Implementing inter-scene matching with normalization by eigenvectors

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

@@ -2680,7 +2680,7 @@ public class OrthoMap implements Comparable <OrthoMap>, Serializable{
 		gd.addNumericField("Video output frame rate", video_fps,  3,7,"fps", "Frame rate of the video.");
 		gd.addCheckbox    ("Compress AVI with JPEG", avi_compress_jpeg, "Use JPEG for AVI compression (false - use raw).");
 		gd.addNumericField("AVI JPEG quality", aviJpegQuality, 0, 4, "", "AVI JPEG quality if JPEG compression is used.");
-		gd.addCheckbox    ("Convert AVI to WEBM", run_ffmpeg, "Use ffmped to convert intermediate AVI video to WEBM.");
+		gd.addCheckbox    ("Convert AVI to WEBM", run_ffmpeg, "Use ffmpeg to convert intermediate AVI video to WEBM.");
 		gd.addStringField ("WEBM output extension",  video_ext, 5,"WEBM output file extension including dot, normally \".webm\".");
 		gd.addStringField ("WEBM codec",  video_codec, 5,"WEBM codec \"vp8\" or \"vp9\"(vp9 had problems).");
 		gd.addNumericField("WEBM CRF", video_crf, 0, 4, "", "WEBM compression quality (lower - better, 10 - good).");

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

@@ -10,6 +10,7 @@ import com.elphel.imagej.common.PolynomialApproximation;
 import com.elphel.imagej.common.ShowDoubleFloatArrays;
 import com.elphel.imagej.tileprocessor.Corr2dLMA.Sample;
 
+import Jama.EigenvalueDecomposition;
 import Jama.Matrix;
 
 /**
@@ -2506,6 +2507,183 @@ public class Correlation2d {
 	}
 
 	
+	/**
+	 * 
+	 * @param data
+	 * @param data_width
+	 * @param abs_min
+	 * @param rel_min
+	 * @param min_peak
+	 * @param eigen_sub_min - when calculating eigenvectors, subtract min from data, false - just skip
+	 * @param fpn_mask
+	 * @param ignore_border
+	 * @param debug_data null or double[1]
+	 * @param debug
+	 * @return {dx,dy,strength, eig_x, eig_y, lambda0, lambda1), [eig_x, eig_y] <-> labmda0, lambda0 < lambda1. 
+	 */
+	public static double [] getMaxXYCmEig(
+			double []  data, // will be modified if fpn_mask != null;
+			int        data_width,      //  = 2 * transform_size - 1;
+			double     abs_min,
+			double     rel_min,
+			double     min_peak,
+			double     eig_sub_frac, // subtract fraction of threshold {eig_min_abs,eig_min_rel} after selecting by them (0 - select only, will have pedestal)
+			boolean [] fpn_mask,
+			boolean    ignore_border, // only if fpn_mask != null - ignore tile if maximum touches fpn_mask
+			double [][] debug_data, // null or double [1]
+			boolean    debug)
+	{
+		int data_height = data.length/data_width;
+		int center_xy = (data_width - 1)/2; //  = transform_size - 1;
+		double x0 = center_xy, y0 = center_xy;
+		int imax= 0;
+		for (int i= 1; i < data.length;i++) {
+			if (Double.isNaN(data[i])) {
+				System.out.println("NaN in getMaxXYCmEig()");
+				return null;
+			}
+			if (data[i] > data[imax]) {
+				imax = i;
+			}
+		}
+		if (data[imax] < min_peak) {
+			return null; // too weak;even before fpn filter
+		}
+		int ix0 = imax % data_width;
+		int iy0 = imax / data_width;
+		x0 = ix0;
+		y0 = iy0;
+		//min_peak
+		// if (fpn_mask != null
+		if (fpn_mask != null) { // modifies data, returns null if hits fpn
+			for (int i = 0; i < fpn_mask.length; i++) if (fpn_mask[i]) {
+				int iy = i / data_width; 
+				int ix = i - iy * data_width; 
+				if (ignore_border) {
+					if(((ix - ix0) <= 1) && ((ix - ix0) >= -1) && ((iy - iy0) <= 1) && ((iy - iy0) >= -1)) {
+						return null; // new double[3];
+					}
+				}
+				int ix1 = 2 * ix0 - ix;
+				if ((ix1 >= 0) && (ix1 < data_width)) {
+					int iy1 = 2 * iy0 - iy;
+					if ((iy1 >= 0) && (iy1 < data_height)) {
+						data[iy1 * data_width + ix1] = 0.0; // zero out symmetrical to fpn mask around integer maximum
+					}
+				}
+			}
+			// update imax
+			imax= 0;
+			for (int i= 1; i < data.length;i++) {
+				if (data[i] > data[imax]) {
+					imax = i;
+				}
+			}
+			if (data[imax] < min_peak) {
+				return null; // too weak after fpn filter
+			}
+			
+		}
+			// create mask of connected to max pixels
+		double mx = data[imax];
+		double min_d = Math.min(abs_min, rel_min*mx);
+		//
+		double sub_pedestal = min_d * eig_sub_frac; 
+		boolean [] above_threshold = new boolean [data.length];
+		for (int i = 0; i < data.length; i++) {
+			above_threshold[i] = data[i] >= min_d;
+		}
+
+		boolean [] en_data = (new TileNeibs(data_width, data_height)).getConnected(
+				above_threshold, // boolean [] tiles,
+				ix0,             // int        seedX,
+				iy0);            // int        seedY)
+		// find centroid
+		double s0 = 0, sx=0,sy = 0, sx2 = 0, sy2=0, sxy = 0;
+		for (int iy = 0; iy < data_height; iy++) {
+			double y = iy - y0;
+			for (int ix = 0; ix < data_width; ix++) {
+				int indx = iy * data_width + ix;
+				if (en_data[indx]) { // assumes d >0, as it is >= min_d  
+					double x = ix - x0;
+					double d =  data[iy * data_width + ix] - sub_pedestal;
+					s0 += d;
+					sx += d * x;
+					sy += d * y;
+					sx2 += d * x * x;
+					sy2 += d * y * y;
+					sxy += d * x * y;
+				}
+			}
+		}
+		x0 += sx / s0; // relative to top-left
+		y0 += sy / s0;
+
+		/*
+		double s0 = 0, sx=0,sy = 0;
+		for (int iy = 0; iy < data_height; iy++) {
+			double y = iy - y0;
+			for (int ix = 0; ix < data_width; ix++) {
+				int indx = iy * data_width + ix;
+				if (en_data[indx]) { // assumes d >0, as it is >= min_d  
+					double x = ix - x0;
+					double d =  data[iy * data_width + ix] - sub_pedestal;
+					s0 += d;
+					sx += d * x;
+					sy += d * y;
+
+				}
+			}
+		}
+		x0 += sx / s0; // relative to top-left
+		y0 += sy / s0;
+		double sx2 = 0, sy2=0, sxy = 0;
+		for (int iy = 0; iy < data_height; iy++) {
+			double y = iy - y0;
+			for (int ix = 0; ix < data_width; ix++) {
+				int indx = iy * data_width + ix;
+				if (en_data[indx]) { // assumes d >0, as it is >= min_d  
+					double x = ix - x0;
+					double d =  data[iy * data_width + ix] - sub_pedestal;
+					sx2 += d * x * x;
+					sy2 += d * y * y;
+					sxy += d * x * y;
+				}
+			}
+		}
+
+		 */
+		
+		//https://users.cs.utah.edu/~tch/CS4640/resources/A%20geometric%20interpretation%20of%20the%20covariance%20matrix.pdf
+		double cxx = sx2 - sx * sx / s0, cyy= sy2 - sy * sy / s0, cxy = sxy - sx * sy / s0; 
+		Matrix covar = new Matrix(new double[][] {{cxx, cxy},{cxy,cyy}});
+		EigenvalueDecomposition eig = covar.eig(); 
+		double [] eigval = {eig.getD().get(0, 0),eig.getD().get(1, 1)};
+		double [][] eigvec = eig.getV().getArray(); // columns - vectors?
+		int eig_indx = (eigval[0] > eigval[1]) ? 1 : 0;
+		double [] rslt = {
+				x0 - center_xy,
+				y0 - center_xy,
+				mx,
+				eigvec[0][eig_indx],
+				eigvec[1][eig_indx],
+				eigval[eig_indx],
+				eigval[1-eig_indx]};
+		if (debug){
+			System.out.println("getMaxXYCm() -> "+rslt[0]+":"+rslt[1]+" ("+rslt[2]+
+					"), eigv0=["+rslt[3]+","+rslt[4]+"], lambda0="+rslt[5]+", lambda1="+rslt[6]);
+		}
+		if (debug_data != null) {
+			debug_data[0] = data.clone();
+			for (int i = 0; i < data.length; i++) {
+				if (!en_data[i]) {
+					debug_data[0][i] = Double.NaN;		
+				}
+			}
+		}
+		return rslt;
+	}
+	
 	/**
 	 * Find maximum of the 2d array projected on a specified vector using centroid.
 	 * On the first stage integer maximum is found,  then several refining operations

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

@@ -8950,11 +8950,18 @@ public class ImageDttCPU {
 		final float [][] fcorr_data_out = new float[layers][]; //  [tilesY*tilesX*tile_size*tile_size];
 		final Thread[] threads = newThreadArray(threadsMax);
 		final AtomicInteger ai = new AtomicInteger(0);
-		
+/*		
 		for (int layer = 0; layer < layers; layer++) if (fcorr_data[flayer][layer] != null){
 			fcorr_data_out[layer] = new float[tilesY*tilesX*tile_size*tile_size];
 			Arrays.fill(fcorr_data_out[layer], Float.NaN);
 		}
+*/
+		// now some tiles may have null for some layers, non-null - for others
+		for (int layer = 0; layer < layers; layer++){
+			fcorr_data_out[layer] = new float[tilesY*tilesX*tile_size*tile_size];
+			Arrays.fill(fcorr_data_out[layer], Float.NaN);
+		}
+		final boolean [] used_layers = new boolean[layers];
 		for (int ithread = 0; ithread < threads.length; ithread++) {
 			threads[ithread] = new Thread() {
 				@Override
@@ -8972,7 +8979,9 @@ public class ImageDttCPU {
 						
 					    if (fcorr_data[iCorrTile] != null) {
 					    	for (int layer = 0; layer < layers; layer++) if (fcorr_data[iCorrTile][layer] != null){ // sparse
+					    		used_layers[layer] = true;
 					    		for (int i = 0; i < corr_size;i++){
+					    			if (fcorr_data[iCorrTile][layer] != null) {
 					    				System.arraycopy(
 					    						fcorr_data[iCorrTile][layer],
 					    						corr_size* i,
@@ -8984,10 +8993,18 @@ public class ImageDttCPU {
 							}
 						}
 					}
+				}
 			};
 		}
 		startAndJoin(threads);
+		for (int layer = 0; layer < layers; layer++){
+			if (!used_layers[layer]) {
+				fcorr_data_out[layer]=null;
+			}
+		}
 		return fcorr_data_out;
+		// remove unused output layers:
+		
 	}
 	
 	

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

@@ -1900,7 +1900,7 @@ public class QuaternionLma {
 		Matrix mdelta = jtjl_inv.times(jty);
 		if (debug_level>2) {
 			System.out.println("mdelta");
-			mdelta.print(18, 6);
+			mdelta.print(18, 10);
 		}
 
 		double scale = 1.0;

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

@@ -1268,6 +1268,58 @@ public class TileNeibs{
 		}
 		return enum_clust_ordered;
 	}
+	
+
+	/**
+	 * Get tiles, connected to the seed tile
+	 * @param tiles     selected tiles, size should be sizeX * sizeY
+	 * @param tiles
+	 * @param seedX
+	 * @param seedY
+	 * @return boolean array of tiles that are connected to the seed tile
+	 */
+	public boolean [] getConnected(
+			boolean [] tiles,
+			int        seedX,
+			int        seedY)
+	{
+		int [] waves = new int [tiles.length];
+		boolean [] rslt = new boolean [tiles.length];
+		for (int i = 0; i < tiles.length; i++) waves[i] = tiles[i] ? 0: -1;
+		ArrayList<Integer> front = new ArrayList<Integer>();
+		int [] enum_clust = new int[tiles.length];
+		if ((seedX < 0) || (seedY < 0) || (seedX >= sizeX) || (seedY>= sizeY) || (tiles.length != (sizeX*sizeY)) ) {
+			return null;
+		}
+		int start_indx = seedX + seedY * sizeX;
+		if (!tiles[start_indx]) {
+			return rslt;
+		}
+		Integer ipx = start_indx;
+		Integer ipx1;
+		front.clear();
+		int area = 1;
+		waves[ipx] = area;
+		rslt[ipx] = true;
+		front.add(ipx);
+		while (!front.isEmpty()) {
+			ipx = front.remove(0);// get oldest element
+			for (int d = 0; d < dirs; d++){
+				ipx1 = 	getNeibIndex(ipx, d);
+				if (ipx1 >= 0){
+					if (waves[ipx1] == 0) {
+						area++;
+						waves[ipx1] = area;
+						rslt[ipx1] = true;
+						front.add(ipx1);
+					}
+				}
+			}
+		}
+		return rslt;
+	}
+	
+	
 	public static int getMax(
 			int [] data)
 	{

src/main/java/com/elphel/imagej/tileprocessor/sfm/StructureFromMotion.java

@@ -1697,6 +1697,28 @@ public class StructureFromMotion {
 		
     	final SfmCorr [] sfmCorr = new SfmCorr [accum_PD.length];
     	final double [][][] data_PD = (neibs_PD == null) ? (new double[][][] {accum_PD}):(new double[][][] {accum_PD,neibs_PD});
+    	boolean show_2d_correlations = debugLevel>10;
+       	if (show_2d_correlations) {
+       		String [] dbg_titles = (neibs_PD == null) ? (new String[] {"accum"}):(new String[] {"accum","neibs"});
+    		double [][] dbg_2d_corrs = ImageDtt.corr_partial_dbg( // not used in lwir
+    				data_PD,                           // final double [][][]     corr_data,       // [layer][tile][(2*transform_size-1)*(2*transform_size-1)] // if null - will not calculate
+    				tilesX,                              // final int               tilesX,
+    				corr_size,                           //final int               corr_size,       // 15
+    				clt_parameters.corr_border_contrast, // final double            border_contrast,
+    				debugLevel);                         // final int               globalDebugLevel)
+    		int tilesY = data_PD[0].length/tilesX;
+    		ShowDoubleFloatArrays.showArrays(
+    				dbg_2d_corrs,
+    				tilesX * (corr_size + 1),
+    				tilesY * (corr_size + 1),
+    				true,
+    				"sfm_corr2d-"+scene_pairs[num_pairs-1][1].getImageName()+"-"+
+    						scene_pairs[0][0].getImageName()+"-"+num_pairs+"_fz"+((int) corr_fz_inter),
+    						dbg_titles);
+    	}
+   	
+    	
+    	
     	final double [][][] disp_corr = new double [data_PD.length][][];
     	for (int i = 0; i < data_PD.length; i++) {
     		disp_corr[i] = getSfmDisparityCorrectionStrength(