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Commit 0a156a26 authored by Andrey Filippov's avatar Andrey Filippov
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Added confidence for optical flow

parent 612b68e3
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Showing with 149 additions and 46 deletions
src/main/java/com/elphel/imagej/tileprocessor/OpticalFlow.java
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......@@ -98,6 +98,91 @@ public class OpticalFlow {
// System.out.println("fillTilesNans() DONE.");
}
/**
* Calculatde confidence for the interscene X,Y correlation
* @param flowXY per-macrotile array of per-tile X,Y of the optical flow vectors. May have nulls
* @param width width of the macrotile array
* @param best_num select this number of tghe closest matches among 8 neighbors
* @param ref_stdev confidence formula: (ref_stdev ^ 2) / (neib_std_dev^2 + ref_stdev^2)
* @param debug_title debug image title null - no image)
* @return per-tile array of triplets {x,y, confidence}. May have nulls (original and those without enough neighbors
*/
public double [][] attachVectorConfidence(
final double [][] flowXY,
final int width,
final int best_num,
final double ref_stdev,
final String debug_title)
{
int height = flowXY.length/width;
final double [][] flowXYS = new double[flowXY.length][];
final TileNeibs tn = new TileNeibs(width, height);
final double ref_stdev2 =ref_stdev * ref_stdev;
final Thread[] threads = ImageDtt.newThreadArray(threadsMax);
final AtomicInteger ai = new AtomicInteger(0);
final int dbg_mtile = -1; // 203;
for (int ithread = 0; ithread < threads.length; ithread++) {
threads[ithread] = new Thread() {
public void run() {
for (int iMTile = ai.getAndIncrement(); iMTile < flowXY.length; iMTile = ai.getAndIncrement()) if (flowXY[iMTile] != null){
if (iMTile == dbg_mtile) {
System.out.println("attachVectorConfidence(): iMTile = "+iMTile);
}
double [] r2s = new double [8];
for (int dir = 0; dir < r2s.length; dir++) {
int indx = tn.getNeibIndex(iMTile, dir);
if ((indx >= 0) && (flowXY[indx] != null)){
double dx = flowXY[indx][0] - flowXY[iMTile][0];
double dy = flowXY[indx][1] - flowXY[iMTile][1];
r2s[dir] = dx*dx + dy*dy;
} else {
r2s[dir] =Double.NaN;
}
}
Arrays.sort(r2s); // Double.NaN is considered greater than any other value and all Double.NaN values are considered equal.
if (!Double.isNaN(r2s[best_num-1])) {
double s1=0.0, s2 =0.0;
for (int i = 0; i < best_num; i++) {
s1 += r2s[i];
s2 += r2s[i] * r2s[i];
}
double sd2 = (best_num * s2 - s1*s1)/(best_num * best_num);
double confidence = (ref_stdev * ref_stdev) / (sd2 + ref_stdev2);
flowXYS[iMTile] = new double[] {flowXY[iMTile][0],flowXY[iMTile][1],confidence};
}
}
}
};
}
ImageDtt.startAndJoin(threads);
if (debug_title != null) {
// show debug image
String [] titles ={"dX","dY","Strength"};
final double [][] dbg_img = new double [titles.length][width * height];
for (int l = 0; l < dbg_img.length; l++) {
Arrays.fill(dbg_img[l], Double.NaN);
}
for (int mtile = 0; mtile < flowXYS.length; mtile++) if (flowXYS[mtile] != null){
for (int l = 0; l < dbg_img.length; l++) {
dbg_img[l][mtile] = flowXYS[mtile][l];
}
}
(new ShowDoubleFloatArrays()).showArrays(
dbg_img,
width,
height,
true,
debug_title,
titles);
}
// System.out.println("fillTilesNans() DONE.");
return flowXYS;
}
public double [][] correlate2DIterate( // returns optical flow and confidence
final ImageDttParameters imgdtt_params, // Now just extra correlation parameters, later will include, most others
// for prepareSceneTiles()
......@@ -159,6 +244,17 @@ public class OpticalFlow {
num_passes, // final int num_passes,
max_change, // final double max_change,
-1); //-1); // 1); // 2); // final int debug_level)
// undefine tiles in flowXY that are never used
if (ntry == 0) {
for (int i = 0; i <flowXY.length; i++) {
// if (flowXY_run[i] == null) {
if ((scene_tiles[i] == null) || (reference_tiles[i] == null)) {
flowXY[i] = null;
}
}
}
//
double [][] corr2dscene_ref = correlate2DSceneToReference(// to match to reference
imgdtt_params, // final ImageDttParameters imgdtt_params, // Now just extra correlation parameters, later will include, most others
scene_QuadClt, // final QuadCLT scene_QuadClt,
......@@ -182,8 +278,8 @@ public class OpticalFlow {
dradius, // final double dradius, // weight calculation (1/(r/dradius)^2 + 1)
refine_num, // final int refine_num, // number of iterations to apply weights around new center
-1); //final int debug_level)
double this_min_change = (ntry < num_run_all)? 0.0: min_change;
boolean ignore_worsening = ntry < (num_run_all + 10);
double this_min_change = min_change; // (ntry < num_run_all)? 0.0: min_change;
boolean ignore_worsening = ntry < num_run_all; // (num_run_all + 10);
if (debug_level > 0) {
System.out.println("======== NTRY "+ntry +" ========");
}
......@@ -196,7 +292,7 @@ public class OpticalFlow {
ignore_worsening, // final boolean boolean ignore_worsening
magic_scale/transform_size, // final double magic_scale, // 0.85 for CM
this_min_change, // final double min_change,
2); // final int debug_level);
debug_level); // final int debug_level);
if (flowXY_run == null) { // nothing to do left
break;
}
......@@ -264,7 +360,7 @@ public class OpticalFlow {
final Thread[] threads = ImageDtt.newThreadArray(threadsMax);
final AtomicInteger ai = new AtomicInteger(0);
final double [][] flowXY_task = new double [flowXY.length][];
final int dbg_mtile = 473; // 295; // 15/7 620; // 453; // 500;
final int dbg_mtile = 994; // 473; // 295; // 15/7 620; // 453; // 500;
final double rmagic_scale = 1.0/magic_scale;
final AtomicInteger aupdate = new AtomicInteger(0); //number of tiles to recalculate
final double reduce_step = 0.5; //multiply step if calculated difference is larger thart the previous
......@@ -319,7 +415,7 @@ public class OpticalFlow {
} else {
if (ignore_worsening || !(new_diff >= last_change)) { // better or ignore - continue iterations
//
if ((debug_level > 0) && (iMTile == dbg_mtile)) {
if ((debug_level > 1) && (iMTile == dbg_mtile)) {
System.out.println(String.format("iMTile = %4d (%2d / %2d) flowXY = [%8.6f/%8.6f] step_scale = %8.6f dx = %8.6f dy = %8.6f abs= %8.6f previous = %8.6f CONTINUE",
iMTile, (iMTile %40), (iMTile / 40), flowXY[iMTile][0], flowXY[iMTile][1], step_scale[iMTile], dx,dy,new_diff, last_change));
}
......@@ -335,7 +431,7 @@ public class OpticalFlow {
abs_change[iMTile] = new_diff;
aupdate.getAndIncrement();
} else if ((new_diff >= last_change) && (min_change > 0)) { // worse - reduce step, but still apply
if (debug_level > 1) {
if (debug_level > 2) {
System.out.println(String.format("iMTile = %4d (%2d / %2d) flowXY = [%8.6f/%8.6f] step_scale = %8.6f dx = %8.6f dy = %8.6f abs= %8.6f previous = %8.6f REDUCED STEP",
iMTile, (iMTile %40), (iMTile / 40), flowXY[iMTile][0], flowXY[iMTile][1], step_scale[iMTile], dx,dy,new_diff, last_change));
}
......@@ -1741,8 +1837,8 @@ public class OpticalFlow {
double [][] flowXY = new double [reference_tiles.length][2]; // zero pre-shifts
double [][] flowXY_frac = new double [reference_tiles.length][]; // Will contain fractional X/Y shift for CLT
// double [] chn_weights = {1.0,1.0,1.0,1.0}; // strength, r,b,g
double [] chn_weights = {1.0,0.0,0.0,0.0}; // strength, r,b,g
double [] chn_weights = {1.0,1.0,1.0,1.0}; // strength, r,b,g
// double [] chn_weights = {1.0,0.0,0.0,0.0}; // strength, r,b,g
// double [] chn_weights = {0.0,1.0,1.0,1.0}; // strength, r,b,g
// Apply DOG to colors, normalize by standard deviation?
double corr_sigma = 0.5;
......@@ -1760,14 +1856,14 @@ public class OpticalFlow {
boolean late_normalize_iterate = true;
int num_run_all = 10; // 5; // run all tiles for few iterations before filtering
int num_run_all = 3; // 5; // 5; // run all tiles for few iterations before filtering
int max_tries = 50; // 100;
// for recalculateFlowXY()
double min_change = 0.01;// sqrt (dx*dx + dy*dy) for correction (int tiles) in pixels
double min_change = 0.1; // 01;// sqrt (dx*dx + dy*dy) for correction (int tiles) in pixels
// double [] abs_change = new double [reference_tiles.length]; // updated
int debug_level_iterate = 1;
int debug_level_iterate = -1; // 2;
int transform_size = tp.getTileSize();
int macroTilesX = tilesX/transform_size;
......@@ -1806,7 +1902,7 @@ public class OpticalFlow {
min_change, // final double min_change,
debug_level_iterate); // final int debug_level)
if (debug_level > -1) {
if (debug_level > 0) {
String dbg_title = "dXdY-"+scene_QuadCLT.getImageName()+"-"+reference_QuadCLT.getImageName();
String [] dbg_titles = {"dpX", "dpY"};
double [][] dbg_img = new double [dbg_titles.length][macroTilesX*macroTilesY];
......@@ -1843,7 +1939,7 @@ public class OpticalFlow {
max_change, // final double max_change,
-1); //-1); // 1); // 2); // final int debug_level)
if (debug_level > -1) {
if (debug_level > 0) {
String dbg_title = "flowXY_frac-"+scene_QuadCLT.getImageName()+"-"+reference_QuadCLT.getImageName();
String [] dbg_titles = {"dpX", "dpY"};
double [][] dbg_img = new double [dbg_titles.length][macroTilesX*macroTilesY];
......@@ -1903,20 +1999,46 @@ public class OpticalFlow {
-1); // 1); // final int debug_level)
}
showCorrTiles(
"scene:"+scene_QuadCLT.getImageName()+"-ref"+reference_QuadCLT.getImageName(), // String title,
corr2dscene_ref_multi, // double [][] source_tiles,
tilesX/transform_size, // int tilesX,
(2 * transform_size - 1), // int tile_width,
(2 * transform_size - 1)); // int tile_height) // extra margins over 16x16 tiles to accommodate distorted destination tiles
if (debug_level > 0) {
showCorrTiles(
"scene:"+scene_QuadCLT.getImageName()+"-ref"+reference_QuadCLT.getImageName(), // String title,
corr2dscene_ref_multi, // double [][] source_tiles,
tilesX/transform_size, // int tilesX,
(2 * transform_size - 1), // int tile_width,
(2 * transform_size - 1)); // int tile_height) // extra margins over 16x16 tiles to accommodate distorted destination tiles
}
//reference_tiles
//double [][][] scene_tiles
double [][][][] scene_to_ref = {reference_tiles, scene_tiles};
showMacroTiles(
"tiles_scene-"+scene_QuadCLT.getImageName()+"-ref"+reference_QuadCLT.getImageName(),// String title,
scene_to_ref, // double [][][][] source_tiles_sets,
reference_QuadCLT, // final QuadCLT qthis,
0); // final int margin) // extra margins over 16x16 tiles to accommodate distorted destination tiles
if (debug_level > 0) {
showMacroTiles(
"tiles_scene-"+scene_QuadCLT.getImageName()+"-ref"+reference_QuadCLT.getImageName(),// String title,
scene_to_ref, // double [][][][] source_tiles_sets,
reference_QuadCLT, // final QuadCLT qthis,
0); // final int margin) // extra margins over 16x16 tiles to accommodate distorted destination tiles
}
String flowXYS_title = (debug_level > 0)?("vectorXYS_"+scene_QuadCLT.getImageName()+"-ref"+reference_QuadCLT.getImageName()):null;
int best_num = 4; // use 4 best neighbors to calculate std deviation
double ref_stdev = 5.0; // strength 0.5 if standard deviation of best neighbors to tile difference is this.
double [][] vectorXYConfidence = attachVectorConfidence(
flowXY, // final double [][] flowXY,
macroTilesX, // final int width,
best_num, // final int best_num,
ref_stdev, // final double ref_stdev,
flowXYS_title); // final String debug_title);
/*
public double [][] attachVectorConfidence(
final double [][] flowXY,
final int width,
final int best_num,
final double ref_stdev,
final String debug_title)
*/
......@@ -2069,7 +2191,8 @@ public class OpticalFlow {
vectorsXYS1[selected_index], // final double [][] corr_vectorsXY,
magic_scale/transform_size); // final double magic_scale) // 0.85 for CM
double [][][] scene_tiles2 = prepareSceneTiles(// to match to reference
// double [][][] scene_tiles2 =
prepareSceneTiles(// to match to reference
// null for {scene,reference}{xyz,atr} uses instances globals
camera_xyz0, // final double [] scene_xyz, // camera center in world coordinates
camera_atr0, // final double [] scene_atr, // camera orientation relative to world frame
......@@ -2101,7 +2224,6 @@ public class OpticalFlow {
double [] camera_atr, // camera orientation relative to world frame
int iscale)
{
// double line_err = 0.1; // 10.0; // 0.1; // BUG
TileProcessor tp = reference_QuadClt.getTileProcessor();
int tilesX = tp.getTilesX();
int tilesY = tp.getTilesY();
......@@ -2110,14 +2232,13 @@ public class OpticalFlow {
int rel_num_passes = 10;
int num_passes = transform_size; // * 2;
// double [] zero3 = {0.0,0.0,0.0};
int stilesX = iscale*tilesX;
int stilesY = iscale*tilesY;
int stiles = stilesX*stilesY;
double sigma = 0.5 * iscale;
double scale = 1.0 * iscale/transform_size;
double [][] dsrbg_camera = camera_QuadClt.getDSRBG();
double [][] dsrbg_reference = reference_QuadClt.getDSRBG();
/// double [][] dsrbg_reference = reference_QuadClt.getDSRBG();
double [][] ds = new double [dsrbg_camera.length][stiles];
for (int i = 0; i <ds.length; i++) {
for (int j = 0; j <ds[i].length; j++) {
......@@ -2129,34 +2250,16 @@ public class OpticalFlow {
ersReferenceCorrection.setupERS(); // just in case - setUP using instance paRAMETERS
double [] zbuffer = new double [tiles];
for (int tileY = 0; tileY < tilesY; tileY++) {
// int stileY = iscale * tileY + iscale/2;
for (int tileX = 0; tileX < tilesX; tileX++) {
// int stileX = iscale * tileX + iscale/2;
int nTile = tileX + tileY * tilesX;
double centerX = tileX * transform_size + transform_size/2; // - shiftX;
double centerY = tileY * transform_size + transform_size/2; // - shiftY;
double disparity = dsrbg_camera[QuadCLT.DSRBG_DISPARITY][nTile];
// double disparity = dsrbg_reference[QuadCLT.DSRBG_DISPARITY][nTile];
if (disparity < 0) {
disparity = 0.0;
}
// found that there are tiles with strength == 0.0, while disparity is not NaN
if (!Double.isNaN(disparity) && (dsrbg_camera[QuadCLT.DSRBG_STRENGTH][nTile] > 0.0)) {
// if (!Double.isNaN(disparity) && (dsrbg_reference[QuadCLT.DSRBG_STRENGTH][nTile] > 0.0)) {
/*
double [] pXpYD = ersReferenceCorrection.getImageCoordinatesERS( // ersCorrection - reference
camera_QuadClt, // QuadCLT cameraQuadCLT, // camera station that got image to be to be matched
centerX, // double px, // pixel coordinate X in the reference view
centerY, // double py, // pixel coordinate Y in the reference view
disparity, // double disparity, // reference disparity
true, // boolean distortedView, // This camera view is distorted (diff.rect), false - rectilinear
ZERO3, // double [] reference_xyz, // this view position in world coordinates (typically ZERO3)
ZERO3, // double [] reference_atr, // this view orientation relative to world frame (typically ZERO3)
true, // boolean distortedCamera, // camera view is distorted (false - rectilinear)
camera_xyz, // double [] camera_xyz, // camera center in world coordinates
camera_atr, // double [] camera_atr, // camera orientation relative to world frame
LINE_ERR); // double line_err) // threshold error in scan lines (1.0)
*/
double [] pXpYD = ersReferenceCorrection.getImageCoordinatesReferenceERS( // ersCorrection - reference
camera_QuadClt, // QuadCLT cameraQuadCLT, // camera station that got image to be to be matched
......
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