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Commit 31555875 authored by Andrey Filippov's avatar Andrey Filippov
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Fixed races in DttRad2 initialization in Correlation2d

parent b5dc98c9
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Showing with 47 additions and 258 deletions
src/main/java/com/elphel/imagej/tileprocessor/Corr2dLMA.java
View file @ 31555875
...@@ -1666,7 +1666,7 @@ public class Corr2dLMA { ...@@ -1666,7 +1666,7 @@ public class Corr2dLMA {
if (Double.isNaN(maxmin_amp[tile][0])) { if (Double.isNaN(maxmin_amp[tile][0])) {
continue; continue;
} }
double avg = 0.5*(maxmin_amp[tile][0]+maxmin_amp[tile][1]); double avg = 0.50*(maxmin_amp[tile][0]+maxmin_amp[tile][1]);
double rrms = rms[tile]/avg; double rrms = rms[tile]/avg;
if (((lma_max_rel_rms > 0.0) && (rrms > lma_max_rel_rms)) || if (((lma_max_rel_rms > 0.0) && (rrms > lma_max_rel_rms)) ||
(Math.max(abc[tile][0], abc[tile][2]) < lma_min_max_ac) (Math.max(abc[tile][0], abc[tile][2]) < lma_min_max_ac)
......
src/main/java/com/elphel/imagej/tileprocessor/Correlation2d.java
View file @ 31555875
...@@ -753,6 +753,7 @@ public class Correlation2d { ...@@ -753,6 +753,7 @@ public class Correlation2d {
this.numSensors = numSensors; this.numSensors = numSensors;
this.monochrome = monochrome; this.monochrome = monochrome;
this.dtt = new DttRad2(transform_size); this.dtt = new DttRad2(transform_size);
this.dtt.setup_CSIIe(transform_size); // common for multiple threads, initializing on demand fails
this.transform_size = transform_size; this.transform_size = transform_size;
this.transform_len = transform_size * transform_size; this.transform_len = transform_size * transform_size;
this.corr_size = transform_size * 2 -1; this.corr_size = transform_size * 2 -1;
...@@ -799,6 +800,7 @@ public class Correlation2d { ...@@ -799,6 +800,7 @@ public class Correlation2d {
this.numSensors = numSensors; this.numSensors = numSensors;
this.monochrome = monochrome; this.monochrome = monochrome;
this.dtt = new DttRad2(transform_size); this.dtt = new DttRad2(transform_size);
this.dtt.setup_CSIIe(transform_size); // common for multiple threads, initializing on demand fails
this.transform_size = transform_size; this.transform_size = transform_size;
this.transform_len = transform_size * transform_size; this.transform_len = transform_size * transform_size;
this.corr_size = transform_size * 2 -1; this.corr_size = transform_size * 2 -1;
......
src/main/java/com/elphel/imagej/tileprocessor/DttRad2.java
View file @ 31555875
...@@ -1135,6 +1135,10 @@ public class DttRad2 { ...@@ -1135,6 +1135,10 @@ public class DttRad2 {
} }
} }
public void setup_CSIIe(int maxN){
setup_CIIe(maxN);
setup_SIIe(maxN);
}
private void setup_SIIe(int maxN){ private void setup_SIIe(int maxN){
if (maxN > N) setup_arrays(maxN); if (maxN > N) setup_arrays(maxN);
int l = ilog2(N); int l = ilog2(N);
......
src/main/java/com/elphel/imagej/tileprocessor/ImageDttCPU.java
View file @ 31555875
...@@ -3360,268 +3360,51 @@ public class ImageDttCPU { ...@@ -3360,268 +3360,51 @@ public class ImageDttCPU {
// debug new LMA correlations // debug new LMA correlations
if (debugTile0) { // should be debugTile if (debugTile0) { // should be debugTile
System.out.println("Will run new LMA for tileX="+tileX+", tileY="+tileY); System.out.println("Will run new LMA for tileX="+tileX+", tileY="+tileY);
double [] poly_disp = {Double.NaN, 0.0};
Corr2dLMA lma2 = correlation2d.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)
corr_tiles, // corrs, // double [][] corrs,
disp_dist,
rXY, // double [][] rXY, // non-distorted X,Y offset per nominal pixel of disparity
// all that are not null in corr_tiles
correlation2d.selectAll(), // longToArray(imgdtt_params.dbg_pair_mask), // int pair_mask, // which pairs to process
disp_str, //corr_stat[0], // double xcenter, // preliminary center x in pixels for largest baseline
poly_disp, // double[] poly_ds, // null or pair of disparity/strength
imgdtt_params.ortho_vasw_pwr, // double vasw_pwr, // value as weight to this power,
tile_lma_debug_level+2, // int debug_level,
tileX, // int tileX, // just for debug output
tileY ); // int tileY
double [][] ds = null;
if (lma2 != null) {
ds = lma2.lmaDisparityStrength(
imgdtt_params.lmas_max_rel_rms, // maximal relative (to average max/min amplitude LMA RMS) // May be up to 0.3)
imgdtt_params.lmas_min_strength, // minimal composite strength (sqrt(average amp squared over absolute RMS)
imgdtt_params.lmas_min_ac, // minimal of A and C coefficients maximum (measures sharpest point/line)
imgdtt_params.lmas_min_min_ac, // minimal of A and C coefficients minimum (measures sharpest point)
imgdtt_params.lmas_max_area, //double lma_max_area, // maximal half-area (if > 0.0)
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
);
lma2.printStats(ds,1);
}
} }
double [] poly_disp = {Double.NaN, 0.0};
Corr2dLMA lma2 = correlation2d.corrLMA2Single(
imgdtt_params, // ImageDttParameters imgdtt_params,
true, // 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)
corr_tiles, // corrs, // double [][] corrs,
disp_dist,
rXY, // double [][] rXY, // non-distorted X,Y offset per nominal pixel of disparity
// all that are not null in corr_tiles
correlation2d.selectAll(), // longToArray(imgdtt_params.dbg_pair_mask), // int pair_mask, // which pairs to process
disp_str, //corr_stat[0], // double xcenter, // preliminary center x in pixels for largest baseline
poly_disp, // double[] poly_ds, // null or pair of disparity/strength
imgdtt_params.ortho_vasw_pwr, // double vasw_pwr, // value as weight to this power,
tile_lma_debug_level, // +2, // int debug_level,
tileX, // int tileX, // just for debug output
tileY ); // int tileY
if (debugTile0) { // should be debugTile
System.out.println("Ran LMA for tileX="+tileX+", tileY="+tileY);
}
double [][] ds = null;
if (lma2 != null) {
ds = lma2.lmaDisparityStrength(
imgdtt_params.lmas_max_rel_rms, // maximal relative (to average max/min amplitude LMA RMS) // May be up to 0.3)
imgdtt_params.lmas_min_strength, // minimal composite strength (sqrt(average amp squared over absolute RMS)
imgdtt_params.lmas_min_ac, // minimal of A and C coefficients maximum (measures sharpest point/line)
imgdtt_params.lmas_min_min_ac, // minimal of A and C coefficients minimum (measures sharpest point)
imgdtt_params.lmas_max_area, //double lma_max_area, // maximal half-area (if > 0.0)
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 (ds != null) { // always true
disparity_map[DISPARITY_INDEX_POLY][tIndex] = ds[0][0];
disparity_map[DISPARITY_STRENGTH_INDEX][tIndex] = ds[0][1];
if (debugTile0) {
lma2.printStats(ds,1);
}
}
}
// } //if (debugTile0) { // should be debugTile
} // end of if (corr_stat != null) } // end of if (corr_stat != null)
/*
if (corr_mode == 0) extra_disparity = disparity_map[DISPARITY_INDEX_INT][tIndex];
else if (corr_mode == 1) extra_disparity = disparity_map[DISPARITY_INDEX_CM][tIndex];
else if (corr_mode == 2) extra_disparity = disparity_map[DISPARITY_INDEX_POLY][tIndex];
else if (corr_mode == 3) extra_disparity = disparity_map[DISPARITY_INDEX_HOR][tIndex]; // not used in lwir
else if (corr_mode == 4) extra_disparity = disparity_map[DISPARITY_INDEX_VERT][tIndex]; // not used in lwir
if (Double.isNaN(extra_disparity)) extra_disparity = 0; // used in lwir
if (Double.isNaN(disparity_map[DISPARITY_STRENGTH_INDEX][tIndex])) {
System.out.println("BUG: 3. disparity_map[DISPARITY_STRENGTH_INDEX][tIndex] should not be NaN");
}
*/
} // if (disparity_map != null){ // not null - calculate correlations } // if (disparity_map != null){ // not null - calculate correlations
// only debug is left // only debug is left
// old (per-color correlation)
// ****** FIXME tries to use color == 3, should be disabled!
/*
if ((clt_corr_combo != null) && !imgdtt_params.corr_mode_debug){ // not null - calculate correlations // not used in lwir
tcorr_tpartial= new double[CORR_PAIRS.length][numcol+1][4][transform_len];
tcorr_partial = new double[numSensors][numcol+1][];
for (int pair = 0; pair < CORR_PAIRS.length; pair++){
for (int ncol = 0; ncol <numcol; ncol++) if (clt_data[ncol] != null){
double [][] data1 = clt_data[CORR_PAIRS[pair][0]][ncol][tileY][tileX];
double [][] data2 = clt_data[CORR_PAIRS[pair][1]][ncol][tileY][tileX];
if ((data1 != null) && (data2 != null)) {
double [] a2 = new double[transform_len];
double sa2 = 0.0;
for (int i = 0; i < transform_len; i++) {
double s1 = 0.0, s2=0.0;
for (int n = 0; n< 4; n++){
s1+=data1[n][i] * data1[n][i];
s2+=data2[n][i] * data2[n][i];
}
a2[i] = Math.sqrt(s1*s2);
sa2 += a2[i];
}
double fz2 = sa2/transform_len * corr_fat_zero * corr_fat_zero; // fat_zero squared to match units
for (int i = 0; i < transform_len; i++) {
double scale = 1.0 / (a2[i] + fz2);
for (int n = 0; n<4; n++){
tcorr_tpartial[pair][ncol][n][i] = 0;
for (int k=0; k<4; k++){
if (ZI[n][k] < 0)
tcorr_tpartial[pair][ncol][n][i] -=
data1[-ZI[n][k]][i] * data2[k][i];
else
tcorr_tpartial[pair][ncol][n][i] +=
data1[ZI[n][k]][i] * data2[k][i];
}
tcorr_tpartial[pair][ncol][n][i] *= scale;
}
}
} else {
tcorr_tpartial[pair][ncol] = null;
}
// got transform-domain correlation for the pair, 1 color
}
// calculate composite color
for (int i = 0; i < transform_len; i++) {
for (int n = 0; n<4; n++) {
tcorr_tpartial[pair][numcol][n][i] = 0.0;
for (int ncol= 0; ncol < tcorr_tpartial[pair].length; ncol++) { // tcorr_tpartial[pair].length = 4 > colors
if (tcorr_tpartial[pair][ncol] != null) {
tcorr_tpartial[pair][numcol][n][i] += col_weights[ncol] * tcorr_tpartial[pair][0][n][i];
}
}
}
}
// now lpf (only last/composite color if do not preserve intermediate
int firstColor = (clt_corr_partial == null)? numcol : 0;
if (corr_sigma >0) {
for (int ncol = firstColor; ncol <= numcol; ncol++) if (tcorr_tpartial[pair][ncol] != null){
for (int i = 0; i < transform_len; i++) {
for (int n = 0; n<4; n++) {
tcorr_tpartial[pair][ncol][n][i] *= filter[i];
}
}
}
}
// convert to pixel domain - all or just composite color
for (int ncol = firstColor; ncol <= numcol; ncol++) if (tcorr_tpartial[pair][ncol] != null) {
for (int quadrant = 0; quadrant < 4; quadrant++){
int mode = ((quadrant << 1) & 2) | ((quadrant >> 1) & 1); // transpose
tcorr_tpartial[pair][ncol][quadrant] =
dtt.dttt_iie(tcorr_tpartial[pair][ncol][quadrant], mode, transform_size);
}
}
// convert from 4 quadrants to 15x15 centered tiles (each color or only composite)
for (int ncol = firstColor; ncol <= numcol; ncol++) if (tcorr_tpartial[pair][ncol] != null) {
tcorr_partial[pair][ncol] = dtt.corr_unfold_tile(
tcorr_tpartial[pair][ncol],
transform_size);
}
// transpose vertical pairs
if (CORR_PAIRS[pair][2] != 0) {
for (int ncol = firstColor; ncol <= numcol; ncol++) if (tcorr_tpartial[pair][ncol] != null) {
for (int i = 0; i < transpose_indices.length; i++) {
double d = tcorr_partial[pair][ncol][transpose_indices[i][0]];
tcorr_partial[pair][ncol][transpose_indices[i][0]] = tcorr_partial[pair][ncol][transpose_indices[i][1]];
tcorr_partial[pair][ncol][transpose_indices[i][1]] = d;
//transpose_indices
}
}
}
// make symmetrical around the disparity direction (horizontal) (here using just average, not mul/sum mixture)
// symmetry can be added to result, not individual (if sum - yes, but with multiplication - not)
if (corr_sym && (clt_mismatch == null)){ // when measuring clt_mismatch symmetry should be off !
for (int ncol = firstColor; ncol <= numcol; ncol++) if (tcorr_tpartial[pair][ncol] != null) {
for (int i = 1 ; i < transform_size; i++){
int indx1 = (transform_size - 1 - i) * corr_size;
int indx2 = (transform_size - 1 + i) * corr_size;
for (int j = 0; j< corr_size; j++){
int indx1j = indx1 + j;
int indx2j = indx2 + j;
tcorr_partial[pair][ncol][indx1j] =
0.5* (tcorr_partial[pair][ncol][indx1j] + tcorr_partial[pair][ncol][indx2j]);
tcorr_partial[pair][ncol][indx2j] = tcorr_partial[pair][ncol][indx1j];
}
}
}
}
} // all pairs calculated
tcorr_combo = new double [TCORR_TITLES.length][corr_size * corr_size];
int numPairs = 0, numPairsHor = 0, numPairsVert = 0;
for (int pair = 0; pair < CORR_PAIRS.length; pair++) if (((corr_mask >> pair) & 1) != 0){
numPairs++;
if (CORR_PAIRS[pair][2] == 0) { // horizontal pair)
numPairsHor++;
} else {
numPairsVert++;
}
}
double avScale = 0.0, avScaleHor = 0.0, avScaleVert = 0.0;
if (numPairs > 0) {
boolean debugMax = tile_lma_debug_level > 1;
avScale = 1.0/numPairs;
if (numPairsHor > 0) avScaleHor = 1.0/numPairsHor;
if (numPairsVert > 0) avScaleVert = 1.0/numPairsVert;
if (debugMax) {
System.out.println("avScale = "+avScale+", avScaleHor = "+avScaleHor+", avScaleVert = "+avScaleVert+", corr_offset = "+corr_offset);
}
if (corr_offset < 0) { // just add all partial correlations for composite color
for (int i = 0; i < tcorr_combo[TCORR_COMBO_RSLT].length; i++){
tcorr_combo[TCORR_COMBO_RSLT][i] = 0.0;
tcorr_combo[TCORR_COMBO_HOR][i] = 0.0;
tcorr_combo[TCORR_COMBO_VERT][i] = 0.0;
for (int pair = 0; pair < CORR_PAIRS.length; pair++) if (((corr_mask >> pair) & 1) != 0){
tcorr_combo[TCORR_COMBO_RSLT][i] += avScale*tcorr_partial[pair][numcol][i]; // only composite color channel
if (CORR_PAIRS[pair][2] == 0) { // horizontal pair
tcorr_combo[TCORR_COMBO_HOR][i] += avScaleHor*tcorr_partial[pair][numcol][i]; // only composite color channel
} else { //vertical pair
tcorr_combo[TCORR_COMBO_VERT][i] += avScaleVert*tcorr_partial[pair][numcol][i]; // only composite color channel
}
if (debugMax) {
System.out.println("tcorr_combo[TCORR_COMBO_RSLT]["+i+"]="+tcorr_combo[TCORR_COMBO_RSLT][i]+" tcorr_partial["+pair+"]["+numcol+"]["+i+"]="+tcorr_partial[pair][numcol][i]);
}
}
}
} else {
for (int i = 0; i < tcorr_combo[TCORR_COMBO_RSLT].length; i++){
tcorr_combo[TCORR_COMBO_RSLT][i] = 1.0;
tcorr_combo[TCORR_COMBO_HOR][i] = 1.0;
tcorr_combo[TCORR_COMBO_VERT][i] = 1.0;
for (int pair = 0; pair < CORR_PAIRS.length; pair++) if (((corr_mask >> pair) & 1) != 0){
tcorr_combo[TCORR_COMBO_RSLT][i] *= (tcorr_partial[pair][numcol][i] + corr_offset); // only composite color channel
if (CORR_PAIRS[pair][2] == 0) { // horizontal pair
tcorr_combo[TCORR_COMBO_HOR][i] *= (tcorr_partial[pair][numcol][i] + corr_offset); // only composite color channel
} else { //vertical pair
tcorr_combo[TCORR_COMBO_VERT][i] *= (tcorr_partial[pair][numcol][i] + corr_offset); // only composite color channel
}
if (debugMax) {
System.out.println("tcorr_combo[TCORR_COMBO_RSLT]["+i+"]="+tcorr_combo[TCORR_COMBO_RSLT][i]+" tcorr_partial["+pair+"]["+numcol+"]["+i+"]="+tcorr_partial[pair][numcol][i]);
}
}
if (corr_normalize) {
if (tcorr_combo[TCORR_COMBO_RSLT][i] > 0.0){
tcorr_combo[TCORR_COMBO_RSLT][i] = Math.pow(tcorr_combo[TCORR_COMBO_RSLT][i],avScale) - corr_offset;
} else {
tcorr_combo[TCORR_COMBO_RSLT][i] = -corr_offset;
}
if (tcorr_combo[TCORR_COMBO_HOR][i] > 0.0){
tcorr_combo[TCORR_COMBO_HOR][i] = Math.pow(tcorr_combo[TCORR_COMBO_HOR][i],avScaleHor) - corr_offset;
} else {
tcorr_combo[TCORR_COMBO_HOR][i] = -corr_offset;
}
if (tcorr_combo[TCORR_COMBO_VERT][i] > 0.0){
tcorr_combo[TCORR_COMBO_VERT][i] = Math.pow(tcorr_combo[TCORR_COMBO_VERT][i],avScaleVert) - corr_offset;
} else {
tcorr_combo[TCORR_COMBO_VERT][i] = -corr_offset;
}
}
}
}
// calculate sum also
for (int i = 0; i < tcorr_combo[TCORR_COMBO_SUM].length; i++){
tcorr_combo[TCORR_COMBO_SUM][i] = 0.0;
for (int pair = 0; pair < CORR_PAIRS.length; pair++) if (((corr_mask >> pair) & 1) != 0){
tcorr_combo[TCORR_COMBO_SUM][i] += avScale*tcorr_partial[pair][numcol][i]; // only composite color channel
if (debugMax) {
System.out.println("tcorr_combo[TCORR_COMBO_SUM]["+i+"]="+tcorr_combo[TCORR_COMBO_SUM][i]+" tcorr_partial["+pair+"]["+numcol+"]["+i+"]="+tcorr_partial[pair][numcol][i]);
}
}
}
// return results
for (int n = 0; n < clt_corr_combo.length; n++){ // tcorr_combo now may be longer than clt_corr_combo
clt_corr_combo[n][tileY][tileX] = tcorr_combo[n];
}
if (clt_corr_partial != null){
clt_corr_partial[tileY][tileX] = tcorr_partial;
}
} // if (numPairs > 0) {
} // end of if (clt_corr_combo != null)
*/
if (texture_tiles !=null) { if (texture_tiles !=null) {
......
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