improving fitting (360eb591) · Commits · Elphel / imagej-elphel

src/main/java/com/elphel/imagej/gpu/GpuQuad.java

+2 −2

Original line number	Original line	Diff line number	Diff line
	@@ -4509,8 +4509,8 @@ public class GpuQuad{ // quad camera description
	double [][] cxy = new double [2][2]; // image number, {x,y}		double [][] cxy = new double [2][2]; // image number, {x,y}
	int [][] icxy = new int [2][2];		int [][] icxy = new int [2][2];
	for (int nTile = ai.getAndIncrement(); nTile < tiles; nTile = ai.getAndIncrement()) {		for (int nTile = ai.getAndIncrement(); nTile < tiles; nTile = ai.getAndIncrement()) {
	int tileY = nTile / tiles_woi.width + tiles_woi.x;		int tileY = nTile / tiles_woi.width + tiles_woi.y;
	int tileX = nTile % tiles_woi.width + tiles_woi.y;		int tileX = nTile % tiles_woi.width + tiles_woi.x;
	double [] cxy0 = {		double [] cxy0 = {
	(tileX + 0.5) * GPUTileProcessor.DTT_SIZE,		(tileX + 0.5) * GPUTileProcessor.DTT_SIZE,
	(tileY + 0.5) * GPUTileProcessor.DTT_SIZE};		(tileY + 0.5) * GPUTileProcessor.DTT_SIZE};

src/main/java/com/elphel/imagej/orthomosaic/ComboMatch.java

+101 −36

Original line number	Original line	Diff line number	Diff line
	@@ -59,8 +59,8 @@ public class ComboMatch {
	// String orthoMapsCollection_path = "/media/elphel/SSD3-4GB/lwir16-proc/ortho_videos/maps_08_november.data";		// String orthoMapsCollection_path = "/media/elphel/SSD3-4GB/lwir16-proc/ortho_videos/maps_08_november.data";
	// String files_list_path = "/media/elphel/SSD3-4GB/lwir16-proc/ortho_videos/maps_10_short.list";		// String files_list_path = "/media/elphel/SSD3-4GB/lwir16-proc/ortho_videos/maps_10_short.list";
	// String orthoMapsCollection_path = "/media/elphel/SSD3-4GB/lwir16-proc/ortho_videos/maps_10_short.data";		// String orthoMapsCollection_path = "/media/elphel/SSD3-4GB/lwir16-proc/ortho_videos/maps_10_short.data";
	String files_list_path = "/media/elphel/SSD3-4GB/lwir16-proc/ortho_videos/maps_19_sep13.list";		String files_list_path = "/media/elphel/SSD3-4GB/lwir16-proc/ortho_videos/maps_19_sep13_25-50-75-100m.list";
	String orthoMapsCollection_path = "/media/elphel/SSD3-4GB/lwir16-proc/ortho_videos/maps_19_sep13.data";		String orthoMapsCollection_path = "/media/elphel/SSD3-4GB/lwir16-proc/ortho_videos/maps_19_sep13_25-50-75-100m.data";
	//maps_19_sep13.list		//maps_19_sep13.list
	//maps_09_short.list		//maps_09_short.list
	//maps_08_november.list		//maps_08_november.list
	@@ -76,21 +76,30 @@ public class ComboMatch {
	// String [] gpu_spair = {"1697877465_672024", "1697877528_776377"};		// String [] gpu_spair = {"1697877465_672024", "1697877528_776377"};
	// String [] gpu_spair = {"1694564245_111645", "1694564701_230240"}; // Morning Sep, 13		// String [] gpu_spair = {"1694564245_111645", "1694564701_230240"}; // Morning Sep, 13
	// String [] gpu_spair = {"1694564245_111645", "1694564822_637346"}; // Morning Sep, 13		// String [] gpu_spair = {"1694564245_111645", "1694564822_637346"}; // Morning Sep, 13
	String [] gpu_spair = {"1694564248_145989", "1694564819_336247"}; // Morning Sep, 13		// String [] gpu_spair = {"1694564248_145989", "1694564819_336247"}; // Morning Sep, 13
			// String [] gpu_spair = {"1694564269_536448", "1694564822_637346"}; // Morning Sep, 13 50m, 75m
			// String [] gpu_spair = {"1694564269_536448", "1694565541_040640"}; // Morning Sep, 13 50m, 100m
			// String [] gpu_spair = {"1694564822_637346", "1694565541_040640"}; // Morning Sep, 13 75m, 100m
			// String [] gpu_spair = {"1694564263_701171", "1694564816_468625"}; // Morning Sep, 13 50m, 75m
			// String [] gpu_spair = {"1694564266_568793", "1694564819_336247"}; // Morning Sep, 13 50m, 75m
			// String [] gpu_spair = {"1694564270_086631", "1694564822_637346"}; // Morning Sep, 13 50m, 75m
			// String [] gpu_spair = {"1694564272_770858", "1694564778_589341"}; // Morning Sep, 13 50m, 75m #13-#63
			// String [] gpu_spair = {"1694564275_538447", "1694564744_411290"}; // Morning Sep, 13 50m, 75m #14-#58
			String [] gpu_spair = {"1694564270_086631", "1694563011_045597"}; // Morning Sep, 13 50m, 25m #88-#68
	//		//

	double [][][] image_enuatr = {{{0,0,0},{0,0,0}},{{0,0,0},{0,0,0}}};		double [][][] image_enuatr = {{{0,0,0},{0,0,0}},{{0,0,0},{0,0,0}}};
	int gpu_width= clt_parameters.imp.rln_gpu_width; // 3008;		int gpu_width= clt_parameters.imp.rln_gpu_width; // 3008;
	int gpu_height= clt_parameters.imp.rln_gpu_height; // 3008;		int gpu_height= clt_parameters.imp.rln_gpu_height; // 3008;
	int zoom_lev = -3; // 0; // +1 - zoom in twice, -1 - zoom out twice		int zoom_lev = -3; // 0; // +1 - zoom in twice, -1 - zoom out twice
			boolean show_combo_map = false; // true;
	boolean use_alt = false;		boolean use_alt = false;
	boolean show_centers = true;		boolean show_centers = true;
	boolean use_saved_collection = true; // false;		boolean use_saved_collection = true; // false;
	boolean save_collection = true;		boolean save_collection = true;
	boolean process_correlation = true; // use false to save new version of data		boolean process_correlation = true; // use false to save new version of data
	boolean restore_temp = true;		boolean restore_temp = true;
	GenericJTabbedDialog gd = new GenericJTabbedDialog("Set image pair",1200,800);		double frac_remove = 0.25;
			GenericJTabbedDialog gd = new GenericJTabbedDialog("Set image pair",1200,900);
	gd.addStringField ("Image list full path", files_list_path, 180, "Image list full path.");		gd.addStringField ("Image list full path", files_list_path, 180, "Image list full path.");
	gd.addStringField ("Maps collection save path", orthoMapsCollection_path, 180, "Save path for serialized map collection data.");		gd.addStringField ("Maps collection save path", orthoMapsCollection_path, 180, "Save path for serialized map collection data.");
	gd.addCheckbox ("Use saved maps collection", use_saved_collection, "If false - use files list.");		gd.addCheckbox ("Use saved maps collection", use_saved_collection, "If false - use files list.");
	@@ -118,9 +127,11 @@ public class ComboMatch {
	gd.addNumericField("GPU image height", gpu_height, 0,4,"",		gd.addNumericField("GPU image height", gpu_height, 0,4,"",
	"GPU image height");		"GPU image height");
	gd.addCheckbox ("Show transformation centers", show_centers, "Mark verticals from the UAS on the ground.");		gd.addCheckbox ("Show transformation centers", show_centers, "Mark verticals from the UAS on the ground.");
	gd.addCheckbox ("Process altitude images", use_alt, "Load and process altitude maps.");		gd.addCheckbox ("Show combo image map", show_combo_map, "Load and process altitude maps.");
			gd.addCheckbox ("Show altitude combo image", use_alt, "Load and process altitude maps.");
	gd.addStringField ("First matching timestamp", gpu_spair[0], 20, "First GPU-matching timestamp with '_' for decimal point.");		gd.addStringField ("First matching timestamp", gpu_spair[0], 20, "First GPU-matching timestamp with '_' for decimal point.");
	gd.addStringField ("Second matching timestamp", gpu_spair[1], 20, "First GPU-matching timestamp with '_' for decimal point.");		gd.addStringField ("Second matching timestamp", gpu_spair[1], 20, "First GPU-matching timestamp with '_' for decimal point.");
			gd.addNumericField("Remove fraction of worst matches", frac_remove, 3,7,"", "When fitting scenes remove this fraction of worst match.");

	gd.showDialog();		gd.showDialog();
	if (gd.wasCanceled()) return false;		if (gd.wasCanceled()) return false;
	@@ -146,10 +157,12 @@ public class ComboMatch {
	OrthoMap.setGPUWidthHeight(gpu_width,gpu_height);		OrthoMap.setGPUWidthHeight(gpu_width,gpu_height);

	show_centers = gd.getNextBoolean();		show_centers = gd.getNextBoolean();
			show_combo_map = gd.getNextBoolean();
	use_alt = gd.getNextBoolean();		use_alt = gd.getNextBoolean();

	gpu_spair[0] = gd.getNextString();		gpu_spair[0] = gd.getNextString();
	gpu_spair[1] = gd.getNextString();		gpu_spair[1] = gd.getNextString();
			frac_remove = gd.getNextNumber();

	OrthoMapsCollection maps_collection=null;		OrthoMapsCollection maps_collection=null;
	if (use_saved_collection) {		if (use_saved_collection) {
	@@ -160,7 +173,7 @@ public class ComboMatch {
	e.printStackTrace();		e.printStackTrace();
	}		}
	} else {		} else {
	maps_collection = new OrthoMapsCollection(files_list_path); // should have ".list" extensiohn		maps_collection = new OrthoMapsCollection(files_list_path); // should have ".list" extension
	}		}
	String [] names = maps_collection.getNames();		String [] names = maps_collection.getNames();

	@@ -172,13 +185,16 @@ public class ComboMatch {
	// which pair to compare		// which pair to compare
	// String [] gpu_spair = {names[gpu_ipair[0]],names[gpu_ipair[1]]};		// String [] gpu_spair = {names[gpu_ipair[0]],names[gpu_ipair[1]]};
	int [] origin = new int[2];		int [] origin = new int[2];
	ImagePlus imp_img = maps_collection.renderMulti (		ImagePlus imp_img = null;
			if (show_combo_map) {
			imp_img = maps_collection.renderMulti (
	"multi_"+zoom_lev, // String title,		"multi_"+zoom_lev, // String title,
	false, // boolean use_alt,		false, // boolean use_alt,
	show_centers, // boolean show_centers,		show_centers, // boolean show_centers,
	zoom_lev, // int zoom_level,		zoom_lev, // int zoom_level,
	origin); // int [] origin){		origin); // int [] origin){
	imp_img.show();		imp_img.show();
			}
	ImagePlus imp_alt = null;		ImagePlus imp_alt = null;
	if (use_alt) {		if (use_alt) {
	imp_alt =maps_collection.renderMulti (		imp_alt =maps_collection.renderMulti (
	@@ -234,15 +250,28 @@ public class ComboMatch {
	// affine1[0][2] =-1.08; affine1[1][2] = 3.267; //{"1697877465_672024", "1697877528_776377"};		// affine1[0][2] =-1.08; affine1[1][2] = 3.267; //{"1697877465_672024", "1697877528_776377"};
	// affine1[0][2] =-1.2; affine1[1][2] = -0.9066; //{"1694564245_111645", "1694564701_230240"};		// affine1[0][2] =-1.2; affine1[1][2] = -0.9066; //{"1694564245_111645", "1694564701_230240"};
	// affine1[0][2] = 0.933; affine1[1][2] = -2.2667; //{"1694564245_111645", "1694564822_637346"};		// affine1[0][2] = 0.933; affine1[1][2] = -2.2667; //{"1694564245_111645", "1694564822_637346"};
	affine1[0][2] = 2.08; affine1[1][2] = -0.093; //{"1694564248_145989", "1694564819_336247"};		// affine1[0][2] = 2.08; affine1[1][2] = -0.093; //{"1694564248_145989", "1694564819_336247"};
			// affine1[0][2] =-1.88; affine1[1][2] = -2.71; //{"1694564269_536448", "1694564822_637346"};
			// affine1[0][2] =-2.7; affine1[1][2] = -0.59; //{"1694564269_536448", "1694565541_040640"}; 50m-100m
			// affine1[0][2] =-0.78; affine1[1][2] = 2.1; //{"1694564822_637346", "1694565541_040640"}; 75m-100m #75-#95
			// affine1[0][2] =-0.92; affine1[1][2] = 2.28; //{"1694564263_701171", "1694564816_468625"}; 50m-75m
			// affine1[0][2] =-5.37; affine1[1][2] = -1.53; //{"1694564266_568793", "1694564819_336247"}; 50m-75m
			// affine1[0][2] = 1.92; affine1[1][2] = -1.89; //{"1694564270_086631", "1694564822_637346"}; 50m-75m
			// affine1[0][2] = 0.52; affine1[1][2] = -2.387; //{"1694564272_770858", "1694564778_589341"}; 50m-75m #13-#63
			// affine1[0][2] =-4.75; affine1[1][2] = 0.44; //{"1694564275_538447", "1694564744_411290"}; 50m-75m #14-#58
			affine1[0][2] = 2.59; affine1[1][2] = 0.133; //{"1694564270_086631", "1694563011_045597"}; 50m, 25m #88-#68
			// String [] gpu_spair = {"1694564270_086631", "1694563011_045597"}; // Morning Sep, 13 50m, 25m #88-#68

			// "1694564275_538447","1694564744_411290"
	double [][][] affines = {affine0,affine1};		double [][][] affines = {affine0,affine1};
	int [] gpu_pair = new int[gpu_spair.length];		int [] gpu_pair = new int[gpu_spair.length];
	for (int i = 0; i < gpu_pair.length; i++) {		for (int i = 0; i < gpu_pair.length; i++) {
	gpu_pair[i] = maps_collection.getIndex(gpu_spair[i]);		gpu_pair[i] = maps_collection.getIndex(gpu_spair[i]);
	}		}
	int [] zooms = {-3,-1,1000,1000};		int [] zooms = {-2,0,1000,1000};
	debugLevel = 0;		debugLevel = 0;
	boolean batch_mode = true;		boolean batch_mode = false; // true;
			boolean ignore_prev_rms = true;
	for (int zi = 0; zi < zooms.length; zi++) {		for (int zi = 0; zi < zooms.length; zi++) {
	zoom_lev = zooms[zi];		zoom_lev = zooms[zi];
	if (zoom_lev >=1000) {		if (zoom_lev >=1000) {
	@@ -251,12 +280,16 @@ public class ComboMatch {
	// will modify affines[1], later add jtj, weight, smth. else?		// will modify affines[1], later add jtj, weight, smth. else?
	double [][] corr_pair_rslt = maps_collection.correlateOrthoPair(		double [][] corr_pair_rslt = maps_collection.correlateOrthoPair(
	clt_parameters, // CLTParameters clt_parameters,		clt_parameters, // CLTParameters clt_parameters,
			frac_remove, // double frac_remove, // = 0.25
			ignore_prev_rms, // boolean ignore_prev_rms,
	batch_mode, // boolean batch_mode,		batch_mode, // boolean batch_mode,
	gpu_pair, // String [] gpu_spair,		gpu_pair, // String [] gpu_spair,
	affines, // double [][][] affines, // on top of GPS offsets		affines, // double [][][] affines, // on top of GPS offsets
	zoom_lev, // int zoom_lev,		zoom_lev, // int zoom_lev,
	debugLevel); // final int debugLevel)		debugLevel); // final int debugLevel)
	int render_zoom_lev = maps_collection.ortho_maps[gpu_pair[0]].getOriginalZoomLevel();		int render_zoom_lev = Math.min(
			maps_collection.ortho_maps[gpu_pair[0]].getOriginalZoomLevel(),
			maps_collection.ortho_maps[gpu_pair[1]].getOriginalZoomLevel());
	ImagePlus imp_img_pair = maps_collection.renderMulti (		ImagePlus imp_img_pair = maps_collection.renderMulti (
	"multi_"+gpu_spair[0]+"-"+gpu_spair[1]+"-zoom_"+render_zoom_lev+"_"+zoom_lev, // String title,		"multi_"+gpu_spair[0]+"-"+gpu_spair[1]+"-zoom_"+render_zoom_lev+"_"+zoom_lev, // String title,
	false, // boolean use_alt,		false, // boolean use_alt,
	@@ -302,6 +335,38 @@ adjusted affines[1] for a pair: 1694564245_111645/1694564822_637346
	[[1.0148318094351692,0.01611699521114023,1.1534804399270817],		[[1.0148318094351692,0.01611699521114023,1.1534804399270817],
	[-0.025584298199020607,1.0182605131307008,-2.157143969635918]]		[-0.025584298199020607,1.0182605131307008,-2.157143969635918]]

			correlateOrthoPair(): adjusted affines[1] {"1694564269_536448", "1694564822_637346"}
			[[1.0118405178770247,0.0243306610630595,-1.6570450812227402],
			[-0.030053577777794035,1.007846539173136,-2.564940874119216]]

			adjusted affines[1] for a pair: 1694564269_536448/1694565541_040640
			[[1.032352933444291,0.012425600945003055,-2.6012366590312457],
			[-0.032390806278202705,1.045595625691147,0.4724083642132655]]

			Done
			adjusted affines[1] for a pair: 1694564263_701171/1694564816_468625 (9- 73)
			[[1.015002848762524,0.016906877812481423,-0.827920765016369],
			[-0.016806089590596436,1.0126951556271355,2.453634727273915]]

			adjusted affines[1] for a pair: 1694564266_568793/1694564819_336247
			[[1.0208243680493612,-0.007571648582186553,-5.627387091202717],
			[0.00716961393885021,1.0116421129852677,-1.4359711787904814]]

			adjusted affines[1] for a pair: 1694564270_086631/1694564822_637346
			[[1.01553064725059,-0.004358499034078345,1.9313585652985712],
			[0.006088341815143438,1.0077680445468122,-1.7817699129643216]]

			adjusted affines[1] for a pair: 1694564272_770858/1694564778_589341
			[[1.0120132362035976,0.03369140870847741,0.7958782949644478],
			[-0.03200874269606805,1.0088673434818738,-2.211451677912688]]

			Bad, even with narrow WOI:
			Done
			adjusted affines[1] for a pair: 1694564275_538447/1694564744_411290
			[[1.016644878296508,0.004929435606711805,-4.693221236458512],
			[-0.0049692732545438024,1.0068633692157516,0.3968458715663825]]


	*		*
	*		*
	double [] offset_xy_second = {0,0};		double [] offset_xy_second = {0,0};
	@@ -623,7 +688,7 @@ adjusted affines[1] for a pair: 1694564245_111645/1694564822_637346
	debugLevel); // final int debug_level		debugLevel); // final int debug_level
	}		}
	double [][][] vector_field = new double [corr_tiles_pd.length][][];		double [][][] vector_field = new double [corr_tiles_pd.length][][];
	vector_field[0] = TDCorrTile.getMismatchVector(		vector_field[0] = TDCorrTile.getMismatchVector( // full tiles in gpu (512*512)
	corr_tiles_pd[0], // final double[][] tiles,		corr_tiles_pd[0], // final double[][] tiles,
	rln_sngl_rstr, // double rmax,		rln_sngl_rstr, // double rmax,
	rln_cent_radius, // final double centroid_radius, // 0 - all same weight, > 0 cosine(PI/2*sqrt(dx^2+dy^2)/rad)		rln_cent_radius, // final double centroid_radius, // 0 - all same weight, > 0 cosine(PI/2*sqrt(dx^2+dy^2)/rad)

src/main/java/com/elphel/imagej/orthomosaic/FloatImageData.java

+11 −4

Original line number	Original line	Diff line number	Diff line
	package com.elphel.imagej.orthomosaic;		package com.elphel.imagej.orthomosaic;

			import java.awt.Rectangle;
			import java.util.Arrays;
			import java.util.concurrent.atomic.AtomicInteger;

			import com.elphel.imagej.common.PolynomialApproximation;
			import com.elphel.imagej.tileprocessor.ImageDtt;

	public class FloatImageData {		public class FloatImageData {
	public int width;		public int width;
	public int height;		public int height;
	@@ -66,12 +73,12 @@ public class FloatImageData {
	ze = 2.0 * pix_size_in_cm;		ze = 2.0 * pix_size_in_cm;
	}		}
	} else { // high resolution, pixel size < 1		} else { // high resolution, pixel size < 1
	zl--;		// zl--;
	while (pix_size_in_cm <= (1.0-e)) {		while (pix_size_in_cm <= (1.0-e)) {
	zl++;		zl++;
	pix_size_in_cm *= 2;		pix_size_in_cm *= 2;
	}// exits with (2-2*e) >= pix_in_cm > (1-e)		}// exits with (2-2*e) >= pix_in_cm > (1-e)
	vz = pix_size_in_cm > (2.0 - e);		vz = pix_size_in_cm < (1.0 + e);
	if (!vz) {		if (!vz) {
	ze = pix_size_in_cm;		ze = pix_size_in_cm;
	}		}
	@@ -82,9 +89,9 @@ public class FloatImageData {
	if (zoom_in_extra != null) {		if (zoom_in_extra != null) {
	zoom_in_extra[0] = ze;		zoom_in_extra[0] = ze;
	}		}


	return zl;		return zl;
	}		}

			// processing altitudes to remove non-flat surfaces from fitting ortho maps

	}		}

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