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imagej-elphel
Commit 0349faa4 authored by Andrey Filippov's avatar Andrey Filippov
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Fixed MB correction for very small blurs, added thin wire over sky to 

sky detection
parent 256632ef
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Showing with 141 additions and 44 deletions
src/main/java/com/elphel/imagej/gpu/GpuQuad.java
View file @ 0349faa4
......@@ -3822,6 +3822,8 @@ public class GpuQuad{ // quad camera description
final boolean [] valid_tiles,
final int threadsMax) // maximal number of threads to launch
{
final double min_sub = 1e-12;
final double min_len = 0.1; // pix
int num_pairs = Correlation2d.getNumPairs(num_cams);
//change to fixed 511?
final int task_code = ((1 << num_pairs)-1) << GPUTileProcessor.TASK_CORR_BITS; // correlation only
......@@ -3875,20 +3877,32 @@ public class GpuQuad{ // quad camera description
dx /= mb_len; // unit vector
dy /= mb_len;
mb_len *= mb_tau; // now in pixels
double mb_offs = 1.0; // try 1 pixel. Maybe adjust for non-ortho, e.g. sqrt(2) for diagonal?
double min_offs = mb_len_scale * mb_len;
if (mb_offs < min_offs) {
mb_offs = min_offs;
}
dx *= mb_offs;
dy *= mb_offs;
double [] centerXY_sub = {centerXY[0]+dx,centerXY[1]+dy};
tp_task_sub.setCenterXY(centerXY_sub);
double exp_offs = Math.exp(-mb_offs/mb_len);
double gain = 1.0/(1.0 - exp_offs);
double gain_sub = -gain * exp_offs;
tp_task.setScale(gain);
tp_task_sub.setScale(gain_sub);
/*
double [] centerXY_sub = centerXY;
if (mb_len < min_len) {
tp_task.setScale(1.0);
tp_task_sub.task = 0; // disable
tp_task.setScale(-min_sub);
} else {
*/
double mb_offs = 1.0; // try 1 pixel. Maybe adjust for non-ortho, e.g. sqrt(2) for diagonal?
double min_offs = mb_len_scale * mb_len;
if (mb_offs < min_offs) {
mb_offs = min_offs;
}
dx *= mb_offs;
dy *= mb_offs;
double [] centerXY_sub = new double[] {centerXY[0]+dx,centerXY[1]+dy};
tp_task_sub.setCenterXY(centerXY_sub);
double exp_offs = Math.exp(-mb_offs/mb_len);
double gain = 1.0/(1.0 - exp_offs);
double gain_sub = -gain * exp_offs;
if (gain_sub > -min_sub) {
gain_sub = -min_sub;
}
tp_task.setScale(gain);
tp_task_sub.setScale(gain_sub);
// }
boolean bad_margins = false;
if (calcPortsCoordinatesAndDerivatives) { // for non-GPU?
double [][] disp_dist = new double[quad_main][]; // used to correct 3D correlations (not yet used here)
......
src/main/java/com/elphel/imagej/tileprocessor/IntersceneMatchParameters.java
View file @ 0349faa4
......@@ -152,6 +152,12 @@ public class IntersceneMatchParameters {
public double sky_bottom_override = -300; // maximal average sky value to override lowest_sky_row test
public int sky_override_shrink = 10; // shrink detected sky before finding hottest tile there
// Increase fom if there are enough LMA-defined similar tiles around
public double disp_boost_min = 0.5;
public double disp_boost_diff = 0.35;
public int disp_boost_neibs = 2;
public double disp_boost_amount = 2.0;
// Some "AGC" to adjust how much to discard
public int margin = 1; // do not use tiles if their centers are closer to the image edge
......@@ -545,15 +551,18 @@ public class IntersceneMatchParameters {
gd.addNumericField("Hottest sky tile to override lowest row",this.sky_bottom_override, 5,7,"",
"If the detected sky is all cold enough, bypass lowest row test, allow to raise camera.");
gd.addNumericField("Shrink before finding hottest sky", this.sky_override_shrink, 0,3,"",
"Shrink detected sky before looking for the hottest skyt tile (blurred skyline in wet atmosphere).");
"Shrink detected sky before looking for the hottest sky tile (blurred skyline in wet atmosphere).");
gd.addMessage ("Boost FOM if there are enough LMA-defined good neighbors around (Thin wires over the sky)");
gd.addNumericField("Minimal disparity", this.disp_boost_min, 5,7,"pix",
"Minimal LMA-defined disparity to boost FOM.");
gd.addNumericField("Disparity difference", this.disp_boost_diff, 5,7,"pix",
"Maximal disparity difference to neighbor to count.");
gd.addNumericField("Number of good neighbors", this.disp_boost_neibs, 0,3,"",
"Number of neighbors (of 8) to have small disparity difference to boost FOM.");
gd.addNumericField("Boost amount", this.disp_boost_amount, 5,7,"x",
"Multiply FOM by this value if number of neighbors is exactly minimal. Sacale proportional to the total number of neighbors.");
gd.addTab ("Inter-Match", "Parameters for full-resolution scene matching");
// gd.addTab("Interscene Equalization","Equalization of the interscene correlation confidence to improve camera X,Y,Z matching");
gd.addMessage ("Interscene match parameters");
......@@ -931,6 +940,11 @@ public class IntersceneMatchParameters {
this.sky_bottom_override = gd.getNextNumber();
this.sky_override_shrink =(int) gd.getNextNumber();
this.disp_boost_min = gd.getNextNumber();
this.disp_boost_diff = gd.getNextNumber();
this.disp_boost_neibs = (int) gd.getNextNumber();
this.disp_boost_amount = gd.getNextNumber();
this.margin = (int) gd.getNextNumber();
this.sensor_mask_inter= (int) gd.getNextNumber();
this.use_partial = gd.getNextBoolean();
......@@ -1206,6 +1220,11 @@ public class IntersceneMatchParameters {
properties.setProperty(prefix+"sky_bottom_override", this.sky_bottom_override+""); // double
properties.setProperty(prefix+"sky_override_shrink", this.sky_override_shrink+""); // int
properties.setProperty(prefix+"disp_boost_min", this.disp_boost_min+""); // double
properties.setProperty(prefix+"disp_boost_diff", this.disp_boost_diff+""); // int
properties.setProperty(prefix+"disp_boost_neibs", this.disp_boost_neibs+""); // double
properties.setProperty(prefix+"disp_boost_amount", this.disp_boost_amount+""); // double
properties.setProperty(prefix+"margin", this.margin+""); // int
properties.setProperty(prefix+"sensor_mask_inter", this.sensor_mask_inter+""); // int
properties.setProperty(prefix+"use_partial", this.use_partial+""); // boolean
......@@ -1433,6 +1452,11 @@ public class IntersceneMatchParameters {
if (properties.getProperty(prefix+"lowest_sky_row")!=null) this.lowest_sky_row=Integer.parseInt(properties.getProperty(prefix+"lowest_sky_row"));
if (properties.getProperty(prefix+"sky_bottom_override")!=null) this.sky_bottom_override=Double.parseDouble(properties.getProperty(prefix+"sky_bottom_override"));
if (properties.getProperty(prefix+"sky_override_shrink")!=null) this.sky_override_shrink=Integer.parseInt(properties.getProperty(prefix+"sky_override_shrink"));
if (properties.getProperty(prefix+"disp_boost_min")!=null) this.disp_boost_min=Double.parseDouble(properties.getProperty(prefix+"disp_boost_min"));
if (properties.getProperty(prefix+"disp_boost_diff")!=null) this.disp_boost_diff=Double.parseDouble(properties.getProperty(prefix+"disp_boost_diff"));
if (properties.getProperty(prefix+"disp_boost_neibs")!=null) this.disp_boost_neibs=Integer.parseInt(properties.getProperty(prefix+"disp_boost_neibs"));
if (properties.getProperty(prefix+"disp_boost_amount")!=null) this.disp_boost_amount=Double.parseDouble(properties.getProperty(prefix+"disp_boost_amount"));
if (properties.getProperty(prefix+"margin")!=null) this.margin=Integer.parseInt(properties.getProperty(prefix+"margin"));
if (properties.getProperty(prefix+"sensor_mask_inter")!=null) this.sensor_mask_inter=Integer.parseInt(properties.getProperty(prefix+"sensor_mask_inter"));
......@@ -1678,6 +1702,11 @@ public class IntersceneMatchParameters {
imp.lowest_sky_row = this.lowest_sky_row;
imp.sky_bottom_override = this.sky_bottom_override;
imp.sky_override_shrink = this.sky_override_shrink;
imp.disp_boost_min = this.disp_boost_min;
imp.disp_boost_diff = this.disp_boost_diff;
imp.disp_boost_neibs = this.disp_boost_neibs;
imp.disp_boost_amount = this.disp_boost_amount;
imp.margin = this.margin;
imp.sensor_mask_inter = this.sensor_mask_inter;
......
src/main/java/com/elphel/imagej/tileprocessor/OpticalFlow.java
View file @ 0349faa4
......@@ -2802,7 +2802,7 @@ public class OpticalFlow {
for (int ithread = 0; ithread < threads.length; ithread++) {
threads[ithread] = new Thread() {
public void run() {
for (int nTile = ai.getAndIncrement(); nTile < tiles; nTile = ai.getAndIncrement()) if (!Double.isNaN(disparity_ref[nTile])) {
for (int nTile = ai.getAndIncrement(); nTile < tiles; nTile = ai.getAndIncrement()) if (!Double.isNaN(disparity_ref[nTile])) {// null !!!
double disparity = disparity_ref[nTile];
int tileY = nTile / tilesX;
int tileX = nTile % tilesX;
......@@ -4139,6 +4139,11 @@ public class OpticalFlow {
int lowest_sky_row = clt_parameters.imp.lowest_sky_row;
double sky_bottom_override = clt_parameters.imp.sky_bottom_override;
int sky_override_shrink = clt_parameters.imp.sky_override_shrink;
double disp_boost_min = clt_parameters.imp.disp_boost_min; // 0.5;
double disp_boost_diff = clt_parameters.imp.disp_boost_diff; // 0.35;
int disp_boost_neibs = clt_parameters.imp.disp_boost_neibs; // 2;
double disp_boost_amount = clt_parameters.imp.disp_boost_amount; // 2.0;
boolean [] ref_blue_sky = null; // turn off "lma" in the ML output
......@@ -4278,7 +4283,11 @@ public class OpticalFlow {
lowest_sky_row, // = 50;// appears that low - invalid, remove completely
sky_bottom_override, // double sky_temp_override, // really cold average seed - ignore lowest_sky_row filter
sky_override_shrink, // int shrink_for_temp, // shrink before finding hottest sky
sky_highest_min, // = 100; // lowest absolute value should not be higher (requires photometric)
sky_highest_min, // = 100; // lowest absolute value should not be higher (requires photometric)
disp_boost_min, // double disp_boost_min, // = 0.5;
disp_boost_diff, //double disp_boost_diff, // = 0.35;
disp_boost_neibs, //int disp_boost_neibs, // = 2;
disp_boost_amount, //double disp_boost_amount, // = 2.0;
dsi[TwoQuadCLT.DSI_STRENGTH_AUX], // double [] strength,
dsi[TwoQuadCLT.DSI_SPREAD_AUX], // double [] spread,
dsi[TwoQuadCLT.DSI_DISPARITY_AUX_LMA], // double [] spread,
......@@ -4332,7 +4341,11 @@ public class OpticalFlow {
lowest_sky_row, // = 50;// appears that low - invalid, remove completely
sky_bottom_override, // double sky_temp_override, // really cold average seed - ignore lowest_sky_row filter
sky_override_shrink, // int shrink_for_temp, // shrink before finding hottest sky
sky_highest_min, // = 100; // lowest absolute value should not be higher (requires photometric)
sky_highest_min, // = 100; // lowest absolute value should not be higher (requires photometric)
disp_boost_min, // double disp_boost_min, // = 0.5;
disp_boost_diff, //double disp_boost_diff, // = 0.35;
disp_boost_neibs, //int disp_boost_neibs, // = 2;
disp_boost_amount, //double disp_boost_amount, // = 2.0;
dsi[TwoQuadCLT.DSI_STRENGTH_AUX], // double [] strength,
dsi[TwoQuadCLT.DSI_SPREAD_AUX], // double [] spread,
dsi[TwoQuadCLT.DSI_DISPARITY_AUX_LMA], //double [] disp_lma,
......@@ -4456,6 +4469,7 @@ public class OpticalFlow {
last_diff);
}
// Refine with LMA
scenes_xyzatr[scene_index] = adjustPairsLMAInterscene(
clt_parameters, // CLTParameters clt_parameters,
quadCLTs[ref_index], // QuadCLT reference_QuadCLT,
......@@ -4595,6 +4609,7 @@ public class OpticalFlow {
clt_parameters, // CLTParameters clt_parameters,
reliable_ref, // boolean [] reliable_ref, // null or bitmask of reliable reference tiles
quadCLTs, // QuadCLT [] quadCLTs,
!batch_mode, // boolean test_motion_blur,
debugLevel) ; // int debugLevel)
// should update earliest_scene
if ((ref_index - earliest_scene + 1) < min_num_scenes) {
......@@ -14066,9 +14081,10 @@ public double[][] correlateIntersceneDebug( // only uses GPU and quad
CLTParameters clt_parameters,
boolean [] reliable_ref, // null or bitmask of reliable reference tiles
QuadCLT [] quadCLTs,
boolean test_motion_blur,
int debugLevel)
{
boolean test_motion_blur = true;
// boolean test_motion_blur = true;//false
boolean mb_en = clt_parameters.imp.mb_en;
double mb_tau = clt_parameters.imp.mb_tau; // 0.008; // time constant, sec
......@@ -14831,6 +14847,11 @@ public double[][] correlateIntersceneDebug( // only uses GPU and quad
double max_rms,
int debug_level)
{
boolean use_lma_dsi = clt_parameters.imp.use_lma_dsi;
if (ref_disparity == null) {
ref_disparity = reference_QuadClt.getDLS()[use_lma_dsi?1:0];
}
// TODO: set reference as new version of adjustPairsLMAInterscene() assumes it set
int margin = clt_parameters.imp.margin;
double [][] pXpYD_ref = transformToScenePxPyD( // full size - [tilesX*tilesY], some nulls
......
src/main/java/com/elphel/imagej/tileprocessor/QuadCLTCPU.java
View file @ 0349faa4
......@@ -457,12 +457,19 @@ public class QuadCLTCPU {
int lowest_sky_row, // = 50;// appears that low - invalid, remove completely
double sky_temp_override, // really cold average seed - ignore lowest_sky_row filter
int shrink_for_temp, // shrink before finding hottest sky
double sky_highest_min, // = -50; // 100; // lowest absolute value should not be higher (requires photometric)
double sky_highest_min, // = -50; // 100; // lowest absolute value should not be higher (requires photometric)
double disp_boost_min, // = 0.5;
double disp_boost_diff, // = 0.35;
int disp_boost_neibs, // = 2;
double disp_boost_amount, // = 2.0;
int width,
double [] strength,
double [] spread,
double [] disparity,
double [] avg_val,
int debugLevel) { // >0 to show
if ((strength == null) || (spread==null)) {
return null;
......@@ -556,11 +563,36 @@ public class QuadCLTCPU {
String [] dbg_in_titles = {"fom", "strength", "spread", "disparity", "avg_val", "tscale"};
String [] dbg_titles = {"sky", "seed", "max", "shrank","full_shrank","neck_shrank","reexpand"};
if (debugLevel>0) {
double [] fom = new double[strength.length];
for (int i = 0; i < fom.length; i++) {
fom[i] = Math.max(strength[i], min_strength) * spread[i] * temp_scales[i];
double [][] dbg_img = (debugLevel>0) ? new double [dbg_titles.length][strength.length]:null;
TileNeibs tn = new TileNeibs(width,strength.length/width);
boolean [] sky_tiles = new boolean [strength.length];
boolean [] prohibit_tiles = new boolean [strength.length];
double [] fom = new double[strength.length];
for (int i = 0; i < sky_tiles.length; i++) {
fom[i] = Math.max(strength[i], min_strength) * spread[i];
if (temp_scales != null) {
fom[i] *=temp_scales[i];
}
}
if (disp_boost_amount > 0) {
for (int nTile = 0; nTile < sky_tiles.length; nTile++) if (disparity[nTile] >= disp_boost_min){
int num_neibs = 0;
for (int dir = 0; dir < 8; dir++) {
int nTile1 = tn.getNeibIndex(nTile, dir);
if ((nTile1 >= 0) && (Math.abs(disparity[nTile] - disparity[nTile1]) <=disp_boost_diff)) {
num_neibs++;
}
}
if (num_neibs >= disp_boost_neibs ) {
fom[nTile] *= disp_boost_amount * num_neibs / disp_boost_neibs;
}
}
}
if (debugLevel>0) {
(new ShowDoubleFloatArrays()).showArrays(
new double[][] {fom, strength, spread, disparity, avg_val, temp_scales},
width,
......@@ -570,20 +602,14 @@ public class QuadCLTCPU {
dbg_in_titles); // dsrbg_titles);
}
double [][] dbg_img = (debugLevel>0) ? new double [dbg_titles.length][strength.length]:null;
boolean [] sky_tiles = new boolean [strength.length];
boolean [] prohibit_tiles = new boolean [strength.length];
for (int i = 0; i < sky_tiles.length; i++) {
double d = Math.max(strength[i], min_strength) * spread[i];
if (temp_scales != null) {
d *=temp_scales[i];
}
prohibit_tiles[i] = (d >= sky_lim);
int row = i/width;
// sky_tiles[i] = (row < seed_rows) && (d < sky_seed) && !(disparity[i] > disparity_seed);
sky_tiles[i] = (d < sky_seed) && !(disparity[i] > disparity_seed);
prohibit_tiles[i] = (fom[i] >= sky_lim);
sky_tiles[i] = (fom[i] < sky_seed) && !(disparity[i] > disparity_seed);
}
//seed_rows
if (dbg_img != null) {
for (int i = 0; i < sky_tiles.length; i++) {
......@@ -591,7 +617,6 @@ public class QuadCLTCPU {
dbg_img[2][i] = prohibit_tiles[i]? 0 : 1;
}
}
TileNeibs tn = new TileNeibs(width,sky_tiles.length/width);
tn.shrinkSelection(
sky_shrink, // int shrink, // grow tile selection by 1 over non-background tiles 1: 4 directions, 2 - 8 directions, 3 - 8 by 1, 4 by 1 more
sky_tiles, // boolean [] tiles,
......@@ -723,7 +748,11 @@ public class QuadCLTCPU {
int lowest_sky_row, // = 50;// appears that low - invalid, remove completely
double sky_temp_override, // really cold average seed - ignore lowest_sky_row filter
int shrink_for_temp, // shrink before finding hottest sky
double sky_highest_max, // = 100; // lowest absolute value should not be higher (requires photometric)
double sky_highest_max, // = 100; // lowest absolute value should not be higher (requires photometric)
double disp_boost_min, // = 0.5;
double disp_boost_diff, // = 0.35;
int disp_boost_neibs, // = 2;
double disp_boost_amount, // = 2.0;
double [] strength,
double [] spread,
double [] disp_lma,
......@@ -746,6 +775,10 @@ public class QuadCLTCPU {
sky_temp_override, // double sky_temp_override, // really cold average seed - ignore lowest_sky_row filter
shrink_for_temp, // int shrink_for_temp, // shrink before finding hottest sky
sky_highest_max, // = 100; // lowest absolute value should not be higher (requires photometric)
disp_boost_min, // = 0.5;
disp_boost_diff, // = 0.35;
disp_boost_neibs, // = 2;
disp_boost_amount, // = 2.0;
width,
strength,
spread,
......
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