Added average RMSE fro orientation (0de865d9) · Commits · Elphel / imagej-elphel

src/main/java/com/elphel/imagej/tileprocessor/Interscene.java

+38 −53

Original line number	Diff line number	Diff line
		@@ -436,6 +436,8 @@ public class Interscene {
		return earliest_scene2;
		}



		public static int invertInitialOrientation(
		final CLTParameters clt_parameters,
		final boolean batch_mode,
		@@ -492,7 +494,7 @@ public class Interscene {
		false, // boolean use_ERS_tilt);
		false );// boolean use_ERS_roll);

		double maximal_series_rms = 0.0;
		RMSEStats rmse_stats = new RMSEStats();
		double [][][] scenes_xyzatr = new double [last_index+1][][];
		double [][][] dxyzatr_dt = new double [last_index+1][][];
		for (int nscene = earliest_index; nscene <= ref_index; nscene++) {
		@@ -677,14 +679,12 @@ public class Interscene {
		adjusted_xyzatr_dt[0], // ZERO3, // ers_scene.getErsXYZ_dt(),
		adjusted_xyzatr_dt[1] // ZERO3 // ers_scene.getErsATR_dt()
		);
		if (lma_rms[0] > maximal_series_rms) {
		maximal_series_rms = lma_rms[0];
		}

		rmse_stats.add(lma_rms[0]);
		if (debugLevel > -3) {
		System.out.println("invertInitialOrientation(): scene "+scene_index+" (of "+ quadCLTs.length+") "+
		quadCLTs[ref_index].getImageName() + "/" + quadCLTs[scene_index].getImageName()+
		" Done. RMS="+lma_rms[0]+", maximal so far was "+maximal_series_rms);
		" Done. RMS="+lma_rms[0]+
		", maximal so far was "+rmse_stats.getMax()+", average was "+rmse_stats.getAverage());
		}
		} // for (int scene_index = ref_index; scene_index <= last_index; scene_index++) {

		@@ -712,15 +712,6 @@ public class Interscene {
		return getFPNUnResolved(fpn_pairs);
		}


		// mitigating problem, that in the process of adjusting offset can fall below
		// the minimum and coordinates will be NaN:
		/*
		Mitigating FPN for scene 361 being too close to reference 344, using scene 367 as a reference
		interCorrPair(): avg_offs = 10.755562139763402 <= 256.0, sw = 4217.0 iter=3, RMS=0.5364197453455559 (Pure RMS=0.5364197453455559)
		interCorrPair(): avg_offs = 7.795390182218127 < 8.0, sw = 4219.0
		adjustPairsLMAInterscene() returned null
		*/
		double [] min_max_fpn = {0,min_max[1]};
		for (int ipair = 0; ipair < fpn_pairs.length; ipair++) if (fpn_pairs[ipair][1] >= 0) {
		if (debugLevel > -4) {
		@@ -777,13 +768,12 @@ public class Interscene {
		scenes_xyzatr[fpn_pairs[ipair][0]][1],
		adjusted_xyzatr_dt[0], // ZERO3, // ers_scene.getErsXYZ_dt(),
		adjusted_xyzatr_dt[1]); // ZERO3 // ers_scene.getErsATR_dt()
		if (lma_rms[0] > maximal_series_rms) {
		maximal_series_rms = lma_rms[0];
		}
		rmse_stats.add(lma_rms[0]);
		if (debugLevel > -3) {
		System.out.println("Pass multi scene "+fpn_pairs[ipair][0]+" (of "+ quadCLTs.length+") "+
		quadCLTs[fpn_pairs[ipair][1]].getImageName() + "/" + quadCLTs[fpn_pairs[ipair][0]].getImageName()+
		" Done. RMS="+lma_rms[0]+", maximal so far was "+maximal_series_rms);
		" Done. RMS="+lma_rms[0]+
		", maximal so far was "+rmse_stats.getMax()+", average was "+rmse_stats.getAverage());
		}
		}
		}
		@@ -798,7 +788,8 @@ public class Interscene {
		sb.append("ref_index= "+ref_index+"\n");
		sb.append("last_index= "+last_index+"\n");
		sb.append("old_ref_index= "+ref_old+"\n");
		sb.append("Maximal RMSE= "+maximal_series_rms+"\n");
		sb.append("Maximal RMSE= "+rmse_stats.getMax()+"\n");
		sb.append("Average RMSE= "+rmse_stats.getAverage()+"\n");
		sb.append("------------------------\n\n");
		quadCLTs[ref_index].saveStringInModelDirectory(sb.toString(), QuadCLT.ORIENTATION_LOGS_SUFFIX); // String suffix)
		}
		@@ -820,7 +811,7 @@ public class Interscene {
		final int threadsMax, // int threadsMax,
		final boolean updateStatus,
		final int debugLevel) {
		double maximal_series_rms = 0.0;
		RMSEStats rmse_stats = new RMSEStats();
		double min_ref_str = clt_parameters.imp.min_ref_str;
		boolean ref_need_lma = clt_parameters.imp.ref_need_lma;
		double min_ref_frac= clt_parameters.imp.min_ref_frac;
		@@ -1180,14 +1171,12 @@ public class Interscene {
		adjusted_xyzatr_dt[0], // ZERO3, // ers_scene.getErsXYZ_dt(),
		adjusted_xyzatr_dt[1] // ZERO3 // ers_scene.getErsATR_dt()
		);
		if (lma_rms[0] > maximal_series_rms) {
		maximal_series_rms = lma_rms[0];
		}

		rmse_stats.add(lma_rms[0]);
		if (debugLevel > -3) {
		System.out.println("Pass multi scene "+scene_index+" (of "+ quadCLTs.length+") "+
		quadCLTs[ref_index].getImageName() + "/" + scene_QuadClt.getImageName()+
		" Done. RMS="+lma_rms[0]+", maximal so far was "+maximal_series_rms);
		" Done. RMS="+lma_rms[0]+
		", maximal so far was "+rmse_stats.getMax()+", average was "+rmse_stats.getAverage());
		}


		@@ -1283,13 +1272,12 @@ public class Interscene {
		scenes_xyzatr[fpn_pairs[ipair][0]][1],
		adjusted_xyzatr_dt[0], // ZERO3, // ers_scene.getErsXYZ_dt(),
		adjusted_xyzatr_dt[1]); // ZERO3 // ers_scene.getErsATR_dt()
		if (lma_rms[0] > maximal_series_rms) {
		maximal_series_rms = lma_rms[0];
		}
		rmse_stats.add(lma_rms[0]);
		if (debugLevel > -3) {
		System.out.println("Pass multi scene "+fpn_pairs[ipair][0]+" (of "+ quadCLTs.length+") "+
		quadCLTs[fpn_pairs[ipair][1]].getImageName() + "/" + quadCLTs[fpn_pairs[ipair][0]].getImageName()+
		" Done. RMS="+lma_rms[0]+", maximal so far was "+maximal_series_rms);
		" Done. RMS="+lma_rms[0]+
		", maximal so far was "+rmse_stats.getMax()+", average was "+rmse_stats.getAverage());
		}
		}
		}
		@@ -1298,9 +1286,9 @@ public class Interscene {
		if (earliest_scene > 0) {
		System.out.println("setInitialOrientationsIms(): Not all scenes matched, earliest useful scene = "+earliest_scene+
		" (total number of scenes = "+(ref_index - earliest_scene + 1)+
		").Maximal RMSE was "+maximal_series_rms);
		"). Maximal RMSE was "+rmse_stats.getMax()+", average was "+rmse_stats.getAverage());
		} else if (debugLevel > -4) {
		System.out.println("All multi scene passes are Done. Maximal RMSE was "+maximal_series_rms);
		System.out.println("All multi scene passes are Done. Maximal RMSE was "+rmse_stats.getMax()+", average was "+rmse_stats.getAverage());
		}
		quadCLTs[ref_index].set_orient(1); // first orientation
		quadCLTs[ref_index].set_accum(0); // reset accumulations ("build_interscene") number
		@@ -1315,7 +1303,8 @@ public class Interscene {
		sb.append("getNumAccum()= "+quadCLTs[ref_index].getNumAccum()+ " of "+clt_parameters.imp.min_num_interscene+"\n");
		sb.append("earliest_scene= "+earliest_scene+"\n");
		sb.append("ref_index= "+ref_index+"\n");
		sb.append("Maximal RMSE= "+maximal_series_rms+"\n");
		sb.append("Maximal RMSE= "+rmse_stats.getMax()+"\n");
		sb.append("Average RMSE= "+rmse_stats.getAverage()+"\n");
		sb.append("------------------------\n\n");
		quadCLTs[ref_index].saveStringInModelDirectory(sb.toString(), QuadCLT.ORIENTATION_LOGS_SUFFIX); // String suffix)
		return earliest_scene;
		@@ -1455,7 +1444,7 @@ public class Interscene {
		double scale_extrap_atr = clt_parameters.imp.scale_extrap_atr;
		double scale_extrap_xyz = clt_parameters.imp.scale_extrap_xyz;
		int avg_len = clt_parameters.imp.avg_len;
		double maximal_series_rms = 0.0;
		RMSEStats rmse_stats = new RMSEStats();
		double min_ref_str = clt_parameters.imp.min_ref_str;
		boolean ref_need_lma = clt_parameters.imp.ref_need_lma;
		double min_ref_frac= clt_parameters.imp.min_ref_frac;
		@@ -1773,14 +1762,12 @@ public class Interscene {
		ZERO3, // ers_scene.getErsXYZ_dt(),
		ZERO3 // ers_scene.getErsATR_dt()
		);
		if (lma_rms[0] > maximal_series_rms) {
		maximal_series_rms = lma_rms[0];
		}

		rmse_stats.add(lma_rms[0]);
		if (debugLevel > -3) {
		System.out.println("Pass multi scene "+scene_index+" (of "+ quadCLTs.length+") "+
		quadCLTs[ref_index].getImageName() + "/" + scene_QuadClt.getImageName()+
		" Done. RMS="+lma_rms[0]+", maximal so far was "+maximal_series_rms);
		" Done. RMS="+lma_rms[0]+
		", maximal so far was "+rmse_stats.getMax()+", average was "+rmse_stats.getAverage());
		}
		} // for (int scene_index = ref_index - 1; scene_index >= 0 ; scene_index--)
		if ((ref_index - earliest_scene + 1) < min_num_scenes) {
		@@ -1794,9 +1781,9 @@ public class Interscene {
		if (earliest_scene > 0) {
		System.out.println("setInitialOrientations(): Not all scenes matched, earliest useful scene = "+earliest_scene+
		" (total number of scenes = "+(ref_index - earliest_scene + 1)+
		").Maximal RMSE was "+maximal_series_rms);
		").Maximal RMSE was "+rmse_stats.getMax()+", average was "+rmse_stats.getAverage());
		} else if (debugLevel > -4) {
		System.out.println("All multi scene passes are Done. Maximal RMSE was "+maximal_series_rms);
		System.out.println("All multi scene passes are Done. Maximal RMSE was "+rmse_stats.getMax()+", average was "+rmse_stats.getAverage());
		}
		quadCLTs[ref_index].set_orient(1); // first orientation
		quadCLTs[ref_index].set_accum(0); // reset accumulations ("build_interscene") number
		@@ -2094,7 +2081,7 @@ public class Interscene {
		scenes_xyzatr[ref_index] = new double[2][3]; // all zeros
		// should have at least next or previous non-null
		int debug_scene = 69; // -68; // -8;
		double maximal_series_rms = 0.0;
		RMSEStats rmse_stats = new RMSEStats();
		if (debug_ers) {
		System.out.println("ERS velocities scale mode = '"+dbg_ers_string+"'");
		}
		@@ -2532,14 +2519,12 @@ public class Interscene {
		adjusted_xyzatr_dt[1]
		);

		if (lma_rms[0] > maximal_series_rms) {
		maximal_series_rms = lma_rms[0];
		}

		rmse_stats.add(lma_rms[0]);
		if (debugLevel > -3) {
		System.out.println("reAdjustPairsLMAInterscene "+nscene+" (of "+ quadCLTs.length+") "+
		quadCLTs[ref_index].getImageName() + "/" + ts+
		" Done. RMS="+lma_rms[0]+", maximal so far was "+maximal_series_rms);
		" Done. RMS="+lma_rms[0]+
		", maximal so far was "+rmse_stats.getMax()+", average was "+rmse_stats.getAverage());
		}
		} // if (nscene == ref_index) else
		} // for (int nscene = ref_index; nscene > earliest_scene; nscene--) {
		@@ -2646,13 +2631,12 @@ public class Interscene {
		scenes_xyzatr[fpn_pairs[ipair][0]][1],
		adjusted_xyzatr_dt[0],
		adjusted_xyzatr_dt[1]);
		if (lma_rms[0] > maximal_series_rms) {
		maximal_series_rms = lma_rms[0];
		}
		rmse_stats.add(lma_rms[0]);
		if (debugLevel > -3) {
		System.out.println("reAdjustPairsLMAInterscene "+fpn_pairs[ipair][0]+" (of "+ quadCLTs.length+") "+
		quadCLTs[fpn_pairs[ipair][1]].getImageName() + "/" + quadCLTs[fpn_pairs[ipair][0]].getImageName()+
		" Done. RMS="+lma_rms[0]+", maximal so far was "+maximal_series_rms);
		" Done. RMS="+lma_rms[0]+
		", maximal so far was "+rmse_stats.getMax()+", average was "+rmse_stats.getAverage());
		}
		}
		}
		@@ -2718,7 +2702,7 @@ public class Interscene {
		}

		if (debugLevel > -4) {
		System.out.println("All multi scene passes are Done. Maximal RMSE was "+maximal_series_rms);
		System.out.println("All multi scene passes are Done. Maximal RMSE was "+rmse_stats.getMax()+", average was "+rmse_stats.getAverage());
		}

		quadCLTs[ref_index].saveInterProperties( // save properties for interscene processing (extrinsics, ers, ...)
		@@ -2734,7 +2718,8 @@ public class Interscene {
		sb.append("earliest_scene= "+range[0]+"\n");
		sb.append("ref_index= "+ref_index+"\n");
		sb.append("last_index= "+range[1]+"\n");
		sb.append("Maximal RMSE= "+maximal_series_rms+"\n");
		sb.append("Maximal RMSE= "+rmse_stats.getMax()+"\n");
		sb.append("Average RMSE= "+rmse_stats.getAverage()+"\n");
		sb.append("lpf_xy= "+lpf_xy+"\n");
		sb.append("readjust_xy_ims="+readjust_xy_ims+"\n");
		sb.append("lma_xyzatr= "+lma_xyzatr+"\n");

src/main/java/com/elphel/imagej/tileprocessor/OpticalFlow.java

+16 −19

Original line number	Diff line number	Diff line
		@@ -7591,8 +7591,9 @@ public class OpticalFlow {
		Arrays.fill(dbg_rms_pre, Double.NaN);
		// process scenes before reference
		int dbg_ref_index = 10; // wait for ref_index <= dbg_ref_index and print (manually update dbg_ref_index
		double maximal_series_rms = 0.0;
		double maximal_series_rms1 = 0.0;
		RMSEStats rmse_stats = new RMSEStats();
		RMSEStats rmse_stats1 = new RMSEStats();

		if (ref_index > 1) {
		for (int i = ref_index - 2; i >= 0 ; i--) {
		QuadCLT scene_QuadClt = scenes[i];
		@@ -7672,9 +7673,7 @@ public class OpticalFlow {
		}
		}
		}
		if (lma_rms[0] > maximal_series_rms) {
		maximal_series_rms = lma_rms[0];
		}
		rmse_stats.add(lma_rms[0]);
		dbg_rms_pre[i] = lma_rms[0];
		ers_reference.addScene(scene_QuadClt.getImageName(),
		scenes_xyzatr[i][0],
		@@ -7691,8 +7690,8 @@ public class OpticalFlow {
		if (debug_level > -1) {
		System.out.println("Pass multi scene "+i+" (of "+ scenes.length+") "+
		reference_QuadClt.getImageName() + "/" + scene_QuadClt.getImageName()+
		" Done. RMS="+lma_rms[0]+", maximal so far was "+maximal_series_rms);
		}
		" Done. RMS="+lma_rms[0]+
		", maximal so far was "+rmse_stats.getMax()+", average was "+rmse_stats.getAverage()); }
		if (delete_scene_asap) {
		scenes[i+1] = null;
		}
		@@ -7775,9 +7774,7 @@ public class OpticalFlow {
		0.0, // double max_rms,
		debug_level); // int debug_level)
		}
		if (lma_rms[0] > maximal_series_rms) {
		maximal_series_rms = lma_rms[0];
		}
		rmse_stats.add(lma_rms[0]);
		dbg_rms_pre[i] = lma_rms[0];
		ers_reference.addScene(scene_QuadClt.getImageName(),
		scenes_xyzatr[i][0],
		@@ -7794,7 +7791,8 @@ public class OpticalFlow {
		if (debug_level > -1) {
		System.out.println("Pass multi scene "+i+" (of "+ scenes.length+") "+
		reference_QuadClt.getImageName() + "/" + scene_QuadClt.getImageName()+
		" Done. RMS="+lma_rms[0]+", maximal so far was "+maximal_series_rms);
		" Done. RMS="+lma_rms[0]+
		", maximal so far was "+rmse_stats.getMax()+", average was "+rmse_stats.getAverage());
		}
		if (delete_scene_asap) {
		scenes[i-1] = null;
		@@ -7802,7 +7800,7 @@ public class OpticalFlow {
		}
		}
		if (debug_level > -3) {
		System.out.println("All multi scene passes are Done. Maximal RMSE was "+maximal_series_rms);
		System.out.println("All multi scene passes are Done. Maximal RMSE was "+rmse_stats.getMax()+", average was "+rmse_stats.getAverage());
		}

		// boolean show_results = true;
		@@ -7922,9 +7920,7 @@ public class OpticalFlow {
		0.0, // double max_rms,
		debug_level); // int debug_level)
		}
		if (lma_rms[0] > maximal_series_rms1) {
		maximal_series_rms1 = lma_rms[0];
		}
		rmse_stats1.add(lma_rms[0]);
		dbg_rms[i] = lma_rms[0];
		ers_reference.addScene(
		scene_ts,
		@@ -7944,7 +7940,8 @@ public class OpticalFlow {
		if (debug_level > -1) {
		System.out.println("Pass 2 multi scene "+i+" (of "+ scenes.length+") "+
		reference_QuadClt.getImageName() + "/" + scene_ts+
		" Done. RMS="+lma_rms[0]+", maximal so far was "+maximal_series_rms);
		" Done. RMS="+lma_rms[0]+
		", maximal so far was "+rmse_stats.getMax()+", average was "+rmse_stats.getAverage());
		}
		if (delete_scene_asap) {
		scenes[i-1] = null;
		@@ -7965,7 +7962,7 @@ public class OpticalFlow {
		rms_mean /= rms_num;
		if (debug_level > -3) {
		System.out.println("adjustSeries() rms_pre_mean="+rms_pre_mean+", rms_mean="+
		rms_mean+", maximal RMSE="+maximal_series_rms1);
		rms_mean+", maximal RMSE="+rmse_stats1.getMax()+", average was "+rmse_stats1.getAverage());
		}

		if (show_results) {
		@@ -8125,8 +8122,8 @@ public class OpticalFlow {
		8); // int iscale) // 8
		}
		if (debug_level > -3) {
		System.out.println("adjustSeries() Done. Maximal RMSE in pass1 was "+maximal_series_rms+
		", in pass2 - "+maximal_series_rms1);
		System.out.println("adjustSeries() Done. Maximal RMSE in pass1 was "+rmse_stats.getMax()+", average was "+rmse_stats.getAverage()+
		", in pass2 - "+rmse_stats1.getMax()+", average was "+rmse_stats1.getAverage());
		}
		}

src/main/java/com/elphel/imagej/tileprocessor/RMSEStats.java

0 → 100644

+22 −0

Original line number	Diff line number	Diff line
		package com.elphel.imagej.tileprocessor;

		public class RMSEStats {
		public double max = 0;
		public double sum2 = 0;
		public int num = 0;
		public void add(double rmse) {
		sum2 += rmse*rmse;
		num++;
		max = Math.max(max, rmse);
		}
		public double getMax() {
		return max;
		}
		public int getNum() {
		return num;
		}
		public double getAverage() {
		return Math.sqrt(sum2/num);
		}

		}

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