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Commit 38b6b0d7 authored by Andrey Filippov's avatar Andrey Filippov
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Improved splitting sequences

parent f7907c7d
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Showing with 249 additions and 32 deletions
src/main/java/com/elphel/imagej/tileprocessor/IntersceneMatchParameters.java
View file @ 38b6b0d7
......@@ -261,6 +261,12 @@ public class IntersceneMatchParameters {
public double fpn_radius = 0.75; // pix - zero around center
public boolean fpn_ignore_border = false; // only if fpn_mask != null - ignore tile if maximum touches fpn_mask
public double min_offset = 1.5; // pixels - minimal average pixel offset between images to consider interscene matching
public double max_rel_offset = 0.5; // maximal interscene offset as a fraction of image width
public double max_roll_deg = 10.0; // maximal interscene roll to consider matching
public boolean fpn_skip = true; // skip too close scenes (false - abort, previous behavior)
public boolean fpn_rematch = true; // match fpn-failed scenes to later scenes with larger difference
// Remove moving objects (goal is not to detect slightest movement, but to improve pose matching
public boolean mov_en = true; // enable detection/removal of the moving objects during pose matching
public double mov_sigma = 1.5; // pix - weighted-blur offsets before detection
......@@ -792,6 +798,18 @@ public class IntersceneMatchParameters {
"Blank correlation pixels closer than this distance from the FPN offset");
gd.addCheckbox ("Ignore maximums \"touching\" FPN", this.fpn_ignore_border,
"Discard TD integrated tiles where local maximum is a neighbor (including diagonal) to blanked FPN correlation pixels");
gd.addMessage ("Limit series, handle FPN-related problems");
gd.addNumericField("Minimal inter-scene offset", this.min_offset, 6,7,"pix",
"Minimal average pixel offset between images to consider interscene matching");
gd.addNumericField("Maximal interscene offset fraction of width", this.max_rel_offset, 6,7,"x width",
"Maximal interscene offset as a fraction of image width to handle low overlap");
gd.addNumericField("Maximal interscene roll", this.max_roll_deg, 6,7,"degrees",
"Maximal interscene roll to consider matching");
gd.addCheckbox ("Skip too close to reference scenes", this.fpn_skip,
"Skip too close to reference scenes (false - abort, previous behavior)");
gd.addCheckbox ("Match FPN-failed with other scenes", this.fpn_rematch,
"Match fpn-failed scenes to later scenes with larger difference");
gd.addMessage ("Detect and remove moving objects from pose matching");
gd.addCheckbox ("Enable movement detection/elimination", this.mov_en,
......@@ -1167,6 +1185,13 @@ public class IntersceneMatchParameters {
this.fpn_max_offset = gd.getNextNumber();
this.fpn_radius = gd.getNextNumber();
this.fpn_ignore_border = gd.getNextBoolean();
this.min_offset = gd.getNextNumber();
this.max_rel_offset = gd.getNextNumber();
this.max_roll_deg = gd.getNextNumber();
this.fpn_skip = gd.getNextBoolean();
this.fpn_rematch = gd.getNextBoolean();
this.mov_en = gd.getNextBoolean();
this.mov_sigma = gd.getNextNumber();
this.mov_max_std = gd.getNextNumber();
......@@ -1494,6 +1519,13 @@ public class IntersceneMatchParameters {
properties.setProperty(prefix+"fpn_max_offset", this.fpn_max_offset+""); // double
properties.setProperty(prefix+"fpn_radius", this.fpn_radius+""); // double
properties.setProperty(prefix+"fpn_ignore_border", this.fpn_ignore_border+""); // boolean
properties.setProperty(prefix+"min_offset", this.min_offset+""); // double
properties.setProperty(prefix+"max_rel_offset", this.max_rel_offset+""); // double
properties.setProperty(prefix+"max_roll_deg", this.max_roll_deg+""); // double
properties.setProperty(prefix+"fpn_skip", this.fpn_skip+""); // boolean
properties.setProperty(prefix+"fpn_rematch", this.fpn_rematch+""); // boolean
properties.setProperty(prefix+"mov_en", this.mov_en+""); // boolean
properties.setProperty(prefix+"mov_sigma", this.mov_sigma+""); // double
properties.setProperty(prefix+"mov_max_std", this.mov_max_std+""); // double
......@@ -1779,6 +1811,13 @@ public class IntersceneMatchParameters {
if (properties.getProperty(prefix+"fpn_max_offset")!=null) this.fpn_max_offset=Double.parseDouble(properties.getProperty(prefix+"fpn_max_offset"));
if (properties.getProperty(prefix+"fpn_radius")!=null) this.fpn_radius=Double.parseDouble(properties.getProperty(prefix+"fpn_radius"));
if (properties.getProperty(prefix+"fpn_ignore_border")!=null) this.fpn_ignore_border=Boolean.parseBoolean(properties.getProperty(prefix+"fpn_ignore_border"));
if (properties.getProperty(prefix+"min_offset")!=null) this.min_offset=Double.parseDouble(properties.getProperty(prefix+"min_offset"));
if (properties.getProperty(prefix+"max_rel_offset")!=null) this.max_rel_offset=Double.parseDouble(properties.getProperty(prefix+"max_rel_offset"));
if (properties.getProperty(prefix+"max_roll_deg")!=null) this.max_roll_deg=Double.parseDouble(properties.getProperty(prefix+"max_roll_deg"));
if (properties.getProperty(prefix+"fpn_skip")!=null) this.fpn_skip=Boolean.parseBoolean(properties.getProperty(prefix+"fpn_skip"));
if (properties.getProperty(prefix+"fpn_rematch")!=null) this.fpn_rematch=Boolean.parseBoolean(properties.getProperty(prefix+"fpn_rematch"));
if (properties.getProperty(prefix+"mov_en")!=null) this.mov_en=Boolean.parseBoolean(properties.getProperty(prefix+"mov_en"));
if (properties.getProperty(prefix+"mov_sigma")!=null) this.mov_sigma=Double.parseDouble(properties.getProperty(prefix+"mov_sigma"));
if (properties.getProperty(prefix+"mov_max_std")!=null) this.mov_max_std=Double.parseDouble(properties.getProperty(prefix+"mov_max_std"));
......@@ -2074,6 +2113,13 @@ public class IntersceneMatchParameters {
imp.fpn_max_offset = this.fpn_max_offset;
imp.fpn_radius = this.fpn_radius;
imp.fpn_ignore_border = this.fpn_ignore_border;
imp.min_offset = this.min_offset;
imp.max_rel_offset = this.max_rel_offset;
imp.max_roll_deg = this.max_roll_deg;
imp.fpn_skip = this.fpn_skip;
imp.fpn_rematch = this.fpn_rematch;
imp.mov_en = this.mov_en;
imp.mov_sigma = this.mov_sigma;
imp.mov_max_std = this.mov_max_std;
......
src/main/java/com/elphel/imagej/tileprocessor/OpticalFlow.java
View file @ 38b6b0d7
......@@ -85,6 +85,14 @@ 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)
// interscene adjustments failure reasons.
public static int FAIL_REASON_LMA = 1; // LMA failed
public static int FAIL_REASON_INTERSCENE = 2; // clt_process_tl_interscene() returned null
public static int FAIL_REASON_MIN = 3; // average pixel offset is below specified threshold (FPN)
public static int FAIL_REASON_MAX = 4; // average pixel offset is above specified threshold (overlap)
public static int FAIL_REASON_NULL = 5; // null offsets array
public static int FAIL_REASON_EMPTY = 6; // No offset pairs in offsets array
public static int FAIL_REASON_ROLL = 7; // Too high roll between the images
public static double [] ZERO3 = {0.0,0.0,0.0};
public static double LINE_ERR = 0.1;
......@@ -3530,7 +3538,9 @@ public class OpticalFlow {
scenes_xyzatr[i] = adjustPairsLMAInterscene(
clt_parameters, // CLTParameters clt_parameters,
false, // boolean fpn_disable, // disable fpn filter if images are known to be too close
false, // boolean fpn_disable, // disable fpn filter if images are known to be too close
null, // double [] min_max, // null or pair of minimal and maximal offsets
null, // int [] fail_reason, // null or int[1]: 0 - OK, 1 - LMA, 2 - min, 3 - max
reference_QuadClt, // QuadCLT reference_QuadCLT,
null, // double [] ref_disparity, // null or alternative reference disparity
null, // boolean [] reliable_ref, // null or bitmask of reliable reference tiles
......@@ -4511,6 +4521,19 @@ public class OpticalFlow {
double [] lma_rms = new double[2];
double [] use_atr = null;
int tilesX = quadCLTs[ref_index].getTileProcessor().getTilesX();
// int tilesY = quadCLTs[ref_index].getTileProcessor().getTilesY();
int tile_size = quadCLTs[ref_index].getTileProcessor().getTileSize();
double min_offset = 0.0; // clt_parameters.imp.min_offset;
double max_offset = clt_parameters.imp.max_rel_offset * tilesX * tile_size;
double max_roll = clt_parameters.imp.max_roll_deg*Math.PI/180.0;
boolean fpn_skip = clt_parameters.imp.fpn_skip; // if false - fail as before
boolean fpn_rematch = clt_parameters.imp.fpn_rematch; // if false - keep previous
double [] min_max = {min_offset, max_offset, 0.0} ; // {min, max, actual rms)
int [] fail_reason = new int[1]; // null or int[1]: 0 - OK, 2 - LMA, 3 - min, 4 - max
for (int scene_index = ref_index - 1; scene_index >= 0 ; scene_index--) {
// to include ref scene photometric calibration
quadCLTs[scene_index] = quadCLTs[ref_index].spawnNoModelQuadCLT(
......@@ -4561,6 +4584,8 @@ public class OpticalFlow {
}
QuadCLT scene_QuadClt = quadCLTs[scene_index];
// get initial xyzatr:
// TODO:repeat spiralSearchATR if found scene was too close
if (scene_index == ref_index - 1) { // search around for the best fit
use_atr = spiralSearchATR(
clt_parameters, // CLTParameters clt_parameters,
......@@ -4612,7 +4637,9 @@ public class OpticalFlow {
// Refine with LMA
scenes_xyzatr[scene_index] = adjustPairsLMAInterscene(
clt_parameters, // CLTParameters clt_parameters,
false, // boolean fpn_disable, // disable fpn filter if images are known to be too close
false, // boolean fpn_disable, // disable fpn filter if images are known to be too close
min_max, // double [] min_max, // null or pair of minimal and maximal offsets
fail_reason, // int [] fail_reason, // null or int[1]: 0 - OK, 1 - LMA, 2 - min, 3 - max
quadCLTs[ref_index], // QuadCLT reference_QuadCLT,
null, // double [] ref_disparity, // null or alternative reference disparity
reliable_ref, // boolean [] reliable_ref, // null or bitmask of reliable reference tiles
......@@ -4626,6 +4653,41 @@ public class OpticalFlow {
lma_rms, // double [] rms, // null or double [2]
clt_parameters.imp.max_rms, // double max_rms,
clt_parameters.imp.debug_level); // 1); // -1); // int debug_level);
boolean adjust_OK = scenes_xyzatr[scene_index] != null;
if (adjust_OK && (Math.abs(scenes_xyzatr[scene_index][1][2]) > max_roll)) {
fail_reason[0] = FAIL_REASON_ROLL;
adjust_OK = false;
}
// FAIL_REASON_ROLL
if (!adjust_OK) {
boolean OK = false;
System.out.println("LMA failed at nscene = "+scene_index+". Reason = "+fail_reason[0]);
if (fail_reason[0]==FAIL_REASON_MIN) {
if (fpn_skip) {
System.out.println("fpn_skip is set, just skipping this scene");
continue; // to next scene
} else {
System.out.println("fpn_skip is not set, aborting series and adjusting earliest_scene");
// set this and all previous to null
}
}
// all other reasons lead to failure
earliest_scene = scene_index + 1;
if (debugLevel > -4) {
System.out.println("Pass multi scene "+scene_index+" (of "+ quadCLTs.length+") "+
quadCLTs[ref_index].getImageName() + "/" + scene_QuadClt.getImageName()+
" FAILED. Setting earliest_scene to "+earliest_scene + " Failure reason: " + fail_reason[0]);
}
// set this and all previous to null
for (; scene_index >= 0 ; scene_index--) {
ers_reference.addScene(quadCLTs[scene_index].getImageName(), null);
// quadCLTs[scene_index] = null; // completely remove early scenes?
}
break;
}
/* old version
if (scenes_xyzatr[scene_index] == null) {
earliest_scene = scene_index + 1;
if (debugLevel > -3) {
......@@ -4639,7 +4701,7 @@ public class OpticalFlow {
}
break;
}
*/
// TODO: Maybe after testing high-ers scenes - restore velocities from before/after scenes
ers_reference.addScene(scene_QuadClt.getImageName(),
scenes_xyzatr[scene_index][0],
......@@ -6562,7 +6624,9 @@ public class OpticalFlow {
double [][] adjusted_xyzatr = adjustPairsLMAInterscene(
clt_parameters, // CLTParameters clt_parameters,
false, // boolean fpn_disable, // disable fpn filter if images are known to be too close
false, // boolean fpn_disable, // disable fpn filter if images are known to be too close
null, // double [] min_max, // null or pair of minimal and maximal offsets
null, // int [] fail_reason, // null or int[1]: 0 - OK, 1 - LMA, 2 - min, 3 - max
quadCLTs[other_ref[1]], // QuadCLT reference_QuadCLT,
null, // double [] ref_disparity, // null or alternative reference disparity
null, // boolean [] reliable_ref, // null or bitmask of reliable reference tiles
......@@ -7034,6 +7098,8 @@ public class OpticalFlow {
false, // use3D, // boolean use3D, // generate disparity difference
false, // boolean fpn_disable, // disable fpn filter if images are known to be too close
0, // mb_max_gain, // double mb_max_gain,
null, // double [] min_max, // null or pair of minimal and maximal offsets
null, // int [] fail_reason, // null or int[1]: 0 - OK, 1 - LMA, 2 - min, 3 - max
reference_QuadClt, // QuadCLT reference_QuadCLT,
ref_disparity, // null, // double [] ref_disparity, // null or alternative reference disparity
pXpYD_ref, // double [][] pXpYD_ref, // pXpYD for the reference scene 11653
......@@ -7308,7 +7374,9 @@ public class OpticalFlow {
if (high_res_motion_vectors) {
scenes_xyzatr[i] = adjustPairsLMAInterscene(
clt_parameters, // CLTParameters clt_parameters,
false, // boolean fpn_disable, // disable fpn filter if images are known to be too close
false, // boolean fpn_disable, // disable fpn filter if images are known to be too close
null, // double [] min_max, // null or pair of minimal and maximal offsets
null, // int [] fail_reason, // null or int[1]: 0 - OK, 1 - LMA, 2 - min, 3 - max
reference_QuadClt, // QuadCLT reference_QuadCLT,
null, // double [] ref_disparity, // null or alternative reference disparity
null, // boolean [] reliable_ref, // null or bitmask of reliable reference tiles
......@@ -7419,7 +7487,9 @@ public class OpticalFlow {
if (high_res_motion_vectors) {
scenes_xyzatr[i] = adjustPairsLMAInterscene(
clt_parameters, // CLTParameters clt_parameters,
false, // boolean fpn_disable, // disable fpn filter if images are known to be too close
false, // boolean fpn_disable, // disable fpn filter if images are known to be too close
null, // double [] min_max, // null or pair of minimal and maximal offsets
null, // int [] fail_reason, // null or int[1]: 0 - OK, 1 - LMA, 2 - min, 3 - max
reference_QuadClt, // QuadCLT reference_QuadCLT,
null, // double [] ref_disparity, // null or alternative reference disparity
null, // boolean [] reliable_ref, // null or bitmask of reliable reference tiles
......@@ -7562,7 +7632,9 @@ public class OpticalFlow {
if (high_res_motion_vectors) {
scenes_xyzatr[i] = adjustPairsLMAInterscene(
clt_parameters, // CLTParameters clt_parameters,
false, // boolean fpn_disable, // disable fpn filter if images are known to be too close
false, // boolean fpn_disable, // disable fpn filter if images are known to be too close
null, // double [] min_max, // null or pair of minimal and maximal offsets
null, // int [] fail_reason, // null or int[1]: 0 - OK, 1 - LMA, 2 - min, 3 - max
reference_QuadClt, // QuadCLT reference_QuadCLT,
null, // double [] ref_disparity, // null or alternative reference disparity
null, // boolean [] reliable_ref, // null or bitmask of reliable reference tiles
......@@ -12262,7 +12334,7 @@ public class OpticalFlow {
* Get average X,Y offsets between inter-scene correlated tiles
* to eliminate correlation between FPN of the same sensor.
* @param max_offset maximal X, Y offset to keep (normally tile size == 8)
* @param tp_tasks_ref reference tiasks (should be updated from GPU to have
* @param tp_tasks_ref reference tasks (should be updated from GPU to have
* actual X,Y for each sensor
* @param tp_tasks scene correlated to the reference, should also have
* per-sensor coordinates
......@@ -12322,7 +12394,8 @@ public class OpticalFlow {
}
sx /= numSens;
sy /= numSens;
if ((Math.abs(sx) <= max_offset) && (Math.abs(sy) <= max_offset )) {
// if ((Math.abs(sx) <= max_offset) && (Math.abs(sy) <= max_offset )) {
if (!(Math.abs(sx) > max_offset) && !(Math.abs(sy) > max_offset )) { // max_offset== NaN OK
offsets[tile] = new double[] {sx,sy};
anum_pairs.getAndIncrement();
}
......@@ -12492,6 +12565,8 @@ public class OpticalFlow {
boolean use3D, // generate disparity difference
boolean fpn_disable, // disable fpn filter if images are known to be too close
double mb_max_gain,
double [] min_max, // null or pair of minimal and maximal offsets
int [] fail_reason, // null or int[1]: 0 - OK, 1 - LMA, 2 - min, 3 - max
QuadCLT ref_scene,
double [] ref_disparity, // null or alternative reference disparity
double [][] pXpYD_ref, // pXpYD for the reference scene
......@@ -12854,7 +12929,50 @@ public class OpticalFlow {
tilesX, // final int tilesX,
tilesY); // final int tilesY);
}
// Verify offsets before running LMA, return null and reason if test fails.
if (min_max != null) {
double [][] offsets = getInterCorrOffsets(
Double.NaN, // final double max_offset,
tp_tasks_ref, // final TpTask[] tp_tasks_ref,
tp_tasks[0], // final TpTask[] tp_tasks,
ref_scene.getNumSensors(), // final int numSens,
tilesX, // final int tilesX,
tilesY); // final int tilesY);
if (offsets == null) {
if (fail_reason != null) {
fail_reason[0]=FAIL_REASON_NULL;
}
return null;
}
double avg_offs2 = 0;
double sw = 0;
for (double [] offs:offsets) if (offs != null) {
double w = 1.0;
avg_offs2 += w * (offs[0] * offs[0] + offs[1] * offs[1]);
sw += w;
}
if (sw == 0) {
if (fail_reason != null) {
fail_reason[0]=FAIL_REASON_EMPTY;
}
}
double avg_offs = Math.sqrt(avg_offs2 / sw);
if (min_max.length>2) {
min_max[2] = avg_offs;
}
if (avg_offs < min_max[0]) {// NaN - do not check;
if (fail_reason != null) {
fail_reason[0]=FAIL_REASON_MIN;
}
return null;
}
if (avg_offs > min_max[1]) {// NaN - do not check;
if (fail_reason != null) {
fail_reason[0]=FAIL_REASON_MAX;
}
return null;
}
}
double half_disparity = near_important ? 0.0 : clt_parameters.imp.half_disparity;
double [][][] dcorr_tiles = (fclt_corr != null)? (new double [tp_tasks[0].length][][]):null;
// will use num_acc with variable number of accumulations (e.g. clusters)
......@@ -12908,6 +13026,9 @@ public class OpticalFlow {
// final int globalDebugLevel);
if (coord_motion == null) {
System.out.println("clt_process_tl_interscene() returned null");
if (fail_reason != null) {
fail_reason[0]=FAIL_REASON_INTERSCENE;
}
return null;
}
if (use3D) {//(scene_disparity_strength != null)
......@@ -13122,8 +13243,10 @@ public class OpticalFlow {
System.out.println ("interCorrPair(): num_defined = "+num_defined+
", sum_strength = "+sum_strength+", avg_strength = "+(sum_strength/num_defined));
}
return coord_motion;
if (fail_reason != null) {
fail_reason[0]= 0;
}
return coord_motion; // here non-null
}
......@@ -13948,6 +14071,7 @@ public class OpticalFlow {
double half_run_range = clt_parameters.ilp.ilma_motion_filter; // 3.50; // make a parameter
double [][] dbg_scale_dt = {clt_parameters.ilp.ilma_scale_xyz, clt_parameters.ilp.ilma_scale_atr};
boolean debug_ers = clt_parameters.ilp.ilma_debug_ers ; // true;
String dbg_ers_string =
((dbg_scale_dt[1][0] > 0)?"a":((dbg_scale_dt[1][0] < 0) ? "A":"0"))+
((dbg_scale_dt[1][1] > 0)?"t":((dbg_scale_dt[1][1] < 0) ? "T":"0"))+
......@@ -13977,6 +14101,15 @@ public class OpticalFlow {
int ref_index = quadCLTs.length-1;
int tilesX = quadCLTs[ref_index].getTileProcessor().getTilesX();
int tilesY = quadCLTs[ref_index].getTileProcessor().getTilesY();
int tile_size = quadCLTs[ref_index].getTileProcessor().getTileSize();
double min_offset = clt_parameters.imp.min_offset;
double max_offset = clt_parameters.imp.max_rel_offset * tilesX * tile_size;
double max_roll = clt_parameters.imp.max_roll_deg*Math.PI/180.0;
boolean fpn_skip = clt_parameters.imp.fpn_skip; // if false - fail as before
boolean fpn_rematch = clt_parameters.imp.fpn_rematch; // if false - keep previous
double [] min_max = {min_offset, max_offset, 0.0} ; // {min, max, actual rms)
int [] fail_reason = new int[1]; // null or int[1]: 0 - OK, 2 - LMA, 3 - min, 4 - max
double [] disparity_raw = new double [tilesX * tilesY];
Arrays.fill(disparity_raw,clt_parameters.disparity);
/// double [][] combo_dsn_final = quadCLTs[ref_index].readDoubleArrayFromModelDirectory(
......@@ -14249,20 +14382,19 @@ public class OpticalFlow {
}
}
boolean fpn_disable = false; // estimate they are too close
// double angle_per_pixel = reference_QuadClt.getGeometryCorrection().getCorrVector().getTiltAzPerPixel() * pix_step;
double angle_per_pixel = ers_reference.getCorrVector().getTiltAzPerPixel();
//ers_reference
// double [][] scene_xyzatr_pull = new double [][] {scene_xyz_pre.clone(),scene_atr_pre.clone()};
double [][] diff_pull = new double [2][3];
for (int j = 0; j < diff_pull.length; j++) {
for (int k = 0; k < diff_pull[j].length; k++) {
diff_pull[j][k]=(sy[j][k]*sx2 - sxy[j][k]*sx) / (s0*sx2 - sx*sx);
}
}
double [][] scene_pull = ErsCorrection.combineXYZATR(scene_xyzatr,diff_pull);
// temporary! TODO: replace with smooth version
// double [] scene_xyz_pull = scene_xyz_pre.clone();
// double [] scene_atr_pull = scene_atr_pre.clone();
double [][] scene_pull = ErsCorrection.combineXYZATR(scene_xyzatr,diff_pull);
// double [] min_max = new double[3]; // {min, max, actual rms)
// int [] fail_reason = new int[1]; // null or int[1]: 0 - OK, 2 - LMA, 3 - min, 4 - max
if (mb_en) {
// double [][] dxyzatr_dt_scene = getVelocities(
// quadCLTs, // QuadCLT [] quadCLTs,
......@@ -14282,7 +14414,9 @@ public class OpticalFlow {
double [] lma_rms = new double[2];
scenes_xyzatr[nscene] = adjustPairsLMAInterscene(
clt_parameters, // CLTParameters clt_parameters,
fpn_disable, // boolean fpn_disable, // disable fpn filter if images are known to be too close
fpn_disable, // boolean fpn_disable, // disable fpn filter if images are known to be too close
min_max, // double [] min_max, // null or pair of minimal and maximal offsets
fail_reason, // int [] fail_reason, // null or int[1]: 0 - OK, 1 - LMA, 2 - min, 3 - max
quadCLTs[ref_index], // QuadCLT reference_QuadCLT,
interscene_ref_disparity, // double [] ref_disparity, // null or alternative reference disparity
ref_pXpYD, // double [][] pXpYD_ref, // pXpYD for the reference scene
......@@ -14302,13 +14436,30 @@ public class OpticalFlow {
mb_max_gain, // double mb_max_gain, // 5.0; // motion blur maximal gain (if more - move second point more than a pixel
mb_vectors, // double [][] mb_vectors, // now [2][ntiles];
clt_parameters.imp.debug_level); // 1); // -1); // int debug_level);
if (scenes_xyzatr[nscene] == null) {
System.out.println("LMA failed at nscene = "+nscene+". Truncating series.");
boolean adjust_OK = scenes_xyzatr[nscene] != null;
if (adjust_OK && (Math.abs(scenes_xyzatr[nscene][1][2]) > max_roll)) {
fail_reason[0] = FAIL_REASON_ROLL;
adjust_OK = false;
}
// FAIL_REASON_ROLL
if (!adjust_OK) {
boolean OK = false;
System.out.println("LMA failed at nscene = "+nscene+". Reason = "+fail_reason[0]);
if (fail_reason[0]==FAIL_REASON_MIN) {
if (fpn_skip) {
System.out.println("fpn_skip is set, just skipping this scene");
continue; // to next scene
} else {
System.out.println("fpn_skip is not set, aborting series and adjusting earliest_scene");
// set this and all previous to null
}
}
// all other reasons lead to failure
earliest_scene = nscene + 1;
if (debugLevel > -4) {
System.out.println("reAdjustPairsLMAInterscene "+nscene+" (of "+ quadCLTs.length+") "+
quadCLTs[ref_index].getImageName() + "/" + ts+
" FAILED. Setting earliest_scene to "+earliest_scene);
" FAILED. Setting earliest_scene to "+earliest_scene + " Failure reason: " + fail_reason[0]);
}
// set this and all previous to null
for (; nscene >= 0 ; nscene--) {
......@@ -14317,8 +14468,7 @@ public class OpticalFlow {
}
break;
}
// System.out.println("lma_rms={"+lma_rms[0]+","+lma_rms[1]+"}");
// overwrite old data
ers_reference.addScene(ts,
scenes_xyzatr[nscene][0],
scenes_xyzatr[nscene][1],
......@@ -14336,6 +14486,9 @@ public class OpticalFlow {
}
}
} // for (int nscene = ref_index; nscene > earliest_scene; nscene--) {
// TODO: after all scenes done, see if any of scenes_xyzatr[] is null, and if fpn_rematch - rematch
if (dbg_mb_img != null) {
String [] dbg_mb_titles = new String[quadCLTs.length];
for (int i = 0; i < quadCLTs.length; i++) if (quadCLTs[i] != null) {
......@@ -14588,7 +14741,9 @@ public class OpticalFlow {
public static double[][] adjustPairsLMAInterscene(
CLTParameters clt_parameters,
boolean fpn_disable, // disable fpn filter if images are known to be too close
boolean fpn_disable, // disable fpn filter if images are known to be too close
double [] min_max, // null or pair of minimal and maximal offsets
int [] fail_reason, // null or int[1]: 0 - OK, 1 - LMA, 2 - min, 3 - max
QuadCLT reference_QuadClt,
double [] ref_disparity, // null or alternative reference disparity
boolean [] reliable_ref, // null or bitmask of reliable reference tiles
......@@ -14631,7 +14786,9 @@ public class OpticalFlow {
debug_level); // int debug_level)
return adjustPairsLMAInterscene( // assumes reference GPU data is already set - once for multiple scenes
clt_parameters, // CLTParameters clt_parameters,
false, // boolean fpn_disable, // disable fpn filter if images are known to be too close
false, // boolean fpn_disable, // disable fpn filter if images are known to be too close
min_max, // double [] min_max, // null or pair of minimal and maximal offsets
fail_reason, // int [] fail_reason, // null or int[1]: 0 - OK, 1 - LMA, 2 - min, 3 - max
reference_QuadClt, // QuadCLT reference_QuadClt,
ref_disparity, // double [] ref_disparity, // null or alternative reference disparity
pXpYD_ref, // double [][] pXpYD_ref, // pXpYD for the reference scene
......@@ -14656,7 +14813,9 @@ public class OpticalFlow {
public static double[][] adjustPairsLMAInterscene( // assumes reference scene already set in GPU.
CLTParameters clt_parameters,
boolean fpn_disable, // disable fpn filter if images are known to be too close
boolean fpn_disable, // disable fpn filter if images are known to be too close
double [] min_max, // null or pair of minimal and maximal offsets
int [] fail_reason, // null or int[1]: 0 - OK, 1 - LMA, 2 - min, 3 - max
QuadCLT reference_QuadClt,
double [] ref_disparity, // null or alternative reference disparity
double [][] pXpYD_ref, // pXpYD for the reference scene
......@@ -14703,6 +14862,8 @@ public class OpticalFlow {
use3D, // boolean use3D, // generate disparity difference
fpn_disable, // boolean fpn_disable, // disable fpn filter if images are known to be too close
mb_max_gain, // double mb_max_gain,
min_max, // double [] min_max, // null or pair of minimal and maximal offsets
fail_reason, // int [] fail_reason, // null or int[1]: 0 - OK, 1 - LMA, 2 - min, 3 - max
reference_QuadClt, // QuadCLT reference_QuadCLT,
ref_disparity, // double [] ref_disparity, // null or alternative reference disparity
pXpYD_ref, // double [][] pXpYD_ref, // pXpYD for the reference scene
......@@ -14749,6 +14910,9 @@ public class OpticalFlow {
debug_level); // int debug_level)
if (lmaResult < 0) {
System.out.println("Interscene adjustment failed, lmaResult="+lmaResult+" < 0");
if (fail_reason != null) {
fail_reason[0]=FAIL_REASON_LMA;
}
return null;
}
camera_xyz0 = intersceneLma.getSceneXYZ(false); // true for initial values
......@@ -14777,7 +14941,9 @@ public class OpticalFlow {
clt_parameters, // CLTParameters clt_parameters,
false, // boolean use3D, // generate disparity difference
false, // boolean fpn_disable, // disable fpn filter if images are known to be too close
mb_max_gain, // double mb_max_gain,
mb_max_gain, // double mb_max_gain,
min_max, // double [] min_max, // null or pair of minimal and maximal offsets
fail_reason, // int [] fail_reason, // null or int[1]: 0 - OK, 1 - LMA, 2 - min, 3 - max
reference_QuadClt, // QuadCLT reference_QuadCLT,
ref_disparity, // double [] ref_disparity, // null or alternative reference disparity
pXpYD_ref, // double [][] pXpYD_ref, // pXpYD for the reference scene
......@@ -14820,7 +14986,9 @@ public class OpticalFlow {
clt_parameters, // CLTParameters clt_parameters,
false, // boolean use3D, // generate disparity difference
false, // boolean fpn_disable, // disable fpn filter if images are known to be too close
mb_max_gain, // double mb_max_gain,
mb_max_gain, // double mb_max_gain,
null, // double [] min_max, // null or pair of minimal and maximal offsets
null, // int [] fail_reason, // null or int[1]: 0 - OK, 1 - LMA, 2 - min, 3 - max
reference_QuadClt, // QuadCLT reference_QuadCLT,
ref_disparity, // double [] ref_disparity, // null or alternative reference disparity
pXpYD_ref, // double [][] pXpYD_ref, // pXpYD for the reference scene
......
src/main/java/com/elphel/imagej/tileprocessor/TexturedModel.java
View file @ 38b6b0d7
......@@ -7309,6 +7309,9 @@ public class TexturedModel {
dbg_titles[i] = dbg_subtitles[i % dbg_subtitles.length] + "-" + (i / dbg_subtitles.length);
}
ref_scene.writePreview(
dbg_textures[0], // double [] data,
debugLevel); // int debugLevel
String suffix = "-combined_textures-prenorm-pre_UM";
if (!batch_run && (debugLevel > -1)) {
ShowDoubleFloatArrays.showArrays(
......@@ -7520,9 +7523,9 @@ public class TexturedModel {
dbg_titles[i] = dbg_subtitles[i % dbg_subtitles.length] + "-" + (i / dbg_subtitles.length);
}
ref_scene.writePreview( // may movbe to different (earlier) stage of processing, (search for "-combined_textures")
dbg_textures[0], // double [] data,
debugLevel); // int debugLevel
// ref_scene.writePreview( // may movbe to different (earlier) stage of processing, (search for "-combined_textures")
// dbg_textures[0], // double [] data,
// debugLevel); // int debugLevel
String suffix = "-combined_textures";
if (!batch_run && (debugLevel > -1)) {
......
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