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Commit 3430abee authored by Andrey Filippov's avatar Andrey Filippov
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Cleaning up SfM

parent e61d71b1
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src/main/java/com/elphel/imagej/tileprocessor/Correlation2d.java
View file @ 3430abee
......@@ -2506,6 +2506,20 @@ public class Correlation2d {
}
/**
* Find maximum of the 2d array projected on a specified vector using centroid.
* On the first stage integer maximum is found, then several refining operations
* multiply vicinity of the 2d max by a window function and locate the center
* of mass. In parallel (can be optimized) the center of mass is calculated for the
* dot-product of the vector and 2d array coordinates
* @param data square data array (normally result of the 2d phase correlation) in linescan order
* @param data_width size of the square (2 * transform_size - 1 for correlation)
* @param radius window: 0 - all same weight, > 0 cosine(PI/2*sqrt(dx^2+dy^2)/rad)
* @param refine number of refines
* @param direction_XY [x,y] components of the direction to project to
* @param debug debug output if true
* @return a pair of {projection_max, strength}
*/
public static double [] getMaxProjCm(
double [] data,
int data_width, // = 2 * transform_size - 1;
......
src/main/java/com/elphel/imagej/tileprocessor/ErsCorrection.java
View file @ 3430abee
......@@ -153,36 +153,36 @@ public class ErsCorrection extends GeometryCorrection {
// returned arrays have the zero element with coordinates, not derivatives
// Reference parameters
static final int DP_DPX = 0; // dw_dpX, (pix)
static final int DP_DPY = 1; // dw_dpY (pix)
static final int DP_DD = 2; // dw_dd, (pix)
static final int DP_DVAZ = 3; // dw_dvaz, (rad/sec)
static final int DP_DVTL = 4; // dw_dvtl, (rad/sec)
static final int DP_DVRL = 5; // dw_dvrl, (rad/sec)
static final int DP_DVX = 6; // dw_dvx, (m/s)
static final int DP_DVY = 7; // dw_dvy, (m/s)
static final int DP_DVZ = 8; // dw_dvz, (m/s)
static final int DP_DAZ = 9; // dw_daz, (rad)
static final int DP_DTL = 10; // dw_dtl, (rad)
static final int DP_DRL = 11; // dw_drl, (rad)
static final int DP_DX = 12; // dw_dx, (m)
static final int DP_DY = 13; // dw_dy, (m)
static final int DP_DZ = 14; // dw_dz}; (m)
public static final int DP_DPX = 0; // dw_dpX, (pix)
public static final int DP_DPY = 1; // dw_dpY (pix)
public static final int DP_DD = 2; // dw_dd, (pix)
public static final int DP_DVAZ = 3; // dw_dvaz, (rad/sec)
public static final int DP_DVTL = 4; // dw_dvtl, (rad/sec)
public static final int DP_DVRL = 5; // dw_dvrl, (rad/sec)
public static final int DP_DVX = 6; // dw_dvx, (m/s)
public static final int DP_DVY = 7; // dw_dvy, (m/s)
public static final int DP_DVZ = 8; // dw_dvz, (m/s)
public static final int DP_DAZ = 9; // dw_daz, (rad)
public static final int DP_DTL = 10; // dw_dtl, (rad)
public static final int DP_DRL = 11; // dw_drl, (rad)
public static final int DP_DX = 12; // dw_dx, (m)
public static final int DP_DY = 13; // dw_dy, (m)
public static final int DP_DZ = 14; // dw_dz}; (m)
// Scene parameters
static final int DP_DSVAZ =15; // dw_dvaz, (rad/sec)
static final int DP_DSVTL =16; // dw_dvtl, (rad/sec)
static final int DP_DSVRL =17; // dw_dvrl, (rad/sec)
static final int DP_DSVX = 18; // dw_dvx, (m/s)
static final int DP_DSVY = 19; // dw_dvy, (m/s)
static final int DP_DSVZ = 20; // dw_dvz, (m/s)
static final int DP_DSAZ = 21; // dw_daz, (rad)
static final int DP_DSTL = 22; // dw_dtl, (rad)
static final int DP_DSRL = 23; // dw_drl, (rad)
static final int DP_DSX = 24; // dw_dx, (m)
static final int DP_DSY = 25; // dw_dy, (m)
static final int DP_DSZ = 26; // dw_dz}; (m)
static final int DP_NUM_PARS = DP_DSZ+1;
static final int [] DP_ERS_INDICES=
public static final int DP_DSVAZ =15; // dw_dvaz, (rad/sec)
public static final int DP_DSVTL =16; // dw_dvtl, (rad/sec)
public static final int DP_DSVRL =17; // dw_dvrl, (rad/sec)
public static final int DP_DSVX = 18; // dw_dvx, (m/s)
public static final int DP_DSVY = 19; // dw_dvy, (m/s)
public static final int DP_DSVZ = 20; // dw_dvz, (m/s)
public static final int DP_DSAZ = 21; // dw_daz, (rad)
public static final int DP_DSTL = 22; // dw_dtl, (rad)
public static final int DP_DSRL = 23; // dw_drl, (rad)
public static final int DP_DSX = 24; // dw_dx, (m)
public static final int DP_DSY = 25; // dw_dy, (m)
public static final int DP_DSZ = 26; // dw_dz}; (m)
public static final int DP_NUM_PARS = DP_DSZ+1;
public static final int [] DP_ERS_INDICES=
{ DP_DVAZ, DP_DVTL, DP_DVRL,
DP_DVX, DP_DVY, DP_DVZ,
DP_DSVAZ, DP_DSVTL, DP_DSVRL,
......
src/main/java/com/elphel/imagej/tileprocessor/OpticalFlow.java
View file @ 3430abee
......@@ -55,6 +55,7 @@ import com.elphel.imagej.ims.Did_ins_2;
import com.elphel.imagej.ims.Did_pimu;
import com.elphel.imagej.ims.Imx5;
import com.elphel.imagej.jp4.JP46_Reader_camera;
import com.elphel.imagej.tileprocessor.sfm.StructureFromMotion;
import Jama.Matrix;
import ij.ImagePlus;
......@@ -70,7 +71,7 @@ import ij.plugin.filter.GaussianBlur;
public class OpticalFlow {
public static String [] COMBO_DSN_TITLES = {"disp", "strength","disp_lma","num_valid","change",
"disp_bg", "strength_bg","disp_lma_bg","change_bg","disp_fg","disp_bg_all","blue_sky"};
"disp_bg", "strength_bg","disp_lma_bg","change_bg","disp_fg","disp_bg_all","blue_sky","sfm_gain"};
public static int COMBO_DSN_INDX_DISP = 0; // cumulative disparity (from CM or POLY), FG
public static int COMBO_DSN_INDX_STRENGTH = 1; // strength, FG
public static int COMBO_DSN_INDX_LMA = 2; // masked copy from 0 - cumulative disparity
......@@ -83,6 +84,7 @@ public class OpticalFlow {
public static int COMBO_DSN_INDX_DISP_FG = 9; // cumulative disparity (from CM or POLY), FG
public static int COMBO_DSN_INDX_DISP_BG_ALL =10; // cumulative BG disparity (Use FG where no BG is available)
public static int COMBO_DSN_INDX_BLUE_SKY = 11; // Detected featureless infinity (sky)
public static int COMBO_DSN_INDX_SFM_GAIN = 12; // SfM disparity gain pixel/pixel
// move to Interscene class?
// interscene adjustments failure reasons.
......@@ -4884,32 +4886,32 @@ public class OpticalFlow {
if (quadCLTs[ref_index].getNumOrient() < (min_num_orient - 1)) {
mb_max_gain = clt_parameters.imp.mb_max_gain_inter;
}
done_sfm = StructureFromMotion.sfmPair(
/*
done_sfm = StructureFromMotion.sfmPair_ref_debug(
clt_parameters, // final CLTParameters clt_parameters,
quadCLTs[ref_index], // final QuadCLT ref_scene,
quadCLTs[earliest_scene], // final QuadCLT scene,
mb_max_gain, // double mb_max_gain,
batch_mode, // final boolean batch_mode,
debugLevel); // final int debugLevel)
*/
int num_avg_pairs = 16; // number of scene pairs to average
QuadCLT[][] scenes_pairs = new QuadCLT[num_avg_pairs][2];
for (int i = 0; i < num_avg_pairs; i++) {
scenes_pairs[i][0] = quadCLTs[ref_index - 1 - i];
scenes_pairs[i][1] = quadCLTs[earliest_scene + num_avg_pairs - 1 - i];
}
// QuadCLT[] scenes_pair = new QuadCLT[]{
// quadCLTs[ref_index - 1],
// quadCLTs[earliest_scene]};
combo_dsn_final = StructureFromMotion.sfmPair(
double [][] sfm_dsn = StructureFromMotion.sfmPair(
clt_parameters, // final CLTParameters clt_parameters,
quadCLTs[ref_index], // final QuadCLT ref_scene,
scenes_pairs, // final QuadCLT [][] scenes_pairs,
// scenes_pair, // final QuadCLT [] scenes,
// num_avg_pairs, // final int num_avg_pairs, // number of scene pairs to average
mb_max_gain, // double mb_max_gain,
batch_mode, // final boolean batch_mode,
debugLevel); // final int debugLevel)
if (sfm_dsn != null) {
combo_dsn_final = sfm_dsn;
done_sfm = true;
}
}
if (!done_sfm) { // first pass or sfm failed
// should skip scenes w/o orientation 06/29/2022
......@@ -11543,7 +11545,7 @@ public class OpticalFlow {
}
static double [][] conditionInitialDS(
public static double [][] conditionInitialDS(
boolean use_conf, // use configuration parameters, false - use following
CLTParameters clt_parameters,
double [][] dls,
......
src/main/java/com/elphel/imagej/tileprocessor/QuadCLTCPU.java
View file @ 3430abee
......@@ -1521,6 +1521,10 @@ public class QuadCLTCPU {
this.dsi[is_aux?TwoQuadCLT.DSI_BLUE_SKY_AUX:TwoQuadCLT.DSI_BLUE_SKY_MAIN] =
combo_dsi[OpticalFlow.COMBO_DSN_INDX_BLUE_SKY];
}
if ((combo_dsi.length > OpticalFlow.COMBO_DSN_INDX_SFM_GAIN) && (combo_dsi[OpticalFlow.COMBO_DSN_INDX_SFM_GAIN] != null)) {
this.dsi[is_aux?TwoQuadCLT.DSI_SFM_GAIN_AUX:TwoQuadCLT.DSI_SFM_GAIN_MAIN] =
combo_dsi[OpticalFlow.COMBO_DSN_INDX_SFM_GAIN];
}
}
......@@ -1568,7 +1572,7 @@ public class QuadCLTCPU {
/**
* Tries to read combo DSI, if successful - sets this.dsi and blue sky
* @param silent
* @return combo DSI if read, null if failed to read. Result has full lenghth
* @return combo DSI if read, null if failed to read. Result has full length
* (OpticalFlow.COMBO_DSN_TITLES.length), missing slices are null
*/
public double [][] restoreComboDSI (boolean silent) {
......@@ -1627,18 +1631,26 @@ public class QuadCLTCPU {
double [] reduced_strength // if not null will return >0 if had to reduce strength (no change if did not reduce)
) {
int NUM_BINS = 1024;
// 10.15.2023 - was error here, readComboDSI (silent) returns combo_dsi, not converted to this.dsi format;
// double [][] main_dsi = use_combo? readComboDSI (silent): readDsiMain();
double [][] main_dsi = null;
boolean silent = false;
double [][] main_dsi = use_combo? readComboDSI (silent): readDsiMain();
if (use_combo) {
readComboDSI (silent);
main_dsi = this.dsi;
} else {
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];
double [] sfm_gain = main_dsi[isAux()?TwoQuadCLT.DSI_SFM_GAIN_AUX:TwoQuadCLT.DSI_SFM_GAIN_MAIN];
if ((strength == null) || (needs_lma && (disparity_lma == null) )) {
return null;
}
int min_reliable = (int) Math.round (strength.length * min_ref_frac);
strength = strength.clone();
boolean [] reliable = new boolean [strength.length];
for (int i = 0; i < reliable.length; i++) {
......@@ -1654,6 +1666,20 @@ public class QuadCLTCPU {
}
}
}
int num_sfm_gain = 0;
for (int i = 0; i < reliable.length; i++) {
if (sfm_gain[i] >0) {
num_sfm_gain++;
}
}
if (num_sfm_gain > min_reliable) {
for (int i = 0; i < reliable.length; i++) {
if (sfm_gain[i] <= 0){
reliable[i] = false;
strength[i] = 0.0;
}
}
}
int num_reliable = 0;
for (boolean b: reliable) if (b) num_reliable++;
......
src/main/java/com/elphel/imagej/tileprocessor/TDCorrTile.java
View file @ 3430abee
......@@ -66,17 +66,6 @@ public class TDCorrTile {
}
}
/*
if (fcorr_combo_td != null) {
gpuQuad.getCorrTilesTdInterCombo(
fcorr_combo_td); // final float [][] corr_tiles_combo)
}
return;
*/
/**
* Get Transform-domain 2D correlation tile weight needed for fat zero in phase
* correlation and transform to the pixel domain.
......@@ -334,7 +323,6 @@ public class TDCorrTile {
final double gpu_fat_zero,
final int debug_level
){
// final double gpu_fat_zero = clt_parameters.getGpuFatZeroInter(monochrome);
final int corr_size_td = 4 * GPUTileProcessor.DTT_SIZE * GPUTileProcessor.DTT_SIZE;
final int gpu_corr_rad = GPUTileProcessor.DTT_SIZE -1;
final int [] indices = new int [tiles.length];
......@@ -397,6 +385,13 @@ public class TDCorrTile {
return mapped_corrs;
}
/**
* Get GPU TD data after interscene correlation of 2 scenes (only use
* combo of all channels)
* @param gpuQuad GPU quad instance
* @return TDCorrTile [] array, with weight equal to number of channels
* combined (normally 16)
*/
public static TDCorrTile [] getFromGpu(
GpuQuad gpuQuad) {
int tilesX = gpuQuad.getImageWidth() / GpuQuad.getDttSize();
......@@ -429,12 +424,4 @@ public class TDCorrTile {
ImageDtt.startAndJoin(threads);
return tiles;
}
/*
if (fcorr_combo_td != null) {
gpuQuad.getCorrTilesTdInterCombo(
fcorr_combo_td); // final float [][] corr_tiles_combo)
}
return;
*/
}
src/main/java/com/elphel/imagej/tileprocessor/TwoQuadCLT.java
View file @ 3430abee
......@@ -80,7 +80,9 @@ public class TwoQuadCLT {
public static int DSI_AVGVAL_AUX = 12;
public static int DSI_BLUE_SKY_MAIN = 13;
public static int DSI_BLUE_SKY_AUX = 14;
public static int DSI_LENGTH = DSI_BLUE_SKY_AUX+1;
public static int DSI_SFM_GAIN_MAIN = 15; // SfM disparity gain pixel/pixel, RGB
public static int DSI_SFM_GAIN_AUX = 16; // SfM disparity gain pixel/pixel, LWIR
public static int DSI_LENGTH = DSI_SFM_GAIN_AUX+1;
public static String DSI_COMBO_SUFFIX = "-DSI_COMBO";
public static String DSI_MAIN_SUFFIX = "-DSI_MAIN";
......@@ -100,7 +102,9 @@ public class TwoQuadCLT {
"avgval_main",
"avgval_aux",
"blue_sky_main",
"blue_sky_aux"};
"blue_sky_aux",
"sfm_gain_main",
"sfm_gain_aux"};
public long startTime; // start of batch processing
public long startSetTime; // start of set processing
......
src/main/java/com/elphel/imagej/tileprocessor/sfm/SfmCorr.java 0 → 100644
View file @ 3430abee
package com.elphel.imagej.tileprocessor.sfm;
class SfmCorr{
double sfm_gain;
double [] corr_ind = null; // {disparity, strength}
double [] corr_neib = null; // {disparity, strength}
}
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