Implemented configurable parameters for global matching of affines and (1cc8ef8f) · Commits · Elphel / imagej-elphel

src/main/java/com/elphel/imagej/orthomosaic/ComboMatch.java

+4 −8

Original line number	Diff line number	Diff line
		@@ -154,16 +154,12 @@ public class ComboMatch {
		int gpu_width= clt_parameters.imp.rln_gpu_width; // 3008;
		int gpu_height= clt_parameters.imp.rln_gpu_height; // 3008;
		int zoom_lev = -3; // 0; // +1 - zoom in twice, -1 - zoom out twice
		// boolean show_map_stats = false;
		boolean show_combo = false; // true;
		boolean create_overlaps = false;
		boolean equalize_overlaps = false;
		boolean create_map = false;
		boolean create_equalize = false;

		// boolean show_combo_mask = false; // generate image mas (where it is defined)_
		// boolean use_alt = false;
		// boolean show_centers = true;
		boolean use_saved_collection = true; // false;
		boolean save_collection = true;
		boolean process_correlation = true; // use false to save new version of data
		@@ -780,19 +776,19 @@ public class ComboMatch {
		}

		if (create_map) {
		OrthoMultiLMA.buildOrthoMap(
		int ok = OrthoMultiLMA.buildOrthoMap(
		clt_parameters, // CLTParameters clt_parameters,
		maps_collection, // OrthoMapsCollection maps_collection
		orthoMapsCollection_savepath); // String orthoMapsCollection_path
		return true;
		return (ok >= 0);
		}

		if (create_equalize) {
		OrthoEqualizeLMA.buildEqualize(
		int ok = OrthoEqualizeLMA.buildEqualize(
		clt_parameters, // CLTParameters clt_parameters,
		maps_collection, // OrthoMapsCollection maps_collection
		orthoMapsCollection_savepath); // String orthoMapsCollection_path
		return true;
		return (ok >= 0);
		}

		if (create_overlaps) {

src/main/java/com/elphel/imagej/orthomosaic/OrthoEqualizeLMA.java

+77 −18

Original line number	Diff line number	Diff line
		@@ -33,6 +33,7 @@ import java.util.ArrayList;
		import java.util.concurrent.atomic.AtomicInteger;

		import com.elphel.imagej.cameras.CLTParameters;
		import com.elphel.imagej.common.GenericJTabbedDialog;
		import com.elphel.imagej.tileprocessor.ImageDtt;

		import Jama.Matrix;
		@@ -51,30 +52,88 @@ public class OrthoEqualizeLMA {
		private int [][] pairs = null;
		private int [][] pairs_ni = null; // non-intersecting pairs for multi-threaded processing
		private int [] indices = null;
		// private double [][] offsets = null; // scene offsets (rd)
		private int num_scenes = 0;
		private int num_pairs = 0;

		public static int buildEqualize(
		CLTParameters clt_parameters,
		OrthoMapsCollection maps_collection,
		String orthoMapsCollection_path
		) {
		int debugLevel = 2;
		boolean use_inv = false;
		double scale_weight = 500; // relative weight of scale differences compared to offset differences
		double pull_weight = 0.001; // relative weight of offsets and scales differences from 1.0 to pairs mismatch
		double half_weight_sec = 300.0; // - time difference to reduce weight twice
		double min_weight_sec = 0.01; // weight of pairs at very different time
		double overlap_pow = 2.0; // match weight as overlap fraction to this power
		double rms_diff = 0.000001;
		int num_iter = 100; // 50;
		String orthoMapsCollection_path) {
		boolean ignore_equalize= clt_parameters.imp.pequ_ignore_equalize; // false; // ignore previous equalization
		boolean use_inv = clt_parameters.imp.pequ_use_inv; // false;
		double scale_weight = clt_parameters.imp.pequ_scale_weight; // 500; // relative weight of scale differences compared to offset differences
		double pull_weight = clt_parameters.imp.pequ_pull_weight; // 0.001; // relative weight of offsets and scales differences from 1.0 to pairs mismatch
		double half_weight_sec = clt_parameters.imp.pequ_half_weight_sec; // 300.0; // - time difference to reduce weight twice
		double min_weight_sec = clt_parameters.imp.pequ_min_weight_sec; // 0.01; // weight of pairs at very different time
		double overlap_pow = clt_parameters.imp.pequ_overlap_pow; // 2.0; // match weight as overlap fraction to this power
		double rms_diff = clt_parameters.imp.pequ_rms_diff; // 0.000001;
		int num_iter = clt_parameters.imp.pequ_num_iter; // 100; // 50;
		int debugLevel = clt_parameters.imp.pequ_debugLevel; // 2;

		GenericJTabbedDialog gd = new GenericJTabbedDialog("Pairwise Match Parameters",1200,400);
		gd.addCheckbox ("Ignore existing equalization",ignore_equalize, "Ignore existing equalization, start from scratch (a=1, b=0).");
		gd.addCheckbox ("Use reversed pairs", use_inv, "Use reversed (late-early timestamps) pairs.");
		gd.addNumericField("Relative scale weight", scale_weight, 3,7,"", "Importance of a-coefficient (scale) relative to b-coefficient (offset).");
		gd.addNumericField("Pull weight", pull_weight, 3,7,"", "Relative weight of offsets and scales differences from 1.0 to pairs mismatch.");
		gd.addNumericField("Half-weight time difference", half_weight_sec, 3,7,"s", "Time difference (in a pair) to reduce weight twice.");
		gd.addNumericField("Weight for large time offset",min_weight_sec, 3,7,"", "Weight of pairs at very different time.");
		gd.addNumericField("Overlap inportance", overlap_pow, 3,7,"", "Raise overlap fraction (of the smaller image) to this power before using as weight.");
		gd.addNumericField("RMSE relative improvement", rms_diff, 8,10,"", "Relative RMSE improvement to exit LMA.");
		gd.addNumericField("LMA iterations", num_iter, 0,3,"",".Maximal number of the LMA iterations.");
		gd.addNumericField("Debug level for equalization",debugLevel, 0,3,"","Debug level for global (LMA-based) intensity equalization.");
		gd.showDialog();
		if (gd.wasCanceled()) return -1;

		ignore_equalize = gd.getNextBoolean();
		use_inv = gd.getNextBoolean();
		scale_weight = gd.getNextNumber();
		pull_weight = gd.getNextNumber();
		half_weight_sec = gd.getNextNumber();
		min_weight_sec = gd.getNextNumber();
		overlap_pow = gd.getNextNumber();
		rms_diff = gd.getNextNumber();
		num_iter = (int) gd.getNextNumber();
		debugLevel = (int) gd.getNextNumber();

		return buildEqualize(
		clt_parameters, // CLTParameters clt_parameters,
		maps_collection, // OrthoMapsCollection maps_collection,
		orthoMapsCollection_path, // String orthoMapsCollection_path,
		ignore_equalize, // boolean ignore_equalize,
		use_inv, // boolean use_inv,
		scale_weight, // double scale_weight,
		pull_weight, // double pull_weight,
		half_weight_sec, // double half_weight_sec,
		min_weight_sec, // double min_weight_sec,
		overlap_pow, // double overlap_pow,
		rms_diff, // double rms_diff,
		num_iter, // int num_iter,
		debugLevel); // int debugLevel);
		}


		public static int buildEqualize(
		CLTParameters clt_parameters,
		OrthoMapsCollection maps_collection,
		String orthoMapsCollection_path,
		boolean ignore_equalize,
		boolean use_inv,
		double scale_weight,
		double pull_weight,
		double half_weight_sec,
		double min_weight_sec,
		double overlap_pow,
		double rms_diff,
		int num_iter,
		int debugLevel) {

		double lambda = 0.1;
		double lambda_scale_good = 0.5;
		double lambda_scale_bad = 8.0;
		double lambda_max = 100;
		boolean last_run = false;
		boolean ignore_equalization=false; // ignore previous equalization


		int [] indices = maps_collection.getScenesSelection(
		null, // boolean select_all,
		" to build a map"); // String purpose)
		@@ -83,7 +142,7 @@ public class OrthoEqualizeLMA {
		clt_parameters, // CLTParameters clt_parameters,
		maps_collection, // OrthoMapsCollection maps_collection,
		indices, // int [] indices,
		ignore_equalization, // boolean ignore_equalization, // ignore previous equalization
		ignore_equalize, // boolean ignore_equalization, // ignore previous equalization
		// scale_weights applies both to pairs mismatch and per-scene values difference from neutral {1.0, 0.0}
		scale_weight, // double scale_weight, // relative weight of scale differences compared to offset differences
		pull_weight, // double pull_weight, // relative weight of offsets and scales differences from 1.0 to pairs mismatch

src/main/java/com/elphel/imagej/orthomosaic/OrthoMapsCollection.java

+10 −2

Original line number	Diff line number	Diff line
		@@ -4453,7 +4453,7 @@ public class OrthoMapsCollection implements Serializable{
		double fill_fraction = clt_parameters.imp.pmtch_cent_fill; // should be populated not less than this
		double fill_fraction_final = clt_parameters.imp.pmtch_cent_final; // should be populated not less than this during final pass
		double ease_nosfm = clt_parameters.imp.pmtch_ease_nosfm; // ease metric_error when no SfM gain == 0;

		int min_scene = 0;
		GenericJTabbedDialog gd = new GenericJTabbedDialog("Pairwise Match Parameters",1200,1000);
		gd.addMessage("Number of scenes - "+num_scenes+
		", number of pairs (w/o inverse) - "+num_pairs+
		@@ -4495,7 +4495,8 @@ public class OrthoMapsCollection implements Serializable{
		gd.addNumericField("Central area minimal fill", fill_fraction, 3,7,"", "Central area minimal fill for all but the last iteration.");
		gd.addNumericField("Central area minimal fill final", fill_fraction_final, 3,7,"", "Central area minimal fill for the last iteration.");
		gd.addNumericField("Relax metric error for no-SfM", ease_nosfm, 3,7,"", "Relax metric error for no-SfM scenes (sfm_gain==0).");

		gd.addNumericField("Start scene (skip all earlier)", min_scene, 0,3,"","To be able to continue skipping some.");
		//

		gd.showDialog();
		if (gd.wasCanceled()) return false;
		@@ -4533,6 +4534,7 @@ public class OrthoMapsCollection implements Serializable{
		fill_fraction = gd.getNextNumber();
		fill_fraction_final= gd.getNextNumber();
		ease_nosfm = gd.getNextNumber();
		min_scene = (int) gd.getNextNumber();

		return generatePairwiseMatches(
		clt_parameters, // CLTParameters clt_parameters,
		@@ -4569,6 +4571,7 @@ public class OrthoMapsCollection implements Serializable{
		ease_nosfm, // double ease_nosfm,
		double_threshold, // double double_threshold,
		max_rms_iter, // double [] max_rms_iter,
		min_scene, // int min_scene,
		debugLevel); // int debugLevel
		}

		@@ -4609,6 +4612,7 @@ public class OrthoMapsCollection implements Serializable{
		double ease_nosfm,
		double double_threshold,
		double [] max_rms_iter,
		int min_scene,
		int debugLevel) {

		boolean batch_mode = true;
		@@ -4653,6 +4657,10 @@ public class OrthoMapsCollection implements Serializable{
		ArrayList<Point> new_pairs = new ArrayList<Point>(); // started from spiral, not from the same or inverse
		for (Point pair:pairs) {
		int [] ipair = {indices[pair.x], indices[pair.y]};
		if (ipair[0] < min_scene) {
		System.out.println ("Skipping "+ipair[0]+":"+ipair[1]+" until "+min_scene);
		continue;
		}
		boolean direct = indices[pair.x] < indices[pair.y];
		int min_zoom_lev = ortho_maps[ipair[0]].getOriginalZoomLevel();
		int max_zoom_lev = ortho_maps[ipair[0]].getOriginalZoomLevel();

src/main/java/com/elphel/imagej/orthomosaic/OrthoMultiLMA.java

+78 −13

Original line number	Diff line number	Diff line
		@@ -32,6 +32,7 @@ import java.util.Arrays;
		import java.util.concurrent.atomic.AtomicInteger;

		import com.elphel.imagej.cameras.CLTParameters;
		import com.elphel.imagej.common.GenericJTabbedDialog;
		import com.elphel.imagej.common.ShowDoubleFloatArrays;
		import com.elphel.imagej.tileprocessor.ImageDtt;

		@@ -217,18 +218,84 @@ public class OrthoMultiLMA {
		OrthoMapsCollection maps_collection,
		String orthoMapsCollection_path
		) {
		int debugLevel = 2;
		boolean move_only = false;
		boolean move_only = clt_parameters.imp.pmap_move_only; // false;
		boolean ignore_affines = clt_parameters.imp.pmap_ignore_affines; // false;
		boolean use_inv = clt_parameters.imp.pmap_use_inv; // false;
		double skew_pull = clt_parameters.imp.pmap_skew_pull; // 1.0;
		double tilt_pull = clt_parameters.imp.pmap_tilt_pull; // 1.0;
		double scale_pull = clt_parameters.imp.pmap_scale_pull; // 0.1; // .0;
		double position_pull = clt_parameters.imp.pmap_position_pull; // 0.0001;
		double overlap_pow = clt_parameters.imp.pmap_overlap_pow; // 2.0; // match weight as overlap fraction to this power
		double rms_diff = clt_parameters.imp.pmap_rms_diff; // 0.000001;
		int num_iter = clt_parameters.imp.pmap_num_iter; // 100; // 50;
		boolean show_result = clt_parameters.imp.pmap_show_result; // false;
		int debugLevel = clt_parameters.imp.pmap_debugLevel; // 2;

		GenericJTabbedDialog gd = new GenericJTabbedDialog("Pairwise Match Parameters",1200,400);
		gd.addCheckbox ("Moves only", move_only, "Moves only, no affine transform.");
		gd.addCheckbox ("Ignore existing affines", ignore_affines, "Start from unity matrices, ignore saved affines.");
		gd.addCheckbox ("Use reversed pairs", use_inv, "Use reversed (late-early timestamps) pairs.");
		gd.addNumericField("Skew pull", skew_pull, 7,10,"", "Intention to have axes perpendicular.");
		gd.addNumericField("Tilt pull", tilt_pull, 7,10,"", "Intention to have axes same length.");
		gd.addNumericField("Scale pull", scale_pull, 7,10,"", "Intention to have average scale of images = 1.0.");
		gd.addNumericField("Position pull", position_pull,7,10,"", "Intension to match IMS (GNSS) coordinates.");
		gd.addNumericField("Overlap inportance", overlap_pow, 3,7,"", "Raise overlap fraction (of the smaller image) to this power before using as weight.");
		gd.addNumericField("RMSE relative improvement",rms_diff, 8,10,"", "Relative RMSE improvement to exit LMA.");
		gd.addNumericField("LMA iterations", num_iter, 0,3,"",".Maximal number of the LMA iterations.");
		gd.addCheckbox ("Show result image", show_result, ".");
		gd.addNumericField("Debug level for maps", debugLevel, 0,3,"","Debug building for LMA building maps.");

		gd.showDialog();
		if (gd.wasCanceled()) return -1;

		move_only = gd.getNextBoolean();
		ignore_affines = gd.getNextBoolean();
		use_inv = gd.getNextBoolean();
		skew_pull = gd.getNextNumber();
		tilt_pull = gd.getNextNumber();
		scale_pull = gd.getNextNumber();
		position_pull = gd.getNextNumber();
		overlap_pow = gd.getNextNumber();
		rms_diff = gd.getNextNumber();
		num_iter = (int) gd.getNextNumber();
		show_result = gd.getNextBoolean();
		debugLevel = (int) gd.getNextNumber();

		return buildOrthoMap(
		clt_parameters, // CLTParameters clt_parameters,
		maps_collection, // OrthoMapsCollection maps_collection,
		orthoMapsCollection_path, // String orthoMapsCollection_path,
		move_only, // boolean move_only,
		ignore_affines, // boolean ignore_affines,
		use_inv, // boolean use_inv,
		skew_pull, // double skew_pull,
		tilt_pull, // double tilt_pull,
		scale_pull, // double scale_pull,
		position_pull, // double position_pull,
		overlap_pow, // double overlap_pow,
		rms_diff, // double rms_diff,
		num_iter, // int num_iter,
		show_result, // boolean show_result,
		debugLevel); // int debugLevel)
		}
		public static int buildOrthoMap(
		CLTParameters clt_parameters,
		OrthoMapsCollection maps_collection,
		String orthoMapsCollection_path,
		boolean move_only,
		boolean ignore_affines,
		boolean use_inv,
		double skew_pull,
		double tilt_pull,
		double scale_pull,
		double position_pull,
		double overlap_pow,
		double rms_diff,
		int num_iter,
		boolean show_result,
		int debugLevel) {
		double [] val_coord = null; // 1 - valid, 0 - invalid, minimize coordinates errors
		boolean ignore_affines = false;
		boolean use_inv = false;
		double overlap_pow = 2.0; // match weight as overlap fraction to this power
		double skew_pull = 1.0;
		double tilt_pull = 1.0;
		double scale_pull = 0.1; // .0;
		double position_pull = 0.0001;
		boolean corr_avg= (skew_pull > 0) \|\| (tilt_pull > 0) \|\| (scale_pull > 0);
		boolean show_result_image = false;
		int [] indices = maps_collection.getScenesSelection(
		null, // boolean select_all,
		" to build a map"); // String purpose)
		@@ -239,8 +306,6 @@ public class OrthoMultiLMA {
		double lambda_scale_good = 0.5;
		double lambda_scale_bad = 8.0;
		double lambda_max = 100;
		double rms_diff = 0.000001;
		int num_iter = 100; // 50;
		boolean last_run = false;
		oml.prepareLMA (
		clt_parameters, // CLTParameters clt_parameters,
		@@ -274,7 +339,7 @@ public class OrthoMultiLMA {

		//Get and apply affines
		oml.updateAffines(maps_collection);
		if (show_result_image) {
		if (show_result) {
		double [][][] affines = oml.getAffines();
		double [] fx = oml.getFx();