Debugging, bug fix in LMA weight for the 2-component mode (no 3D) (1bbeb0e2) · Commits · Elphel / imagej-elphel

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

+13 −16

Original line number	Diff line number	Diff line
		@@ -1388,7 +1388,7 @@ public class Interscene {
		int debugLevel)
		{
		System.out.println("reAdjustPairsLMAInterscene(): using mb_max_gain="+mb_max_gain);
		boolean freeze_xy_pull = true; // debugging freezing xy to xy_pull
		boolean freeze_xy_pull = false; // true; // debugging freezing xy to xy_pull
		final boolean[] param_select = configured_lma? clt_parameters.ilp.ilma_lma_select :
		ErsCorrection.getParamSelect(
		!freeze_xy_pull && (!readjust_xy_ims \|\| (reg_weight_xy != 0)), // false only in mode c): freeze X,Y// boolean use_XY
		@@ -2296,6 +2296,10 @@ public class Interscene {
		intersceneLma.getSceneERSATR(true)); // true for initial values
		return null;
		}
		if (debug_level > -3){
		System.out.println ("iter="+lmaResult+", RMS="+intersceneLma.getLastRms()[0]+
		" (Pure RMS="+intersceneLma.getLastRms()[1]+")");
		}
		camera_xyz0 = intersceneLma.getSceneXYZ(false); // true for initial values
		camera_atr0 = intersceneLma.getSceneATR(false); // true for initial values
		double [] diffs_atr = intersceneLma.getV3Diff(ErsCorrection.DP_DSAZ);
		@@ -3103,8 +3107,8 @@ public class Interscene {
		return null;
		} else {
		if (debug_level > -3){
		System.out.println ("interCorrPair(): avg_offs = "+avg_offs+
		" <= "+min_max[1]+", sw = "+sw);
		System.out.print ("interCorrPair(): avg_offs = "+avg_offs+
		" <= "+min_max[1]+", sw = "+sw+" ");
		}
		}
		}
		@@ -4296,21 +4300,14 @@ public class Interscene {

		for (int nscene = earliest_scene; nscene < quadCLTs.length; nscene++) {
		QuadCLT scene = quadCLTs[nscene];
		/// if (nscene == ref_index) {
		/// scenes_xyzatr[nscene] = new double[2][3];
		/// scenes_xyzatr_dt[nscene] = new double[2][3];
		/// } else {
		String ts = scene.getImageName();
		scenes_xyzatr[nscene] = new double [][] {ers_reference.getSceneXYZ(ts),ers_reference.getSceneATR(ts)};
		scenes_xyzatr_dt[nscene] = ers_reference.getSceneErsXYZATR_dt(ts);
		if (scenes_xyzatr[nscene] != null) {
		num_processed++;
		}
		/// }
		}
		boolean use_processed = num_processed > 1;

		// double [] quat_ortho = {0.5, 0.5, -0.5, 0.5}; // approximate IMU orientation
		String header_ts="#\ttimestamp";
		String header_img="\tx(m)\ty(m)\tz(m)\ta(rad)\ttilt(rad)\troll(rad)"+
		"\tVx(m/s)\tVy(m/s)\tVz(m/s)\tVa(rad/s)\tVt(rad/s)\tVr(rad/s)"+

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

+3 −1

Original line number	Diff line number	Diff line
		@@ -737,9 +737,11 @@ public class IntersceneLma {
		for (int iMTile = ai.getAndIncrement(); iMTile < vector_XYSDS.length; iMTile = ai.getAndIncrement()) if (vector_XYSDS[iMTile] != null){
		weights[num_components * iMTile] *= s;
		weights[num_components * iMTile + 1] = weights[num_components * iMTile];
		if (num_components > 2) {
		weights[num_components * iMTile + 2] *=s;
		}
		}
		}
		};
		}
		ImageDtt.startAndJoin(threads);

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

+1 −1

Original line number	Diff line number	Diff line
		@@ -5269,7 +5269,7 @@ public class OpticalFlow {
		boolean lpf_xy = false; // lpf x and y, re-adjust X,Y,Z,A,T,R with pull for X,Y. Disables
		double avg_rlen = clt_parameters.imp.avg_len; // 3.0;
		boolean readjust_xy_ims = true; // false;
		double reg_weight_xy = 10.0; // 0.05; // TODO: find out reasonable values
		double reg_weight_xy = 10.0; // 1.0; // 10.0; // 0.05; // TODO: find out reasonable values


		boolean disable_ers = (quadCLTs[ref_index].getNumOrient() < 2); // first orient - no ERS!

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