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imagej-elphel
Commit 222e8bbe authored by Andrey Filippov's avatar Andrey Filippov
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working on LY correction with ERS

parent 901f0a49
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Showing with 1773 additions and 236 deletions
pom.xml
View file @ 222e8bbe
......@@ -107,21 +107,17 @@
</dependency>
<!-- https://mvnrepository.com/artifact/net.sf.ehcache/ehcache-core -->
<!--
<dependency>
<groupId>net.sf.ehcache</groupId>
<artifactId>ehcache-core</artifactId>
<version>2.6.2</version>
</dependency>\
-->
</dependency>
<!-- https://mvnrepository.com/artifact/org.slf4j/jcl-over-slf4j -->
<!--
<dependency>
<groupId>org.slf4j</groupId>
<artifactId>jcl-over-slf4j</artifactId>
<version>1.7.5</version>
</dependency>
-->
</dependencies>
......
src/main/java/com/elphel/imagej/cameras/CLTParameters.java
View file @ 222e8bbe
......@@ -135,7 +135,7 @@ public class CLTParameters {
public double fcorr_disp_diff = 1.5; // consider only tiles with absolute residual disparity lower than
public boolean fcorr_quadratic = true; // Use quadratic polynomial for fine correction (false - only linear)
public boolean fcorr_ignore = false; // Ignore currently calculated fine correction
public double fcorr_inf_strength = 0.20 ; // Minimal correlation strength to use for infinity correction
public double fcorr_inf_strength = 0.15 ; // Minimal correlation strength to use for infinity correction
public double fcorr_inf_diff = 0.2; // Disparity half-range for infinity
public boolean fcorr_inf_quad = true; // Use quadratic polynomial for infinity correction (false - only linear)
public boolean fcorr_inf_vert = false; // Correct infinity in vertical direction (false - only horizontal)
......
src/main/java/com/elphel/imagej/gpu/GPUTileProcessor.java
View file @ 222e8bbe
......@@ -651,6 +651,7 @@ public class GPUTileProcessor {
private boolean geometry_correction_set = false;
private boolean geometry_correction_vector_set = false;
public int gpu_debug_level = 1;
public GpuQuad(
final QuadCLT quadCLT,
// final int img_width,
......@@ -878,9 +879,16 @@ public class GPUTileProcessor {
public void resetGeometryCorrection() {
geometry_correction_set = false;
geometry_correction_vector_set = false;
if (gpu_debug_level > -1) {
System.out.println("======resetGeometryCorrection()");
}
}
public void resetGeometryCorrectionVector() {
geometry_correction_vector_set = false;
if (gpu_debug_level > -1) {
System.out.println("======resetGeometryCorrectionVector()");
}
}
public int getImageWidth() {return this.img_width;}
public int getImageHeight() {return this.img_height;}
......@@ -897,6 +905,9 @@ public class GPUTileProcessor {
public void setGeometryCorrectionVector() { // will reset geometry_correction_vector_set when running GPU kernel
setExtrinsicsVector(
quadCLT.getGeometryCorrection().getCorrVector());
if (gpu_debug_level > -1) {
System.out.println("======setGeometryCorrectionVector()");
}
}
public void setGeometryCorrection(GeometryCorrection gc,
......@@ -912,6 +923,9 @@ public class GPUTileProcessor {
}
cuMemcpyHtoD(gpu_geometry_correction, Pointer.to(fgc), fgc.length * Sizeof.FLOAT);
cuMemAlloc (gpu_rot_deriv, 5 * num_cams *3 *3 * Sizeof.FLOAT); // NCAM of 3x3 rotation matrices, plus 4 derivative matrices for each camera
if (gpu_debug_level > -1) {
System.out.println("======setGeometryCorrection()");
}
}
/**
* Copy extrinsic correction vector to the GPU memory
......@@ -924,6 +938,9 @@ public class GPUTileProcessor {
fcv[i] = (float) dcv[i];
}
cuMemcpyHtoD(gpu_correction_vector, Pointer.to(fcv), fcv.length * Sizeof.FLOAT);
if (gpu_debug_level > -1) {
System.out.println("======setExtrinsicsVector()");
}
}
/**
......@@ -945,6 +962,10 @@ public class GPUTileProcessor {
tile_tasks[i].asFloatArray(ftasks, i* TPTASK_SIZE, use_aux);
}
cuMemcpyHtoD(gpu_tasks, Pointer.to(ftasks), TPTASK_SIZE * num_task_tiles * Sizeof.FLOAT);
if (gpu_debug_level > -1) {
System.out.println("======setTasks()");
}
}
void checkTasks (TpTask [] tile_tasks) {
......@@ -1103,6 +1124,9 @@ public class GPUTileProcessor {
ncam); // int ncam)
}
kernels_set = true;
if (gpu_debug_level > -1) {
System.out.println("======setConvolutionKernels()");
}
}
public void setBayerImage(
......@@ -1160,6 +1184,9 @@ public class GPUTileProcessor {
ncam); // int ncam)
}
bayer_set = true;
if (gpu_debug_level > -1) {
System.out.println("======setBayerImages()");
}
}
// prepare tasks for full frame, same dispaity.
......@@ -1536,6 +1563,9 @@ public class GPUTileProcessor {
kernelParameters, null); // Kernel- and extra parameters
cuCtxSynchronize(); // remove later
geometry_correction_vector_set = true;
if (gpu_debug_level > -1) {
System.out.println("======execRotDerivs()");
}
}
/**
......@@ -1565,6 +1595,9 @@ public class GPUTileProcessor {
kernelParameters, null); // Kernel- and extra parameters
cuCtxSynchronize(); // remove later
geometry_correction_set = true;
if (gpu_debug_level > -1) {
System.out.println("======execCalcReverseDistortions()");
}
}
/**
......@@ -1595,6 +1628,9 @@ public class GPUTileProcessor {
0, null, // Shared memory size and stream (shared - only dynamic, static is in code)
kernelParameters, null); // Kernel- and extra parameters
cuCtxSynchronize(); // remove later
if (gpu_debug_level > -1) {
System.out.println("======execSetTilesOffsets()");
}
}
/**
......@@ -1639,6 +1675,9 @@ public class GPUTileProcessor {
0, null, // Shared memory size and stream (shared - only dynamic, static is in code)
kernelParameters, null); // Kernel- and extra parameters
cuCtxSynchronize(); // remove later
if (gpu_debug_level > -1) {
System.out.println("======execConvertDirect()");
}
}
......
src/main/java/com/elphel/imagej/tileprocessor/AlignmentCorrection.java
View file @ 222e8bbe
......@@ -516,7 +516,8 @@ public class AlignmentCorrection {
for (int nTile = 0; nTile < numTiles; nTile++) if (center_mask[nTile]){
if (disp_strength[str_index][nTile] > min_strength) {
//clt_parameters.fcorr_inf_diff
if (Math.abs(disp_strength[disp_index][nTile]) <= max_diff) {
// if (Math.abs(disp_strength[disp_index][nTile]) <= max_diff) {
if ((disp_strength[disp_index][nTile] <= max_diff) && (disp_strength[disp_index][nTile] >= 5* max_diff)) { // asymmetry
double weight= disp_strength[str_index][nTile];
sdw += weight * disp_strength[disp_index][nTile];
sw += weight;
......@@ -2176,7 +2177,7 @@ B = |+dy0 -dy1 -2*dy3 |
magic_coeff, // magic_coeff, // still not understood coefficient that reduces reported disparity value. Seems to be around 8.5
debugLevel);
if (debugLevel > -1) {
if (debugLevel > -3) { // -1
double inf_weight = 0.0;
for (Sample s: inf_samples_list) {
inf_weight += s.weight;
......
src/main/java/com/elphel/imagej/tileprocessor/Correlation2d.java
View file @ 222e8bbe
......@@ -2222,7 +2222,7 @@ public class Correlation2d {
return mosaic;
}
public Corr2dLMA corrLMA2( // multi-tile
public Corr2dLMA corrLMA2Multi( // multi-tile
ImageDttParameters imgdtt_params,
int clust_width,
double [][] corr_wnd, // correlation window to save on re-calculation of the window
......@@ -2453,7 +2453,7 @@ public class Correlation2d {
imgdtt_params.lma_str_scale, // convert lma-generated strength to match previous ones - scale
imgdtt_params.lma_str_offset // convert lma-generated strength to match previous ones - add to result
);
if (debug_level > -1) lma.printStats(ds,clust_width);
if (debug_level > 0) lma.printStats(ds,clust_width);
if (debug_level > 1) {
......@@ -2551,7 +2551,7 @@ public class Correlation2d {
imgdtt_params.lma_str_scale, // convert lma-generated strength to match previous ones - scale
imgdtt_params.lma_str_offset // convert lma-generated strength to match previous ones - add to result
);
if (debug_level > -2) {
if (debug_level > 0) { // -2) {
lma.printStats(ds,clust_width);
}
}
......@@ -2619,8 +2619,9 @@ public class Correlation2d {
return lmaSuccess? lma: null;
}
public Corr2dLMA corrLMA2( // single tile
public Corr2dLMA corrLMA2Single( // single tile
ImageDttParameters imgdtt_params,
boolean adjust_ly, // adjust Lazy Eye
double [][] corr_wnd, // correlation window to save on re-calculation of the window
double [] corr_wnd_inv_limited, // correlation window, limited not to be smaller than threshold - used for finding max/convex areas (or null)
double [][] corrs,
......@@ -2758,12 +2759,12 @@ public class Correlation2d {
imgdtt_params.lmas_adjust_wm, // boolean adjust_width, // adjust width of the maximum - lma_adjust_wm
imgdtt_params.lmas_adjust_ag, // boolean adjust_scales, // adjust 2D correlation scales - lma_adjust_ag
imgdtt_params.lmas_adjust_wy, // boolean adjust_ellipse, // allow non-circular correlation maximums lma_adjust_wy
false, //imgdtt_params.lma_adjust_wxy, // boolean adjust_lazyeye_par, // adjust disparity corrections parallel to disparities lma_adjust_wxy
false, // imgdtt_params.lma_adjust_ly1, // boolean adjust_lazyeye_ortho, // adjust disparity corrections orthogonal to disparities lma_adjust_ly1
(adjust_ly ? imgdtt_params.lma_adjust_wxy : false), //imgdtt_params.lma_adjust_wxy, // boolean adjust_lazyeye_par, // adjust disparity corrections parallel to disparities lma_adjust_wxy
(adjust_ly ? imgdtt_params.lma_adjust_ly1: false), // imgdtt_params.lma_adjust_ly1, // boolean adjust_lazyeye_ortho, // adjust disparity corrections orthogonal to disparities lma_adjust_ly1
disp_str2, // xcenter, // double disp0, // initial value of disparity
imgdtt_params.lma_half_width, // double half_width, // A=1/(half_widh)^2 lma_half_width
0.0, // imgdtt_params.lma_cost_wy, // double cost_lazyeye_par, // cost for each of the non-zero disparity corrections lma_cost_wy
0.0 //imgdtt_params.lma_cost_wxy // double cost_lazyeye_odtho // cost for each of the non-zero ortho disparity corrections lma_cost_wxy
(adjust_ly ? imgdtt_params.lma_cost_wy : 0.0), // imgdtt_params.lma_cost_wy, // double cost_lazyeye_par, // cost for each of the non-zero disparity corrections lma_cost_wy
(adjust_ly ? imgdtt_params.lma_cost_wxy : 0.0) //imgdtt_params.lma_cost_wxy // double cost_lazyeye_odtho // cost for each of the non-zero ortho disparity corrections lma_cost_wxy
);
lma.setMatrices(disp_dist);
lma.initMatrices(); // should be called after initVector and after setMatrices
......
src/main/java/com/elphel/imagej/tileprocessor/ImageDtt.java
View file @ 222e8bbe
......@@ -1678,11 +1678,13 @@ public class ImageDtt extends ImageDttCPU {
final float [][][][] fcorr_td_centers = new float [tilesY][tilesX][][]; // sparse, only in cluster centers
final int [][] num_in_cluster = new int [clustersY][clustersX]; // only in cluster centers
final double [][][][] disp_dist = new double [clustersY][clustersX][][];
final double [][][][] pxpy = new double [clustersY][clustersX][][];
final double [][][] clust_pY = new double [clustersY][clustersX][];
final double [][][] pxpy = new double [clustersY][clustersX][];
final double [][] disparity_array_center = new double [clustersY][clustersX];
final Thread[] threads = newThreadArray(threadsMax);
final AtomicInteger ai = new AtomicInteger(0);
final double shiftX = 0.0;
final double shiftY = 0.0;
// TODO: Maybe calculate full energy in each TD tile for normalization
for (int ithread = 0; ithread < threads.length; ithread++) {
threads[ithread] = new Thread() {
......@@ -1701,7 +1703,7 @@ public class ImageDtt extends ImageDttCPU {
boolean debugCluster = (clustX == debug_clustX) && (clustY == debug_clustY);
/// boolean debugCluster1 = (Math.abs(clustX - debug_clustX) < 10) && (Math.abs(clustY - debug_clustY) < 10);
if (debugCluster) {
System.out.println("debugCluster");
System.out.println("debugCluster1");
}
/// int clust_lma_debug_level = debugCluster? imgdtt_params.lma_debug_level : -5;
// filter only tiles with similar disparity to enable lazy eye for the ERS.
......@@ -1738,13 +1740,13 @@ public class ImageDtt extends ImageDttCPU {
}
}
}
avg /= num_good_tiles;
if (num_good_tiles ==0) {
break;
}
if ((mx-mn) <= imgdtt_params.lma_disp_range ) {
break;
}
avg /= num_good_tiles;
if ((mx-avg) > (avg-mn)) {
fcorr_td[mxTy][mxTx] = null;
} else {
......@@ -1758,9 +1760,13 @@ public class ImageDtt extends ImageDttCPU {
float [][] ftd = new float [num_pairs][4* transform_size * transform_size];
if (num_good_tiles > 0) {
double dscale = 1.0/num_good_tiles;
// average fdisp_dist and fpxpy over remaining tiles
//fpxpy
double [] avg_py = new double [quad];
double [][] avg_disp_dist = new double [quad][4];
double [][] avg_pxpy = new double [quad][2];
// double [][] avg_pxpy = new double [quad][2];
double [] avg_pxpy = new double [2];
for (int cTileY = 0; cTileY < tileStep; cTileY++) {
int tileY = clustY * tileStep + cTileY ;
if (tileY < tilesY) {
......@@ -1771,10 +1777,12 @@ public class ImageDtt extends ImageDttCPU {
for (int i = 0; i < 4; i++) {
avg_disp_dist[nc][i] += fdisp_dist[tileY][tileX][nc][i];
}
for (int i = 0; i < 2; i++) {
avg_pxpy[nc][i] += fpxpy[tileY][tileX][nc][i];
}
avg_py[nc] += fpxpy[tileY][tileX][nc][1]; // averaging some tiles, but it will be the same for all channels
}
double centerX = tileX * transform_size + transform_size/2 - shiftX;
double centerY = tileY * transform_size + transform_size/2 - shiftY;
avg_pxpy[0] += centerX;
avg_pxpy[1] += centerY;
}
}
}
......@@ -1796,12 +1804,15 @@ public class ImageDtt extends ImageDttCPU {
for (int i = 0; i < 4; i++) {
avg_disp_dist[nc][i] *= dscale;
}
for (int i = 0; i < 2; i++) {
avg_pxpy[nc][i] *= dscale;
}
avg_py[nc] *= dscale;
}
for (int i = 0; i < 2; i++) {
avg_pxpy[i] *= dscale;
}
disp_dist[clustY][clustX] = avg_disp_dist;
pxpy [clustY][clustX] = avg_pxpy;
clust_pY [clustY][clustX] = avg_py; // to use for ERS
// accumulate TD tiles
// If needed - save average
for (int cTileY = 0; cTileY < tileStep; cTileY++) {
......@@ -1881,6 +1892,7 @@ public class ImageDtt extends ImageDttCPU {
int tileY = nt / tilesX;
int clustX = tileX/tileStep;
int clustY = tileY/tileStep;
/// boolean debugCluster1 = (Math.abs(clustX - debug_clustX) < 10) && (Math.abs(clustY - debug_clustY) < 10);
double [] disp_str = null;
for (int indx_pair = 0; indx_pair < num_pairs; indx_pair++) {
......@@ -1905,14 +1917,18 @@ public class ImageDtt extends ImageDttCPU {
// debug new LMA correlations
boolean debugCluster = (clustX == debug_clustX) && (clustY == debug_clustY);
if (debugCluster) {
System.out.println("debugCluster2");
}
int tile_lma_debug_level = ((tileX == debug_tileX) && (tileY == debug_tileY))? imgdtt_params.lma_debug_level : -1;
int tdl = debugCluster ? tile_lma_debug_level : -3;
if (debugCluster && (globalDebugLevel > -1)) { // -2)) {
System.out.println("Will run new LMA for tileX="+tileX+", tileY="+tileY);
}
double [] poly_disp = {Double.NaN, 0.0};
Corr2dLMA lma2 = corr2d.corrLMA2( // num_tiles == 1
Corr2dLMA lma2 = corr2d.corrLMA2Single( // multitile num_tiles == 1
imgdtt_params, // ImageDttParameters imgdtt_params,
true, // boolean adjust_ly, // adjust Lazy Eye
corr_wnd, // double [][] corr_wnd, // correlation window to save on re-calculation of the window
corr_wnd_inv_limited, // corr_wnd_limited, // correlation window, limited not to be smaller than threshold - used for finding max/convex areas (or null)
corrs, // double [][] corrs,
......@@ -1926,6 +1942,28 @@ public class ImageDtt extends ImageDttCPU {
tileX, // int tileX, // just for debug output
tileY); // int tileY
/*
double [][] poly_disp2 = {{Double.NaN, 0.0}};
double [][][] corrs2 = {corrs};
double [][][] tile_disp_dist2 = {tile_disp_dist};
// TODO: maybe use corrLMA2Single again, but take care of initVector!
Corr2dLMA lma2 = corr2d.corrLMA2Multi( // multitile num_tiles == 1
imgdtt_params, // ImageDttParameters imgdtt_params,
1, // int clust_width,
corr_wnd, // double [][] corr_wnd, // correlation window to save on re-calculation of the window
corr_wnd_inv_limited, // corr_wnd_limited, // correlation window, limited not to be smaller than threshold - used for finding max/convex areas (or null)
corrs2, // corrs, // double [][] corrs,
tile_disp_dist2,
rXY, // double [][] rXY, // non-distorted X,Y offset per nominal pixel of disparity
imgdtt_params.dbg_pair_mask, // int pair_mask, // which pairs to process
// null, // disp_str[cTile], //corr_stat[0], // double xcenter, // preliminary center x in pixels for largest baseline
poly_disp2, // double[] poly_ds, // null or pair of disparity/strength
imgdtt_params.ortho_vasw_pwr, // double vasw_pwr, // value as weight to this power,
tdl, // tile_lma_debug_level, //+2, // int debug_level,
tileX, // int tileX, // just for debug output
tileY); // int tileY
*/
if (lma2 != null) {
// was for single tile
disp_str = lma2.lmaDisparityStrength(
......@@ -1966,15 +2004,19 @@ public class ImageDtt extends ImageDttCPU {
lazy_eye_data[nCluster][ExtrinsicAdjustment.INDX_DISP] += (lma_ds[0][0] + disparity_array_center[clustY][clustX] + disparity_corr) * w;
lazy_eye_data[nCluster][ExtrinsicAdjustment.INDX_TARGET] += (disparity_array_center[clustY][clustX] + disparity_corr) * w;
lazy_eye_data[nCluster][ExtrinsicAdjustment.INDX_DIFF] += lma_ds[0][0] * w;
lazy_eye_data[nCluster][ExtrinsicAdjustment.INDX_PX + 0] += pxpy[clustY][clustX][0][0] * w;
lazy_eye_data[nCluster][ExtrinsicAdjustment.INDX_PX + 1] += pxpy[clustY][clustX][0][1] * w;
lazy_eye_data[nCluster][ExtrinsicAdjustment.INDX_PX + 0] += pxpy[clustY][clustX][0] * w;
lazy_eye_data[nCluster][ExtrinsicAdjustment.INDX_PX + 1] += pxpy[clustY][clustX][1] * w;
for (int cam = 0; cam < quad; cam++) {
lazy_eye_data[nCluster][ExtrinsicAdjustment.INDX_DYDDISP0 + cam] += tile_disp_dist[cam][2] * w;
lazy_eye_data[nCluster][ExtrinsicAdjustment.INDX_PYDIST + cam] += clust_pY [clustY][clustX][cam] * w;
}
sum_w += w;
}
if (sum_w > 0.0) { // may be simplified as there is only one tile now
lazy_eye_data[nCluster][ExtrinsicAdjustment.INDX_STRENGTH] = stats[0];
double strengh_k = 0.2*Math.sqrt(num_in_cluster[clustY][clustX]); // approximately matching old/multitile
lazy_eye_data[nCluster][ExtrinsicAdjustment.INDX_STRENGTH] =
stats[0] * num_in_cluster[clustY][clustX] * strengh_k;
lazy_eye_data[nCluster][ExtrinsicAdjustment.INDX_DISP] /= sum_w;
lazy_eye_data[nCluster][ExtrinsicAdjustment.INDX_TARGET] /= sum_w;
lazy_eye_data[nCluster][ExtrinsicAdjustment.INDX_DIFF] /= sum_w;
......@@ -1982,6 +2024,7 @@ public class ImageDtt extends ImageDttCPU {
lazy_eye_data[nCluster][ExtrinsicAdjustment.INDX_PX + 1] /= sum_w;
for (int cam = 0; cam < quad; cam++) {
lazy_eye_data[nCluster][ExtrinsicAdjustment.INDX_DYDDISP0 + cam] /= sum_w;
lazy_eye_data[nCluster][ExtrinsicAdjustment.INDX_PYDIST + cam] /= sum_w;
}
for (int cam = 0; cam < ddnd.length; cam++) {
......
src/main/java/com/elphel/imagej/tileprocessor/ImageDttCPU.java
View file @ 222e8bbe
......@@ -1743,6 +1743,7 @@ public class ImageDttCPU {
double [][] disp_str = new double [clustSize][];
/// double [][] dY_dD = new double [clustSize][quad];
double [][] pxpy = new double [clustSize][2];
// double [][] pYdist= new double [clustSize][quad]; // average pY for ERS calculation
boolean debugCluster = (clustX == debug_clustX) && (clustY == debug_clustY);
/// boolean debugCluster1 = (Math.abs(clustX - debug_clustX) < 10) && (Math.abs(clustY - debug_clustY) < 10);
......@@ -2125,8 +2126,9 @@ public class ImageDttCPU {
System.out.println("Will run new LMA for tileX="+tileX+", tileY="+tileY);
}
double [] poly_disp = {Double.NaN, 0.0};
Corr2dLMA lma2 = corr2d.corrLMA2(
Corr2dLMA lma2 = corr2d.corrLMA2Single(
imgdtt_params, // ImageDttParameters imgdtt_params,
false, // boolean adjust_ly, // adjust Lazy Eye
corr_wnd, // double [][] corr_wnd, // correlation window to save on re-calculation of the window
corr_wnd_inv_limited, // corr_wnd_limited, // correlation window, limited not to be smaller than threshold - used for finding max/convex areas (or null)
corrs[cTile], // double [][] corrs,
......@@ -2179,7 +2181,7 @@ public class ImageDttCPU {
System.out.println("Will run new LMA for clustX="+clustX+", clustY="+clustY);
}
Corr2dLMA lma2 = corr2d.corrLMA2(
Corr2dLMA lma2 = corr2d.corrLMA2Multi(
imgdtt_params, // ImageDttParameters imgdtt_params,
tileStep, // int clust_width,
corr_wnd, // double [][] corr_wnd, // correlation window to save on re-calculation of the window
......@@ -2225,6 +2227,7 @@ public class ImageDttCPU {
lazy_eye_data[nCluster][ExtrinsicAdjustment.INDX_PX + 1] += pxpy[cTile][1] * w;
for (int cam = 0; cam < quad; cam++) {
lazy_eye_data[nCluster][ExtrinsicAdjustment.INDX_DYDDISP0 + cam] += disp_dist[cTile][cam][2] * w;
lazy_eye_data[nCluster][ExtrinsicAdjustment.INDX_PYDIST + cam] += centersXY[cTile][cam][1] * w;
}
sum_w += w;
}
......@@ -2241,6 +2244,7 @@ public class ImageDttCPU {
lazy_eye_data[nCluster][ExtrinsicAdjustment.INDX_PX + 1] /= sum_w;
for (int cam = 0; cam < quad; cam++) {
lazy_eye_data[nCluster][ExtrinsicAdjustment.INDX_DYDDISP0 + cam] /= sum_w;
lazy_eye_data[nCluster][ExtrinsicAdjustment.INDX_PYDIST + cam] /= sum_w;
}
for (int cam = 0; cam < ddnd.length; cam++) {
......@@ -3318,8 +3322,9 @@ public class ImageDttCPU {
System.out.println("Will run new LMA for tileX="+tileX+", tileY="+tileY);
double [] poly_disp = {Double.NaN, 0.0};
Corr2dLMA lma2 = corr2d.corrLMA2(
Corr2dLMA lma2 = corr2d.corrLMA2Single(
imgdtt_params, // ImageDttParameters imgdtt_params,
false, // boolean adjust_ly, // adjust Lazy Eye
corr_wnd, // double [][] corr_wnd, // correlation window to save on re-calculation of the window
corr_wnd_inv_limited, // corr_wnd_limited, // correlation window, limited not to be smaller than threshold - used for finding max/convex areas (or null)
corrs, // double [][] corrs,
......
src/main/java/com/elphel/imagej/tileprocessor/QuadCLT.java
View file @ 222e8bbe
......@@ -348,8 +348,8 @@ public class QuadCLT extends QuadCLTCPU {
}
if (resetEV) {
if (quadCLT_main.getGPU() != null) quadCLT_main.getGPU().resetGeometryCorrectionVector();
if (quadCLT_aux.getGPU() != null) quadCLT_aux.getGPU().resetGeometryCorrectionVector();
if (quadCLT_main.getGPU() != null) quadCLT_main.gpuResetCorrVector(); // getGPU().resetGeometryCorrectionVector();
if (quadCLT_aux.getGPU() != null) quadCLT_aux.gpuResetCorrVector(); // .getGPU().resetGeometryCorrectionVector();
}
// get fat_zero (absolute) and color scales
......@@ -2328,7 +2328,7 @@ public class QuadCLT extends QuadCLTCPU {
null, // final float [][][][] corr_combo_td, // [4][tilesY][tilesX][pair][4*64] TD of combo corrs: qud, cross, hor,vert
// each of the top elements may be null to skip particular combo type
fdisp_dist, // final float [][][][] fdisp_dist, // [tilesY][tilesX][cams][4], // disparity derivatives vectors or null
fpxpy, // final float [][][][] fdisp_dist, // [tilesY][tilesX][cams][2], tile {pX,pY}
fpxpy, // final float [][][][] fpxpy, // [tilesY][tilesX][cams][2], tile {pX,pY}
//// Uses quadCLT from gpuQuad
// correlation results - final and partial
null, // [type][tilesY][tilesX][(2*transform_size-1)*(2*transform_size-1)] // if null - will not calculate
......@@ -2380,7 +2380,7 @@ public class QuadCLT extends QuadCLTCPU {
disparity_array, // final double [][] disparity_array, // [tilesY][tilesX] - individual per-tile expected disparity
fcorr_td, // final float [][][][] fcorr_td, // [tilesY][tilesX][pair][4*64] transform domain representation of 6 corr
fdisp_dist, // final float [][][][] fdisp_dist, // [tilesY][tilesX][cams][4], // disparity derivatives vectors or null
fpxpy, // final float [][][][] fpxpy, // [tilesY][tilesX][cams][2], tile {pX,pY}
fpxpy, // final float [][][][] fpxpy, // [tilesY][tilesX][cams][2], tile {pX,pY}
clt_parameters.gpu_corr_scale, // gpu_corr_scale, // final double gpu_corr_scale, // 0.75; // reduce GPU-generated correlation values
gpu_fat_zero, // final double gpu_fat_zero, // clt_parameters.getGpuFatZero(is_mono);absolute == 30.0\
geometryCorrection, // final GeometryCorrection geometryCorrection,
......@@ -2399,4 +2399,16 @@ public class QuadCLT extends QuadCLTCPU {
scan.resetProcessed();
return scan;
}
public void gpuResetCorrVector() {
if (getGPU() != null) {
getGPU().resetGeometryCorrectionVector();
getGPU().resetGeometryCorrection(); // testing, just in case, should be removed
}
}
public void gpuResetGeometryCorrection() {
if (getGPU() != null) {
getGPU().resetGeometryCorrection();
}
}
}
src/main/java/com/elphel/imagej/tileprocessor/TwoQuadCLT.java
View file @ 222e8bbe
......@@ -7758,6 +7758,8 @@ if (debugLevel > -100) return true; // temporarily !
boolean ok = quadCLT_main.extrinsicsCLT(
clt_parameters, // EyesisCorrectionParameters.CLTParameters clt_parameters,
false, // adjust_poly,
-1.0, // double inf_min,
1.0, // double inf_max,
threadsMax, //final int threadsMax, // maximal number of threads to launch
updateStatus,// final boolean updateStatus,
debugLevelInner); // final int debugLevel)
......@@ -7791,9 +7793,18 @@ if (debugLevel > -100) return true; // temporarily !
System.out.println("Adjusting aux camera image set for "+quadCLT_main.image_name+
" (w/o rig), pass "+(num_adjust_aux+1)+" of "+quadCLT_main.correctionsParameters.rig_batch_adjust_aux);
}
double inf_min = -1.0;
double inf_max = 1.0;
if (num_adjust_aux >= (quadCLT_main.correctionsParameters.rig_batch_adjust_aux/2)) {
inf_min = -0.2;
inf_max = 0.05;
}
boolean ok = quadCLT_aux.extrinsicsCLT(
clt_parameters, // EyesisCorrectionParameters.CLTParameters clt_parameters,
false, // adjust_poly,
inf_min, // double inf_min,
inf_max, // double inf_max,
threadsMax, //final int threadsMax, // maximal number of threads to launch
updateStatus, // final boolean updateStatus,
debugLevelInner); // final int debugLevel)
......@@ -8214,11 +8225,11 @@ if (debugLevel > -100) return true; // temporarily !
{
if ((quadCLT_main != null) && (quadCLT_main.getGPU() != null)) {
quadCLT_main.getGPU().resetGeometryCorrection();
quadCLT_main.getGPU().resetGeometryCorrectionVector();
quadCLT_main.gpuResetCorrVector(); // .getGPU().resetGeometryCorrectionVector();
}
if ((quadCLT_aux != null) && (quadCLT_aux.getGPU() != null)) {
quadCLT_aux.getGPU().resetGeometryCorrection();
quadCLT_aux.getGPU().resetGeometryCorrectionVector();
quadCLT_aux.gpuResetCorrVector(); // .getGPU().resetGeometryCorrectionVector();
}
// final boolean batch_mode = clt_parameters.batch_run;
......@@ -8303,7 +8314,7 @@ if (debugLevel > -100) return true; // temporarily !
System.out.println("Adjusting main camera image set for "+quadCLT_main.image_name+
", pass "+(num_adjust_main+1)+" of "+adjust_main);
}
if (debugLevel > -5){
if (debugLevel > -1){
int scan_index = quadCLT_main.tp.clt_3d_passes.size() -1;
quadCLT_main.tp.showScan(
quadCLT_main.tp.clt_3d_passes.get(scan_index), // CLTPass3d scan,
......@@ -8314,10 +8325,17 @@ if (debugLevel > -100) return true; // temporarily !
"pre-adjust-extrinsic-scan-"+s); //String title)
}
}
double inf_min = -1.0;
double inf_max = 1.0;
if (num_adjust_main >= (adjust_main/2)) {
inf_min = -0.2;
inf_max = 0.05;
}
boolean ok = quadCLT_main.extrinsicsCLT(
clt_parameters, // EyesisCorrectionParameters.CLTParameters clt_parameters,
false, // adjust_poly,
inf_min, // double inf_min,
inf_max, // double inf_max,
threadsMax, //final int threadsMax, // maximal number of threads to launch
updateStatus,// final boolean updateStatus,
debugLevelInner); // final int debugLevel)
......@@ -8567,10 +8585,18 @@ if (debugLevel > -100) return true; // temporarily !
}
if (quadCLT_aux.ds_from_main == null) {
System.out.println("BUG: quadCLT_aux.ds_from_main should be not null here!");
double inf_min = -1.0;
double inf_max = 1.0;
if (num_adjust_aux >= (adjust_aux/2)) {
inf_min = -0.2;
inf_max = 0.05;
}
// adjust w/o main camera - maybe will be used in the future
boolean ok = quadCLT_aux.extrinsicsCLT(
clt_parameters, // EyesisCorrectionParameters.CLTParameters clt_parameters,
false, // adjust_poly,
inf_min, // double inf_min,
inf_max, // double inf_max,
threadsMax, //final int threadsMax, // maximal number of threads to launch
updateStatus,// final boolean updateStatus,
debugLevelInner); // final int debugLevel)
......
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