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Commit 352aa9e1 authored by Andrey Filippov's avatar Andrey Filippov
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tested derivative for the OrthoMultiLMA

parent 6b986720
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Showing with 521 additions and 49 deletions
src/main/java/com/elphel/imagej/orthomosaic/ComboMatch.java
View file @ 352aa9e1
......@@ -166,7 +166,7 @@ public class ComboMatch {
int num_tries_fit = 10;
boolean update_match = true; // use false to save new version of data
boolean render_match = false; // true;
boolean test_multi_lma = false;
boolean pattern_match = true; // false;
boolean bounds_to_indices = true;
......@@ -202,7 +202,8 @@ public class ComboMatch {
gd.addCheckbox ("Update match if calculated", update_match, "Will update correlation match for a pair if found.");
gd.addCheckbox ("Render match", render_match, "Render a pair of matched images.");
gd.addCheckbox ("Test multi LMA", test_multi_lma, "Temporary debug.");
//
gd.addCheckbox ("Pattern match", pattern_match, "Search for patterns for both images in a pair, first is primary.");
gd.addCheckbox ("Bounds to selected images", bounds_to_indices, "Set combo image bounds to selected images only. False - all images.");
......@@ -262,7 +263,7 @@ public class ComboMatch {
num_tries_fit = (int) gd.getNextNumber();
update_match= gd.getNextBoolean();
render_match= gd.getNextBoolean();
test_multi_lma= gd.getNextBoolean();
pattern_match= gd.getNextBoolean();
bounds_to_indices= gd.getNextBoolean();
......@@ -774,7 +775,7 @@ public class ComboMatch {
orthoMapsCollection_path); // String orthoMapsCollection_path);
if (!ok) return false;
}
if (process_correlation || render_match || pattern_match) {
if (process_correlation || render_match || pattern_match || test_multi_lma) {
// int [] gpu_pair;
if (gpu_spair == null) {
ArrayList<Point> pairs_list = new ArrayList<Point>();
......@@ -859,24 +860,8 @@ public class ComboMatch {
double agl_ratio = max_agl/50.0;
double metric_error_adj = metric_error * agl_ratio * agl_ratio; // metric_error settings is good for 50m. Increase for higher Maybe squared?
int initial_zoom = max_zoom_lev - 4; // another algorithm?
/*
if (GPU_QUAD_AFFINE == null) {
System.out.println("Setting up GPU");
try {
GPU_QUAD_AFFINE = new GpuQuad(//
GPU_TILE_PROCESSOR, // GPUTileProcessor gpuTileProcessor,
gpu_max_width, // final int max_width,
gpu_max_height, // final int max_height,
1, // final int num_colors, // normally 1?
clt_parameters.gpu_debug_level);
} catch (Exception e) {
System.out.println("Failed to initialize GpuQuad class");
// TODO Auto-generated catch block
e.printStackTrace();
return false;
} // final int debugLevel);
}
*/
// Here - always start with unity affine0 and affine1 from possibly matched pair
double [][] affine0 = {{1,0,0},{0,1,0}}; // will always stay the same
double [][] affine1 = null;
......@@ -893,6 +878,13 @@ public class ComboMatch {
}
} else {
if (test_multi_lma) {
OrthoMultiLMA.testMultiLMA(
clt_parameters, // CLTParameters clt_parameters,
maps_collection, // OrthoMapsCollection maps_collection,
gpu_pair); // int [] indices)
return true;
}
if (process_correlation && !use_marked_image) { // match may or may not exist
// if match exists - ask if use it. If not - open dialog and start spiral
pairwiseOrthoMatch = initialPairAdjust(
......@@ -1095,6 +1087,7 @@ public class ComboMatch {
boolean log_append = clt_parameters.imp.pwise_log_append;
String log_path = clt_parameters.imp.pwise_log_path;
boolean pmtch_use_affine = clt_parameters.imp.pmtch_use_affine;
double max_std = clt_parameters.imp.pmtch_max_std; // 1.5; // maximal standard deviation to limit center area
double min_std_rad = clt_parameters.imp.pmtch_min_std_rad;// 2.0; // minimal radius of the central area (if less - fail)
double rad_fraction = clt_parameters.imp.pmtch_cent_rad; // center circle radius fraction of 0.5* min(width, height) in tiles
......@@ -1126,6 +1119,7 @@ public class ComboMatch {
gd.addNumericField("Spiral search debug level",spiral_debug, 0,3,"","Debug level during Spiral search.");
gd.addMessage("Parameters, common to all matching, not only spiral");
gd.addCheckbox ("Use scenes' affine", pmtch_use_affine, "Use known scenes' affine matrices, false - start from scratch (unity) ones.");
gd.addNumericField("Central area standard deviation", max_std, 3,7,"", "Central area limit by the standard deviation.");
gd.addNumericField("Central area minimal radius", min_std_rad, 3,7,"tile", "Minimal radius of the central area after all LMA passes.");
gd.addNumericField("Central area radius as fraction", rad_fraction, 3,7,"", "Central area radius as fraction of half minimal WOI dimension.");
......@@ -1154,6 +1148,7 @@ public class ComboMatch {
log_path = gd.getNextString();
spiral_debug = (int) gd.getNextNumber();
search_step= gd.getNextNumber();
pmtch_use_affine= gd.getNextBoolean();
max_std= gd.getNextNumber();
min_std_rad= gd.getNextNumber();
rad_fraction= gd.getNextNumber();
......@@ -1180,6 +1175,8 @@ public class ComboMatch {
clt_parameters, // CLTParameters clt_parameters,
frac_remove, // double frac_remove, // = 0.25
metric_error, // double metric_error,
pmtch_use_affine, // boolean pmtch_use_affine,
max_std, // double max_std, // maximal standard deviation to limit center area
min_std_rad, // double min_std_rad, // minimal radius of the central area (if less - fail)
rad_fraction, // double rad_fraction,
......@@ -1198,6 +1195,7 @@ public class ComboMatch {
min_overlap, // int min_overlap, // 3000
ignore_rms, // boolean ignore_rms,
null,//double [] max_rms_iter, // = {1.0, 0.6};//
1.0, // double overlap,
spiral_debug); // int debugLevel){
if (log_append && (log_path != null)) { // assuming directory exists
StringBuffer sb = new StringBuffer();
......
src/main/java/com/elphel/imagej/orthomosaic/OrthoMap.java
View file @ 352aa9e1
......@@ -829,6 +829,7 @@ public class OrthoMap implements Comparable <OrthoMap>, Serializable{
* @param affine [2][3] array were the last column is made of the offsets (in meters)
* @return [2][3] array that converts from the image metric coordinates relative to the
* "vert_meters" point to the rectified metric coordinates relative to the same point.
*
*/
public static double [][] invertAffine(double [][] affine){
Matrix A = new Matrix (
......
src/main/java/com/elphel/imagej/orthomosaic/OrthoMultiLMA.java 0 → 100644
View file @ 352aa9e1
This diff is collapsed.
src/main/java/com/elphel/imagej/orthomosaic/PairwiseOrthoMatch.java
View file @ 352aa9e1
......@@ -5,6 +5,8 @@ import java.io.ObjectInputStream;
import java.io.ObjectOutputStream;
import java.io.Serializable;
import Jama.Matrix;
public class PairwiseOrthoMatch implements Serializable {
private static final long serialVersionUID = 1L;
public double [][] affine = new double[2][3];
......@@ -12,6 +14,7 @@ public class PairwiseOrthoMatch implements Serializable {
public int zoom_lev;
public double rms = Double.NaN;
public transient int [] nxy = null; // not saved, just to communicate for logging
public transient double overlap = 0.0;
public PairwiseOrthoMatch() {
}
......@@ -19,11 +22,13 @@ public class PairwiseOrthoMatch implements Serializable {
double [][] affine,
double [][] jtj,
double rms,
int zoom_lev) {
int zoom_lev,
double overlap) {
this.affine = affine;
this.jtj = jtj;
this.zoom_lev= zoom_lev;
this.rms = rms;
this.overlap = overlap;
}
public PairwiseOrthoMatch clone() {
double [][] affine = {this.affine[0].clone(),this.affine[1].clone()};
......@@ -35,19 +40,63 @@ public class PairwiseOrthoMatch implements Serializable {
affine,
jtj,
this.rms,
this.zoom_lev);
this.zoom_lev,
this.overlap);
if (nxy != null) {
pom.nxy = nxy.clone();
}
return pom;
}
/**
* If this match is calculated from scene0 to scene1, inverse one is from scene1 to scene0
* @param rd displacement from scene0 reference (vertical) point to scene1 reference point
* (GNSS-derived), referenced as -V in the notes below. (it is calculated as 0 from 1)
* @return inverted 3x2 matrix
*
Xs0, Xs1 - metric coordinates (from top-left) in each of the source images
V - image center offset of the second scene from the first in rectified space (GPS-derived)
S0, S1 - vertical point offset from the top-left in image coordinates
A0,A1 - affine transform matrices (sensor coordinates from rectified coordinates)
B0, B1 centers offsets in image coordinates
Xr - rectified coordinates. Xr1, Xr2 - just different points
Xsi = Ai*(Xr - V) + Bi + Si
1) A00 = E, A1, B1 - second image match when the first is unity:
Xs0 = Xr1 + S0
Xs1 = A1 * (Xr1 - V) + B1 + S1;
2) calculate inverted A1,B1 of the first scene relative to the second one. In this case Xs0
of the first scene should still correspond to Xs1
Xs0 = A0 * (Xr2 + V) + B0 + S0;
Xs1 = Xr2 + S1
----
Xs1 = A1 * (Xs0 - S0 - V) + B1 + S1;
Xs1 - B1 - S1 = A1 * (Xs0 - S0 - V);
A1inv*(Xs1 - B1 - S1) = Xs0 - S0 - V;
Xs0 = A1inv*(Xs1 - B1 - S1) + S0 + V
---
Xr2 = Xs1 - S1
Xs0 = A0 * (Xs1 - S1 + V) + B0 + S0;
A1inv*(Xs1 - B1 - S1) + S0 + V = A0 * (Xs1 - S1 + V) + B0 + S0
=> A0=A1inv
A1inv*(Xs1 - B1 - S1) + S0 + V = A1inv * (Xs1 - S1 + V) + B0 + S0
-A1inv*( B1) + V = A1inv * ( V) + B0
A1inv * ( V) + B0 + A1inv*(B1) - V = 0
B0 = -((A1inv-E)*V + A1inv*B1)
*/
public PairwiseOrthoMatch getInverse(double [] rd) {
double [][] affine = OrthoMap.invertAffine(getAffine());
PairwiseOrthoMatch inverted_match = new PairwiseOrthoMatch(
affine, // double [][] affine,
null, // double [][] jtj,
jtj, // double [][] jtj,
rms, // double rms,
zoom_lev); // int zoom_lev)
zoom_lev, // int zoom_lev)
overlap); //
double [] corr = {
rd[0] * (affine[0][0]-1.0)+ rd[1]*affine[0][1],
rd[0] * affine[1][0]+ rd[1]*(affine[1][1]-1.0)};
......@@ -56,13 +105,72 @@ public class PairwiseOrthoMatch implements Serializable {
return inverted_match;
}
public PairwiseOrthoMatch getInverse() {
PairwiseOrthoMatch inverted_match = new PairwiseOrthoMatch(
OrthoMap.invertAffine(getAffine()), // double [][] affine,
null, // double [][] jtj,
rms, // double rms,
zoom_lev); // int zoom_lev)
return inverted_match;
/**
* Create differential PairwiseOrthoMatch instance from 2 affines of the scenes and an offset vector
* @param affine0
* @param affine1
* @param rd
* Continued from getInverse notes:
* =========================== V = -rd
Xsi = Ai*(Xr - V) + Bi + Si
Xs0 = A0*(Xr - 0) + B0 + S0
Xs1 = A1*(Xr - V) + B1 + S1
--- difference Ad, Bd
Xs0 = Xr1 + S0
Xs1 = Ad * (Xr1 - V) + Bd + S1;
Xs0 = A0*(Xr - 0) + B0 + S0
Xs0 - (B0 + S0) = A0*Xr
Xr = A0inv*(Xs0 - (B0 + S0))
Xs1 = A1*((A0inv*(Xs0 - (B0 + S0))) - V) + B1 + S1
Xr1 = Xs0-S0
Xs1 = Ad * ((Xs0-S0) - V) + Bd + S1;
A1*((A0inv*(Xs0 - (B0 + S0))) - V) + B1 + S1 = Ad * ((Xs0-S0) - V) + Bd + S1
A1*((A0inv*(Xs0 - (B0 + S0))) - V) + B1 = Ad * ((Xs0-S0) - V) + Bd
A1*((A0inv*(Xs0 - (B0 + S0))) - V) + B1 = Ad * ((Xs0-S0) - V) + Bd
A1 * A0inv * Xs0 - A1 * A0inv * (B0 + S0) - A1*V + B1 - Ad *Xs0 + Ad * S0 +Ad*V -Bd
=> Ad = A1 * A0inv:
- A1 * A0inv * (B0 + S0) - A1*V + B1 + Ad * S0 +Ad*V -Bd =
- Ad * (B0 + S0) - A1*V + B1 + Ad * S0 + Ad*V - Bd =
Ad * (S0 + V - B0 - S0) - A1*V + B1- Bd =
Ad * (V - B0) - A1 * V + B1 - Bd
Bd = Ad * (V - B0) - A1 * V + B1
--- check if A0 = E, B0 = 0
Ad = A1inv
Bd = A1 * V - A1 *V + B1 = B1
--- check if A1 = E, B1 = 0, V1= -V
Bd = A0inv * (V1 - B0) - V1 =
(A0inv-E)*V1 -A0inv*B0 =
-(A0inv-E)*V -A0inv*B0 =
*/
public PairwiseOrthoMatch (
double [][] affine0,
double [][] affine1,
double [] rd) {
Matrix A0 = new Matrix (
new double [][] {{affine0[0][0],affine0[0][1]},{affine0[1][0],affine0[1][1]}});
Matrix B0 = new Matrix(new double [][] {{affine0[0][2]},{affine0[1][2]}});
Matrix A1 = new Matrix (
new double [][] {{affine1[0][0],affine1[0][1]},{affine1[1][0],affine1[1][1]}});
Matrix B1 = new Matrix(new double [][] {{affine1[0][2]},{affine1[1][2]}});
Matrix V = new Matrix(new double [][] {{-rd[0]},{-rd[1]}});
Matrix A = A1.times(A0.inverse());
Matrix B = A.times(V.minus(B0)).minus(A1.times(V)).plus(B1);
affine = new double[][] {
{A.get(0,0),A.get(0,1), B.get(0,0)},
{A.get(1,0),A.get(1,1), B.get(1,0)}};
// jtj = null;
// rms = Double.NaN; // double rms,
// zoom_lev = 0; // int zoom_lev)
}
public double [][] getAffine(){
......@@ -76,6 +184,7 @@ public class PairwiseOrthoMatch implements Serializable {
oos.writeObject(jtj[i][j]);
}
}
oos.writeObject(overlap);
}
private void readObject(ObjectInputStream ois) throws ClassNotFoundException, IOException {
ois.defaultReadObject();
......@@ -88,6 +197,7 @@ public class PairwiseOrthoMatch implements Serializable {
}
}
}
overlap = (Double) ois.readObject();
}
//private void readObjectNoData() throws ObjectStreamException; // used to modify default values
}
src/main/java/com/elphel/imagej/tileprocessor/IntersceneMatchParameters.java
View file @ 352aa9e1
......@@ -108,6 +108,7 @@ public class IntersceneMatchParameters {
public double rln_neib_rstr = 0.35; // minimal neighbors phase correlation maximums relative to max str
// Pairwise scenes matching
public boolean pmtch_use_affine = false; // when matching pairs, start with known scene affine matrices, false - use unity
public double pmtch_frac_remove = 0.1;
public double pmtch_metric_err = 0.05; // 0.02;// 2 cm
public double pmtch_max_std = 1.5; // maximal standard deviation to limit center area
......@@ -737,6 +738,7 @@ public class IntersceneMatchParameters {
"Minimal neighbors phase correlation maximums relative to maximal strength.");
gd.addMessage ("Pairwise scenes matching");
gd.addCheckbox ("Use scenes' affine", this.pmtch_use_affine, "Use known scenes' affine matrices, false - start from scratch (unity) ones.");
gd.addNumericField("Remove fraction of worst matches", this.pmtch_frac_remove, 3,7,"", "When fitting scenes remove this fraction of worst match tiles.");
gd.addNumericField("Maximal metric error", this.pmtch_metric_err, 3,7,"m", "Maximal tolerable fitting error caused by elevation variations.");
gd.addNumericField("Central area standard deviation", this.pmtch_max_std, 3,7,"", "Central area limit by the standard deviation.");
......@@ -1622,6 +1624,7 @@ public class IntersceneMatchParameters {
this.rln_sngl_rstr = gd.getNextNumber();
this.rln_neib_rstr = gd.getNextNumber();
this.pmtch_use_affine= gd.getNextBoolean();
this.pmtch_frac_remove = gd.getNextNumber();
this.pmtch_metric_err = gd.getNextNumber();
this.pmtch_max_std = gd.getNextNumber();
......@@ -2120,6 +2123,7 @@ public class IntersceneMatchParameters {
properties.setProperty(prefix+"rln_sngl_rstr", this.rln_sngl_rstr +""); // double
properties.setProperty(prefix+"rln_neib_rstr", this.rln_neib_rstr +""); // double
properties.setProperty(prefix+"pmtch_use_affine", this.pmtch_use_affine +""); // boolean
properties.setProperty(prefix+"pmtch_frac_remove", this.pmtch_frac_remove +""); // double
properties.setProperty(prefix+"pmtch_metric_err", this.pmtch_metric_err +""); // double
properties.setProperty(prefix+"pmtch_max_std", this.pmtch_max_std +""); // double
......@@ -2582,6 +2586,7 @@ public class IntersceneMatchParameters {
if (properties.getProperty(prefix+"rln_sngl_rstr")!=null) this.rln_sngl_rstr=Double.parseDouble(properties.getProperty(prefix+"rln_sngl_rstr"));
if (properties.getProperty(prefix+"rln_neib_rstr")!=null) this.rln_neib_rstr=Double.parseDouble(properties.getProperty(prefix+"rln_neib_rstr"));
if (properties.getProperty(prefix+"pmtch_use_affine")!=null) this.pmtch_use_affine= Boolean.parseBoolean(properties.getProperty(prefix+"pmtch_use_affine"));
if (properties.getProperty(prefix+"pmtch_frac_remove")!=null) this.pmtch_frac_remove=Double.parseDouble(properties.getProperty(prefix+ "pmtch_frac_remove"));
if (properties.getProperty(prefix+"pmtch_metric_err")!=null) this.pmtch_metric_err= Double.parseDouble(properties.getProperty(prefix+ "pmtch_metric_err"));
if (properties.getProperty(prefix+"pmtch_max_std")!=null) this.pmtch_max_std= Double.parseDouble(properties.getProperty(prefix+ "pmtch_max_std"));
......@@ -3071,6 +3076,7 @@ public class IntersceneMatchParameters {
imp.rln_sngl_rstr = this.rln_sngl_rstr;
imp.rln_neib_rstr = this.rln_neib_rstr;
imp.pmtch_use_affine = this.pmtch_use_affine;
imp.pmtch_frac_remove = this.pmtch_frac_remove;
imp.pmtch_metric_err = this.pmtch_metric_err;
imp.pmtch_max_std = this.pmtch_max_std;
......
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