Cleaning up SfM (3430abee) · Commits · Elphel / imagej-elphel

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

+14 −0

Original line number	Original line	Diff line number	Diff line
	@@ -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(		public static double [] getMaxProjCm(
	double [] data,		double [] data,
	int data_width, // = 2 * transform_size - 1;		int data_width, // = 2 * transform_size - 1;

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

+29 −29

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

+12 −10

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

+29 −3

Original line number	Original line	Diff line number	Diff line
	@@ -1521,6 +1521,10 @@ public class QuadCLTCPU {
	this.dsi[is_aux?TwoQuadCLT.DSI_BLUE_SKY_AUX:TwoQuadCLT.DSI_BLUE_SKY_MAIN] =		this.dsi[is_aux?TwoQuadCLT.DSI_BLUE_SKY_AUX:TwoQuadCLT.DSI_BLUE_SKY_MAIN] =
	combo_dsi[OpticalFlow.COMBO_DSN_INDX_BLUE_SKY];		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		* Tries to read combo DSI, if successful - sets this.dsi and blue sky
	* @param silent		* @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		* (OpticalFlow.COMBO_DSN_TITLES.length), missing slices are null
	*/		*/
	public double [][] restoreComboDSI (boolean silent) {		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)		double [] reduced_strength // if not null will return >0 if had to reduce strength (no change if did not reduce)
	) {		) {
	int NUM_BINS = 1024;		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;		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) {		if (main_dsi == null) {
	return null;		return null;
	}		}
	double [] disparity_lma = main_dsi[isAux()?TwoQuadCLT.DSI_DISPARITY_AUX_LMA:TwoQuadCLT.DSI_DISPARITY_MAIN_LMA];		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 [] 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) )) {		if ((strength == null) \|\| (needs_lma && (disparity_lma == null) )) {
	return null;		return null;
	}		}
	int min_reliable = (int) Math.round (strength.length * min_ref_frac);		int min_reliable = (int) Math.round (strength.length * min_ref_frac);

	strength = strength.clone();		strength = strength.clone();
	boolean [] reliable = new boolean [strength.length];		boolean [] reliable = new boolean [strength.length];
	for (int i = 0; i < reliable.length; i++) {		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;		int num_reliable = 0;
	for (boolean b: reliable) if (b) num_reliable++;		for (boolean b: reliable) if (b) num_reliable++;

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

+7 −20

Original line number	Original line	Diff line number	Diff line
	@@ -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		* Get Transform-domain 2D correlation tile weight needed for fat zero in phase
	* correlation and transform to the pixel domain.		* correlation and transform to the pixel domain.
	@@ -334,7 +323,6 @@ public class TDCorrTile {
	final double gpu_fat_zero,		final double gpu_fat_zero,
	final int debug_level		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 corr_size_td = 4 * GPUTileProcessor.DTT_SIZE * GPUTileProcessor.DTT_SIZE;
	final int gpu_corr_rad = GPUTileProcessor.DTT_SIZE -1;		final int gpu_corr_rad = GPUTileProcessor.DTT_SIZE -1;
	final int [] indices = new int [tiles.length];		final int [] indices = new int [tiles.length];
	@@ -397,6 +385,13 @@ public class TDCorrTile {
	return mapped_corrs;		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(		public static TDCorrTile [] getFromGpu(
	GpuQuad gpuQuad) {		GpuQuad gpuQuad) {
	int tilesX = gpuQuad.getImageWidth() / GpuQuad.getDttSize();		int tilesX = gpuQuad.getImageWidth() / GpuQuad.getDttSize();
	@@ -429,12 +424,4 @@ public class TDCorrTile {
	ImageDtt.startAndJoin(threads);		ImageDtt.startAndJoin(threads);
	return tiles;		return tiles;
	}		}
	/*
	if (fcorr_combo_td != null) {
	gpuQuad.getCorrTilesTdInterCombo(
	fcorr_combo_td); // final float [][] corr_tiles_combo)
	}
	return;

	*/
	}		}

Original line number	Original line	Diff line number	Diff line
	@@ -153,36 +153,36 @@ public class ErsCorrection extends GeometryCorrection {

	// returned arrays have the zero element with coordinates, not derivatives		// returned arrays have the zero element with coordinates, not derivatives
	// Reference parameters		// Reference parameters
	static final int DP_DPX = 0; // dw_dpX, (pix)		public static final int DP_DPX = 0; // dw_dpX, (pix)
	static final int DP_DPY = 1; // dw_dpY (pix)		public static final int DP_DPY = 1; // dw_dpY (pix)
	static final int DP_DD = 2; // dw_dd, (pix)		public static final int DP_DD = 2; // dw_dd, (pix)
	static final int DP_DVAZ = 3; // dw_dvaz, (rad/sec)		public static final int DP_DVAZ = 3; // dw_dvaz, (rad/sec)
	static final int DP_DVTL = 4; // dw_dvtl, (rad/sec)		public static final int DP_DVTL = 4; // dw_dvtl, (rad/sec)
	static final int DP_DVRL = 5; // dw_dvrl, (rad/sec)		public static final int DP_DVRL = 5; // dw_dvrl, (rad/sec)
	static final int DP_DVX = 6; // dw_dvx, (m/s)		public static final int DP_DVX = 6; // dw_dvx, (m/s)
	static final int DP_DVY = 7; // dw_dvy, (m/s)		public static final int DP_DVY = 7; // dw_dvy, (m/s)
	static final int DP_DVZ = 8; // dw_dvz, (m/s)		public static final int DP_DVZ = 8; // dw_dvz, (m/s)
	static final int DP_DAZ = 9; // dw_daz, (rad)		public static final int DP_DAZ = 9; // dw_daz, (rad)
	static final int DP_DTL = 10; // dw_dtl, (rad)		public static final int DP_DTL = 10; // dw_dtl, (rad)
	static final int DP_DRL = 11; // dw_drl, (rad)		public static final int DP_DRL = 11; // dw_drl, (rad)
	static final int DP_DX = 12; // dw_dx, (m)		public static final int DP_DX = 12; // dw_dx, (m)
	static final int DP_DY = 13; // dw_dy, (m)		public static final int DP_DY = 13; // dw_dy, (m)
	static final int DP_DZ = 14; // dw_dz}; (m)		public static final int DP_DZ = 14; // dw_dz}; (m)
	// Scene parameters		// Scene parameters
	static final int DP_DSVAZ =15; // dw_dvaz, (rad/sec)		public static final int DP_DSVAZ =15; // dw_dvaz, (rad/sec)
	static final int DP_DSVTL =16; // dw_dvtl, (rad/sec)		public static final int DP_DSVTL =16; // dw_dvtl, (rad/sec)
	static final int DP_DSVRL =17; // dw_dvrl, (rad/sec)		public static final int DP_DSVRL =17; // dw_dvrl, (rad/sec)
	static final int DP_DSVX = 18; // dw_dvx, (m/s)		public static final int DP_DSVX = 18; // dw_dvx, (m/s)
	static final int DP_DSVY = 19; // dw_dvy, (m/s)		public static final int DP_DSVY = 19; // dw_dvy, (m/s)
	static final int DP_DSVZ = 20; // dw_dvz, (m/s)		public static final int DP_DSVZ = 20; // dw_dvz, (m/s)
	static final int DP_DSAZ = 21; // dw_daz, (rad)		public static final int DP_DSAZ = 21; // dw_daz, (rad)
	static final int DP_DSTL = 22; // dw_dtl, (rad)		public static final int DP_DSTL = 22; // dw_dtl, (rad)
	static final int DP_DSRL = 23; // dw_drl, (rad)		public static final int DP_DSRL = 23; // dw_drl, (rad)
	static final int DP_DSX = 24; // dw_dx, (m)		public static final int DP_DSX = 24; // dw_dx, (m)
	static final int DP_DSY = 25; // dw_dy, (m)		public static final int DP_DSY = 25; // dw_dy, (m)
	static final int DP_DSZ = 26; // dw_dz}; (m)		public static final int DP_DSZ = 26; // dw_dz}; (m)
	static final int DP_NUM_PARS = DP_DSZ+1;		public static final int DP_NUM_PARS = DP_DSZ+1;
	static final int [] DP_ERS_INDICES=		public static final int [] DP_ERS_INDICES=
	{ DP_DVAZ, DP_DVTL, DP_DVRL,		{ DP_DVAZ, DP_DVTL, DP_DVRL,
	DP_DVX, DP_DVY, DP_DVZ,		DP_DVX, DP_DVY, DP_DVZ,
	DP_DSVAZ, DP_DSVTL, DP_DSVRL,		DP_DSVAZ, DP_DSVTL, DP_DSVRL,

Original line number	Original line	Diff line number	Diff line
	@@ -55,6 +55,7 @@ import com.elphel.imagej.ims.Did_ins_2;
	import com.elphel.imagej.ims.Did_pimu;		import com.elphel.imagej.ims.Did_pimu;
	import com.elphel.imagej.ims.Imx5;		import com.elphel.imagej.ims.Imx5;
	import com.elphel.imagej.jp4.JP46_Reader_camera;		import com.elphel.imagej.jp4.JP46_Reader_camera;
			import com.elphel.imagej.tileprocessor.sfm.StructureFromMotion;

	import Jama.Matrix;		import Jama.Matrix;
	import ij.ImagePlus;		import ij.ImagePlus;
	@@ -70,7 +71,7 @@ import ij.plugin.filter.GaussianBlur;

	public class OpticalFlow {		public class OpticalFlow {
	public static String [] COMBO_DSN_TITLES = {"disp", "strength","disp_lma","num_valid","change",		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_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_STRENGTH = 1; // strength, FG
	public static int COMBO_DSN_INDX_LMA = 2; // masked copy from 0 - cumulative disparity		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_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_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_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?		// move to Interscene class?
	// interscene adjustments failure reasons.		// interscene adjustments failure reasons.
	@@ -4884,32 +4886,32 @@ public class OpticalFlow {
	if (quadCLTs[ref_index].getNumOrient() < (min_num_orient - 1)) {		if (quadCLTs[ref_index].getNumOrient() < (min_num_orient - 1)) {
	mb_max_gain = clt_parameters.imp.mb_max_gain_inter;		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,		clt_parameters, // final CLTParameters clt_parameters,
	quadCLTs[ref_index], // final QuadCLT ref_scene,		quadCLTs[ref_index], // final QuadCLT ref_scene,
	quadCLTs[earliest_scene], // final QuadCLT scene,		quadCLTs[earliest_scene], // final QuadCLT scene,
	mb_max_gain, // double mb_max_gain,		mb_max_gain, // double mb_max_gain,
	batch_mode, // final boolean batch_mode,		batch_mode, // final boolean batch_mode,
	debugLevel); // final int debugLevel)		debugLevel); // final int debugLevel)
			*/
	int num_avg_pairs = 16; // number of scene pairs to average		int num_avg_pairs = 16; // number of scene pairs to average
	QuadCLT[][] scenes_pairs = new QuadCLT[num_avg_pairs][2];		QuadCLT[][] scenes_pairs = new QuadCLT[num_avg_pairs][2];
	for (int i = 0; i < num_avg_pairs; i++) {		for (int i = 0; i < num_avg_pairs; i++) {

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