@inovitas/infra3dapi 1.7.0 → 1.7.2

package/{12.infra3dapi.js → 757.infra3dapi.js}

@@ -1 +1,2 @@
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false;\n\t\t\t\tif(priority < notFulfilled) notFulfilled = priority;\n\t\t\t}\n\t\t}\n\t\tif(fulfilled) {\n\t\t\tdeferred.splice(i--, 1)\n\t\t\tvar r = fn();\n\t\t\tif (r !== undefined) result = r;\n\t\t}\n\t}\n\treturn result;\n};","var next = __webpack_require__.x;\n__webpack_require__.x = () => {\n\treturn __webpack_require__.e(732).then(next);\n};","import numeric from \"numeric\";\nconst ctx = self;\n/**\n *\n * @class LsmWorker\n * @author Benjamin Loesch based on Code by David Novak\n */\nclass LSMWorker {\n    constructor() {\n        // Globale Variablen zur vereinfachten Nutzung\n        // Variable zur Bestimmung des Patchversatzes\n        this.offsetConstant = 6;\n        // Die Minimale Distanz zwischen zwei Kreuzkorrelations-Peaks\n        this.minimumPixelDistance = 5;\n        // Tiefster Kreuzkorrelationswert der noch akzeptiert wird\n        this.NCCCutoff = 0.75;\n        // Tiefster alpha-wert nach der Ausgleichung der noch akzeptiert wird\n        this.alphaCutoff = 1e-6;\n        // Das minimum des Vektors der affinen transformations-standardabweichungen\n        this.minAffParsNorm = 0.15;\n        // Das gleiche einfach fuer die Radiometrie\n        this.minRadParsNorm = 1.5;\n        // Iterations-Stop Kriterium\n        this.omegaIterationStop = 1.01;\n        // Armijo parameter.\n        this.mue = 0.1;\n        // Kuerzeste Schrittlaenge\n        this.alphaMin = 1e-9;\n        // Wenn 1, dann wird die radiometrie automatisch mit ausgeglichen, sobald die\n        // geometrischen Parameter genuegend gut bestimmt sind. Sonst wird die Radiometrie\n        // vom parameter 'radiometry' bestimmt.\n        this.autoradio = 1;\n        /*\n         *\n         */\n        this.searchWindowPosQuality = 0;\n        this.onprogress = null;\n        /*\n         * Generiert eine 3x3 Filter Matrize zur Gradientenberechnung\n         *\n         * @return gibt die beiden Matrizen als Objekt zurueck\n         * VORSICHT: WIRD HIER NICHT VERWENDET DA ES SICH NICHT NUR UM\n         * GRADIENTEN SONDERN AUCH NOCH UM EINE GLAETTUNG HANDELT. DIES\n         * FUEHRT ZU SEHR LANGSAMER KONVERGENZ IN LSM. DESHALB DA LIEBER\n         * DIE METHODE EINES 1D-SOBELS WAEHLEN\n         */\n        this._createFilterMatrix = function () {\n            // SCHARR Convolution\n            let filterMatrixX = [];\n            let filterMatrixY = [];\n            filterMatrixX.push([-3, 0, 3], [-10, 0, 10], [-3, 0, 3]);\n            filterMatrixY.push([-3, -10, -3], [0, 0, 0], [3, 10, 3]);\n            let returnedObject = {};\n            returnedObject[\"filterX\"] = filterMatrixX;\n            returnedObject[\"filterY\"] = filterMatrixY;\n            return returnedObject;\n        };\n        /*\n         * Berechnet das Gradientenbild\n         *\n         * @imagevector Das bild als array\n         * @patchsize Groesse des bildes (um randprobleme anzugehen)\n         * @return Gibt Gradientenbild in x- und y-Richtung zureuck\n         */\n        this._obtainGradient = function (imagevector, patchsize) {\n            let gradientmatrixX = [];\n            let gradientmatrixY = [];\n            for (let i = 0; i < imagevector.length; ++i) {\n                let vy = Math.floor(i / patchsize);\n                let vx = Math.floor(i % patchsize);\n                // Randbereich ausgelassen, was aber o.k. ist,\n                // da das bild sowieso 2 pixel groesser ist in beiden richtungen\n                if (vx != 0 && vx != patchsize - 1 && vy != 0 && vy != patchsize - 1) {\n                    // Gradient in X\n                    let GradX = (imagevector[i + 1] - imagevector[i - 1]) / 2;\n                    gradientmatrixX.push(GradX);\n                    // Gradient in Y\n                    let GradY = (imagevector[i + patchsize] - imagevector[i - patchsize]) / 2;\n                    gradientmatrixY.push(GradY);\n                }\n            }\n            let returnedObject = {};\n            returnedObject[\"gradientX\"] = gradientmatrixX;\n            returnedObject[\"gradientY\"] = gradientmatrixY;\n            return returnedObject;\n        };\n        /*\n         * Interpoliert\n         *\n         * @imagematrix 2D bild\n         * @pos xy position\n         * @rAff Radiometric parameters (imagematrix bekommt dadurch gain + offset)\n         * @interpolationFunction wahl zwischen bilinear & lanczos2 & lanczos 3 (lanczos2 = 2-lobed lanczos, lanczos3 = 3-lobed lanczos)\n         *\n         * @return gibt gewichtetes grayvalue zurueck\n         */\n        this._interpolate2D = function (imagematrix, localPosition, rAff, interpolateFunction) {\n            if (interpolateFunction == \"bilinear\") {\n                let Bi0 = imagematrix[Math.floor(localPosition[1])][Math.floor(localPosition[0])];\n                let Bi1 = imagematrix[Math.floor(localPosition[1])][Math.floor(localPosition[0]) + 1];\n                let Bi2 = imagematrix[Math.floor(localPosition[1]) + 1][Math.floor(localPosition[0])];\n                let Bi3 = imagematrix[Math.floor(localPosition[1]) + 1][Math.floor(localPosition[0]) + 1];\n                // Radiometric gain & shift anbringen\n                Bi0 = rAff[0] * Bi0 + rAff[1];\n                Bi1 = rAff[0] * Bi1 + rAff[1];\n                Bi2 = rAff[0] * Bi2 + rAff[1];\n                Bi3 = rAff[0] * Bi3 + rAff[1];\n                // Gewichte fuer Bilineare Interpolation\n                let W0 = (localPosition[0] - Math.floor(localPosition[0])) * (localPosition[1] - Math.floor(localPosition[1]));\n                let W1 = (1 - localPosition[0] + Math.floor(localPosition[0])) *\n                    (localPosition[1] - Math.floor(localPosition[1]));\n                let W2 = (localPosition[0] - Math.floor(localPosition[0])) *\n                    (1 - localPosition[1] + Math.floor(localPosition[1]));\n                let W3 = (1 - localPosition[0] + Math.floor(localPosition[0])) *\n                    (1 - localPosition[1] + Math.floor(localPosition[1]));\n                var grayValue = W0 * Bi3 + W1 * Bi2 + W2 * Bi1 + W3 * Bi0;\n                return grayValue;\n            }\n            else if (interpolateFunction == \"lanczos2\") {\n                var xs = [];\n                xs.push(Math.floor(localPosition[0]) - 1);\n                xs.push(xs[0] + 1);\n                xs.push(xs[0] + 2);\n                xs.push(xs[0] + 3);\n                var ys = [];\n                ys.push(Math.floor(localPosition[1]) - 1);\n                ys.push(ys[0] + 1);\n                ys.push(ys[0] + 2);\n                ys.push(ys[0] + 3);\n                var a = [];\n                for (var i = 0; i < 4; ++i) {\n                    var x = Math.abs(localPosition[0] - xs[i]);\n                    if (x >= 2)\n                        a.push(0);\n                    else if (x == 0)\n                        a.push(1);\n                    else if (x < 2 && x >= 0) {\n                        var lanczoswinsinc = ((Math.sin(Math.PI * x) / (Math.PI * x)) * Math.sin((Math.PI * x) / 2)) / ((Math.PI * x) / 2);\n                        a.push(lanczoswinsinc);\n                    }\n                    else\n                        return 0;\n                }\n                var Ik = [];\n                for (var k = 0; k < 4; ++k) {\n                    var IntSum = 0;\n                    for (var i = 0; i < 4; ++i) {\n                        IntSum += a[i] * (rAff[0] * imagematrix[ys[k]][xs[i]] + rAff[1]);\n                    }\n                    Ik.push(IntSum);\n                }\n                var b = [];\n                for (var i = 0; i < 4; ++i) {\n                    var x = Math.abs(localPosition[1] - ys[i]);\n                    if (x >= 2)\n                        b.push(0);\n                    else if (x == 0)\n                        b.push(1);\n                    else if (x < 2 && x >= 0) {\n                        var lanczoswinsinc = ((Math.sin(Math.PI * x) / (Math.PI * x)) * Math.sin((Math.PI * x) / 2)) / ((Math.PI * x) / 2);\n                        b.push(lanczoswinsinc);\n                    }\n                    else\n                        return 0;\n                }\n                var D = [];\n                var grayValue = 0;\n                for (var k = 0; k < 4; ++k) {\n                    grayValue += b[k] * Ik[k];\n                }\n                return grayValue;\n            }\n            else if (interpolateFunction == \"lanczos3\") {\n                var xs = [];\n                xs.push(Math.floor(localPosition[0]) - 2);\n                xs.push(xs[0] + 1);\n                xs.push(xs[0] + 2);\n                xs.push(xs[0] + 3);\n                xs.push(xs[0] + 4);\n                xs.push(xs[0] + 5);\n                var ys = [];\n                ys.push(Math.floor(localPosition[1]) - 2);\n                ys.push(ys[0] + 1);\n                ys.push(ys[0] + 2);\n                ys.push(ys[0] + 3);\n                ys.push(ys[0] + 4);\n                ys.push(ys[0] + 5);\n                var a = [];\n                for (var i = 0; i < 6; ++i) {\n                    var x = Math.abs(localPosition[0] - xs[i]);\n                    if (x >= 2)\n                        a.push(0);\n                    else if (x == 0)\n                        a.push(1);\n                    else if (x < 2 && x >= 0) {\n                        var lanczoswinsinc = ((Math.sin(Math.PI * x) / (Math.PI * x)) * Math.sin((Math.PI * x) / 3)) / ((Math.PI * x) / 3);\n                        a.push(lanczoswinsinc);\n                    }\n                    else\n                        return 0;\n                }\n                var Ik = [];\n                for (var k = 0; k < 6; ++k) {\n                    var IntSum = 0;\n                    for (var i = 0; i < 6; ++i) {\n                        IntSum += a[i] * (rAff[0] * imagematrix[ys[k]][xs[i]] + rAff[1]);\n                    }\n                    Ik.push(IntSum);\n                }\n                var b = [];\n                for (var i = 0; i < 6; ++i) {\n                    var x = Math.abs(localPosition[1] - ys[i]);\n                    if (x >= 2)\n                        b.push(0);\n                    else if (x == 0)\n                        b.push(1);\n                    else if (x < 2 && x >= 0) {\n                        var lanczoswinsinc = ((Math.sin(Math.PI * x) / (Math.PI * x)) * Math.sin((Math.PI * x) / 3)) / ((Math.PI * x) / 3);\n                        b.push(lanczoswinsinc);\n                    }\n                    else\n                        return 0;\n                }\n                var D = [];\n                var grayValue = 0;\n                for (var k = 0; k < 6; ++k) {\n                    grayValue += b[k] * Ik[k];\n                }\n                return grayValue;\n            }\n        };\n        /*\n         * Fuellt A-Matrize\n         *\n         * @patch Search patch fuer radiometrie\n         * @GradientsX Gradienten in X Richtung\n         * @GradientsY Gradienten in Y Richtung\n         * @patchsize groesse des zu generierenden Patches\n         * @radiometry Flag ob radiometrie ausgeglichen werden soll oder nicht (addiert zwei zusaetzliche spalten,\n         * was nacher bei den Verbesserungen noch addiert werden muss (zweimal ne 0, falls radio nicht ausgeglichen)\n         *\n         * @return gibt A-matrize zurueck als array\n         */\n        this._fillAMatrix = function (patch, GradientsX, GradientsY, patchsize, radiometry) {\n            let A = [];\n            let aIterator = 0;\n            for (let y = -Math.floor(patchsize / 2); y <= Math.floor(patchsize / 2); ++y) {\n                for (let x = -Math.floor(patchsize / 2); x <= Math.floor(patchsize / 2); ++x) {\n                    // Ableitungen\n                    let vDUda = [x, 0];\n                    let vDUdb = [y, 0];\n                    let vDUdc = [0, x];\n                    let vDUdd = [0, y];\n                    let vDUde = [1, 0];\n                    let vDUdf = [0, 1];\n                    let DgUda = GradientsX[aIterator] * vDUda[0] + GradientsY[aIterator] * vDUda[1];\n                    let DgUdb = GradientsX[aIterator] * vDUdb[0] + GradientsY[aIterator] * vDUdb[1];\n                    let DgUdc = GradientsX[aIterator] * vDUdc[0] + GradientsY[aIterator] * vDUdc[1];\n                    let DgUdd = GradientsX[aIterator] * vDUdd[0] + GradientsY[aIterator] * vDUdd[1];\n                    let DgUde = GradientsX[aIterator] * vDUde[0] + GradientsY[aIterator] * vDUde[1];\n                    let DgUdf = GradientsX[aIterator] * vDUdf[0] + GradientsY[aIterator] * vDUdf[1];\n                    A.push([]);\n                    // Hier koennte an sich die Matrize variabel aufgebaut werden. D.h. insignifikante und/oder stark\n                    // korrelierende Parameter koennten komplett deaktiviert werden (oder gewichtet). Ist momentan\n                    // aber noch nicht fertig bzw. braucht zusatzaufwand\n                    let DgUdr1 = patch[aIterator];\n                    let DgUdr2 = 1;\n                    A[aIterator].push(DgUda, DgUdb, DgUdc, DgUdd, DgUde, DgUdf, DgUdr1, DgUdr2);\n                    aIterator++;\n                }\n            }\n            return A;\n        };\n        this._Adjustment = function (fTemplate, fSearch, patchsize, searchposition) {\n            //, tIntegralcontainer)\n            /*\n             * Fuehrt Ausgleichung aus\n             *\n             * @fTemplate canvas links\n             * @fSearch canvas rechts\n             * @patchsize groesse der patches\n             * @tintegralcontainer container fuer template integral\n             *\n             * @return gibt loesungsvektor zurück\n             */\n            // Gedaempfte buendel ausgleichung via gauss-newton und armijo line search\n            // Gemaess Niclas Boerlin:\n            /*\n              @inproceedings{Borlin397996,\n              author = {B{\\\"o}rlin, Niclas},\n              booktitle = {Close-range imaging, long-range vision : proceedings of the Commission V symposium},\n              institution = {Umeå University, Department of Computing Science},\n              number = {5},\n              pages = {7--11},\n              publisher = {ISPRS},\n              title = {Improving the robustness of least squares template matching with a line-search algorithm},\n              series = {ISPRS - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences},\n              number = {Vol 34 part 5},\n              volume = {34},\n              year = {2002}\n              }\n    \n              sowie\n    \n              @Article(Borlin2013:Bundle,\n              author =       {Niclas B{\\\"o}rlin and Pierre Grussenmeyer},\n              title =        {Bundle Adjustment with and without Damping},\n              journal =      {Photogrammetric Record},\n              year =         2013,\n              volume =       28,\n              number =       144,\n              pages =        {396-415},\n              month =        dec,\n              doi =          {10.1111/phor.12037}\n              )\n    \n              */\n            // Konvergenz-Flag\n            let converged = 0;\n            // Anzahl iterationen\n            let iteration = 0;\n            // Radiometrie-flag. Wird bei this.autoradio = 1 automatisch auf 1 gesetzt, sobald\n            // die geometrischen Parameter von genuegender qualitaet sind. Empfohlen, auf 0 zu lassen\n            let radiometry = 0;\n            // Grusiger Hack um min. eine Iteration mit radiometrie zu erzwingen.\n            let iterradioswitch = 0;\n            // Position im Canvas\n            let positionTemplate = [Math.floor(fTemplate.length / 2), Math.floor(fTemplate[0].length / 2)];\n            let positionSearch = [searchposition[0], searchposition[1]];\n            // Vektor mit allen 8 Parametern (6 affin, 2 radio)\n            let affineMatrixTemplate = [1, 0, 0, 1, positionTemplate[1], positionTemplate[0], 1, 0];\n            let affineMatrixSearch = [1, 0, 0, 1, positionSearch[1], positionSearch[0], 1, 0];\n            // Template patch generieren\n            let templateorig = this._generatePatch(fTemplate, affineMatrixTemplate, patchsize);\n            let template = this._Wallisfilter(templateorig);\n            // Abbrechen falls template am Rand (sehr unwahrscheinlich - falls es passiert, ist\n            // wohl ein Wurm drin\n            if (template == 0)\n                return 0;\n            // Template ins Canvas zeichnen\n            //this._drawPatchToCanvas(\"canvaspatch_l\", template, patchsize);\n            // Loesungsvektor setzen\n            let x = affineMatrixSearch;\n            let xold = x;\n            let epsilon = 1e-1;\n            let r = 1e10;\n            let omega0 = 0;\n            let omega = 0;\n            let numpar = 8;\n            let NCC = 0;\n            let A = [];\n            let ATA = [];\n            let ATR = [];\n            // Stochastische Gewichtung der Unbekannten (nach DGAP...experimentell)\n            let StochasticWeights = numeric.diag([1, 1, 1, 1, 1, 1, 1, 1]);\n            while (converged == 0) {\n                if (this.onprogress) {\n                    this.onprogress();\n                }\n                // Search patch generieren (+ 2 fuer gradienten - wird nacher nicht mehr benoetigt)\n                let searchGradsBorder = this._generatePatch(fSearch, x, patchsize + 2);\n                if (searchGradsBorder == 0)\n                    return 0;\n                // Gradienten fuer Search\n                let gradienten = this._obtainGradient(searchGradsBorder, patchsize + 2);\n                let searchGradX = gradienten.gradientX;\n                let searchGradY = gradienten.gradientY;\n                // Search generieren - bei rand-ueberlauf, abbrechen\n                let searchorig = this._generatePatch(fSearch, x, patchsize);\n                let search = this._Wallisfilter(searchorig);\n                if (search == 0)\n                    return 0;\n                // Initialposition von search malen (obsolet, da nun mehrere\n                // Loesungen existieren koennen und entsprechend dann auch\n                // Falsche approximationen daher kommen\n                if (iteration == 0)\n                    if (iteration == 0) {\n                        //this._drawPatchToCanvas(\"canvaspatch_r\", search, patchsize);\n                        // Residuen vektor (nur am Anfang - nacher wirds durch linesearch geregelt\n                        r = numeric.sub(template, search);\n                        NCC = this._NormCrossCor(template, search); //, tIntegralcontainer, sIntegralContainer);\n                    }\n                // Correlation check\n                // A-Matrize fuellen\n                A = this._fillAMatrix(search, searchGradX, searchGradY, patchsize, radiometry);\n                // ATA\n                ATA = numeric.dot(numeric.transpose(A), A);\n                // Gewichte fuer radiometrie\n                if (radiometry == 0) {\n                    StochasticWeights[6][6] = 1e32;\n                    StochasticWeights[7][7] = 1e32;\n                }\n                else {\n                    StochasticWeights[6][6] = 1;\n                    StochasticWeights[7][7] = 1;\n                }\n                // Gewichte anbringen\n                ATA = numeric.add(ATA, StochasticWeights);\n                // ATR\n                ATR = numeric.dot(numeric.transpose(A), r);\n                // l um ATR zu gewichten (ist glaub so falsch weil beobachtet & approx gleich sin)\n                /*\n                 var l = numeric.sub(x, xold);\n                 var pl = [];\n                 for (var i = 0; i < StochasticWeights.length; ++i)\n                 {\n                 pl.push(StochasticWeights[i][i] * l[i]);\n                 }\n                 ATR = numeric.add(ATR, pl);*/\n                // Loesen lineares gleichungssystem\n                // An sich liesse sich ATA und ATR vermeiden wenn man eine\n                // SVD rechnet. Allerdings weiss ich dann nicht, ob\n                // Gewichtungen dann noch moeglich sind. Probleme kann\n                // es geben, wenn A-Matrize schlecht konditioniert sind\n                let p = numeric.solve(ATA, ATR);\n                // Ap = ax\n                let Ap = numeric.dot(A, p);\n                // fp0\n                let fp0 = numeric.dot(Ap, r);\n                // Verbesserungen\n                let v = numeric.sub(Ap, r);\n                // Abbruchskriterium ueber 0.5 * vTv\n                omega0 = omega;\n                omega = 0.5 * numeric.dot(v, v);\n                // Linesearch\n                // Da ist u.U. noch ein Fehler drin. Sobald man sich der Loesung naehert\n                // wird ~2-3 iterationen vor der Loesung das Alpha minimal. Eigentlich waere das\n                // ein Abbruchkriterium - aber laesst man es mit voller alpha-laenge laufen\n                // konvergiert es 1-2 iterationen spaeter. Ich nehme an, dass\n                // es sich um Rundungsfehler handelt da die Daten groesstenteils rausch-befreit sind\n                // Entsprechend wurde die ungleichung f < f0 + this.mue * alpha * fp0 umgeschrieben in\n                // f < 1 + f0 + this.mue * alpha * fp0. Trotzdem sollte da noch genauer kontrolliert\n                // werden obs stimmt, da es nun praktisch keine alpha < 1e-9 Faelle mehr gibt\n                let linesearchres = this._Linesearch(x, p, r, fp0, this.alphaMin, this.mue, template, search, fSearch, patchsize); //, tIntegralcontainer);\n                // Falls Bild an rand kommt\n                if (linesearchres == 0)\n                    return 0;\n                // Zurueck-gegebene Parameter von linesearch\n                var alpha = linesearchres.alphaLength;\n                let xNew = linesearchres.xNew;\n                let rNew = linesearchres.rNew;\n                NCC = linesearchres.NCC;\n                var searchUpdate = linesearchres.searchUpdate;\n                // Updates\n                xold = x;\n                x = xNew;\n                r = rNew;\n                // Boerlin-abbruch Kriterium. Viel zu strikt oder zu schwach. Ueberpruefen\n                let left = numeric.norm2(Ap);\n                let right = epsilon * numeric.norm2(r);\n                // Sigma0\n                let sigma0 = Math.sqrt(omega / (Math.pow(patchsize, 2) - numpar));\n                // Abschliessend waere hier die Ueberpruefung der Korrelationen\n                // um allfaellige Parameter die stark korrelieren zu entfernen\n                // oder abzuschwaechen, wenn sie schwach korrelieren. Es this.muesste\n                // zuerst auch noch ein Signifikanztest durchgefuehrt werden um\n                // nicht-signifikante Parameter auzuschalten.\n                // Da dies zeit braucht, wird momentan nur der Radiometrie-Parameter\n                // stochastisch gewichtet, je nachdem ob er eingeschaltet\n                // ist oder nicht (isch no witzig, odr?)\n                let ATAINV = numeric.inv(ATA);\n                var parstddev = [];\n                for (var i = 0; i < numpar; ++i) {\n                    parstddev.push(Math.sqrt(sigma0 * ATAINV[i][i]));\n                }\n                let Correlation = [];\n                let MaxPos = [];\n                for (var i = 0; i < numpar; ++i) {\n                    Correlation.push([]);\n                    let ix = ATAINV[i][i];\n                    for (var j = 0; j < numpar; ++j) {\n                        let iy = ATAINV[j][j];\n                        Correlation[i].push(ATAINV[i][j] / Math.sqrt(ix * iy));\n                    }\n                }\n                let UpperPar = numpar - 1;\n                for (var i = 0; i < numpar - 1; ++i) {\n                    for (var j = 1; j < UpperPar; ++j) {\n                        if (Correlation[i][j] > 0.99 && i != j) {\n                            if (Correlation[i][j] > Correlation[j][i])\n                                MaxPos.push(i, j, 1e20, Correlation[i][j]);\n                            else\n                                MaxPos.push(j, i, 1e20, Correlation[j][i]);\n                        }\n                        else if (Correlation[i][j] > 0.9 && i != j) {\n                            if (Correlation[i][j] > Correlation[j][i])\n                                MaxPos.push(i, j, 10 / Correlation[i][j], Correlation[i][j]);\n                            else\n                                MaxPos.push(j, i, 10 / Correlation[j][i], Correlation[j][i]);\n                        }\n                        else if (Correlation[i][j] > 0.7 && i != j) {\n                            if (Correlation[i][j] > Correlation[j][i])\n                                MaxPos.push(i, j, 5 / Correlation[i][j], Correlation[i][j]);\n                            else\n                                MaxPos.push(j, i, 5 / Correlation[j][i], Correlation[j][i]);\n                        }\n                        else if (Correlation[i][j] > 0.5 && i != j) {\n                            if (Correlation[i][j] > Correlation[j][i])\n                                MaxPos.push(i, j, 2 / Correlation[i][j], Correlation[i][j]);\n                            else\n                                MaxPos.push(j, i, 2 / Correlation[j][i], Correlation[j][i]);\n                        }\n                        else if (Correlation[i][j] > 0.3 && i != j) {\n                            if (Correlation[i][j] > Correlation[j][i])\n                                MaxPos.push(i, j, 1 / Correlation[i][j], Correlation[i][j]);\n                            else\n                                MaxPos.push(j, i, 1 / Correlation[j][i], Correlation[j][i]);\n                        }\n                    }\n                    --UpperPar;\n                }\n                // Iteration hoch-schrauben\n                iteration++;\n                if (iteration >= 50) {\n                    // Abbruch falls zu viele Iterationen\n                    converged = 2;\n                }\n                else if (alpha < this.alphaMin) {\n                    // Abbruch falls alpha kleiner als this.alphaMin\n                    converged = 2;\n                }\n                //else if (left <= right) // Boerlin-abbruch. Bricht ganze Haeuser ein bevor es mal klappt...\n                //converged = 1;\n                if (iteration > 0 &&\n                    omega0 / omega < this.omegaIterationStop &&\n                    omega0 / omega > 1 / this.omegaIterationStop) {\n                    // Abbruch ueber verbesserungsvergleich\n                    if (this.autoradio == 1) {\n                        if (radiometry == 0)\n                            iterradioswitch = iteration; // Falls automatisch radiometrie zugeschaltet, hier einschalten\n                        radiometry = 1;\n                        if (omega0 / omega < this.omegaIterationStop &&\n                            omega0 / omega > 1 / this.omegaIterationStop &&\n                            iteration > iterradioswitch) {\n                            // Zweite ueberpruefung nach einschalten von radiometrie-ausgleich\n                            // Signifikanztest\n                            let Signifikanz = [];\n                            for (var i = 0; i < numpar; ++i) {\n                                let Change = numeric.sub(x, affineMatrixSearch);\n                                Signifikanz.push(Math.abs(Change[i] / parstddev[i]));\n                            }\n                            var affstddev = numeric.getBlock(parstddev, [0, 0], [5, 0]);\n                            var radiostddev = numeric.getBlock(parstddev, [6, 0], [7, 0]);\n                            var normaffstddev = numeric.norm2(affstddev);\n                            var normradstddev = numeric.norm2(radiostddev);\n                            if (normaffstddev > this.minAffParsNorm || normradstddev > this.minRadParsNorm)\n                                converged = 2;\n                            else\n                                converged = 1;\n                        }\n                    }\n                    else if (omega0 / omega < this.omegaIterationStop && omega0 / omega > 1 / this.omegaIterationStop)\n                        converged = 1;\n                }\n            }\n            // Falls keine Konvergenz => null zurueck geben\n            if (converged == 0 || converged == 2)\n                return 0;\n            // Ansonsten den ganzen Plunder hoch schicken\n            else if (converged == 1) {\n                let returnedObject = {};\n                returnedObject[\"alphaLength\"] = alpha;\n                returnedObject[\"x\"] = x;\n                returnedObject[\"r\"] = r;\n                returnedObject[\"NCC\"] = NCC;\n                returnedObject[\"searchUpdate\"] = searchUpdate;\n                returnedObject[\"ParsStdDev\"] = parstddev;\n                returnedObject[\"AffStdDev\"] = affstddev;\n                returnedObject[\"RadStdDev\"] = radiostddev;\n                returnedObject[\"NormAffStdDev\"] = normaffstddev;\n                returnedObject[\"NormRadStdDev\"] = normradstddev;\n                return returnedObject;\n            }\n        };\n        /*\n         * Fuehrt Armijo-Linesearch aus\n         *\n         * @x momentaner loesungsvektor\n         * @p verbesserungen\n         * @r residuen\n         * @fp0 A*p*r'\n         * @this.alphaMin minimale Schrittlaenge fuer Gauss-Newton\n         * @this.mue Armijo parameter\n         * @template template patch\n         * @search search patch\n         * @fSearch Search canvas\n         * @patchsize groesse der Patches\n         * @tIntegralContainer Integralbilder template\n         *\n         * @return gibt verbesserung, residuen, ncc und schrittlaenge zurueck\n         */\n        this._Linesearch = function (x, p, r, fp0, alphaMin, mue, template, search, fSearch, patchsize //, tIntegralcontainer)\n        ) {\n            // 0.5 * vTpV\n            let f0 = 0.5 * numeric.dot(r, r);\n            // Start-alpha (schritt-laenge)\n            let alpha = 1.0;\n            // Solange iterieren bis alpha zu klein\n            while (Math.abs(alpha) >= this.alphaMin) {\n                // Neuer loesungsvektor\n                let trialpoint = numeric.add(x, numeric.dot(alpha, p));\n                // neues patch - abbrechen falls Bild ueber Rand gezeichnet\n                let searchUpdateorig = this._generatePatch(fSearch, trialpoint, patchsize);\n                var searchUpdate = this._Wallisfilter(searchUpdateorig);\n                if (searchUpdate == 0)\n                    return 0;\n                // Neuer Residuenvektor\n                let rLoc = numeric.sub(template, searchUpdate);\n                // Neue NCC\n                var NCC = this._NormCrossCor(template, searchUpdate); //, tIntegralcontainer, sIntegralcointainer);\n                // neues 0.5 * vTpV\n                let f = 0.5 * numeric.dot(rLoc, rLoc);\n                // Armijo Kriterium, rechte Seite\n                //var fArmijo = 0.1 + f0 + this.mue * alpha * fp0;\n                let fArmijo = 0.1 + f0 + this.mue * alpha * fp0;\n                // Falls neuer funktionswert (0.5 * vTpV) kleiner als Armijo-kriterium, Loesung akzeptieren...\n                if (f < fArmijo) {\n                    var returnedObject = {};\n                    returnedObject[\"alphaLength\"] = alpha;\n                    returnedObject[\"Change\"] = numeric.dot(alpha, p);\n                    returnedObject[\"xNew\"] = trialpoint;\n                    returnedObject[\"rNew\"] = rLoc;\n                    returnedObject[\"NCC\"] = NCC;\n                    returnedObject[\"searchUpdate\"] = searchUpdate;\n                    return returnedObject;\n                }\n                // ...sonst loesung halbieren\n                else {\n                    alpha = alpha / 2;\n                }\n            }\n            // Hier den Plunder zurueckgeben, auch wenn keine vernuenftige Loesung gefunden\n            var returnedObject = {};\n            returnedObject[\"alphaLength\"] = 0;\n            returnedObject[\"xNew\"] = numeric.add(x, p);\n            returnedObject[\"rNew\"] = r;\n            returnedObject[\"NCC\"] = NCC;\n            returnedObject[\"searchUpdate\"] = searchUpdate;\n            return returnedObject;\n        };\n        /*\n         * Berechnet normalisierten Kreuzkorrelationskoeffizient (NCC)\n         *\n         * @template template patch\n         * @search search patch\n         * @tintegral template integral container (noch nicht drin)\n         * @sintegral search integral container (noch nicht drin)\n         *\n         * @return gibt NCC zurueck\n         */\n        this._NormCrossCor = function (template, search //, tintegral, sintegral)\n        ) {\n            let imagesize = template.length;\n            let patchsize = Math.sqrt(imagesize);\n            let tMean = 0;\n            let sMean = 0;\n            let tStd = 0;\n            let sStd = 0;\n            // Mittelwerte berechnen\n            for (var i = 0; i < imagesize; ++i) {\n                tMean += template[i];\n                sMean += search[i];\n            }\n            tMean /= imagesize;\n            sMean /= imagesize;\n            //var intmean = tintegral.Integral[y][x];\n            for (var i = 0; i < imagesize; ++i) {\n                tStd += Math.pow(template[i] - tMean, 2);\n                sStd += Math.pow(search[i] - sMean, 2);\n            }\n            tStd = Math.sqrt(tStd / imagesize);\n            sStd = Math.sqrt(sStd / imagesize);\n            let NCC = 0;\n            for (var i = 0; i < imagesize; ++i) {\n                NCC += ((template[i] - tMean) * (search[i] - sMean)) / (tStd * sStd);\n            }\n            NCC *= 1 / imagesize;\n            // NCC via Vektoren berechnen. Dauert wohl laenger als standard-fall weil:\n            // Standard:\n            // 1x durch patch fuer mean\n            // 1x durch patch fuer stdv\n            // 1x durch patch fuer NCC\n            // Vektoren:\n            // 1x durch patch fuer mean\n            // 1x (bzw. 2x) durch Vektoren um mean abzuziehen\n            // 1x (bzw. 2x) durch Vektoren um norm zu dividieren\n            // 1x durch Vektor fuer inneres vektorprodukt\n            // da 1x durch Vektor = 1x durch Patch, ergibt sich:\n            // 3x durch patch fuer standard\n            // min. 4x (oder wie hier 6x) durch patch fuer Vektoren\n            // So oder so sollte es mit integralbildern gemacht werden\n            /*\n              var T = numeric.sub(template, tMean);\n              var F = numeric.sub(search, sMean);\n    \n              var left = numeric.div(T, numeric.norm2(T));\n              var right = numeric.div(F, numeric.norm2(F));\n    \n              var NCC = numeric.dot(left, right);*/\n            return NCC;\n        };\n    }\n    /**\n     * @param left_dataurl\n     * @param right_dataurl\n     */\n    runLsm(fTemplate, fSearch) {\n        // Patchgroesse definieren (evt im Dienst loesen als aufziehbares Rechteck?)\n        let patchsize = 15;\n        // Integralbilder generieren (um Wallisfilter anzuwenden)\n        let integralTemplate = this._IntegralImage(fTemplate);\n        let integralSearch = this._IntegralImage(fSearch);\n        // Template patch generieren (position in der Mitte des Bildes und groesse von patchsize\n        let positionTemplate = [Math.floor(fTemplate.length / 2), Math.floor(fTemplate[0].length / 2)];\n        let position = [1, 0, 0, 1, positionTemplate[1], positionTemplate[0], 1, 0];\n        let templateorig = this._generatePatch(fTemplate, position, patchsize);\n        let template = this._Wallisfilter(templateorig);\n        // Kreuzkorrelation entlang der Epipolarlinie (1 pixel momentan)\n        let NCC = [];\n        let positionSearch = [];\n        for (var i = this.offsetConstant; i < fSearch[0].length - (patchsize + this.offsetConstant); ++i) {\n            positionSearch = [Math.floor(fSearch.length / 2), i + Math.floor(patchsize / 2)];\n            position = [1, 0, 0, 1, positionSearch[1], positionSearch[0], 1, 0];\n            let searchorig = this._generatePatch(fSearch, position, patchsize);\n            let search = this._Wallisfilter(searchorig);\n            //var integralSearch = this._IntegralImage(fSearch);\n            NCC.push(this._NormCrossCor(template, search)); //, integralSearch, integralTemplate));\n        }\n        // Ueberprueft maximas und speichert diese sofern sie groesser als 0.5 sind\n        // Sobald der Wert sinkt, wird 5 pixel abgewartet - sofern der Wert dann nicht\n        // steigt, wird nach einem neuen Peak gesucht. Sonst wars nur ein Buckel zum maximum\n        // Offset um wahre Pixelposition zu bestimmen\n        let Maximas = [];\n        let localmaximum = 0;\n        let peakflag = 0;\n        let peakpos = -1;\n        let offset = this.offsetConstant + Math.floor(patchsize / 2);\n        for (var i = 0; i < NCC.length; ++i) {\n            if (NCC[i] > this.NCCCutoff && NCC[i] > localmaximum) {\n                localmaximum = NCC[i];\n                peakpos = i + offset;\n                peakflag = this.minimumPixelDistance;\n            }\n            else if (peakflag > 0) {\n                --peakflag;\n                if (peakflag == 0) {\n                    Maximas.push(positionSearch[0], peakpos);\n                    peakpos = -1;\n                    localmaximum = 0;\n                }\n            }\n        }\n        // Loesungsraum\n        let finalsolutions = [];\n        // Alle Positionskandidaten durchs LSM jagen\n        for (var i = 0; i < Maximas.length; i += 2) {\n            position = [Maximas[i], Maximas[i + 1]];\n            let solution = this._Adjustment(fTemplate, fSearch, patchsize, position); //, integralTemplate);\n            // Falls Loesung gefunden, hier abspeichern\n            if (solution != 0) {\n                var Object = {};\n                Object[\"alphaLength\"] = solution.alphaLength;\n                Object[\"x\"] = solution.x;\n                Object[\"r\"] = solution.r;\n                Object[\"NCC\"] = solution.NCC;\n                Object[\"searchUpdate\"] = solution.searchUpdate;\n                Object[\"ParsStdDev\"] = solution.ParsStdDev;\n                Object[\"NormAffStdDev\"] = solution.NormAffStdDev;\n                Object[\"NormRadStdDev\"] = solution.NormRadStdDev;\n                finalsolutions.push(Object);\n            }\n        }\n        let maxNCC = this.NCCCutoff;\n        let selectedSolution = -1;\n        let localminAffParsNorm = this.minAffParsNorm;\n        let localminRadParsNorm = this.minRadParsNorm;\n        let searchwindowcenter_x = fSearch[0].length / 2;\n        let mindx = Infinity;\n        // Durch jede Loesung durch gehen und maximum NCC auswaehlen\n        // unter beruecksichtigung dass Alpha nicht zu klein ist.\n        for (var i = 0; i < finalsolutions.length; ++i) {\n            if (this.searchWindowPosQuality > 0.7) {\n                //Wähle beste Lösung aufgrund der Position im Suchfenster ->\n                // Suchfenster-Mitte = Rückprojektion des 3D-Punktes aus der Tiefenkarte in das rechte Bild...\n                var dx = Math.abs(searchwindowcenter_x - finalsolutions[i].x[4]);\n                if (dx < mindx) {\n                    selectedSolution = i;\n                    mindx = dx;\n                }\n            }\n            else {\n                //Wähle beste Lösung aufgrund der Resultate der Ausgleichung\n                if (finalsolutions[i].NCC > maxNCC &&\n                    finalsolutions[i].alphaLength > this.alphaCutoff &&\n                    finalsolutions[i].NormAffStdDev < localminAffParsNorm &&\n                    finalsolutions[i].NormRadStdDev < localminRadParsNorm) {\n                    selectedSolution = i;\n                    maxNCC = finalsolutions[i].NCC;\n                    localminAffParsNorm = finalsolutions[i].NormAffStdDev;\n                    localminRadParsNorm = finalsolutions[i].NormRadStdDev;\n                    mindx = dx;\n                }\n            }\n        }\n        // Loesung ins canvas malen\n        if (selectedSolution > -1) {\n            let result = [finalsolutions[selectedSolution].x[4], finalsolutions[selectedSolution].x[5]];\n            return result;\n        }\n        else {\n            let colour = {};\n            colour[\"red\"] = 255;\n            colour[\"green\"] = 0;\n            colour[\"blue\"] = 0;\n            finalsolutions.push(Object);\n            return null;\n        }\n    }\n    //------------------------------------------------------------------------------\n    /*\n     * Berechnet Wallisfilter (benoetigt Integralbild\n     *\n     * @imagematrix Bild als array\n     * @return integral und integralsquared zurueck\n     */\n    _Wallisfilter(patch) {\n        let wallispatch = [];\n        let contrastconstant = 0.9;\n        let targetmean = 127.5;\n        let targetstdv = 90;\n        let brightnessconstant = 1.0;\n        let mean = 0;\n        let std = 0;\n        for (var i = 0; i < patch.length; ++i) {\n            mean += patch[i];\n        }\n        mean = mean / patch.length;\n        for (var i = 0; i < patch.length; ++i) {\n            std += Math.pow(patch[i] - mean, 2);\n        }\n        std = Math.sqrt(std / patch.length);\n        let conTarg = contrastconstant * targetstdv;\n        let minusConTarg = (1 - contrastconstant) * targetstdv;\n        let brighTarg = brightnessconstant * targetmean;\n        let r1 = conTarg / (contrastconstant * std + minusConTarg);\n        let r0 = brighTarg + (1 - brightnessconstant - r1) * mean;\n        for (let g = 0; g < patch.length; ++g) {\n            let gc = patch[g] * r1 + r0;\n            if (gc > 255.0)\n                wallispatch[g] = 255;\n            else if (gc < 0.0)\n                wallispatch[g] = 0;\n            else\n                wallispatch[g] = gc;\n        }\n        return wallispatch;\n    }\n    /*\n     * Berechnet integralbild\n     *\n     * @imagematrix Bild als array\n     * @return integral und integralsquared zurueck\n     */\n    _IntegralImage(imagematrix) {\n        let Integral = [];\n        let IntegralSq = [];\n        for (let y = 0; y < imagematrix.length; ++y) {\n            Integral.push([]);\n            IntegralSq.push([]);\n            for (let x = 0; x < imagematrix[0].length; ++x) {\n                let Left = 0;\n                let Top = 0;\n                let TopLeft = 0;\n                if (x > 0)\n                    Left = Integral[y][x - 1];\n                if (y > 0)\n                    Top = Integral[y - 1][x];\n                if (x > 0 && y > 0)\n                    TopLeft = Integral[y - 1][x - 1];\n                let IntegralVal = imagematrix[y][x] + Left + Top - TopLeft;\n                Integral[y].push(IntegralVal);\n                IntegralSq[y].push(Math.pow(IntegralVal, 2));\n                //var IntegralVal = imagematrix[y][x] + Integral[y][x - 1] + Integral[y - 1][x] - Integral[y - 1][x - 1];\n            }\n        }\n        let returnedObject = {};\n        returnedObject[\"Integral\"] = Integral;\n        returnedObject[\"IntegralSq\"] = IntegralSq;\n        return returnedObject;\n    }\n    /*\n     * Erstellt patch aus img, unter beruecksichtigung einer affinen trafo und interpoliert bilinear\n     *\n     * @imagematrix 2D bild\n     * @affineTransformation Affine transformationsmatrize, als Vektor.\n     * 0, 1 = erste Zeile, 2, 3 = zweite Zeile, 4, 5 = translation x,y, 6, 7 = radiometric gain & shift\n     * @patchsize groesse des zu generierenden Patches\n     *\n     * @return gibt patch zurueck als array\n     */\n    _generatePatch(imagematrix, affineTransformation, patchsize) {\n        let vectoriterator = 0;\n        let patch = [];\n        // Rotation, Scherungen, Massstaebe\n        let mAff = [\n            [affineTransformation[0], affineTransformation[1]],\n            [affineTransformation[2], affineTransformation[3]],\n        ];\n        // Translationen\n        let vAff = [[affineTransformation[4]], [affineTransformation[5]]];\n        // Radiometrie\n        let rAff = [affineTransformation[6], affineTransformation[7]];\n        let outOfBounds = 0;\n        for (let y = -Math.floor(patchsize / 2); y <= Math.floor(patchsize / 2); ++y) {\n            // Falls waehrend der Interpolation ausserhalb des Bildes zugegriffen wird\n            // muss abgebrochen werden. Alternative: Patch verkleinern (nein danke...)\n            if (outOfBounds == 1)\n                break;\n            for (let x = -Math.floor(patchsize / 2); x <= Math.floor(patchsize / 2); ++x) {\n                let vPos = [[x], [y]];\n                // Vorsicht, localposition wie auch vPos sind [X,Y] und nicht umgekehrt\n                let localPosition = numeric.add(numeric.dot(mAff, vPos), vAff);\n                if (localPosition[1] < this.offsetConstant ||\n                    localPosition[1] > imagematrix.length - this.offsetConstant ||\n                    localPosition[0] < this.offsetConstant ||\n                    localPosition[0] > imagematrix[0].length - this.offsetConstant) {\n                    outOfBounds = 1;\n                    break;\n                }\n                // Interpolieren (bilinear, lanczos2,3)\n                let grayValue = this._interpolate2D(imagematrix, localPosition, rAff, \"lanczos2\");\n                patch.push(grayValue);\n            }\n        }\n        if (outOfBounds == 0)\n            return patch;\n        else\n            return 0;\n    }\n}\nctx.onmessage = (args) => {\n    if (args.data[\"topic\"]) {\n        switch (args.data[\"topic\"]) {\n            case \"run\":\n                var lsm = new LSMWorker();\n                if (args.data[\"searchwindowposquality\"]) {\n                    lsm.searchWindowPosQuality = args.data[\"searchwindowposquality\"];\n                }\n                if (args.data[\"NCC_Threshold\"]) {\n                    lsm.NCCCutoff = args.data[\"NCC_Threshold\"];\n                }\n                if (args.data[\"adjustRadiometry\"]) {\n                    lsm.autoradio = 1;\n                }\n                var lsmresult = lsm.runLsm(args.data[\"template\"], args.data[\"searchwindow\"]);\n                ctx.postMessage(lsmresult);\n        }\n    }\n};\n//# sourceMappingURL=lsm.worker.js.map","// The module cache\nvar __webpack_module_cache__ = {};\n\n// The require 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