Fixed bug with adjustment by non-reference scene (47bf5840) · Commits · Elphel / imagej-elphel

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

+64 −55

Original line number	Original line	Diff line number	Diff line
	@@ -2267,8 +2267,9 @@ public class Interscene {
	disable_ers, // boolean disable_ers,		disable_ers, // boolean disable_ers,
	min_max, // double [] min_max, // null or pair of minimal and maximal offsets		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		fail_reason, // int [] fail_reason, // null or int[1]: 0 - OK, 1 - LMA, 2 - min, 3 - max
	quadCLTs[nscene0], // QuadCLT reference_QuadClt,		quadCLTs[ref_index],// QuadCLT ref_QuadClt, // reference scene for ref_disparity, zero xyz and atr
	ref_disparity, // double [] ref_disparity, // null or alternative reference disparity		ref_disparity, // double [] ref_disparity, // null or alternative reference disparity
			quadCLTs[nscene0], // QuadCLT reference_QuadClt,
	pXpYD_ref, // double [][] pXpYD_ref, // pXpYD for the reference scene		pXpYD_ref, // double [][] pXpYD_ref, // pXpYD for the reference scene
	reliable_ref, // boolean [] reliable_ref, // null or bitmask of reliable reference tiles		reliable_ref, // boolean [] reliable_ref, // null or bitmask of reliable reference tiles
	tp_tasks_ref[0], // TpTask[] tp_tasks_ref, // only (main if MB correction) tasks for FPN correction		tp_tasks_ref[0], // TpTask[] tp_tasks_ref, // only (main if MB correction) tasks for FPN correction
	@@ -2330,8 +2331,9 @@ public class Interscene {
	disable_ers, // boolean disable_ers,		disable_ers, // boolean disable_ers,
	min_max, // double [] min_max, // null or pair of minimal and maximal offsets		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		fail_reason, // int [] fail_reason, // null or int[1]: 0 - OK, 1 - LMA, 2 - min, 3 - max
	quadCLTs[nscene0], // QuadCLT reference_QuadClt,		quadCLTs[ref_index],//QuadCLT ref_QuadClt, // reference scene for ref_disparity, zero xyz and atr
	ref_disparity, // double [] ref_disparity, // null or alternative reference disparity		ref_disparity, // double [] ref_disparity, // null or alternative reference disparity
			quadCLTs[nscene0], // QuadCLT first_QuadClt, // First in comparison pair
	pXpYD_ref, // double [][] pXpYD_ref, // pXpYD for the reference scene		pXpYD_ref, // double [][] pXpYD_ref, // pXpYD for the reference scene
	reliable_ref, // boolean [] reliable_ref, // null or bitmask of reliable reference tiles		reliable_ref, // boolean [] reliable_ref, // null or bitmask of reliable reference tiles
	tp_tasks_ref[0], // TpTask[] tp_tasks_ref, // only (main if MB correction) tasks for FPN correction		tp_tasks_ref[0], // TpTask[] tp_tasks_ref, // only (main if MB correction) tasks for FPN correction
	@@ -2414,8 +2416,9 @@ public class Interscene {
	disable_ers, // boolean disable_ers,		disable_ers, // boolean disable_ers,
	min_max, // double [] min_max, // null or pair of minimal and maximal offsets		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		fail_reason, // int [] fail_reason, // null or int[1]: 0 - OK, 1 - LMA, 2 - min, 3 - max
	reference_QuadClt, // QuadCLT reference_QuadClt,		reference_QuadClt, // QuadCLT ref_QuadClt, // reference scene for ref_disparity, zero xyz and atr
	ref_disparity, // double [] ref_disparity, // null or alternative reference disparity		ref_disparity, // double [] ref_disparity, // null or alternative reference disparity
			reference_QuadClt, // QuadCLT first_QuadClt, // First in comparison pair
	pXpYD_ref, // double [][] pXpYD_ref, // pXpYD for the reference scene		pXpYD_ref, // double [][] pXpYD_ref, // pXpYD for the reference scene
	reliable_ref, // boolean [] reliable_ref, // null or bitmask of reliable reference tiles		reliable_ref, // boolean [] reliable_ref, // null or bitmask of reliable reference tiles
	tp_tasks_ref2[0], // TpTask[] tp_tasks_ref, // only (main if MB correction) tasks for FPN correction		tp_tasks_ref2[0], // TpTask[] tp_tasks_ref, // only (main if MB correction) tasks for FPN correction
	@@ -2441,8 +2444,9 @@ public class Interscene {
	boolean disable_ers,		boolean disable_ers,
	double [] min_max, // null or pair of minimal and maximal offsets		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		int [] fail_reason, // null or int[1]: 0 - OK, 1 - LMA, 2 - min, 3 - max
	QuadCLT reference_QuadClt, // First in comparison pair, does not need to be reference?		QuadCLT ref_QuadClt, // reference scene for ref_disparity, zero xyz and atr
	double [] ref_disparity, // null or alternative reference disparity		double [] ref_disparity, // null or alternative reference disparity
			QuadCLT first_QuadClt, // First in comparison pair, does not need to be reference?
	double [][] pXpYD_ref, // pXpYD for the reference scene		double [][] pXpYD_ref, // pXpYD for the reference scene
	boolean [] reliable_ref, // null or bitmask of reliable reference tiles		boolean [] reliable_ref, // null or bitmask of reliable reference tiles
	TpTask[] tp_tasks_ref, // only (main if MB correction) tasks for FPN correction		TpTask[] tp_tasks_ref, // only (main if MB correction) tasks for FPN correction
	@@ -2495,8 +2499,9 @@ public class Interscene {
	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		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		fail_reason, // int [] fail_reason, // null or int[1]: 0 - OK, 1 - LMA, 2 - min, 3 - max
	reference_QuadClt, // QuadCLT reference_QuadCLT,		ref_QuadClt, // QuadCLT ref_scene, // Scene for which DSI (ref_disparity) is calculated
	ref_disparity, // double [] ref_disparity, // null or alternative reference disparity		ref_disparity, // double [] ref_disparity, // null or alternative reference disparity
			first_QuadClt, // QuadCLT reference_QuadCLT,
	pXpYD_ref, // double [][] pXpYD_ref, // pXpYD for the reference scene		pXpYD_ref, // double [][] pXpYD_ref, // pXpYD for the reference scene
	tp_tasks_ref, // TpTask[] tp_tasks_ref, // only (main if MB correction) tasks for FPN correction		tp_tasks_ref, // TpTask[] tp_tasks_ref, // only (main if MB correction) tasks for FPN correction
	scene_QuadClt, // QuadCLT scene_QuadCLT,		scene_QuadClt, // QuadCLT scene_QuadCLT,
	@@ -2526,7 +2531,7 @@ public class Interscene {
	double [][] quad_strengths = getQuadStrengths(		double [][] quad_strengths = getQuadStrengths(
	coord_motion, // double [][][] coord_motion,		coord_motion, // double [][][] coord_motion,
	gap_frac, //double gap_frac, // 0.25		gap_frac, //double gap_frac, // 0.25
	reference_QuadClt.getTileProcessor().getTilesX()); // int tilesX);		first_QuadClt.getTileProcessor().getTilesX()); // int tilesX);
	for (int i = 0; i < quad_strengths[0].length; i++) {		for (int i = 0; i < quad_strengths[0].length; i++) {
	if ((quad_strengths[0][i] < min_quad_tiles) \|\| (quad_strengths[1][i] < min_quad_weight)) {		if ((quad_strengths[0][i] < min_quad_tiles) \|\| (quad_strengths[1][i] < min_quad_weight)) {
	disable_ers = true;		disable_ers = true;
	@@ -2569,7 +2574,7 @@ public class Interscene {
	ref_xyzatr, // _inv, // ref_xyzatr,		ref_xyzatr, // _inv, // ref_xyzatr,
	// reference atr, xyz are considered 0.0 not anymore?		// reference atr, xyz are considered 0.0 not anymore?
	scene_QuadClt, // final QuadCLT scene_QuadClt,		scene_QuadClt, // final QuadCLT scene_QuadClt,
	reference_QuadClt, // final QuadCLT reference_QuadClt,		first_QuadClt, // final QuadCLT reference_QuadClt,
	param_select_mod, // param_select, // final boolean[] param_select,		param_select_mod, // param_select, // final boolean[] param_select,
	param_regweights, // final double [] param_regweights,		param_regweights, // final double [] param_regweights,
	coord_motion[1], // final double [][] vector_XYS, // optical flow X,Y, confidence obtained from the correlate2DIterate()		coord_motion[1], // final double [][] vector_XYS, // optical flow X,Y, confidence obtained from the correlate2DIterate()
	@@ -2637,8 +2642,9 @@ public class Interscene {
	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		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		fail_reason, // int [] fail_reason, // null or int[1]: 0 - OK, 1 - LMA, 2 - min, 3 - max
	reference_QuadClt, // QuadCLT reference_QuadCLT,		first_QuadClt, // QuadCLT ref_scene, // Scene for which DSI (ref_disparity) is calculated
	ref_disparity, // double [] ref_disparity, // null or alternative reference disparity		ref_disparity, // double [] ref_disparity, // null or alternative reference disparity
			first_QuadClt, // QuadCLT first_scene,
	pXpYD_ref, // double [][] pXpYD_ref, // pXpYD for the reference scene		pXpYD_ref, // double [][] pXpYD_ref, // pXpYD for the reference scene
	tp_tasks_ref, // TpTask[] tp_tasks_ref, // only (main if MB correction) tasks for FPN correction		tp_tasks_ref, // TpTask[] tp_tasks_ref, // only (main if MB correction) tasks for FPN correction
	scene_QuadClt, // QuadCLT scene_QuadCLT,		scene_QuadClt, // QuadCLT scene_QuadCLT,
	@@ -2655,7 +2661,7 @@ public class Interscene {
	mb_vectors, // double [][] mb_vectors, // now [2][ntiles];		mb_vectors, // double [][] mb_vectors, // now [2][ntiles];
	2, // int imp_debug_level,		2, // int imp_debug_level,
	debug_level); // 1); // -1); // int debug_level);		debug_level); // 1); // -1); // int debug_level);
	TileProcessor tp = reference_QuadClt.getTileProcessor();		TileProcessor tp = first_QuadClt.getTileProcessor();
	int tilesX = tp.getTilesX();		int tilesX = tp.getTilesX();
	int tilesY = tp.getTilesY();		int tilesY = tp.getTilesY();

	@@ -2664,7 +2670,7 @@ public class Interscene {
	tilesX,		tilesX,
	tilesY,		tilesY,
	true,		true,
	scene_QuadClt.getImageName()+"-"+reference_QuadClt.getImageName()+"-CORR-FPN",		scene_QuadClt.getImageName()+"-"+first_QuadClt.getImageName()+"-CORR-FPN",
	fpn_dbg_titles);		fpn_dbg_titles);
	}		}
	if (show_corr_fpn) { // repeat after last adjustment to get images		if (show_corr_fpn) { // repeat after last adjustment to get images
	@@ -2688,8 +2694,9 @@ public class Interscene {
	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, // 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		null, // int [] fail_reason, // null or int[1]: 0 - OK, 1 - LMA, 2 - min, 3 - max
	reference_QuadClt, // QuadCLT reference_QuadCLT,		first_QuadClt, // QuadCLT ref_scene, // Scene for which DSI (ref_disparity) is calculated
	ref_disparity, // double [] ref_disparity, // null or alternative reference disparity		ref_disparity, // double [] ref_disparity, // null or alternative reference disparity
			first_QuadClt, // QuadCLT first_scene,
	pXpYD_ref, // double [][] pXpYD_ref, // pXpYD for the reference scene		pXpYD_ref, // double [][] pXpYD_ref, // pXpYD for the reference scene
	tp_tasks_ref, // TpTask[] tp_tasks_ref, // only (main if MB correction) tasks for FPN correction		tp_tasks_ref, // TpTask[] tp_tasks_ref, // only (main if MB correction) tasks for FPN correction
	scene_QuadClt, // QuadCLT scene_QuadCLT,		scene_QuadClt, // QuadCLT scene_QuadCLT,
	@@ -2706,7 +2713,7 @@ public class Interscene {
	mb_vectors, // double [][] mb_vectors, // now [2][ntiles];		mb_vectors, // double [][] mb_vectors, // now [2][ntiles];
	2, // int imp_debug_level,		2, // int imp_debug_level,
	debug_level); // 1); // -1); // int debug_level);		debug_level); // 1); // -1); // int debug_level);
	TileProcessor tp = reference_QuadClt.getTileProcessor();		TileProcessor tp = first_QuadClt.getTileProcessor();
	int tilesX = tp.getTilesX();		int tilesX = tp.getTilesX();
	int tilesY = tp.getTilesY();		int tilesY = tp.getTilesY();

	@@ -2715,7 +2722,7 @@ public class Interscene {
	tilesX,		tilesX,
	tilesY,		tilesY,
	true,		true,
	scene_QuadClt.getImageName()+"-"+reference_QuadClt.getImageName()+"-CORR-FPN",		scene_QuadClt.getImageName()+"-"+first_QuadClt.getImageName()+"-CORR-FPN",
	fpn_dbg_titles);		fpn_dbg_titles);
	}		}
	if (clt_parameters.imp.debug_level > -2) {		if (clt_parameters.imp.debug_level > -2) {
	@@ -2845,8 +2852,9 @@ public class Interscene {
	0, // mb_max_gain, // double mb_max_gain,		0, // mb_max_gain, // double mb_max_gain,
	null, // double [] min_max, // null or pair of minimal and maximal offsets		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		null, // int [] fail_reason, // null or int[1]: 0 - OK, 1 - LMA, 2 - min, 3 - max
	reference_QuadClt, // QuadCLT reference_QuadCLT,		reference_QuadClt, // QuadCLT ref_scene, // Scene for which DSI (ref_disparity) is calculated
	ref_disparity, // null, // double [] ref_disparity, // null or alternative reference disparity		ref_disparity, // null, // double [] ref_disparity, // null or alternative reference disparity
			reference_QuadClt, // QuadCLT first_scene,
	pXpYD_ref, // double [][] pXpYD_ref, // pXpYD for the reference scene 11653		pXpYD_ref, // double [][] pXpYD_ref, // pXpYD for the reference scene 11653
	tp_tasks_ref, // TpTask[] tp_tasks_ref, // only (main if MB correction) tasks for FPN correction		tp_tasks_ref, // TpTask[] tp_tasks_ref, // only (main if MB correction) tasks for FPN correction
	scene_QuadClt, // QuadCLT scene_QuadCLT,		scene_QuadClt, // QuadCLT scene_QuadCLT,
	@@ -2944,7 +2952,7 @@ public class Interscene {
	* @param clt_parameters		* @param clt_parameters
	* @param use3D when true, generate disparity difference in addition to average {pX,pY}		* @param use3D when true, generate disparity difference in addition to average {pX,pY}
	* @param mb_max_gain		* @param mb_max_gain
	* @param ref_scene		* @param first_scene
	* @param ref_disparity		* @param ref_disparity
	* @param pXpYD_ref		* @param pXpYD_ref
	* @param tp_tasks_ref		* @param tp_tasks_ref
	@@ -2971,8 +2979,9 @@ public class Interscene {
	double mb_max_gain,		double mb_max_gain,
	double [] min_max, // null or pair of minimal and maximal offsets		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		int [] fail_reason, // null or int[1]: 0 - OK, 1 - LMA, 2 - min, 3 - max
	QuadCLT ref_scene,		QuadCLT ref_scene, // Scene for which DSI (ref_disparity) is calculated
	double [] ref_disparity, // null or alternative reference disparity		double [] ref_disparity, // null or alternative reference disparity
			QuadCLT first_scene, // first in a pair, scene to compare to
	double [][] pXpYD_ref, // pXpYD for the reference scene		double [][] pXpYD_ref, // pXpYD for the reference scene
	TpTask[] tp_tasks_ref, // only (main if MB correction) tasks for FPN correction.		TpTask[] tp_tasks_ref, // only (main if MB correction) tasks for FPN correction.
	QuadCLT scene,		QuadCLT scene,
	@@ -2993,10 +3002,10 @@ public class Interscene {
	{		{
	boolean use3D_lma = clt_parameters.ilp.ilma_3d_lma;		boolean use3D_lma = clt_parameters.ilp.ilma_3d_lma;
	boolean use3D_lma_tilt_only = clt_parameters.ilp.ilma_3d_tilt_only;		boolean use3D_lma_tilt_only = clt_parameters.ilp.ilma_3d_tilt_only;
	if (!ref_scene.hasGPU()) {		if (!first_scene.hasGPU()) {
	throw new IllegalArgumentException ("interCorrPair(): CPU mode not supported");		throw new IllegalArgumentException ("interCorrPair(): CPU mode not supported");
	}		}
	TileProcessor tp = ref_scene.getTileProcessor();		TileProcessor tp = first_scene.getTileProcessor();
	// Temporary reusing same ref scene ******		// Temporary reusing same ref scene ******
	boolean scene_is_ref_test = clt_parameters.imp.scene_is_ref_test; // false; // true;		boolean scene_is_ref_test = clt_parameters.imp.scene_is_ref_test; // false; // true;
	boolean show_2d_correlations = clt_parameters.imp.show2dCorrelations(imp_debug_level); // true;		boolean show_2d_correlations = clt_parameters.imp.show2dCorrelations(imp_debug_level); // true;
	@@ -3032,9 +3041,9 @@ public class Interscene {
	double eq_level = clt_parameters.imp.eq_level; // 0.8; // equalize to (log) fraction of average/this strength		double eq_level = clt_parameters.imp.eq_level; // 0.8; // equalize to (log) fraction of average/this strength

	final double scene_disparity_cor = clt_parameters.imp.disparity_corr; // 04/07/2023 // 0.0;		final double scene_disparity_cor = clt_parameters.imp.disparity_corr; // 04/07/2023 // 0.0;
	final double gpu_sigma_corr = clt_parameters.getGpuCorrSigma(ref_scene.isMonochrome());		final double gpu_sigma_corr = clt_parameters.getGpuCorrSigma(first_scene.isMonochrome());
	final double gpu_sigma_rb_corr = ref_scene.isMonochrome()? 1.0 : clt_parameters.gpu_sigma_rb_corr;		final double gpu_sigma_rb_corr = first_scene.isMonochrome()? 1.0 : clt_parameters.gpu_sigma_rb_corr;
	final double gpu_sigma_log_corr = clt_parameters.getGpuCorrLoGSigma(ref_scene.isMonochrome());		final double gpu_sigma_log_corr = clt_parameters.getGpuCorrLoGSigma(first_scene.isMonochrome());

	boolean mb_en = clt_parameters.imp.mb_en ;		boolean mb_en = clt_parameters.imp.mb_en ;
	double mb_tau = clt_parameters.imp.mb_tau; // 0.008; // time constant, sec		double mb_tau = clt_parameters.imp.mb_tau; // 0.008; // time constant, sec
	@@ -3052,7 +3061,7 @@ public class Interscene {
	}		}
	if (show_tptask_ref) {		if (show_tptask_ref) {
	if (tp_tasks_ref != null){		if (tp_tasks_ref != null){
	String dbg_title = ref_scene.getImageName()+"-ref";		String dbg_title = first_scene.getImageName()+"-ref";
	TpTask.showTpTask(		TpTask.showTpTask(
	tp_tasks_ref, // TpTask[] tp_tasks,		tp_tasks_ref, // TpTask[] tp_tasks,
	tilesX, // int tilesX,		tilesX, // int tilesX,
	@@ -3063,17 +3072,17 @@ public class Interscene {

	ImageDtt image_dtt;		ImageDtt image_dtt;
	image_dtt = new ImageDtt(		image_dtt = new ImageDtt(
	ref_scene.getNumSensors(), // ,		first_scene.getNumSensors(), // ,
	clt_parameters.transform_size,		clt_parameters.transform_size,
	clt_parameters.img_dtt,		clt_parameters.img_dtt,
	ref_scene.isAux(),		first_scene.isAux(),
	ref_scene.isMonochrome(),		first_scene.isMonochrome(),
	ref_scene.isLwir(),		first_scene.isLwir(),
	clt_parameters.getScaleStrength(ref_scene.isAux()),		clt_parameters.getScaleStrength(first_scene.isAux()),
	ref_scene.getGPU());		first_scene.getGPU());
	image_dtt.getCorrelation2d(); // initiate image_dtt.correlation2d, needed if disparity_map != null		image_dtt.getCorrelation2d(); // initiate image_dtt.correlation2d, needed if disparity_map != null
	if (ref_scene.getGPU() != null) {		if (first_scene.getGPU() != null) {
	ref_scene.getGPU().setGpu_debug_level(debug_level - 4); // monitor GPU ops >=-1		first_scene.getGPU().setGpu_debug_level(debug_level - 4); // monitor GPU ops >=-1
	}		}
	final double disparity_corr = clt_parameters.imp.disparity_corr; // 04/07/2023 // 0.0; // (z_correction == 0) ? 0.0 : geometryCorrection.getDisparityFromZ(1.0/z_correction);		final double disparity_corr = clt_parameters.imp.disparity_corr; // 04/07/2023 // 0.0; // (z_correction == 0) ? 0.0 : geometryCorrection.getDisparityFromZ(1.0/z_correction);
	//ref_disparity		//ref_disparity
	@@ -3190,7 +3199,7 @@ public class Interscene {
	swd += scene_disparity_strength[0][i] * scene_disparity_strength[1][i];		swd += scene_disparity_strength[0][i] * scene_disparity_strength[1][i];
	}		}
	average_disparity = swd/sw;		average_disparity = swd/sw;
	double magic_scale = use3D_lma? 1.0 : ref_scene.getTileProcessor().getMagicScale();		double magic_scale = use3D_lma? 1.0 : first_scene.getTileProcessor().getMagicScale();
	for (int i = 0; i < scene_disparity_strength[0].length; i++) {		for (int i = 0; i < scene_disparity_strength[0].length; i++) {
	// scene_disparity_strength[0][i] = (scene_disparity_strength[0][i] - average_disparity) / average_absolute_disparity;		// scene_disparity_strength[0][i] = (scene_disparity_strength[0][i] - average_disparity) / average_absolute_disparity;
	scene_disparity_strength[0][i] = (scene_disparity_strength[0][i] - average_disparity) /magic_scale;		scene_disparity_strength[0][i] = (scene_disparity_strength[0][i] - average_disparity) /magic_scale;
	@@ -3205,15 +3214,15 @@ public class Interscene {
	ref_disparity, // dls[0], // final double [] disparity_ref, // invalid tiles - NaN in disparity (maybe it should not be masked by margins?)		ref_disparity, // dls[0], // final double [] disparity_ref, // invalid tiles - NaN in disparity (maybe it should not be masked by margins?)
	ZERO3, // scene_xyz, // final double [] scene_xyz, // camera center in world coordinates		ZERO3, // scene_xyz, // final double [] scene_xyz, // camera center in world coordinates
	ZERO3, // scene_atr, // final double [] scene_atr, // camera orientation relative to world frame		ZERO3, // scene_atr, // final double [] scene_atr, // camera orientation relative to world frame
	ref_scene, // final QuadCLT scene_QuadClt,		first_scene, // final QuadCLT scene_QuadClt,
	ref_scene); // final QuadCLT reference_QuadClt)		first_scene); // final QuadCLT reference_QuadClt)
	double [][] dbg_ref_pXpYD2 = OpticalFlow.transformToScenePxPyD( // will be null for disparity == NaN, total size - tilesX*tilesY		double [][] dbg_ref_pXpYD2 = OpticalFlow.transformToScenePxPyD( // will be null for disparity == NaN, total size - tilesX*tilesY
	null, // final Rectangle [] extra_woi, // show larger than sensor WOI (or null)		null, // final Rectangle [] extra_woi, // show larger than sensor WOI (or null)
	ref_disparity, // dls[0], // final double [] disparity_ref, // invalid tiles - NaN in disparity (maybe it should not be masked by margins?)		ref_disparity, // dls[0], // final double [] disparity_ref, // invalid tiles - NaN in disparity (maybe it should not be masked by margins?)
	ZERO3, // scene_xyz, // final double [] scene_xyz, // camera center in world coordinates		ZERO3, // scene_xyz, // final double [] scene_xyz, // camera center in world coordinates
	new double[] {0,0,0.00001}, // scene_atr, // final double [] scene_atr, // camera orientation relative to world frame		new double[] {0,0,0.00001}, // scene_atr, // final double [] scene_atr, // camera orientation relative to world frame
	ref_scene, // final QuadCLT scene_QuadClt,		first_scene, // final QuadCLT scene_QuadClt,
	ref_scene); // final QuadCLT reference_QuadClt)		first_scene); // final QuadCLT reference_QuadClt)
	double [][] dbg_img = new double[6][dbg_ref_pXpYD.length];		double [][] dbg_img = new double[6][dbg_ref_pXpYD.length];
	for (int i = 0; i < dbg_img.length; i++) {		for (int i = 0; i < dbg_img.length; i++) {
	Arrays.fill(dbg_img[i], Double.NaN);		Arrays.fill(dbg_img[i], Double.NaN);
	@@ -3236,10 +3245,10 @@ public class Interscene {
	tilesX,		tilesX,
	tilesY,		tilesY,
	true,		true,
	scene.getImageName()+"-"+ref_scene.getImageName()+"-transform_test",		scene.getImageName()+"-"+first_scene.getImageName()+"-transform_test",
	dbg_titles);		dbg_titles);
	System.out.println("transform_test ref_scene: "+ ref_scene.getImageName());		System.out.println("transform_test ref_scene: "+ first_scene.getImageName());
	ref_scene.getErsCorrection().printVectors(scene_xyz, scene_atr);		first_scene.getErsCorrection().printVectors(scene_xyz, scene_atr);
	}		}


	@@ -3327,11 +3336,11 @@ public class Interscene {
	}		}

	if (show_render_ref) {		if (show_render_ref) {
	ImagePlus imp_render_ref = ref_scene.renderFromTD (		ImagePlus imp_render_ref = first_scene.renderFromTD (
	-1, // final int sensor_mask,		-1, // final int sensor_mask,
	false, // boolean merge_channels,		false, // boolean merge_channels,
	clt_parameters, // CLTParameters clt_parameters,		clt_parameters, // CLTParameters clt_parameters,
	clt_parameters.getColorProcParameters(ref_scene.isAux()), //ColorProcParameters colorProcParameters,		clt_parameters.getColorProcParameters(first_scene.isAux()), //ColorProcParameters colorProcParameters,
	clt_parameters.getRGBParameters(), //EyesisCorrectionParameters.RGBParameters rgbParameters,		clt_parameters.getRGBParameters(), //EyesisCorrectionParameters.RGBParameters rgbParameters,
	null, // int [] wh,		null, // int [] wh,
	toRGB, // boolean toRGB,		toRGB, // boolean toRGB,
	@@ -3344,7 +3353,7 @@ public class Interscene {
	-1, // final int sensor_mask,		-1, // final int sensor_mask,
	false, // boolean merge_channels,		false, // boolean merge_channels,
	clt_parameters, // CLTParameters clt_parameters,		clt_parameters, // CLTParameters clt_parameters,
	clt_parameters.getColorProcParameters(ref_scene.isAux()), //ColorProcParameters colorProcParameters,		clt_parameters.getColorProcParameters(first_scene.isAux()), //ColorProcParameters colorProcParameters,
	clt_parameters.getRGBParameters(), //EyesisCorrectionParameters.RGBParameters rgbParameters,		clt_parameters.getRGBParameters(), //EyesisCorrectionParameters.RGBParameters rgbParameters,
	null, // int [] wh,		null, // int [] wh,
	toRGB, // boolean toRGB,		toRGB, // boolean toRGB,
	@@ -3357,7 +3366,7 @@ public class Interscene {
	float [][] foffsets = getInterCorrOffsetsDebug(		float [][] foffsets = getInterCorrOffsetsDebug(
	tp_tasks_ref, // final TpTask[] tp_tasks_ref,		tp_tasks_ref, // final TpTask[] tp_tasks_ref,
	tp_tasks[0], // final TpTask[] tp_tasks,		tp_tasks[0], // final TpTask[] tp_tasks,
	ref_scene.getNumSensors(),		first_scene.getNumSensors(),
	tilesX, // final int tilesX,		tilesX, // final int tilesX,
	tilesY); // final int tilesY		tilesY); // final int tilesY
	for (int i = 0; (i < dbg_corr_fpn.length) && (i < foffsets.length); i++) {		for (int i = 0; (i < dbg_corr_fpn.length) && (i < foffsets.length); i++) {
	@@ -3371,7 +3380,7 @@ public class Interscene {
	fpn_max_offset, // final double max_offset,		fpn_max_offset, // final double max_offset,
	tp_tasks_ref, // final TpTask[] tp_tasks_ref,		tp_tasks_ref, // final TpTask[] tp_tasks_ref,
	tp_tasks[0], // final TpTask[] tp_tasks,		tp_tasks[0], // final TpTask[] tp_tasks,
	ref_scene.getNumSensors(), // final int numSens,		first_scene.getNumSensors(), // final int numSens,
	tilesX, // final int tilesX,		tilesX, // final int tilesX,
	tilesY); // final int tilesY);		tilesY); // final int tilesY);
	}		}
	@@ -3381,7 +3390,7 @@ public class Interscene {
	Double.NaN, // final double max_offset,		Double.NaN, // final double max_offset,
	tp_tasks_ref, // final TpTask[] tp_tasks_ref,		tp_tasks_ref, // final TpTask[] tp_tasks_ref,
	tp_tasks[0], // final TpTask[] tp_tasks,		tp_tasks[0], // final TpTask[] tp_tasks,
	ref_scene.getNumSensors(), // final int numSens,		first_scene.getNumSensors(), // final int numSens,
	tilesX, // final int tilesX,		tilesX, // final int tilesX,
	tilesY); // final int tilesY);		tilesY); // final int tilesY);
	if (offsets == null) {		if (offsets == null) {
	@@ -3441,7 +3450,7 @@ public class Interscene {
	double min_str = all_fpn ? clt_parameters.imp.min_str_fpn : clt_parameters.imp.min_str;		double min_str = all_fpn ? clt_parameters.imp.min_str_fpn : clt_parameters.imp.min_str;
	double min_str_sum = all_fpn ? clt_parameters.imp.min_str_sum_fpn : clt_parameters.imp.min_str_sum;		double min_str_sum = all_fpn ? clt_parameters.imp.min_str_sum_fpn : clt_parameters.imp.min_str_sum;
	double min_str_neib = all_fpn ? clt_parameters.imp.min_str_neib_fpn : clt_parameters.imp.min_str_neib;		double min_str_neib = all_fpn ? clt_parameters.imp.min_str_neib_fpn : clt_parameters.imp.min_str_neib;
	double corr_fz_inter = clt_parameters.getGpuFatZeroInter(ref_scene.isMonochrome());		double corr_fz_inter = clt_parameters.getGpuFatZeroInter(first_scene.isMonochrome());
	if (mb_en && (mb_vectors!=null)) { // increase fat zero when there is motion blur		if (mb_en && (mb_vectors!=null)) { // increase fat zero when there is motion blur
	corr_fz_inter *= 8;		corr_fz_inter *= 8;
	}		}
	@@ -3586,7 +3595,7 @@ public class Interscene {
	tilesX,		tilesX,
	tilesY,		tilesY,
	true,		true,
	scene.getImageName()+"-"+ref_scene.getImageName()+"-coord_motion-eq",		scene.getImageName()+"-"+first_scene.getImageName()+"-coord_motion-eq",
	mvTitles);		mvTitles);

	}		}
	@@ -3594,7 +3603,7 @@ public class Interscene {
	}		}

	if (mov_en) {		if (mov_en) {
	String debug_image_name = mov_debug_images ? (scene.getImageName()+"-"+ref_scene.getImageName()+"-movements"): null;		String debug_image_name = mov_debug_images ? (scene.getImageName()+"-"+first_scene.getImageName()+"-movements"): null;
	boolean [] move_mask = getMovementMask(		boolean [] move_mask = getMovementMask(
	clt_parameters, // CLTParameters clt_parameters,		clt_parameters, // CLTParameters clt_parameters,
	coord_motion[1], // double [][] motion, // only x,y,w components		coord_motion[1], // double [][] motion, // only x,y,w components
	@@ -3641,7 +3650,7 @@ public class Interscene {
	tilesX(2image_dtt.transform_size),		tilesX(2image_dtt.transform_size),
	tilesY(2image_dtt.transform_size),		tilesY(2image_dtt.transform_size),
	true,		true,
	scene.getImageName()+"-"+ref_scene.getImageName()+"-interscene",		scene.getImageName()+"-"+first_scene.getImageName()+"-interscene",
	titles);		titles);
	}		}

	@@ -3690,7 +3699,7 @@ public class Interscene {
	tilesX,		tilesX,
	tilesY,		tilesY,
	true,		true,
	scene.getImageName()+"-"+ref_scene.getImageName()+"-motion_vectors",		scene.getImageName()+"-"+first_scene.getImageName()+"-motion_vectors",
	titles);		titles);
	}		}
	if (show_coord_motion) {		if (show_coord_motion) {
	@@ -3721,7 +3730,7 @@ public class Interscene {
	tilesX,		tilesX,
	tilesY,		tilesY,
	true,		true,
	scene.getImageName()+"-"+ref_scene.getImageName()+"-coord_motion",		scene.getImageName()+"-"+first_scene.getImageName()+"-coord_motion",
	mvTitles);		mvTitles);
	}		}
	if (debug_level > 0){		if (debug_level > 0){

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

+2 −1

Original line number	Original line	Diff line number	Diff line
	@@ -219,8 +219,9 @@ public class StructureFromMotion {
	mb_max_gain, // double mb_max_gain,		mb_max_gain, // double mb_max_gain,
	null, // min_max, // double [] min_max, // null or pair of minimal and maximal offsets		null, // 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		fail_reason, // int [] fail_reason, // null or int[1]: 0 - OK, 1 - LMA, 2 - min, 3 - max
	ref_scene, // QuadCLT reference_QuadCLT,		ref_scene, // QuadCLT ref_scene, // Scene for which DSI (ref_disparity) is calculated
	ref_disparity, // double [] ref_disparity, // null or alternative reference disparity		ref_disparity, // double [] ref_disparity, // null or alternative reference disparity
			ref_scene, // QuadCLT first_scene,
	ref_pXpYD, // double [][] pXpYD_ref, // pXpYD for the reference scene		ref_pXpYD, // double [][] pXpYD_ref, // pXpYD for the reference scene
	tp_tasks_ref[0], // TpTask[] tp_tasks_ref, // only (main if MB correction) tasks for FPN correction		tp_tasks_ref[0], // TpTask[] tp_tasks_ref, // only (main if MB correction) tasks for FPN correction
	scene, // QuadCLT scene_QuadCLT,		scene, // QuadCLT scene_QuadCLT,

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