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Commit 3f43f2ac authored by Andrey Filippov's avatar Andrey Filippov
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tested fitting convergence on long image sets

parent ef473c40
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Showing with 1150 additions and 193 deletions
src/main/java/com/elphel/imagej/correction/Eyesis_Correction.java
View file @ 3f43f2ac
......@@ -700,6 +700,7 @@ private Panel panel1,
addButton("DSI histogram", panelClt5, color_report);
addButton("ML recalc", panelClt5, color_process);
addButton("Inter Test", panelClt5, color_stop);
addButton("Inter Pairs", panelClt5, color_process);
addButton("Inter LMA", panelClt5, color_stop);
plugInFrame.add(panelClt5);
}
......@@ -5108,6 +5109,13 @@ private Panel panel1,
CLT_PARAMETERS.batch_run = true;
testInterScene();
return;
/* ======================================================================== */
} else if (label.equals("Inter Pairs")) {
DEBUG_LEVEL=MASTER_DEBUG_LEVEL;
EYESIS_CORRECTIONS.setDebug(DEBUG_LEVEL);
CLT_PARAMETERS.batch_run = true;
interPairsLMA();
return;
/* ======================================================================== */
} else if (label.equals("Inter LMA")) {
DEBUG_LEVEL=MASTER_DEBUG_LEVEL;
......@@ -5116,6 +5124,7 @@ private Panel panel1,
testInterLMA();
return;
/* ======================================================================== */
} else if (label.equals("CLT rig edit")) {
DEBUG_LEVEL=MASTER_DEBUG_LEVEL;
......@@ -6533,6 +6542,79 @@ private Panel panel1,
RGB_PARAMETERS, //EyesisCorrectionParameters.RGBParameters rgbParameters,
EQUIRECTANGULAR_PARAMETERS, // EyesisCorrectionParameters.EquirectangularParameters equirectangularParameters,
PROPERTIES, // Properties properties,
true, // false, // boolean reset_from_extrinsics,
THREADS_MAX, //final int threadsMax, // maximal number of threads to launch
UPDATE_STATUS, //final boolean updateStatus,
DEBUG_LEVEL);
} catch (Exception e) {
// TODO Auto-generated catch block
e.printStackTrace();
} //final int debugLevel);
if (configPath!=null) {
saveTimestampedProperties( // save config again
configPath, // full path or null
null, // use as default directory if path==null
true,
PROPERTIES);
}
System.out.println("batchRig(): Processing finished at "+
IJ.d2s(0.000000001*(System.nanoTime()-startTime),3)+" sec, --- Free memory="+
Runtime.getRuntime().freeMemory()+" (of "+Runtime.getRuntime().totalMemory()+")");
return true;
}
public boolean interPairsLMA() {
long startTime=System.nanoTime();
// load needed sensor and kernels files
if (!prepareRigImages()) return false;
String configPath=getSaveCongigPath();
if (configPath.equals("ABORT")) return false;
setAllProperties(PROPERTIES); // batchRig may save properties with the model. Extrinsics will be updated, others should be set here
if (DEBUG_LEVEL > -2){
System.out.println("++++++++++++++ Testing Interscene processing ++++++++++++++");
}
if (CLT_PARAMETERS.useGPU()) { // only init GPU instances if it is used
if (GPU_TILE_PROCESSOR == null) {
try {
GPU_TILE_PROCESSOR = new GPUTileProcessor(CORRECTION_PARAMETERS.tile_processor_gpu);
} catch (Exception e) {
System.out.println("Failed to initialize GPU class");
// TODO Auto-generated catch block
e.printStackTrace();
return false;
} //final int debugLevel);
}
if (CLT_PARAMETERS.useGPU(false) && (QUAD_CLT != null) && (GPU_QUAD == null)) { // if GPU main is needed
try {
GPU_QUAD = GPU_TILE_PROCESSOR.new GpuQuad(
QUAD_CLT,
4,
3);
} catch (Exception e) {
System.out.println("Failed to initialize GpuQuad class");
// TODO Auto-generated catch block
e.printStackTrace();
return false;
} //final int debugLevel);
QUAD_CLT.setGPU(GPU_QUAD);
}
}
try {
TWO_QUAD_CLT.interPairsLMA(
QUAD_CLT, // QuadCLT quadCLT_main,
// QUAD_CLT_AUX, // QuadCLT quadCLT_aux,
CLT_PARAMETERS, // EyesisCorrectionParameters.DCTParameters dct_parameters,
DEBAYER_PARAMETERS, //EyesisCorrectionParameters.DebayerParameters debayerParameters,
COLOR_PROC_PARAMETERS, //EyesisCorrectionParameters.ColorProcParameters colorProcParameters,
COLOR_PROC_PARAMETERS_AUX, //EyesisCorrectionParameters.ColorProcParameters colorProcParameters_aux,
CHANNEL_GAINS_PARAMETERS, //CorrectionColorProc.ColorGainsParameters channelGainParameters,
RGB_PARAMETERS, //EyesisCorrectionParameters.RGBParameters rgbParameters,
EQUIRECTANGULAR_PARAMETERS, // EyesisCorrectionParameters.EquirectangularParameters equirectangularParameters,
PROPERTIES, // Properties properties,
true, // false, // boolean reset_from_extrinsics,
THREADS_MAX, //final int threadsMax, // maximal number of threads to launch
UPDATE_STATUS, //final boolean updateStatus,
DEBUG_LEVEL);
......
src/main/java/com/elphel/imagej/tileprocessor/GeometryCorrection.java
View file @ 3f43f2ac
......@@ -57,7 +57,7 @@ public class GeometryCorrection {
"velocity_x", "velocity_y", "velocity_z"};
public int debugLevel = 0;
public double line_time = 26.5E-6; // duration of sensor scan line (for ERS)
public double line_time = 26.5E-6; // duration of sensor scan line (for ERS) Wrong, 36.38us (change and re-run ERS
public int pixelCorrectionWidth=2592; // virtual camera center is at (pixelCorrectionWidth/2, pixelCorrectionHeight/2)
public int pixelCorrectionHeight=1936;
......
src/main/java/com/elphel/imagej/tileprocessor/IntersceneLma.java
View file @ 3f43f2ac
package com.elphel.imagej.tileprocessor;
import java.util.ArrayList;
import java.util.concurrent.atomic.AtomicInteger;
import java.util.concurrent.atomic.DoubleAdder;
......@@ -19,9 +20,10 @@ public class IntersceneLma {
private double pure_weight; // weight of samples only
private boolean [] par_mask = null;
private int [] par_indices = null;
private double [] backup_parameters_full = null; // indices match DP_DPX...DP_DSZ (first 3 are not used)
private double [] parameters_full = null; // full parameters vector for the currenl LMA run
private double [] backup_parameters_full = null; // full parameters vector before first LMA run
private double [] parameters_vector = null;
private double [] parameters_initial = null; // (will be used to pull for regularization)
// private double [] parameters_initial = null; // (will be used to pull for regularization)
private double [][] macrotile_centers = null; // (will be used to pull for regularization)
private double infinity_disparity = 0.1; // treat lower as infinity
private int num_samples = 0;
......@@ -31,48 +33,91 @@ public class IntersceneLma {
this.opticalFlow = opticalFlow;
}
public double [] getSceneXYZ() {
double [] full_vector = getFullVector(parameters_vector);
public double [] getSceneXYZ(boolean initial) {
double [] full_vector = initial? backup_parameters_full: getFullVector(parameters_vector);
return new double[] {
full_vector[ErsCorrection.DP_DSX],full_vector[ErsCorrection.DP_DSY],full_vector[ErsCorrection.DP_DSZ]};
}
public double [] getSceneATR() {
double [] full_vector = getFullVector(parameters_vector);
public double [] getSceneATR(boolean initial) {
double [] full_vector = initial? backup_parameters_full: getFullVector(parameters_vector);
return new double[] {
full_vector[ErsCorrection.DP_DSAZ],full_vector[ErsCorrection.DP_DSTL],full_vector[ErsCorrection.DP_DSRL]};
}
public double [] getReferenceXYZ() {
double [] full_vector = getFullVector(parameters_vector);
public double [] getReferenceXYZ(boolean initial) {
double [] full_vector = initial? backup_parameters_full: getFullVector(parameters_vector);
return new double[] {
full_vector[ErsCorrection.DP_DX],full_vector[ErsCorrection.DP_DY],full_vector[ErsCorrection.DP_DZ]};
}
public double [] getReferenceATR() {
double [] full_vector = getFullVector(parameters_vector);
public double [] getReferenceATR(boolean initial) {
double [] full_vector = initial? backup_parameters_full: getFullVector(parameters_vector);
return new double[] {
full_vector[ErsCorrection.DP_DAZ],full_vector[ErsCorrection.DP_DTL],full_vector[ErsCorrection.DP_DRL]};
}
public double [] getSceneERSXYZ() {
double [] full_vector = getFullVector(parameters_vector);
public double [] getSceneERSXYZ(boolean initial) {
double [] full_vector = initial? backup_parameters_full: getFullVector(parameters_vector);
return new double[] {
full_vector[ErsCorrection.DP_DSVX],full_vector[ErsCorrection.DP_DSVY],full_vector[ErsCorrection.DP_DSVZ]};
}
public double [] getSceneERSATR() {
double [] full_vector = getFullVector(parameters_vector);
public double [] getSceneERSATR(boolean initial) {
double [] full_vector = initial? backup_parameters_full: getFullVector(parameters_vector);
return new double[] {
full_vector[ErsCorrection.DP_DSVAZ],full_vector[ErsCorrection.DP_DSVTL],full_vector[ErsCorrection.DP_DSVRL]};
}
public double [] getReferenceERSXYZ() {
double [] full_vector = getFullVector(parameters_vector);
public double [] getReferenceERSXYZ(boolean initial) {
double [] full_vector = initial? backup_parameters_full: getFullVector(parameters_vector);
return new double[] {
full_vector[ErsCorrection.DP_DSVX],full_vector[ErsCorrection.DP_DSVY],full_vector[ErsCorrection.DP_DSVZ]};
}
public double [] getReferenceERSATR() {
double [] full_vector = getFullVector(parameters_vector);
public double [] getReferenceERSATR(boolean initial) {
double [] full_vector = initial? backup_parameters_full: getFullVector(parameters_vector);
return new double[] {
full_vector[ErsCorrection.DP_DSVAZ],full_vector[ErsCorrection.DP_DSVTL],full_vector[ErsCorrection.DP_DSVRL]};
}
public String [] printOldNew(boolean allvectors) {
return printOldNew(allvectors, 8, 5);
}
public String [] printOldNew(boolean allvectors, int w, int d) {
ArrayList<String> lines = new ArrayList<String>();
for (int n = ErsCorrection.DP_DVAZ; n < ErsCorrection.DP_NUM_PARS; n+=3) {
boolean adj = false;
for (int i = 0; i <3; i++) adj |= par_mask[n+i];
if (allvectors || adj) {
String line = printNameV3(n, false, w,d)+" (was "+printNameV3(n, true, w,d)+")";
lines.add(line);
}
}
return lines.toArray(new String[lines.size()]);
}
public String printNameV3(int indx, boolean initial, int w, int d) {
double [] full_vector = initial? backup_parameters_full: getFullVector(parameters_vector);
double [] vector = new double[3];
for (int i = 0; i <3; i++) {
vector[i] = full_vector[indx + i];
}
String name = ErsCorrection.DP_VECTORS_NAMES[indx];
return printNameV3(name, vector, w, d);
}
public static String printNameV3(String name, double[] vector) {
return printNameV3(name, vector, 8, 5);
}
public static String printNameV3(String name, double[] vector, int w, int d) {
return String.format("%14s: %s", name, printV3(vector, w, d));
}
public static String printV3(double[] vector) {
return printV3(vector, 8, 5);
}
public static String printV3(double[] vector, int w, int d) {
String fmt = String.format("[%%%d.%df, %%%d.%df, %%%d.%df]", w,d,w,d,w,d);
return String.format(fmt, vector[0], vector[1], vector[2]);
}
public void prepareLMA(
......@@ -85,6 +130,7 @@ public class IntersceneLma {
final double [] param_regweights,
final double [][] vector_XYS, // optical flow X,Y, confidence obtained from the correlate2DIterate()
final double [][] centers, // macrotile centers (in pixels and average disparities
boolean first_run,
final int debug_level)
{
scenesCLT = new QuadCLT [] {reference_QuadClt, scene_QuadClt};
......@@ -108,7 +154,10 @@ public class IntersceneLma {
ers_scene.ers_wxyz_center_dt[0], ers_scene.ers_wxyz_center_dt[1], ers_scene.ers_wxyz_center_dt[2],
scene_atr[0], scene_atr[1], scene_atr[2],
scene_xyz[0], scene_xyz[1], scene_xyz[2]};
parameters_full = full_parameters_vector.clone();
if (first_run || (backup_parameters_full == null)) {
backup_parameters_full = full_parameters_vector.clone();
}
int num_pars = 0;
for (int i = 0; i < par_mask.length; i++) if (par_mask[i]) num_pars++;
par_indices = new int [num_pars];
......@@ -116,7 +165,7 @@ public class IntersceneLma {
for (int i = 0; i < par_mask.length; i++) if (par_mask[i]) par_indices[num_pars++] = i;
parameters_vector = new double [par_indices.length];
for (int i = 0; i < par_indices.length; i++) parameters_vector[i] = full_parameters_vector[par_indices[i]];
parameters_initial = parameters_vector.clone();
// parameters_initial = parameters_vector.clone();
setSamplesWeights(vector_XYS); // not regularization yet !
......@@ -158,13 +207,14 @@ public class IntersceneLma {
good_or_bad_rms = this.last_rms.clone();
}
public boolean runLma(
public int runLma( // <0 - failed, >=0 iteration number (1 - immediately)
double lambda, // 0.1
double lambda_scale_good,// 0.5
double lambda_scale_bad, // 8.0
double lambda_max, // 100
double rms_diff, // 0.001
int num_iter, // 20
boolean last_run,
int debug_level)
{
boolean [] rslt = {false,false};
......@@ -176,7 +226,7 @@ public class IntersceneLma {
rms_diff,
debug_level);
if (rslt == null) {
return false; // need to check
return -1; // false; // need to check
}
if (debug_level > 1) {
System.out.println("LMA step "+iter+": {"+rslt[0]+","+rslt[1]+"} full RMS= "+good_or_bad_rms[0]+
......@@ -212,7 +262,16 @@ public class IntersceneLma {
if (debug_level > 0) {
System.out.println("LMA: full RMS="+last_rms[0]+" ("+initial_rms[0]+"), pure RMS="+last_rms[1]+" ("+initial_rms[1]+") + lambda="+lambda);
}
return rslt[0];
if (debug_level > 0) {
if ((debug_level > 1) || (iter == 1) || last_run) {
String [] lines = printOldNew(false); // boolean allvectors)
for (String line : lines) {
System.out.println(line);
}
}
}
return rslt[0]? iter : -1;
}
private boolean [] lmaStep(
......@@ -445,7 +504,7 @@ public class IntersceneLma {
private double [] getFullVector(double [] vector) {
double [] full_vector = backup_parameters_full.clone();
double [] full_vector = parameters_full.clone();
for (int i = 0; i < par_indices.length; i++) {
full_vector[par_indices[i]] = vector[i];
}
......
src/main/java/com/elphel/imagej/tileprocessor/IntersceneLmaParameters.java
View file @ 3f43f2ac
......@@ -13,15 +13,59 @@ public class IntersceneLmaParameters {
public double ilma_lambda_max = 100;
public double ilma_rms_diff = 0.001;
public int ilma_num_iter = 20;
public int ilma_num_corr = 10; // maximal number of full correlatiobn+LMA cycles
public int ilma_debug_level = 1;
public IntersceneLmaParameters() {
ilma_lma_select[ErsCorrection.DP_DVAZ]= true;
ilma_lma_select[ErsCorrection.DP_DVTL]= true;
ilma_lma_select[ErsCorrection.DP_DVRL]= true;
ilma_lma_select[ErsCorrection.DP_DVX]= true;
ilma_lma_select[ErsCorrection.DP_DVY]= true;
ilma_lma_select[ErsCorrection.DP_DVZ]= true;
ilma_lma_select[ErsCorrection.DP_DAZ]= false;
ilma_lma_select[ErsCorrection.DP_DTL]= false;
ilma_lma_select[ErsCorrection.DP_DRL]= false;
ilma_lma_select[ErsCorrection.DP_DX]= false;
ilma_lma_select[ErsCorrection.DP_DY]= false;
ilma_lma_select[ErsCorrection.DP_DZ]= false;
ilma_lma_select[ErsCorrection.DP_DSVAZ]= true;
ilma_lma_select[ErsCorrection.DP_DSVTL]= true;
ilma_lma_select[ErsCorrection.DP_DSVRL]= true;
ilma_lma_select[ErsCorrection.DP_DSVX]= true;
ilma_lma_select[ErsCorrection.DP_DSVY]= true;
ilma_lma_select[ErsCorrection.DP_DSVZ]= true;
ilma_lma_select[ErsCorrection.DP_DSAZ]= true;
ilma_lma_select[ErsCorrection.DP_DSTL]= true;
ilma_lma_select[ErsCorrection.DP_DSRL]= true;
ilma_lma_select[ErsCorrection.DP_DSX]= true;
ilma_lma_select[ErsCorrection.DP_DSY]= true;
ilma_lma_select[ErsCorrection.DP_DSZ]= true;
ilma_regularization_weights[ErsCorrection.DP_DVAZ]= 0.001;
ilma_regularization_weights[ErsCorrection.DP_DVTL]= 0.001;
ilma_regularization_weights[ErsCorrection.DP_DVRL]= 0.001;
ilma_regularization_weights[ErsCorrection.DP_DVX]= 0.001;
ilma_regularization_weights[ErsCorrection.DP_DVY]= 0.001;
ilma_regularization_weights[ErsCorrection.DP_DVZ]= 0.001;
ilma_regularization_weights[ErsCorrection.DP_DAZ]= 0.0;
ilma_regularization_weights[ErsCorrection.DP_DTL]= 0.0;
ilma_regularization_weights[ErsCorrection.DP_DRL]= 0.0;
ilma_regularization_weights[ErsCorrection.DP_DX]= 0.0;
ilma_regularization_weights[ErsCorrection.DP_DY]= 0.0;
ilma_regularization_weights[ErsCorrection.DP_DZ]= 0.0;
ilma_regularization_weights[ErsCorrection.DP_DSVAZ]= 0.001;
ilma_regularization_weights[ErsCorrection.DP_DSVTL]= 0.001;
ilma_regularization_weights[ErsCorrection.DP_DSVRL]= 0.001;
ilma_regularization_weights[ErsCorrection.DP_DSVX]= 0.001;
ilma_regularization_weights[ErsCorrection.DP_DSVY]= 0.001;
ilma_regularization_weights[ErsCorrection.DP_DSVZ]= 0.001;
ilma_regularization_weights[ErsCorrection.DP_DSAZ]= 0.0;
ilma_regularization_weights[ErsCorrection.DP_DSTL]= 0.0;
ilma_regularization_weights[ErsCorrection.DP_DSRL]= 0.0;
ilma_regularization_weights[ErsCorrection.DP_DSX]= 0.0;
ilma_regularization_weights[ErsCorrection.DP_DSY]= 0.0;
ilma_regularization_weights[ErsCorrection.DP_DSZ]= 0.0;
}
public void dialogQuestions(GenericJTabbedDialog gd) {
......@@ -49,6 +93,10 @@ public class IntersceneLmaParameters {
"Exit LMA iterations if relative RMSE improvement drops below this value.");
gd.addNumericField("Maximal number of LMA iterations", this.ilma_num_iter, 0,3,"",
"A hard limit on LMA iterations.");
gd.addNumericField("Maximal number of correlation +LMA iterations",this.ilma_num_corr, 0,3,"",
"Outer cycle (recalculate correlations + lma). Otherwise exits if LMA exits at first iteration.");
gd.addNumericField("Debug level", this.ilma_debug_level, 0,3,"",
"Debug level of interscene LMA operation.");
}
......@@ -65,6 +113,7 @@ public class IntersceneLmaParameters {
this.ilma_lambda_max = gd.getNextNumber();
this.ilma_rms_diff = gd.getNextNumber();
this.ilma_num_iter = (int) gd.getNextNumber();
this.ilma_num_corr = (int) gd.getNextNumber();
this.ilma_debug_level = (int) gd.getNextNumber();
}
public void setProperties(String prefix,Properties properties){
......@@ -78,6 +127,7 @@ public class IntersceneLmaParameters {
properties.setProperty(prefix+"ilma_lambda_max", this.ilma_lambda_max+"");
properties.setProperty(prefix+"ilma_rms_diff", this.ilma_rms_diff+"");
properties.setProperty(prefix+"ilma_num_iter", this.ilma_num_iter+"");
properties.setProperty(prefix+"ilma_num_corr", this.ilma_num_corr+"");
properties.setProperty(prefix+"ilma_debug_level", this.ilma_debug_level+"");
}
public void getProperties(String prefix,Properties properties){
......@@ -94,6 +144,7 @@ public class IntersceneLmaParameters {
if (properties.getProperty(prefix+"ilma_lambda_max")!=null) this.ilma_lambda_max=Double.parseDouble(properties.getProperty(prefix+"ilma_lambda_max"));
if (properties.getProperty(prefix+"ilma_rms_diff")!=null) this.ilma_rms_diff=Double.parseDouble(properties.getProperty(prefix+"ilma_rms_diff"));
if (properties.getProperty(prefix+"ilma_num_iter")!=null) this.ilma_num_iter=Integer.parseInt(properties.getProperty(prefix+"ilma_num_iter"));
if (properties.getProperty(prefix+"ilma_num_corr")!=null) this.ilma_num_corr=Integer.parseInt(properties.getProperty(prefix+"ilma_num_corr"));
if (properties.getProperty(prefix+"ilma_debug_level")!=null) this.ilma_debug_level=Integer.parseInt(properties.getProperty(prefix+"ilma_debug_level"));
}
......@@ -108,6 +159,7 @@ public class IntersceneLmaParameters {
ilp.ilma_lambda_max = this.ilma_lambda_max;
ilp.ilma_rms_diff = this.ilma_rms_diff;
ilp.ilma_num_iter = this.ilma_num_iter;
ilp.ilma_num_corr = this.ilma_num_corr;
ilp.ilma_debug_level = this.ilma_debug_level;
return ilp;
}
......
src/main/java/com/elphel/imagej/tileprocessor/OpticalFlowParameters.java
View file @ 3f43f2ac
......@@ -39,6 +39,8 @@ public class OpticalFlowParameters {
public double tolerance_relative_inter = 0.2; // relative disparity half-range in each tile
public double occupancy_inter = 0.25; // fraction of remaining tiles in the center 8x8 area (<1.0)
public double nsigma = 1.5; // Remove outliers by more that this scaled sigma
public double nsigma2 = 2.0; // Second time outlier filter (<0 - disable)
public double [] chn_weights = {1.0,1.0,1.0,1.0}; // strength, r,b,g
// double [] chn_weights = {1.0,0.0,0.0,0.0}; // strength, r,b,g
// double [] chn_weights = {0.0,1.0,1.0,1.0}; // strength, r,b,g
......@@ -63,6 +65,7 @@ public class OpticalFlowParameters {
public boolean combine_empty_only = true; // false;
public boolean late_normalize_iterate = true;
public int test_corr_rad_max = 3;
// for recalculateFlowXY()
......@@ -97,6 +100,10 @@ public class OpticalFlowParameters {
gd.addMessage("Interscene 2D correlation");
gd.addNumericField("Remove outliers (relative to sigma)", this.nsigma, 3,6,"",
"Remove optical flow macrotiles that differ from weighted average by more that this factor scaled standard deviation");
gd.addNumericField("Remove outliers (relative to sigma), second pass (-1 disable)", this.nsigma2, 3,6,"",
"Second pass of outlier removal (with new sigma). Set to -1 to disable second pass");
gd.addNumericField("Correlation weight of the intrascene strength channel", this.chn_weights[0], 3,6,"",
"Weight of the intrascene correlation strength in interscene macrotile correlation (will be normalized)");
gd.addNumericField("Correlation weight of the intrascene red channel", this.chn_weights[1], 3,6,"",
......@@ -166,6 +173,8 @@ public class OpticalFlowParameters {
this.tolerance_absolute_inter = gd.getNextNumber();
this.tolerance_relative_inter = gd.getNextNumber();
this.occupancy_inter = gd.getNextNumber();
this.nsigma = gd.getNextNumber();
this.nsigma2 = gd.getNextNumber();
this.chn_weights[0] = gd.getNextNumber();
this.chn_weights[1] = gd.getNextNumber();
this.chn_weights[2] = gd.getNextNumber();
......@@ -207,6 +216,8 @@ public class OpticalFlowParameters {
properties.setProperty(prefix+"tolerance_absolute_inter", this.tolerance_absolute_inter+"");
properties.setProperty(prefix+"tolerance_relative_inter", this.tolerance_relative_inter+"");
properties.setProperty(prefix+"occupancy_inter", this.occupancy_inter+"");
properties.setProperty(prefix+"nsigma", this.nsigma+"");
properties.setProperty(prefix+"nsigma2", this.nsigma2+"");
for (int i = 0; i < chn_weights.length; i++) {
properties.setProperty(prefix+"chn_weights_"+i, this.chn_weights[i]+"");
}
......@@ -246,6 +257,8 @@ public class OpticalFlowParameters {
if (properties.getProperty(prefix+"tolerance_absolute_inter")!=null) this.tolerance_absolute_inter=Double.parseDouble(properties.getProperty(prefix+"tolerance_absolute_inter"));
if (properties.getProperty(prefix+"tolerance_relative_inter")!=null) this.tolerance_relative_inter=Double.parseDouble(properties.getProperty(prefix+"tolerance_relative_inter"));
if (properties.getProperty(prefix+"occupancy_inter")!=null) this.occupancy_inter=Double.parseDouble(properties.getProperty(prefix+"occupancy_inter"));
if (properties.getProperty(prefix+"nsigma")!=null) this.nsigma=Double.parseDouble(properties.getProperty(prefix+"nsigma"));
if (properties.getProperty(prefix+"nsigma2")!=null) this.nsigma2=Double.parseDouble(properties.getProperty(prefix+"nsigma2"));
for (int i = 0; i < chn_weights.length; i++) {
String s_chn_weight = "chn_weights_"+i;
if (properties.getProperty(prefix+s_chn_weight)!=null) this.chn_weights[i]=Double.parseDouble(properties.getProperty(prefix+s_chn_weight));
......@@ -287,6 +300,8 @@ public class OpticalFlowParameters {
ofp.tolerance_absolute_inter = this.tolerance_absolute_inter;
ofp.tolerance_relative_inter = this.tolerance_relative_inter;
ofp.occupancy_inter = this.occupancy_inter;
ofp.nsigma = this.nsigma;
ofp.nsigma2 = this.nsigma2;
ofp.chn_weights = this.chn_weights.clone();
ofp.corr_sigma = this.corr_sigma;
ofp.fat_zero = this.fat_zero;
......
src/main/java/com/elphel/imagej/tileprocessor/QuadCLT.java
View file @ 3f43f2ac
......@@ -113,7 +113,7 @@ public class QuadCLT extends QuadCLTCPU {
restoreDSI("-DSI_MAIN"); // "-DSI_COMBO", "-DSI_MAIN" (DSI_COMBO_SUFFIX, DSI_MAIN_SUFFIX)
restoreInterProperties( // restore properties for interscene processing (extrinsics, ers, ...)
null, // String path, // full name with extension or null to use x3d directory
// null, // Properties properties, // if null - will only save extrinsics)
false, // boolean all_properties,// null, // Properties properties, // if null - will only save extrinsics)
debugLevel);
// showDSIMain();
return this; // can only be QuadCLT instance
......
src/main/java/com/elphel/imagej/tileprocessor/QuadCLTCPU.java
View file @ 3f43f2ac
......@@ -340,11 +340,12 @@ public class QuadCLTCPU {
public Properties restoreInterProperties( // restore properties for interscene processing (extrinsics, ers, ...)
String path, // full name with extension or null to use x3d directory
// Properties properties, // if null - will only save extrinsics)
boolean all_properties,
int debugLevel)
{
if (path == null) {
path = image_name + ((properties == null) ? "-INTERFRAME":"")+".corr-xml";
// path = image_name + ((properties == null) ? "-INTERFRAME":"")+".corr-xml";
path = image_name + (all_properties? "": "-INTERFRAME")+".corr-xml";
}
if (!path.contains(Prefs.getFileSeparator())) {
......
src/main/java/com/elphel/imagej/tileprocessor/TwoQuadCLT.java
View file @ 3f43f2ac
......@@ -8281,6 +8281,117 @@ if (debugLevel > -100) return true; // temporarily !
}
public void interPairsLMA(
QuadCLT quadCLT_main, // tiles should be set
CLTParameters clt_parameters,
EyesisCorrectionParameters.DebayerParameters debayerParameters,
ColorProcParameters colorProcParameters,
ColorProcParameters colorProcParameters_aux,
CorrectionColorProc.ColorGainsParameters channelGainParameters,
EyesisCorrectionParameters.RGBParameters rgbParameters,
EyesisCorrectionParameters.EquirectangularParameters equirectangularParameters,
Properties properties,
boolean reset_from_extrinsics,
final int threadsMax, // maximal number of threads to launch
final boolean updateStatus,
final int debugLevel) throws Exception
{
if ((quadCLT_main != null) && (quadCLT_main.getGPU() != null)) {
quadCLT_main.getGPU().resetGeometryCorrection();
quadCLT_main.gpuResetCorrVector(); // .getGPU().resetGeometryCorrectionVector();
}
// final boolean batch_mode = clt_parameters.batch_run;
this.startTime=System.nanoTime();
String [] sourceFiles0=quadCLT_main.correctionsParameters.getSourcePaths();
QuadCLT.SetChannels [] set_channels_main = quadCLT_main.setChannels(debugLevel);
if ((set_channels_main == null) || (set_channels_main.length==0)) {
System.out.println("No files to process (of "+sourceFiles0.length+")");
return;
}
QuadCLT.SetChannels [] set_channels=quadCLT_main.setChannels(debugLevel);
// String set_name = set_channels[0].set_name;
QuadCLT [] quadCLTs = new QuadCLT [set_channels.length];
for (int i = 0; i < quadCLTs.length; i++) {
quadCLTs[i] = quadCLT_main.spawnQuadCLT(
set_channels[i].set_name,
clt_parameters,
colorProcParameters, //
threadsMax,
debugLevel);
// temporarily fix wrong sign:
// ErsCorrection ers = (ErsCorrection) (quadCLTs[i].getGeometryCorrection());
ErsCorrection ers = quadCLTs[i].getErsCorrection();
if (reset_from_extrinsics) {
System.out.println("Reset ERS parameters from intraframe extrinsics");
ers.setupERSfromExtrinsics();
}
quadCLTs[i].setDSRBG(
clt_parameters, // CLTParameters clt_parameters,
threadsMax, // int threadsMax, // maximal number of threads to launch
updateStatus, // boolean updateStatus,
debugLevel); // int debugLevel)
/// quadCLTs[i].showDSIMain();
}
OpticalFlow opticalFlow = new OpticalFlow(
threadsMax, // int threadsMax, // maximal number of threads to launch
updateStatus); // boolean updateStatus);
for (int i = 1; i < quadCLTs.length; i++) {
QuadCLT qPrev = (i > 0) ? quadCLTs[i - 1] : null;
// double [][][] pair_sets =
double [][] pose = opticalFlow.getPoseFromErs(
clt_parameters.ofp.k_prev, // k_prev,
quadCLTs[i],
qPrev,
clt_parameters.ofp.debug_level_optical); // 1); // -1); // int debug_level);
// how was it working before? qPrev.getErsCorrection() shoud remain what was set in the previous adjustment
quadCLTs[i].getErsCorrection().setupERSfromExtrinsics();
qPrev.getErsCorrection().setupERSfromExtrinsics();
opticalFlow.adjustPairsLMA(
clt_parameters, // CLTParameters clt_parameters,
// clt_parameters.ofp.k_prev, // k_prev,
quadCLTs[i],
qPrev,
pose[0], // xyz
pose[1], // atr
clt_parameters.ilp.ilma_lma_select, // final boolean[] param_select,
clt_parameters.ilp.ilma_regularization_weights, // final double [] param_regweights,
// clt_parameters.ofp.ers_to_pose_scale, // corr_scale,
clt_parameters.ofp.debug_level_optical); // 1); // -1); // int debug_level);
/*
scenes_xyzatr[i] = adjustPairsLMA(
clt_parameters, // CLTParameters clt_parameters,
reference_QuadClt, // QuadCLT reference_QuadCLT,
scene_QuadClt, // QuadCLT scene_QuadCLT,
pose[0], // xyz
pose[1], // atr
clt_parameters.ilp.ilma_lma_select, // final boolean[] param_select,
clt_parameters.ilp.ilma_regularization_weights, // final double [] param_regweights,
debug_level); // int debug_level)
*
*
* reversed
opticalFlow.test_LMA(
clt_parameters, // CLTParameters clt_parameters,
clt_parameters.ofp.k_prev, // k_prev,
qPrev,
quadCLTs[i],
clt_parameters.ofp.ers_to_pose_scale, // corr_scale,
clt_parameters.ofp.debug_level_optical); // 1); // -1); // int debug_level);
*/
}
System.out.println("End of test");
}
public void TestInterLMA(
QuadCLT quadCLT_main, // tiles should be set
CLTParameters clt_parameters,
......@@ -8291,6 +8402,7 @@ if (debugLevel > -100) return true; // temporarily !
EyesisCorrectionParameters.RGBParameters rgbParameters,
EyesisCorrectionParameters.EquirectangularParameters equirectangularParameters,
Properties properties,
boolean reset_from_extrinsics,
final int threadsMax, // maximal number of threads to launch
final boolean updateStatus,
final int debugLevel) throws Exception
......@@ -8320,7 +8432,10 @@ if (debugLevel > -100) return true; // temporarily !
debugLevel);
// temporarily fix wrong sign:
ErsCorrection ers = (ErsCorrection) (quadCLTs[i].getGeometryCorrection());
if (reset_from_extrinsics) {
System.out.println("Reset ERS parameters from intraframe extrinsics");
ers.setupERSfromExtrinsics();
}
quadCLTs[i].setDSRBG(
clt_parameters, // CLTParameters clt_parameters,
threadsMax, // int threadsMax, // maximal number of threads to launch
......@@ -8334,10 +8449,17 @@ if (debugLevel > -100) return true; // temporarily !
threadsMax, // int threadsMax, // maximal number of threads to launch
updateStatus); // boolean updateStatus);
opticalFlow.adjustPairsDualPass(
clt_parameters, // CLTParameters clt_parameters,
clt_parameters.ofp.k_prev, // k_prev,
quadCLTs, // QuadCLT [] scenes, // ordered by increasing timestamps
clt_parameters.ofp.debug_level_optical); // 1); // -1); // int debug_level);
/*
for (int i = 1; i < quadCLTs.length; i++) {
QuadCLT qPrev = (i > 0) ? quadCLTs[i - 1] : null;
// double [][][] pair_sets =
/*
opticalFlow.test_LMA(
clt_parameters, // CLTParameters clt_parameters,
clt_parameters.ofp.k_prev, // k_prev,
......@@ -8346,6 +8468,7 @@ if (debugLevel > -100) return true; // temporarily !
clt_parameters.ofp.ers_to_pose_scale, // corr_scale,
clt_parameters.ofp.debug_level_optical); // 1); // -1); // int debug_level);
*/
/* reversed
opticalFlow.test_LMA(
clt_parameters, // CLTParameters clt_parameters,
clt_parameters.ofp.k_prev, // k_prev,
......@@ -8353,8 +8476,10 @@ if (debugLevel > -100) return true; // temporarily !
quadCLTs[i],
clt_parameters.ofp.ers_to_pose_scale, // corr_scale,
clt_parameters.ofp.debug_level_optical); // 1); // -1); // int debug_level);
*/
/*
}
*/
System.out.println("End of test");
......
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