)
{
//GridPT3[search_index].col_shift = 0;
//GridPT3[search_index].row_shift = 0;
GridPT3[search_index].mask = 0;
if(count_zero_cell >= count_cell * 0.7 && (temp_mask[search_index] != 0))
{
GridPT3[search_index].col_shift = temp_col_shift[search_index];
GridPT3[search_index].row_shift = temp_row_shift[search_index];
GridPT3[search_index].mask = temp_mask[search_index];
//printf("count_zero_cell %d\t%d\n",count_zero_cell,count_cell);
count_zero_cell_all++;
}
}
/* old version
if (null_count_cell >= total_size*0.4 && level == 0 && final_level_iteration == 3)
{
temp_col_shift[search_index] = 0;
temp_row_shift[search_index] = 0;
}
*/
}
}
if(count_zero_cell_all == 0)
check_last_iter = true;
else
{
check_last_iter = false;
check_while = false;
}
printf("sm iteration %d\t%ld\n",sm_iter,count_zero_cell_all);
if(!proinfo.pre_SDM)
Update_ortho_NCC(proinfo, levelinfo, GridPT3, gsd_image1, gsd_image2, Rimageparam);
}
}
free(t_ncc_array);
free(temp_col_shift);
free(temp_row_shift);
free(temp_mask);
}
if(level < pyramid_step)
proinfo.SDM_SS = 3;
printf("kernel size %d\n",proinfo.SDM_SS);
if(!proinfo.pre_SDM)
VerticalLineLocus_SDM(proinfo, levelinfo, nccresult, GridPT3, gsd_image1, gsd_image2, Rimageparam);
vector<D3DPOINT> Matched_pts_col, Matched_pts_row;
long count_MPs = 0;
if(!proinfo.pre_SDM)
count_MPs = SelectMPs_SDM(proinfo, levelinfo, nccresult, GridPT3, Matched_pts_col, Matched_pts_row);
printf("row = %d\tcol = %d\tlevel = %d\titeration = %d\tEnd SelectMPs\tcount_mps = %ld\t%zu\n",tile_iter_row,tile_iter_col,level,iteration,count_MPs, Matched_pts_col.size());
if(proinfo.pre_SDM)
{
count_MPs = 10000;
}
if(count_MPs > 100)
lower_level_match = true;
else
lower_level_match = false;
if(lower_level_match)
{
if(level == 0 && iteration == 3)
{
echoprint_Gridinfo_SDM(proinfo, levelinfo, tile_iter_row,tile_iter_col,level,iteration, GridPT3);
echoprint_adjustXYZ(proinfo, levelinfo, tile_iter_row,tile_iter_col,level,iteration,GridPT3,1);
}
else
{
if(pre_matched_pts == 0)
matching_change_rate = 0;
else
matching_change_rate = fabs( (double)pre_matched_pts - (double)count_MPs ) /(double)pre_matched_pts;
printf("matching change rate pre curr %f\t%ld\t%d\n",matching_change_rate,count_MPs,pre_matched_pts);
pre_matched_pts = count_MPs;
if(level >= 4)
{
if(level == pyramid_step)
{
if(iteration > 10)
matching_change_rate = 0.001;
}
else if(iteration > 10 )
matching_change_rate = 0.001;
}
else if(level == 3)
{
if(iteration > 9 )
matching_change_rate = 0.001;
}