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Commit 4adfcfa1 authored by Andrey Filippov's avatar Andrey Filippov
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Experimenting with refineMotionVectors(), before adding corr_offset 

scaling
parent db5c9d75
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src/main/java/com/elphel/imagej/cuas/CuasMotionLMA.java
View file @ 4adfcfa1
...@@ -71,68 +71,70 @@ public class CuasMotionLMA { ...@@ -71,68 +71,70 @@ public class CuasMotionLMA {
public static final int RSLT_MAX2A = 9; public static final int RSLT_MAX2A = 9;
public static final int RSLT_ITERS = 10; public static final int RSLT_ITERS = 10;
public static final int RSLT_CENTERED=11; //1: this target was evaluated in centered mode, 0 - was in non-centered, -1 - consumed in non-centered public static final int RSLT_CENTERED=11; //1: this target was evaluated in centered mode, 0 - was in non-centered, -1 - consumed in non-centered
// add
public static final int RSLT_BOOST= 12; // target accumulated with boosted "exposure time" (based scaled this)
public static final int RSLT_CENT_X = 13;
public static final int RSLT_CENT_Y = 14;
public static final int RSLT_CENT_MX= 15;
public static final int RSLT_CENT_F = 16;
public static final int RSLT_CENT_X = 12; public static final int RSLT_VX = 17;
public static final int RSLT_CENT_Y = 13; public static final int RSLT_VY = 18;
public static final int RSLT_CENT_MX= 14; public static final int RSLT_VSTR = 19;
public static final int RSLT_CENT_F = 15; public static final int RSLT_VFRAC = 20;
public static final int RSLT_VBOOST = 21; // motion vector was calculated with boosted number of accumulated scene pairs (based scaled this)
public static final int RSLT_VX = 16; public static final int RSLT_BX = 22;
public static final int RSLT_VY = 17; public static final int RSLT_BY = 23; // RSLT_BX+1;
public static final int RSLT_VSTR = 18; public static final int RSLT_AX = 24; // RSLT_BX+2;
public static final int RSLT_VFRAC = 19; public static final int RSLT_AY = 25; // RSLT_BX+3;
public static final int RSLT_MISMATCH_BEFORE = 26;
public static final int RSLT_BX = 20; public static final int RSLT_MISMATCH_AFTER = 27; // RSLT_MISMATCH_BEFORE+1;
public static final int RSLT_BY = 21; // RSLT_BX+1; public static final int RSLT_MISMATCH_DIRS= 28;
public static final int RSLT_AX = 22; // RSLT_BX+2; public static final int RSLT_MATCH_LENGTH= 29; // is one less than the total length (0 - isolated)
public static final int RSLT_AY = 23; // RSLT_BX+3; public static final int RSLT_BEFORE_LENGTH= 30; // just for debug
public static final int RSLT_MISMATCH_BEFORE = 24; public static final int RSLT_AFTER_LENGTH= 31; // just for debug
public static final int RSLT_MISMATCH_AFTER = 25; // RSLT_MISMATCH_BEFORE+1; public static final int RSLT_SEQ_TRAVEL= 32;
public static final int RSLT_MISMATCH_DIRS= 26; public static final int RSLT_MSCORE = 33;
public static final int RSLT_MATCH_LENGTH= 27; // is one less than the total length (0 - isolated) public static final int RSLT_QA = 34;
public static final int RSLT_BEFORE_LENGTH= 28; // just for debug public static final int RSLT_QRMS = 35;
public static final int RSLT_AFTER_LENGTH= 29; // just for debug public static final int RSLT_QRMS_A = 36;
public static final int RSLT_SEQ_TRAVEL= 30; public static final int RSLT_QCENTER = 37;
public static final int RSLT_MSCORE = 31; public static final int RSLT_QMATCH = 38;
public static final int RSLT_QA = 32; public static final int RSLT_QMATCH_LEN= 39;
public static final int RSLT_QRMS = 33; public static final int RSLT_QTRAVEL= 40;
public static final int RSLT_QRMS_A = 34; public static final int RSLT_QSCORE = 41;
public static final int RSLT_QCENTER = 35; public static final int RSLT_STRONGER = 42; // index of stronger neighbor (may be more)
public static final int RSLT_QMATCH = 36; public static final int RSLT_SLOW = 43; // 1 - slow, 0 - fast
public static final int RSLT_QMATCH_LEN= 37; public static final int RSLT_WHEN = 44;
public static final int RSLT_QTRAVEL= 38; public static final int RSLT_FAIL = 45;
public static final int RSLT_QSCORE = 39; public static final int RSLT_DISPARITY= 46; // disparity from single keyframe sequences
public static final int RSLT_STRONGER = 40; // index of stronger neighbor (may be more) public static final int RSLT_DISP_DIFF= 47; // disparity difference between what?
public static final int RSLT_SLOW = 41; // 1 - slow, 0 - fast public static final int RSLT_DISP_STR = 48; // disparity strength
public static final int RSLT_WHEN = 42; public static final int RSLT_RANGE = 49; // range (meters) found from RSLT_DISPARITY, modified by RSLT_INFINITY
public static final int RSLT_FAIL = 43; public static final int RSLT_GLOBAL = 50; // local target ID (1-based)
public static final int RSLT_DISPARITY= 44; // disparity from single keyframe sequences public static final int RSLT_GLENGTH = 51; // length (symmetrical around this one) for which disparity and range are provided
public static final int RSLT_DISP_DIFF= 45; // disparity difference between what? public static final int RSLT_GDISPARITY= 52; // disparity from accumulation of the range (RSLT_GLENGTH)
public static final int RSLT_DISP_STR = 46; // disparity strength public static final int RSLT_GDISP_DIFF= 53; // disparity difference for a range
public static final int RSLT_RANGE = 47; // range (meters) found from RSLT_DISPARITY, modified by RSLT_INFINITY public static final int RSLT_GDISP_STR = 54; // disparity strength for a range
public static final int RSLT_GLOBAL = 48; // local target ID (1-based) public static final int RSLT_GRANGE = 55; // global range - calculated for long sequences (and its fractions)
public static final int RSLT_GLENGTH = 49; // length (symmetrical around this one) for which disparity and range are provided public static final int RSLT_FL_PX = 56; // flight log px
public static final int RSLT_GDISPARITY= 50; // disparity from accumulation of the range (RSLT_GLENGTH) public static final int RSLT_FL_PY = 57; // flight log py
public static final int RSLT_GDISP_DIFF= 51; // disparity difference for a range public static final int RSLT_FL_DISP = 58; // flight log true disparity
public static final int RSLT_GDISP_STR = 52; // disparity strength for a range public static final int RSLT_FL_RANGE = 59; // flight log range (meters)
public static final int RSLT_GRANGE = 53; // global range - calculated for long sequences (and its fractions) public static final int RSLT_INFINITY = 60; // disparity at infinity used for range calculation
public static final int RSLT_FL_PX = 54; // flight log px public static final int RSLT_TARGET_ID = 61; // unique target id for the whole sequence of segments. 1 is reserved for the UAS
public static final int RSLT_FL_PY = 55; // flight log py public static final int RSLT_VEL_AWAY = 62; // axial velocity (positive - away), range derivative (m/s), calculated from the difference to the previous/next series range
public static final int RSLT_FL_DISP = 56; // flight log true disparity public static final int RSLT_VEL_RIGHT = 63; // lateral velocity, right ( calculated from angular and RSLT_GRANGE
public static final int RSLT_FL_RANGE = 57; // flight log range (meters) public static final int RSLT_VEL_UP = 64; // lateral velocity, up ( calculated from angular and RSLT_GRANGE
public static final int RSLT_INFINITY = 58; // disparity at infinity used for range calculation public static final int RSLT_RANGE_LIN = 65; // range linear interpolated using previous/next series if the same target is present there
public static final int RSLT_TARGET_ID = 59; // unique target id for the whole sequence of segments. 1 is reserved for the UAS
public static final int RSLT_VEL_AWAY = 60; // axial velocity (positive - away), range derivative (m/s), calculated from the difference to the previous/next series range
public static final int RSLT_VEL_RIGHT = 61; // lateral velocity, right ( calculated from angular and RSLT_GRANGE
public static final int RSLT_VEL_UP = 62; // lateral velocity, up ( calculated from angular and RSLT_GRANGE
public static final int RSLT_RANGE_LIN = 63; // range linear interpolated using previous/next series if the same target is present there
public static final int RSLT_LEN = RSLT_RANGE_LIN + 1; public static final int RSLT_LEN = RSLT_RANGE_LIN + 1;
public static final String [] LMA_TITLES = public static final String [] LMA_TITLES =
{"X-OFFS","Y-OFFS", "AMPLITUDE", "RADIUS","RAD_POS", "OVERSHOOT","OFFSET","RMSE","RMSE/A","MAX2A","ITERATIONS", {"X-OFFS","Y-OFFS", "AMPLITUDE", "RADIUS","RAD_POS", "OVERSHOOT","OFFSET","RMSE","RMSE/A","MAX2A","ITERATIONS",
"CENTERED", "CENTERED", "EXP-BOOST",
"Centr-X","Centr-Y","Centr-max","Centr-frac", "Centr-X","Centr-Y","Centr-max","Centr-frac",
"Vx", "Vy", "V-conf","V-frac", // from motion vectors "Vx", "Vy", "V-conf","V-frac", "V-boost",// from motion vectors
"X-before", "Y-before","X-after","Y-after", // from getHalfBeforeAfterPixXY() "X-before", "Y-before","X-after","Y-after", // from getHalfBeforeAfterPixXY()
"ERR-BEFORE", "ERR-AFTER", "BA-DIRS", // before dir + 16*after dir "ERR-BEFORE", "ERR-AFTER", "BA-DIRS", // before dir + 16*after dir
"Match-length", "Match-length",
......
src/main/java/com/elphel/imagej/tileprocessor/IntersceneMatchParameters.java
View file @ 4adfcfa1
...@@ -795,7 +795,11 @@ min_str_neib_fpn 0.35 ...@@ -795,7 +795,11 @@ min_str_neib_fpn 0.35
public int cuas_corr_pairs = 20; // number of correlation pairs to accumulate public int cuas_corr_pairs = 20; // number of correlation pairs to accumulate
public double cuas_boost_slow = 4.0; // if >1 and the motion vector is below tile_size/cuas_boost_slow, scale corr_pairs public double cuas_boost_slow = 4.0; // if >1 and the motion vector is below tile_size/cuas_boost_slow, scale corr_pairs
public double cuas_boost_mv_lim = 1.8; // Do not boost if motion vector faster than this (before in code equiv 1.8 pix) public double cuas_boost_mv_lim = 1.8; // Do not boost if motion vector faster than this (before in code equiv 1.8 pix)
public double cuas_boost_accum = 4.0; // if >1 increase tracking camera exposure (TODO: conditional / compete) public double cuas_boost_accum = 4.0; // if >1 increase tracking camera exposure (TODO: conditional / compete)
public boolean cuas_accum_base = true; // Accumulate centered targets with base "exposure"
public boolean cuas_accum_boosted = true; // Accumulate centered targets with boosted "exposure"
public double cuas_boost_mstr = 0.007; // scale corr_pairs if motion strength is below public double cuas_boost_mstr = 0.007; // scale corr_pairs if motion strength is below
public double cuas_boost_xstr = 0.2; // never scale if stronger public double cuas_boost_xstr = 0.2; // never scale if stronger
public int cuas_corr_offset = 5; // offset between motion detection pairs public int cuas_corr_offset = 5; // offset between motion detection pairs
...@@ -2709,6 +2713,10 @@ min_str_neib_fpn 0.35 ...@@ -2709,6 +2713,10 @@ min_str_neib_fpn 0.35
"Do not boost if motion vector faster than this (before in code equiv 1.8 pix)."); "Do not boost if motion vector faster than this (before in code equiv 1.8 pix).");
gd.addNumericField("Increase tracking camera exposure", this.cuas_boost_accum, 5,8,"", gd.addNumericField("Increase tracking camera exposure", this.cuas_boost_accum, 5,8,"",
"If >1 increase tracking camera exposure (later - conditional)."); "If >1 increase tracking camera exposure (later - conditional).");
gd.addCheckbox ("Accumulate tracking base exposuer", this.cuas_accum_base,
"Accumulate centered targets with base \"exposure\".");
gd.addCheckbox ("Accumulate tracking boosted exposuer", this.cuas_accum_boosted,
"Accumulate centered targets with boosted \"exposure\".");
gd.addNumericField("Boost pairs for weak targets", this.cuas_boost_mstr, 5,8,"", gd.addNumericField("Boost pairs for weak targets", this.cuas_boost_mstr, 5,8,"",
"Scale corr_pairs if motion strength is below, regardless of speed."); "Scale corr_pairs if motion strength is below, regardless of speed.");
gd.addNumericField("Never boost stronger", this.cuas_boost_xstr, 5,8,"", gd.addNumericField("Never boost stronger", this.cuas_boost_xstr, 5,8,"",
...@@ -4392,18 +4400,18 @@ min_str_neib_fpn 0.35 ...@@ -4392,18 +4400,18 @@ min_str_neib_fpn 0.35
this.cuas_boost_slow = gd.getNextNumber(); this.cuas_boost_slow = gd.getNextNumber();
this.cuas_boost_mv_lim = gd.getNextNumber(); this.cuas_boost_mv_lim = gd.getNextNumber();
this.cuas_boost_accum = gd.getNextNumber(); this.cuas_boost_accum = gd.getNextNumber();
this.cuas_accum_base = gd.getNextBoolean();
this.cuas_accum_boosted = gd.getNextBoolean();
this.cuas_boost_mstr = gd.getNextNumber(); this.cuas_boost_mstr = gd.getNextNumber();
this.cuas_boost_xstr = gd.getNextNumber(); this.cuas_boost_xstr = gd.getNextNumber();
this.cuas_corr_offset = (int) gd.getNextNumber(); this.cuas_corr_offset = (int) gd.getNextNumber();
this.cuas_gaussian_ra = gd.getNextBoolean(); this.cuas_gaussian_ra = gd.getNextBoolean();
this.cuas_temporal_um = (int) gd.getNextNumber(); this.cuas_temporal_um = (int) gd.getNextNumber();
this.cuas_tum_threshold = gd.getNextNumber(); this.cuas_tum_threshold = gd.getNextNumber();
this.cuas_precorr_ra = (int) gd.getNextNumber(); this.cuas_precorr_ra = (int) gd.getNextNumber();
this.cuas_corr_step = (int) gd.getNextNumber(); this.cuas_corr_step = (int) gd.getNextNumber();
this.cuas_accum_ra = (int) gd.getNextNumber(); this.cuas_accum_ra = (int) gd.getNextNumber();
this.cuas_accum_step = (int) gd.getNextNumber(); this.cuas_accum_step = (int) gd.getNextNumber();
this.cuas_half_step = gd.getNextBoolean(); this.cuas_half_step = gd.getNextBoolean();
this.cuas_max_range = (int) gd.getNextNumber(); this.cuas_max_range = (int) gd.getNextNumber();
this.cuas_fin_range = (int) gd.getNextNumber(); this.cuas_fin_range = (int) gd.getNextNumber();
...@@ -5704,6 +5712,8 @@ min_str_neib_fpn 0.35 ...@@ -5704,6 +5712,8 @@ min_str_neib_fpn 0.35
properties.setProperty(prefix+"cuas_boost_slow", this.cuas_boost_slow+""); // double properties.setProperty(prefix+"cuas_boost_slow", this.cuas_boost_slow+""); // double
properties.setProperty(prefix+"cuas_boost_mv_lim", this.cuas_boost_mv_lim+""); // double properties.setProperty(prefix+"cuas_boost_mv_lim", this.cuas_boost_mv_lim+""); // double
properties.setProperty(prefix+"cuas_boost_accum", this.cuas_boost_accum+""); // double properties.setProperty(prefix+"cuas_boost_accum", this.cuas_boost_accum+""); // double
properties.setProperty(prefix+"cuas_accum_base", this.cuas_accum_base+""); // boolean
properties.setProperty(prefix+"cuas_accum_boosted", this.cuas_accum_boosted+""); // boolean
properties.setProperty(prefix+"cuas_boost_mstr", this.cuas_boost_mstr+""); // double properties.setProperty(prefix+"cuas_boost_mstr", this.cuas_boost_mstr+""); // double
properties.setProperty(prefix+"cuas_boost_xstr", this.cuas_boost_xstr+""); // double properties.setProperty(prefix+"cuas_boost_xstr", this.cuas_boost_xstr+""); // double
properties.setProperty(prefix+"cuas_corr_offset", this.cuas_corr_offset+""); // int properties.setProperty(prefix+"cuas_corr_offset", this.cuas_corr_offset+""); // int
...@@ -6951,6 +6961,8 @@ min_str_neib_fpn 0.35 ...@@ -6951,6 +6961,8 @@ min_str_neib_fpn 0.35
if (properties.getProperty(prefix+"cuas_boost_slow")!=null) this.cuas_boost_slow=Double.parseDouble(properties.getProperty(prefix+"cuas_boost_slow")); if (properties.getProperty(prefix+"cuas_boost_slow")!=null) this.cuas_boost_slow=Double.parseDouble(properties.getProperty(prefix+"cuas_boost_slow"));
if (properties.getProperty(prefix+"cuas_boost_mv_lim")!=null) this.cuas_boost_mv_lim=Double.parseDouble(properties.getProperty(prefix+"cuas_boost_mv_lim")); if (properties.getProperty(prefix+"cuas_boost_mv_lim")!=null) this.cuas_boost_mv_lim=Double.parseDouble(properties.getProperty(prefix+"cuas_boost_mv_lim"));
if (properties.getProperty(prefix+"cuas_boost_accum")!=null) this.cuas_boost_accum=Double.parseDouble(properties.getProperty(prefix+"cuas_boost_accum")); if (properties.getProperty(prefix+"cuas_boost_accum")!=null) this.cuas_boost_accum=Double.parseDouble(properties.getProperty(prefix+"cuas_boost_accum"));
if (properties.getProperty(prefix+"cuas_accum_base")!=null) this.cuas_accum_base=Boolean.parseBoolean(properties.getProperty(prefix+"cuas_accum_base"));
if (properties.getProperty(prefix+"cuas_accum_boosted")!=null) this.cuas_accum_boosted=Boolean.parseBoolean(properties.getProperty(prefix+"cuas_accum_boosted"));
if (properties.getProperty(prefix+"cuas_boost_mstr")!=null) this.cuas_boost_mstr=Double.parseDouble(properties.getProperty(prefix+"cuas_boost_mstr")); if (properties.getProperty(prefix+"cuas_boost_mstr")!=null) this.cuas_boost_mstr=Double.parseDouble(properties.getProperty(prefix+"cuas_boost_mstr"));
if (properties.getProperty(prefix+"cuas_boost_xstr")!=null) this.cuas_boost_xstr=Double.parseDouble(properties.getProperty(prefix+"cuas_boost_xstr")); if (properties.getProperty(prefix+"cuas_boost_xstr")!=null) this.cuas_boost_xstr=Double.parseDouble(properties.getProperty(prefix+"cuas_boost_xstr"));
if (properties.getProperty(prefix+"cuas_corr_offset")!=null) this.cuas_corr_offset=Integer.parseInt(properties.getProperty(prefix+"cuas_corr_offset")); if (properties.getProperty(prefix+"cuas_corr_offset")!=null) this.cuas_corr_offset=Integer.parseInt(properties.getProperty(prefix+"cuas_corr_offset"));
...@@ -8215,6 +8227,8 @@ min_str_neib_fpn 0.35 ...@@ -8215,6 +8227,8 @@ min_str_neib_fpn 0.35
imp.cuas_boost_slow = this.cuas_boost_slow; imp.cuas_boost_slow = this.cuas_boost_slow;
imp.cuas_boost_mv_lim = this.cuas_boost_mv_lim; imp.cuas_boost_mv_lim = this.cuas_boost_mv_lim;
imp.cuas_boost_accum = this.cuas_boost_accum; imp.cuas_boost_accum = this.cuas_boost_accum;
imp.cuas_accum_base = this.cuas_accum_base;
imp.cuas_accum_boosted = this.cuas_accum_boosted;
imp.cuas_boost_mstr = this.cuas_boost_mstr; imp.cuas_boost_mstr = this.cuas_boost_mstr;
imp.cuas_boost_xstr = this.cuas_boost_xstr; imp.cuas_boost_xstr = this.cuas_boost_xstr;
imp.cuas_corr_offset = this.cuas_corr_offset; imp.cuas_corr_offset = this.cuas_corr_offset;
......
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