Skip to content

I
imagej-elphel
Commit 29a3dec2 authored by Andrey Filippov's avatar Andrey Filippov
Browse files
Options

tested reajustment of orientations, bug fixes

parent 54ecece0
Hide whitespace changes
Inline Side-by-side
Showing with 173 additions and 13 deletions
src/main/java/com/elphel/imagej/tileprocessor/IntersceneMatchParameters.java
View file @ 29a3dec2
......@@ -33,6 +33,9 @@ public class IntersceneMatchParameters {
// Maybe add parameters to make sure there is enough data? Enough in each zone? Enough spread?
public boolean force_ref_dsi = false; // true;
public boolean force_orientations = false;
public boolean readjust_orient = false;
public double blur_egomotion = 2.0;
public boolean force_interscene = false; // true;
public boolean export_images = true; // pseudo-color 16-slice images (same disparity, COMBO_DSN_INDX_DISP_FG and COMBO_DSN_INDX_DISP_BG_ALL,
public boolean show_images = false; // color, infinity
......@@ -120,6 +123,7 @@ public class IntersceneMatchParameters {
public boolean use_combo_dsi = true; // use interscene DSI if available (instead of the single-scene)
public boolean use_lma_dsi = true; // only use reference DSI tiles that have LMA (strong) disparity
// Remove moving objects (goal is not to detect slightest movement, but to improve pose matching
public boolean mov_en = true; // enable detection/removal of the moving objects during pose matching
public double mov_sigma = 1.5; // pix - weighted-blur offsets before detection
......@@ -134,6 +138,7 @@ public class IntersceneMatchParameters {
//LMA parameters
public boolean [] adjust_atr = new boolean [] {true,true,true};
public boolean [] adjust_xyz = new boolean [] {true,true,true};
public double exit_change_atr = 1.0E-5;//rad, L2 norm for difference to ext LMA
......@@ -151,10 +156,11 @@ public class IntersceneMatchParameters {
private boolean show_motion_vectors = true; // show calculated motion vectors
public int debug_level = -1; // all renders are disable for debug_level < 0, scene "renders" for for debug_level < 1
// Pairwise ERS testing
public boolean test_ers = false;
public int test_ers0 = -1; // try adjusting a pair of scenes with ERS. Reference scene index
public int test_ers1 = -1; // try adjusting a pair of scenes with ERS. Other scene index
public boolean test_ers = false;
public int test_ers0 = -1; // try adjusting a pair of scenes with ERS. Reference scene index
public int test_ers1 = -1; // try adjusting a pair of scenes with ERS. Other scene index
public boolean renderRef() {return (debug_level>1) && render_ref;}
......@@ -179,6 +185,10 @@ public class IntersceneMatchParameters {
"Calculate reference scene DSI even if the file exists.");
gd.addCheckbox ("Force egomotion calculation", this.force_orientations,
"Calculate relative poses of each scene camera relative to the reference scene even if the data exists.");
gd.addCheckbox ("Readjust egomotion", this.readjust_orient,
"Re-calculate egomotion using known orientation and combined DSI.");
gd.addNumericField("Disparity at infinity", this.blur_egomotion, 3,5,"scenes",
"LPF egomotion components with this sigma before using as ERS.");
gd.addCheckbox ("Force interscene DSI accumulation", this.force_interscene,
"Force interscene calculation (+ML export) even if it was performed before.");
gd.addCheckbox ("Export all-sensor images", this.export_images,
......@@ -408,8 +418,8 @@ public class IntersceneMatchParameters {
"Debug Level for the above parameters: renders and raw correlations need >1, motion vectors > 0");
gd.addMessage ("Pairwise ERS testing");
gd.addCheckbox ("Replace scene with reference scene", this.test_ers,
"Correlate reference scene with itself for testing (may want to manually change scene_atr and scene_xyz in debug mode)");
gd.addCheckbox ("Test pairwise matching with ERS", this.test_ers,
"Test pairwise dispaly and pose correction to test ERS compensation");
gd.addNumericField("Test scene reference index", this.test_ers0, 0,3,"",
"Reference scene index in a scene sequence");
gd.addNumericField("Test scene other scene index", this.test_ers1, 0,3,"",
......@@ -421,6 +431,8 @@ public class IntersceneMatchParameters {
public void dialogAnswers(GenericJTabbedDialog gd) {
this.force_ref_dsi = gd.getNextBoolean();
this.force_orientations = gd.getNextBoolean();
this.readjust_orient = gd.getNextBoolean();
this.blur_egomotion = gd.getNextNumber();
this.force_interscene = gd.getNextBoolean();
this.export_images = gd.getNextBoolean();
this.show_images = gd.getNextBoolean();
......@@ -536,6 +548,8 @@ public class IntersceneMatchParameters {
public void setProperties(String prefix,Properties properties){
properties.setProperty(prefix+"force_ref_dsi", this.force_ref_dsi + ""); // boolean
properties.setProperty(prefix+"force_orientations", this.force_orientations + "");// boolean
properties.setProperty(prefix+"readjust_orient", this.readjust_orient + ""); // boolean
properties.setProperty(prefix+"blur_egomotion", this.blur_egomotion+""); // double
properties.setProperty(prefix+"force_interscene", this.force_interscene + ""); // boolean
properties.setProperty(prefix+"export_images", this.export_images + ""); // boolean
properties.setProperty(prefix+"show_images", this.show_images + ""); // boolean
......@@ -647,6 +661,8 @@ public class IntersceneMatchParameters {
public void getProperties(String prefix,Properties properties){
if (properties.getProperty(prefix+"force_ref_dsi")!=null) this.force_ref_dsi=Boolean.parseBoolean(properties.getProperty(prefix+"force_ref_dsi"));
if (properties.getProperty(prefix+"force_orientations")!=null) this.force_orientations=Boolean.parseBoolean(properties.getProperty(prefix+"force_orientations"));
if (properties.getProperty(prefix+"readjust_orient")!=null) this.readjust_orient=Boolean.parseBoolean(properties.getProperty(prefix+"readjust_orient"));
if (properties.getProperty(prefix+"blur_egomotion")!=null) this.blur_egomotion=Double.parseDouble(properties.getProperty(prefix+"blur_egomotion"));
if (properties.getProperty(prefix+"force_interscene")!=null) this.force_interscene=Boolean.parseBoolean(properties.getProperty(prefix+"force_interscene"));
if (properties.getProperty(prefix+"export_images")!=null) this.export_images=Boolean.parseBoolean(properties.getProperty(prefix+"export_images"));
if (properties.getProperty(prefix+"show_images")!=null) this.show_images=Boolean.parseBoolean(properties.getProperty(prefix+"show_images"));
......@@ -759,6 +775,8 @@ public class IntersceneMatchParameters {
IntersceneMatchParameters imp = new IntersceneMatchParameters();
imp.force_ref_dsi = this.force_ref_dsi;
imp.force_orientations = this.force_orientations;
imp.readjust_orient = this.readjust_orient;
imp.blur_egomotion = this.blur_egomotion;
imp.force_interscene = this.force_interscene;
imp.export_images = this.export_images;
imp.show_images = this.show_images;
......
src/main/java/com/elphel/imagej/tileprocessor/OpticalFlow.java
View file @ 29a3dec2
......@@ -3983,6 +3983,7 @@ public class OpticalFlow {
boolean show_mapped_color = clt_parameters.imp.show_mapped_color;
boolean show_mapped_mono = clt_parameters.imp.show_mapped_mono;
boolean readjust_orient = clt_parameters.imp.readjust_orient;
boolean test_ers = clt_parameters.imp.test_ers;
int test_ers0 = clt_parameters.imp.test_ers0; // try adjusting a pair of scenes with ERS. Reference scene index
int test_ers1 = clt_parameters.imp.test_ers1; // try adjusting a pair of scenes with ERS. Other scene index
......@@ -4236,9 +4237,28 @@ public class OpticalFlow {
debugLevel); // int debug_level
}
if (readjust_orient) {
if (!build_orientations && !build_interscene) {
for (int nscene = 0; nscene < (quadCLTs.length -1); nscene++) {
quadCLTs[nscene] = (QuadCLT) quadCLT_main.spawnNoModelQuadCLT( // restores image data
set_channels[nscene].set_name,
clt_parameters,
colorProcParameters, //
threadsMax,
debugLevel-2);
}
}
reAdjustPairsLMAInterscene( // after combo dgi is available and preliminary poses are known
clt_parameters, // CLTParameters clt_parameters,
quadCLTs, // QuadCLT [] quadCLTs,
debugLevel) ; // int debugLevel)
}
if (test_ers) {
test_ers0 = quadCLTs.length -1; // make it always == reference !
if (!build_orientations && !build_interscene) {
if (!build_orientations && !build_interscene && !readjust_orient) {
for (int nscene = 0; nscene < (quadCLTs.length -1); nscene++) {
if ((Math.abs(nscene - test_ers0) <= 1) || (Math.abs(nscene - test_ers1) <= 1)) {
quadCLTs[nscene] = (QuadCLT) quadCLT_main.spawnNoModelQuadCLT( // restores image data
......@@ -4250,8 +4270,6 @@ public class OpticalFlow {
}
}
}
testERS(
clt_parameters, // CLTParameters clt_parameters,
test_ers0, // int indx0, // reference scene in a pair
......@@ -4259,10 +4277,13 @@ public class OpticalFlow {
// double [] ref_disparity,
quadCLTs, // QuadCLT [] quadCLTs,
debugLevel); // int debugLevel)
System.out.println("buildSeries(): ABORTED after test_ers"); //
return true;
}
if (generate_mapped) {
if (!build_orientations && !build_interscene) {
for (int scene_index = ref_index - 1; scene_index >= 0 ; scene_index--) {
......@@ -4318,8 +4339,8 @@ public class OpticalFlow {
bg_str
};
double [][] ds_bg = conditionInitialDS(
false, // boolean use_conf, // use configuration parameters, false - use following
clt_parameters, // CLTParameters clt_parameters,
true, // boolean use_conf, // use configuration parameters, false - use following
clt_parameters, // CLTParameters clt_parameters,
dls_bg, // double [][] dls
quadCLTs[ref_index], // QuadCLT scene,
debugLevel);
......@@ -4413,7 +4434,7 @@ public class OpticalFlow {
combo_dsn_final[COMBO_DSN_INDX_STRENGTH]
};
double [][] ds = conditionInitialDS(
false, // boolean use_conf, // use configuration parameters, false - use following
true, // boolean use_conf, // use configuration parameters, false - use following
clt_parameters, // CLTParameters clt_parameters,
dls, // double [][] dls
quadCLTs[ref_index], // QuadCLT scene,
......@@ -4441,7 +4462,7 @@ public class OpticalFlow {
bg_str
};
double [][] ds_bg = conditionInitialDS(
false, // boolean use_conf, // use configuration parameters, false - use following
true, // boolean use_conf, // use configuration parameters, false - use following
clt_parameters, // CLTParameters clt_parameters,
dls_bg, // double [][] dls
quadCLTs[ref_index], // QuadCLT scene,
......@@ -4582,7 +4603,7 @@ public class OpticalFlow {
combo_dsn_final[COMBO_DSN_INDX_STRENGTH]
};
double [][] ds = conditionInitialDS(
false, // boolean use_conf, // use configuration parameters, false - use following
true, // boolean use_conf, // use configuration parameters, false - use following
clt_parameters, // CLTParameters clt_parameters,
dls, // double [][] dls
quadCLTs[ref_index], // QuadCLT scene,
......@@ -11267,6 +11288,127 @@ public double[][] correlateIntersceneDebug( // only uses GPU and quad
return new double [][] {camera_xyz0, camera_atr0};
}
public boolean reAdjustPairsLMAInterscene( // after combo dgi is available and preliminary poses are known
CLTParameters clt_parameters,
QuadCLT [] quadCLTs,
int debugLevel)
{
boolean use_combo_dsi = clt_parameters.imp.use_combo_dsi;
boolean use_lma_dsi = clt_parameters.imp.use_lma_dsi;
int ref_index = quadCLTs.length-1;
int tilesX = quadCLTs[ref_index].getTileProcessor().getTilesX();
int tilesY = quadCLTs[ref_index].getTileProcessor().getTilesY();
double [] disparity_raw = new double [tilesX * tilesY];
Arrays.fill(disparity_raw,clt_parameters.disparity);
double [][] combo_dsn_final = quadCLTs[ref_index].readDoubleArrayFromModelDirectory(
"-INTER-INTRA-LMA", // String suffix,
0, // int num_slices, // (0 - all)
null); // int [] wh);
double [][] dls = {
combo_dsn_final[COMBO_DSN_INDX_DISP],
combo_dsn_final[COMBO_DSN_INDX_LMA],
combo_dsn_final[COMBO_DSN_INDX_STRENGTH]
};
double [][] ds = conditionInitialDS(
true, // boolean use_conf, // use configuration parameters, false - use following
clt_parameters, // CLTParameters clt_parameters,
dls, // double [][] dls
quadCLTs[ref_index], // QuadCLT scene,
debugLevel);
// double [] disparity_fg = ds[0]; // combo_dsn_final[COMBO_DSN_INDX_DISP_FG];
double [] interscene_ref_disparity = null; // keep null to use old single-scene disparity for interscene matching
if (use_combo_dsi) {
interscene_ref_disparity = ds[0].clone(); // use_lma_dsi ?
if (use_lma_dsi) {
for (int i = 0; i < interscene_ref_disparity.length; i++) {
if (Double.isNaN(dls[1][i])) {
interscene_ref_disparity[i] = Double.NaN;
}
}
}
}
ErsCorrection ers_reference = quadCLTs[ref_index].getErsCorrection();
double [][][] dxyzatr_dt = new double[quadCLTs.length][][];
double [][][] scenes_xyzatr = new double [quadCLTs.length][][]; // previous scene relative to the next one
scenes_xyzatr[ref_index] = new double[2][3]; // all zeros
// should have at least next or previous non-null
double maximal_series_rms = 0.0;
for (int nscene = ref_index; nscene > 0; nscene--) if (quadCLTs[nscene] != null){
String ts = quadCLTs[nscene].getImageName();
int nscene0 = nscene - 1;
if ((nscene0 < 0) || (quadCLTs[nscene0]== null)) {
nscene0 = nscene;
}
int nscene1 = nscene + 1;
if ((nscene1 > ref_index) || (quadCLTs[nscene1]== null)) {
nscene1 = nscene;
}
if (nscene1 == nscene0) {
System.out.println("**** Isoloated scene!!! skippiung... ****");
continue;
}
double dt = quadCLTs[nscene1].getTimeStamp() - quadCLTs[nscene0].getTimeStamp();
String ts0 = quadCLTs[nscene0].getImageName();
String ts1 = quadCLTs[nscene1].getImageName();
double [] scene_xyz0 = ers_reference.getSceneXYZ(ts0);
double [] scene_atr0 = ers_reference.getSceneATR(ts0);
double [] scene_xyz1 = (nscene1== ref_index)? ZERO3:ers_reference.getSceneXYZ(ts1);
double [] scene_atr1 = (nscene1== ref_index)? ZERO3:ers_reference.getSceneATR(ts1);
dxyzatr_dt[nscene] = new double[2][3];
for (int i = 0; i < 3; i++) {
dxyzatr_dt[nscene][0][i] = 0.0; // (scene_xyz1[i]-scene_xyz0[i])/dt;
dxyzatr_dt[nscene][1][i] = (scene_atr1[i]-scene_atr0[i])/dt;
}
double [] scene_xyz_pre = ZERO3;
double [] scene_atr_pre = ZERO3;
quadCLTs[nscene].getErsCorrection().setErsDt( // set for ref also (should be set before non-ref!)
dxyzatr_dt[nscene][0], // double [] ers_xyz_dt,
dxyzatr_dt[nscene][1]); // double [] ers_atr_dt)(ers_scene_original_xyz_dt);
if (nscene != ref_index) {
scene_xyz_pre = ers_reference.getSceneXYZ(ts);
scene_atr_pre = ers_reference.getSceneATR(ts);
double [] lma_rms = new double[2];
scenes_xyzatr[nscene] = adjustPairsLMAInterscene(
clt_parameters, // CLTParameters clt_parameters,
quadCLTs[ref_index], // QuadCLT reference_QuadCLT,
interscene_ref_disparity, // double [] ref_disparity, // null or alternative reference disparity
quadCLTs[nscene], // QuadCLT scene_QuadCLT,
scene_xyz_pre, // xyz
scene_atr_pre, // atr
clt_parameters.ilp.ilma_lma_select, // final boolean[] param_select,
clt_parameters.ilp.ilma_regularization_weights, // final double [] param_regweights,
lma_rms, // double [] rms, // null or double [2]
clt_parameters.imp.max_rms, // double max_rms,
clt_parameters.imp.debug_level); // 1); // -1); // int debug_level);
System.out.println("lma_rms={"+lma_rms[0]+","+lma_rms[1]+"}");
ers_reference.addScene(ts,
scenes_xyzatr[nscene][0],
scenes_xyzatr[nscene][1],
quadCLTs[nscene].getErsCorrection().getErsXYZ_dt(), // same as dxyzatr_dt[nscene][0], just keep for future adjustments?
quadCLTs[nscene].getErsCorrection().getErsATR_dt() // same as dxyzatr_dt[nscene][1], just keep for future adjustments?
);
if (lma_rms[0] > maximal_series_rms) {
maximal_series_rms = 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);
}
}
}
if (debugLevel > -4) {
System.out.println("All multi scene passes are Done. Maximal RMSE was "+maximal_series_rms);
}
quadCLTs[ref_index].saveInterProperties( // save properties for interscene processing (extrinsics, ers, ...)
null, // String path, // full name with extension or w/o path to use x3d directory
debugLevel+1);
return true;
}
public double[][] adjustPairsLMAInterscene(
CLTParameters clt_parameters,
QuadCLT reference_QuadClt,
......
Markdown is supported
0% or
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment