intermediate, working, debugging interscene matching (2f7a08d9) · Commits · Elphel / imagej-elphel

src/main/java/com/elphel/imagej/tileprocessor/Correlation2d.java

+33 −7

Original line number	Original line	Diff line number	Diff line
	@@ -2412,10 +2412,12 @@ public class Correlation2d {
	}		}

	public static double [] getMaxXYCm(		public static double [] getMaxXYCm(
	double [] data,		double [] data, // will be modified if fpn_mask != null;
	int data_width, // = 2 * transform_size - 1;		int data_width, // = 2 * transform_size - 1;
	double radius, // 0 - all same weight, > 0 cosine(PI/2*sqrt(dx^2+dy^2)/rad)		double radius, // 0 - all same weight, > 0 cosine(PI/2*sqrt(dx^2+dy^2)/rad)
	int refine, // re-center window around new maximum. 0 -no refines (single-pass)		int refine, // re-center window around new maximum. 0 -no refines (single-pass)
			boolean [] fpn_mask,
			boolean ignore_border, // only if fpn_mask != null - ignore tile if maximum touches fpn_mask
	boolean debug)		boolean debug)
	{		{
	int data_height = data.length/data_width;		int data_height = data.length/data_width;
	@@ -2428,8 +2430,29 @@ public class Correlation2d {
	}		}
	}		}
	double mx = data[imax];		double mx = data[imax];
	x0 = imax % data_width;		int ix0 = imax % data_width;
	y0 = imax / data_width;		int iy0 = imax / data_width;
			x0 = ix0;
			y0 = iy0;
			// if (fpn_mask != null
			if (fpn_mask != null) {
			for (int i = 0; i < fpn_mask.length; i++) if (fpn_mask[i]) {
			int iy = i / data_width;
			int ix = i - iy * data_width;
			if (ignore_border) {
			if(((ix - ix0) <= 1) && ((ix - ix0) >= -1) && ((iy - iy0) <= 1) && ((iy - iy0) >= -1)) {
			return null; // new double[3];
			}
			}
			int ix1 = 2 * ix0 - ix;
			if ((ix1 >= 0) && (ix1 < data_width)) {
			int iy1 = 2 * iy0 - iy;
			if ((iy1 >= 0) && (iy1 < data_height)) {
			data[iy1 * data_width + ix1] = 0.0; // zero out symmetrical to fpn mask around integer maximum
			}
			}
			}
			}
	//calculate as "center of mass"		//calculate as "center of mass"
	if (radius == 0) {		if (radius == 0) {
	double s0 = 0, sx=0,sy = 0;		double s0 = 0, sx=0,sy = 0;
	@@ -2442,6 +2465,9 @@ public class Correlation2d {
	s0 += d;		s0 += d;
	sx += d * x;		sx += d * x;
	sy += d * y;		sy += d * y;
			} else if (Double.isNaN(d)) {
			System.out.println("NaN in getMaxXYCm()");
			return null;
	}		}
	}		}
	}		}

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

+48 −10

Original line number	Original line	Diff line number	Diff line
	@@ -2461,6 +2461,9 @@ public class ImageDtt extends ImageDttCPU {
	// to be converted to float (may be null)		// to be converted to float (may be null)
	final double [][][] dcorr_tiles, // [tile][pair absolute, sparse][(2transform_size-1)(2*transform_size-1)] // if null - will not calculate		final double [][][] dcorr_tiles, // [tile][pair absolute, sparse][(2transform_size-1)(2*transform_size-1)] // if null - will not calculate
	final double [][] pXpYD, // pXpYD for the reference scene		final double [][] pXpYD, // pXpYD for the reference scene
			final double [][] fpn_offsets, // null, or per-tile X,Y offset to be blanked
			final double fpn_radius, // radius to be blanked around FPN offset center
			final boolean fpn_ignore_border, // only if fpn_mask != null - ignore tile if maximum touches fpn_mask
	final double[][][] motion_vectors, // [tilesY*tilesX][][] -> [][num_sel_sensors+1 or 2][3]		final double[][][] motion_vectors, // [tilesY*tilesX][][] -> [][num_sel_sensors+1 or 2][3]
	final boolean run_poly, // polynomial max, if false - centroid		final boolean run_poly, // polynomial max, if false - centroid
	final boolean use_partial, // find motion vectors for individual pairs, false - for sum only		final boolean use_partial, // find motion vectors for individual pairs, false - for sum only
	@@ -2469,8 +2472,10 @@ public class ImageDtt extends ImageDttCPU {
	final double td_weight, // mix correlations accumulated in TD with		final double td_weight, // mix correlations accumulated in TD with
	final double pd_weight, // correlations (post) accumulated in PD		final double pd_weight, // correlations (post) accumulated in PD
	final boolean td_nopd_only, // only use TD accumulated data if no safe PD is available for the tile.		final boolean td_nopd_only, // only use TD accumulated data if no safe PD is available for the tile.
	final double min_str, // = 0.25;		final double min_str_nofpn, // = 0.25;
	final double min_str_sum, // = 0.8; // 5;		final double min_str_sum_nofpn,// = 0.8; // 5;
			final double min_str_fpn, // = 0.25;
			final double min_str_sum_fpn, // = 0.8; // 5;
	final int min_neibs, // 2; // minimal number of strong neighbors (> min_str)		final int min_neibs, // 2; // minimal number of strong neighbors (> min_str)
	final double weight_zero_neibs,// 0.2; // Reduce weight for no-neib (1.0 for all 8)		final double weight_zero_neibs,// 0.2; // Reduce weight for no-neib (1.0 for all 8)
	final double half_disparity, // 5.0; // Reduce weight twice for this disparity		final double half_disparity, // 5.0; // Reduce weight twice for this disparity
	@@ -2573,13 +2578,11 @@ public class ImageDtt extends ImageDttCPU {

	final Thread[] threads = newThreadArray(threadsMax);		final Thread[] threads = newThreadArray(threadsMax);
	final AtomicInteger ai = new AtomicInteger(0);		final AtomicInteger ai = new AtomicInteger(0);

	for (int ithread = 0; ithread < threads.length; ithread++) {		for (int ithread = 0; ithread < threads.length; ithread++) {
	threads[ithread] = new Thread() {		threads[ithread] = new Thread() {
	@Override		@Override
	public void run() {		public void run() {
	int tileY,tileX,nTile; // , chn;		int tileY,tileX,nTile; // , chn;
	// for (int iTile = ai.getAndIncrement(); iTile < tp_tasks.length; iTile = ai.getAndIncrement()) {
	for (int iCorrTile = ai.getAndIncrement(); iCorrTile < num_tiles; iCorrTile = ai.getAndIncrement()) {		for (int iCorrTile = ai.getAndIncrement(); iCorrTile < num_tiles; iCorrTile = ai.getAndIncrement()) {
	nTile = (corr_indices[iCorrTile* used_sensors_list.length] >> GPUTileProcessor.CORR_NTILE_SHIFT);		nTile = (corr_indices[iCorrTile* used_sensors_list.length] >> GPUTileProcessor.CORR_NTILE_SHIFT);
	tileY = nTile / tilesX;		tileY = nTile / tilesX;
	@@ -2588,6 +2591,29 @@ public class ImageDtt extends ImageDttCPU {
	if (debugTile0) {		if (debugTile0) {
	System.out.println("clt_process_tl_correlations(): tileX="+tileX+", tileY="+tileY+", nTile="+nTile+", nTile="+nTile);		System.out.println("clt_process_tl_correlations(): tileX="+tileX+", tileY="+tileY+", nTile="+nTile+", nTile="+nTile);
	}		}
			// zero FPN right in the fcorr2D so it will go to both processing and display
			boolean [] fpn_mask = null;
			double min_str = min_str_nofpn; // higher threshold when FPN is possible
			double min_str_sum = min_str_sum_nofpn; // higher threshold when FPN is possible
			if ((fpn_offsets != null) && (fpn_offsets[nTile] != null)) {
			double fpn_x = transform_size - 1 - fpn_offsets[nTile][0]; // 0 -> 7.0
			double fpn_y = transform_size - 1 - fpn_offsets[nTile][1]; // 0 -> 7.0
			int min_x = (int) Math.max(Math.round(fpn_x - fpn_radius),0);
			int max_x = (int) Math.min(Math.round(fpn_x + fpn_radius), corr_size-1);
			int min_y = (int) Math.max(Math.round(fpn_y - fpn_radius),0);
			int max_y = (int) Math.min(Math.round(fpn_y + fpn_radius), corr_size-1);
			int fcorr2D_indx = (iCorrTile + 1)* used_sensors_list.length -1; // last in each group - sum in TD
			fpn_mask = new boolean[fcorr2D[fcorr2D_indx].length];
			for (int iy = min_y; iy <= max_y; iy++) {
			for (int ix = min_x; ix <= max_x; ix++) {
			int indx = iy * corr_size + ix;
			fcorr2D[fcorr2D_indx][indx] = 0;
			fpn_mask[indx] = true;
			}
			}
			min_str = min_str_fpn;
			min_str_sum = min_str_sum_fpn;
			}
	double [][] corrs = new double [corrs_len + extra_len][];		double [][] corrs = new double [corrs_len + extra_len][];
	// copy correlation tiles from the GPU's floating point arrays		// copy correlation tiles from the GPU's floating point arrays
	double scale = 1.0/getNumSensors();		double scale = 1.0/getNumSensors();
	@@ -2617,7 +2643,7 @@ public class ImageDtt extends ImageDttCPU {
	}		}
	}		}

	if (dcorr_tiles != null) {		if (dcorr_tiles != null) { // This will be visualized
	int index_es = getNumSensors() + extra_len;		int index_es = getNumSensors() + extra_len;
	dcorr_tiles[iCorrTile] = new double[getNumSensors()+1 + extra_len][];		dcorr_tiles[iCorrTile] = new double[getNumSensors()+1 + extra_len][];
	if (extra_sum) {		if (extra_sum) {
	@@ -2651,6 +2677,8 @@ public class ImageDtt extends ImageDttCPU {
	corr_size, // int data_width, // = 2 * transform_size - 1;		corr_size, // int data_width, // = 2 * transform_size - 1;
	centroid_radius, // double radius, // 0 - all same weight, > 0 cosine(PI/2*sqrt(dx^2+dy^2)/rad)		centroid_radius, // double radius, // 0 - all same weight, > 0 cosine(PI/2*sqrt(dx^2+dy^2)/rad)
	n_recenter, // int refine, // re-center window around new maximum. 0 -no refines (single-pass)		n_recenter, // int refine, // re-center window around new maximum. 0 -no refines (single-pass)
			null, // boolean [] fpn_mask,
			false, // boolean ignore_border, // only if fpn_mask != null - ignore tile if maximum touches fpn_mask
	false); // boolean debug)		false); // boolean debug)
	if (motion_vectors[nTile][nsens] != null) {		if (motion_vectors[nTile][nsens] != null) {
	if (motion_vectors[nTile][nsens][2] < min_vstr) {		if (motion_vectors[nTile][nsens][2] < min_vstr) {
	@@ -2668,6 +2696,8 @@ public class ImageDtt extends ImageDttCPU {
	corr_size, // int data_width, // = 2 * transform_size - 1;		corr_size, // int data_width, // = 2 * transform_size - 1;
	centroid_radius, // double radius, // 0 - all same weight, > 0 cosine(PI/2*sqrt(dx^2+dy^2)/rad)		centroid_radius, // double radius, // 0 - all same weight, > 0 cosine(PI/2*sqrt(dx^2+dy^2)/rad)
	n_recenter, // int refine, // re-center window around new maximum. 0 -no refines (single-pass)		n_recenter, // int refine, // re-center window around new maximum. 0 -no refines (single-pass)
			null, // boolean [] fpn_mask,
			false, // boolean ignore_border, // only if fpn_mask != null - ignore tile if maximum touches fpn_mask
	false); // boolean debug)		false); // boolean debug)
	if (mv_pd != null) {		if (mv_pd != null) {
	if (mv_pd[2] < min_str) {		if (mv_pd[2] < min_str) {
	@@ -2683,6 +2713,8 @@ public class ImageDtt extends ImageDttCPU {
	corr_size, // int data_width, // = 2 * transform_size - 1;		corr_size, // int data_width, // = 2 * transform_size - 1;
	centroid_radius, // double radius, // 0 - all same weight, > 0 cosine(PI/2*sqrt(dx^2+dy^2)/rad)		centroid_radius, // double radius, // 0 - all same weight, > 0 cosine(PI/2*sqrt(dx^2+dy^2)/rad)
	n_recenter, // int refine, // re-center window around new maximum. 0 -no refines (single-pass)		n_recenter, // int refine, // re-center window around new maximum. 0 -no refines (single-pass)
			fpn_mask, // boolean [] fpn_mask,
			false, // boolean ignore_border, // only if fpn_mask != null - ignore tile if maximum touches fpn_mask
	false); // boolean debug)		false); // boolean debug)
	if (mv_td != null) {		if (mv_td != null) {
	if (mv_td[2] < min_str_sum) {		if (mv_td[2] < min_str_sum) {
	@@ -2735,6 +2767,9 @@ public class ImageDtt extends ImageDttCPU {
	double l2;		double l2;
	TileNeibs tn = new TileNeibs(tilesX,tilesY);		TileNeibs tn = new TileNeibs(tilesX,tilesY);
	for (int nTile = ai.getAndIncrement(); nTile < tiles; nTile = ai.getAndIncrement()) {		for (int nTile = ai.getAndIncrement(); nTile < tiles; nTile = ai.getAndIncrement()) {
			// if (nTile==162) {
			// System.out.println("nTile="+nTile);
			// }
	if ((mv[nTile] != null) && (pXpYD[nTile] != null)) {		if ((mv[nTile] != null) && (pXpYD[nTile] != null)) {
	int num_neibs=0;		int num_neibs=0;
	double sx=0.0, sy=0.0;		double sx=0.0, sy=0.0;
	@@ -2785,9 +2820,12 @@ public class ImageDtt extends ImageDttCPU {
	threads[ithread] = new Thread() {		threads[ithread] = new Thread() {
	@Override		@Override
	public void run() {		public void run() {
	double l2;		// double l2;
	TileNeibs tn = new TileNeibs(tilesX,tilesY);		// TileNeibs tn = new TileNeibs(tilesX,tilesY);
	for (int nTile = ai.getAndIncrement(); nTile < tiles; nTile = ai.getAndIncrement()) {		for (int nTile = ai.getAndIncrement(); nTile < tiles; nTile = ai.getAndIncrement()) {
			// if (nTile==162) {
			// System.out.println("nTile="+nTile);
			// }
	if ((mv[nTile] != null) && (pXpYD[nTile] != null)) {		if ((mv[nTile] != null) && (pXpYD[nTile] != null)) {
	if (mv[nTile][2] <= 0) {		if (mv[nTile][2] <= 0) {
	mv[nTile] = null;		mv[nTile] = null;

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

+138 −29

File changed.

Preview size limit exceeded, changes collapsed.

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

+400 −61

File changed.

Preview size limit exceeded, changes collapsed.

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

+30 −0

Original line number	Original line	Diff line number	Diff line
	@@ -457,6 +457,36 @@ public class QuadCLTCPU {
	silent);		silent);
	}		}

			public boolean [] getReliableTiles(
			double min_strength,
			boolean needs_lma) {
			double [][] main_dsi = readDsiMain();
			if (main_dsi == null) {
			return null;
			}
			double [] disparity_lma = main_dsi[isAux()?TwoQuadCLT.DSI_DISPARITY_AUX_LMA:TwoQuadCLT.DSI_DISPARITY_MAIN_LMA];
			double [] strength = main_dsi[isAux()?TwoQuadCLT.DSI_STRENGTH_AUX:TwoQuadCLT.DSI_STRENGTH_MAIN];
			if ((strength == null) \|\| (needs_lma && (disparity_lma == null) )) {
			return null;
			}
			boolean [] reliable = new boolean [strength.length];
			for (int i = 0; i < reliable.length; i++) {
			reliable[i] = (strength[i] >= min_strength) && (!needs_lma \|\| !Double.isNaN(disparity_lma[i]));
			}
			return reliable;
			}
			public double [][] readDsiMain(){
			double [][] main_dsi = new double [TwoQuadCLT.DSI_SLICES.length][];
			int slices = restoreDSI(
			DSI_SUFFIXES[INDEX_DSI_MAIN], // String suffix, // "-DSI_COMBO", "-DSI_MAIN" (DSI_COMBO_SUFFIX, DSI_MAIN_SUFFIX)
			main_dsi,
			true); // boolean silent)
			if (slices < 3) {
			return null;
			}
			return main_dsi;
			}

	public int restoreDSI(		public int restoreDSI(
	String suffix, // "-DSI_COMBO", "-DSI_MAIN" (DSI_COMBO_SUFFIX, DSI_MAIN_SUFFIX)		String suffix, // "-DSI_COMBO", "-DSI_MAIN" (DSI_COMBO_SUFFIX, DSI_MAIN_SUFFIX)
	double [][] dsi,		double [][] dsi,

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