Adding more control and multi-pass refineMotionVectors() (520cb0d7) · Commits · Elphel / imagej-elphel

src/main/java/com/elphel/imagej/cuas/CuasMotion.java

+93 −15

Original line number	Diff line number	Diff line
		@@ -725,7 +725,7 @@ public class CuasMotion {
		return total;
		}


		/*
		public static int addNewResults(
		final double [][][] target_sequence, // will only process non-nulls here
		final double [][][] new_sequence,
		@@ -762,6 +762,7 @@ public class CuasMotion {
		ImageDtt.startAndJoin(threads);
		return anew.get();
		}
		*/
		public static double [][][] applyFilter(
		double [][][] target_sequence,
		int [][] filter5){
		@@ -2058,9 +2059,19 @@ public class CuasMotion {
		int half_accum_range, // corr_pairs/2
		boolean smooth,
		int corr_offset, // inter-frame distance for correlation pairs
		int corr_offset_scale,
		double mv_diff_max, // if > 0, fail for high MV correction
		String dbg_suffix,
		int dbg_iter_index, // to generate different image names for different iteration to simplify "save as" images
		int debugLevel) {
		// TODO: limit corr_offset_scale so corr_offset_eff will not exceed scan range (but keep >=1)

		final int max_index_dbg = 5; // show images for the first iterations only
		// By Claude on 05/13/2026: scale corr_offset for residual measurement.
		// S>1 uses larger frame separation (better SNR for small residuals); result is divided by S to normalize.
		// offset_scale for mask positioning and corr_offset_mv in correlatePairs stay on original corr_offset.
		// final int corr_offset_scale = (int) Math.round(recalc_mv_boost); // TODO: promote to config or derive from other params
		final int corr_offset_eff = corr_offset * corr_offset_scale;
		final int tileSize = GPUTileProcessor.DTT_SIZE; // 8 pixels
		final int tilesX = cuasMotion.tilesX;
		final int width = cuasMotion.gpu_max_width;
		@@ -2078,7 +2089,11 @@ public class CuasMotion {
		// Hard-coded debug selectors: set >= 0 to enable per-scan/per-tile visualisation
		final int dbg_nseq = 97; // 40; // 41; // 157; // -(116); // 57; // 20; // -1;
		final int dbg_tile = 54+3880; //52+3880; // 50+3880; // 55+3880; // -(17 + 3380); // 48+3280; // 50+38*80; // -1;

		if (debugLevel >= 0) {
		System.out.println("refineMotionVectors(): corr_offset="+corr_offset+", corr_offset_scale="+corr_offset_scale+
		", corr_offset_eff="+corr_offset_eff+
		", dbg_nseq="+dbg_nseq+", dbg_tile="+dbg_tile);
		}
		// Pre-compute integer-pixel raised-cosine mask kernel once (shared across all nseq)
		final int r1i = (int) Math.ceil(recalc_mv_r1);
		final int mside = 2 * r1i + 1;
		@@ -2095,7 +2110,7 @@ public class CuasMotion {
		}
		if ((dbg_nseq >= 0 \|\| dbg_tile >= 0) && (debugLevel >= 0) && (dbg_iter_index<= max_index_dbg)) {
		ShowDoubleFloatArrays.showArrays(mask_kernel.clone(), mside, mside,
		"refineMotionVectors-mask-boost"+recalc_mv_boost+"-r0_" + recalc_mv_r0 + "-r1_" + recalc_mv_r1+"-niter"+dbg_iter_index);
		"refineMotionVectors-mask-boost"+recalc_mv_boost+"-r0_" + recalc_mv_r0 + "-r1_" + recalc_mv_r1+"-niter"+dbg_iter_index+dbg_suffix);
		}

		// Allocate staging array once; each nseq clears only the frames it needs
		@@ -2122,7 +2137,7 @@ public class CuasMotion {
		int frame_center = frame0 + nseq * corr_inc;
		// Center the boosted correlation window on frame_center
		int frame0_ref = frame_center - corr_pairs_ref / 2;
		int frame1_ref = frame0_ref + corr_offset;
		int frame1_ref = frame0_ref + corr_offset_eff;

		// Determine the frame range actually accessed by correlatePairs
		// (pairs where frame0+dframe>=0 AND frame1+dframe<nframes)
		@@ -2199,7 +2214,7 @@ public class CuasMotion {
		? scene_titles_all[f] : "f" + f;
		}
		ShowDoubleFloatArrays.showArrays(stack_slices, width, height, true,
		"refineMotionVectors-boost"+recalc_mv_boost+"-masked-nseq" + nseq+"-niter"+dbg_iter_index, stack_titles);
		"refineMotionVectors-boost"+recalc_mv_boost+"-masked-nseq" + nseq+"-niter"+dbg_iter_index+dbg_suffix, stack_titles);
		}
		if ((nseq == dbg_nseq) && (debugLevel >= 0) && (dbg_iter_index<= max_index_dbg)) {
		int fcount = fmax_alloc - fmin_alloc + 1;
		@@ -2212,7 +2227,7 @@ public class CuasMotion {
		? scene_titles_all[f] : "f" + f;
		}
		ShowDoubleFloatArrays.showArrays(stack_slices, width, height, true,
		"refineMotionVectors-boost"+recalc_mv_boost+"-nseq" + nseq+"-niter"+dbg_iter_index, stack_titles);
		"refineMotionVectors-boost"+recalc_mv_boost+"-nseq" + nseq+"-niter"+dbg_iter_index+dbg_suffix, stack_titles);
		}

		TDCorrTile[] tdCorrTiles = cuasMotion.correlatePairs( // By Claude on 05/06/2026
		@@ -2255,18 +2270,25 @@ public class CuasMotion {
		double[] target = targets_nonoverlap[nseq][ntile];
		if (target == null \|\| Double.isNaN(target[CuasMotionLMA.RSLT_X])) continue;
		if (vector_field[ntile] == null) continue;
		double scaled_dvx = vector_field[ntile][INDX_VX] / corr_offset_scale; // By Claude on 05/13/2026
		double scaled_dvy = vector_field[ntile][INDX_VY] / corr_offset_scale;
		if (ntile == dbg_tile && debugLevel >= 0) {
		System.out.printf("refineMotionVectors(): nseq=%3d ntile=%4d before: VX=%9.4f VY=%9.4f delta: dVX=%8.4f dVY=%8.4f after: VX1=%9.4f VY1=%9.4f VSTR=%9.4f\n",
		nseq, ntile,
		target[CuasMotionLMA.RSLT_VX], target[CuasMotionLMA.RSLT_VY],
		vector_field[ntile][INDX_VX], vector_field[ntile][INDX_VY],
		target[CuasMotionLMA.RSLT_VX] + vector_field[ntile][INDX_VX],
		target[CuasMotionLMA.RSLT_VY] + vector_field[ntile][INDX_VY],
		scaled_dvx, scaled_dvy,
		target[CuasMotionLMA.RSLT_VX] + scaled_dvx,
		target[CuasMotionLMA.RSLT_VY] + scaled_dvy,
		vector_field[ntile][INDX_STR]);
		}
		target[CuasMotionLMA.RSLT_VX] += vector_field[ntile][INDX_VX]; // disable for testing
		target[CuasMotionLMA.RSLT_VY] += vector_field[ntile][INDX_VY];
		target[CuasMotionLMA.RSLT_VX] += scaled_dvx;
		target[CuasMotionLMA.RSLT_VY] += scaled_dvy;
		target[CuasMotionLMA.RSLT_VSTR] = vector_field[ntile][INDX_STR];
		target[CuasMotionLMA.RSLT_VCORR] = Math.sqrt(scaled_dvxscaled_dvx + scaled_dvyscaled_dvy);
		if ((mv_diff_max > 0) && (target[CuasMotionLMA.RSLT_VCORR] > mv_diff_max) && !(target[CuasMotionLMA.RSLT_FAIL] > 0 )) {
		target[CuasMotionLMA.RSLT_FAIL] = CuasMotionLMA.FAIL_VCORR; // set when?
		// set RSLT_WHEN - will be set in public static int addNewResults()
		}
		}
		}
		// Debug: CORR2D overview — one slice per keyframe, same layout as *CORR2D.tiff
		@@ -2293,7 +2315,7 @@ public class CuasMotion {
		dbg_2d_corrs,
		cuasMotion.tilesX * (corr_size + 1),
		cuasMotion.tilesY * (corr_size + 1),
		"refineMotionVectors-CORR2D-boost"+recalc_mv_boost+"-n"+dbg_iter_index,
		"refineMotionVectors-CORR2D-boost"+recalc_mv_boost+"-n"+dbg_iter_index+dbg_suffix,
		slice_titles_ref).show();
		}
		}
		@@ -8084,10 +8106,16 @@ public class CuasMotion {
		System.out.println("\n========================== Starting centered iterations =============================.\n");
		}
		// By Claude on 05/05/2026 — optional MV refinement parameters for centered loop
		boolean recalc_mv = clt_parameters.imp.cuas_recalc_mv && !slow_mode;
		// boolean recalc_mv = clt_parameters.imp.cuas_recalc_mv && !slow_mode;
		int recalc_mv_num = slow_mode ? 0 : clt_parameters.imp.cuas_recalc_mv_num;
		double recalc_mv_boost = clt_parameters.imp.cuas_recalc_mv_boost;
		double recalc_mv_corr = clt_parameters.imp.cuas_recalc_mv_corr;
		double recalc_mv_r0 = clt_parameters.imp.cuas_recalc_mv_r0;
		double recalc_mv_r1 = clt_parameters.imp.cuas_recalc_mv_r1;
		double recalc_mv_r0f = clt_parameters.imp.cuas_recalc_mv_r0f;
		double recalc_mv_r1f = clt_parameters.imp.cuas_recalc_mv_r1f;
		double recalc_mv_max2 = clt_parameters.imp.cuas_recalc_mv_max2;
		int recalc_mv_icorr = (int) Math.round(recalc_mv_corr);

		double lma_rrms2 = clt_parameters.imp.cuas_lma_rrms2; // = 0.15; // Maximal relative to A rms. OK is when (RMS < cuas_lma_arms) \|\| (RMS < cuas_lma_rrms * A)
		double lma_mina2 = clt_parameters.imp.cuas_lma_mina2; // = 1.0; // Minimal A (amplitude)
		@@ -8231,7 +8259,8 @@ public class CuasMotion {
		if (accum_boosted) {
		// Andrey 05/05/2026 moved here (earlier) so shiftAndRenderAccumulate() will use updated motion vector
		// By Claude on 05/05/2026 — re-correlate with spatial mask around known target
		if (recalc_mv) {
		if (recalc_mv_num > 0) {
		int corr_offset_scale = (int) Math.round(recalc_mv_boost); // TODO: promote to config or derive from other params
		refineMotionVectors(
		clt_parameters, // CLTParameters clt_parameters,
		batch_mode, // boolean batch_mode,
		@@ -8246,9 +8275,33 @@ public class CuasMotion {
		half_accum_range, // int half_accum_range,
		smooth, // boolean smooth,
		corr_offset, // int corr_offset,
		recalc_mv_icorr, // int corr_offset_scale,
		0, // double mv_diff_max, // if > 0, fail for high MV correction
		"-first", // String dbg_suffix,
		niter - niter0, // int dbg_iter_index,
		debugLevel); // -1); // debugLevel); // int debugLevel)
		if (recalc_mv_num > 1) {
		refineMotionVectors( // just testing conversion
		clt_parameters, // CLTParameters clt_parameters,
		batch_mode, // boolean batch_mode,
		cuasMotion, // CuasMotion cuasMotion,
		recalc_mv_boost, // double recalc_mv_boost,
		recalc_mv_r0f, // double recalc_mv_r0,
		recalc_mv_r1f, // double recalc_mv_r1,
		fpixels_refine, // By Claude on 05/07/2026: LPF'd with precorr_ra (was fpixels_tum)
		targets_nonoverlap, // double [][][] targets_nonoverlap,
		frame0, // int frame0,
		corr_inc, // int corr_inc,
		half_accum_range, // int half_accum_range,
		smooth, // boolean smooth,
		corr_offset, // int corr_offset,
		recalc_mv_icorr, // final int corr_offset_scale,
		recalc_mv_max2, // double mv_diff_max, // if > 0, fail for high MV correction
		"-second", // String dbg_suffix,
		niter - niter0, // int dbg_iter_index,
		debugLevel); // -1); // debugLevel); // int debugLevel)
		}
		}
		double [][][] extended_scan = extendMotionScan(
		targets_nonoverlap, // final double [][][] motion_scan,
		null, // filter5, // final boolean [][] filtered, // centers, should be non-overlapped
		@@ -8356,9 +8409,10 @@ public class CuasMotion {
		}
		}
		if (accum_base) {
		// int corr_offset_scale = 4; // (int) Math.round(recalc_mv_boost); // TODO: promote to config or derive from other params
		// Andrey 05/05/2026 moved here (earlier) so shiftAndRenderAccumulate() will use updated motion vector
		// By Claude on 05/05/2026 — re-correlate with spatial mask around known target
		if (recalc_mv) {
		if (recalc_mv_num > 0) {
		refineMotionVectors(
		clt_parameters, // CLTParameters clt_parameters,
		batch_mode, // boolean batch_mode,
		@@ -8373,8 +8427,32 @@ public class CuasMotion {
		half_accum_range, // int half_accum_range,
		smooth, // boolean smooth,
		corr_offset, // int corr_offset,
		recalc_mv_icorr, // final int corr_offset_scale,
		0, // double mv_diff_max, // if > 0, fail for high MV correction
		"-first", // String dbg_suffix,
		niter - niter0, // int dbg_iter_index,
		debugLevel); // -1); // debugLevel); // int debugLevel)
		if (recalc_mv_num > 1) {
		refineMotionVectors(
		clt_parameters, // CLTParameters clt_parameters,
		batch_mode, // boolean batch_mode,
		cuasMotion, // CuasMotion cuasMotion,
		1.0, // recalc_mv_boost, // double recalc_mv_boost,
		recalc_mv_r0f, // double recalc_mv_r0,
		recalc_mv_r1f, // double recalc_mv_r1,
		fpixels_refine, // By Claude on 05/07/2026: LPF'd with precorr_ra (was fpixels_tum)
		targets_nonoverlap, // double [][][] targets_nonoverlap,
		frame0, // int frame0,
		corr_inc, // int corr_inc,
		half_accum_range, // int half_accum_range,
		smooth, // boolean smooth,
		corr_offset, // int corr_offset,
		recalc_mv_icorr, // final int corr_offset_scale,
		recalc_mv_max2, // double mv_diff_max, // if > 0, fail for high MV correction
		"-second", // String dbg_suffix,
		niter - niter0, // int dbg_iter_index,
		debugLevel); // -1); // debugLevel); // int debugLevel)
		}
		}
		double [][][] extended_scan = extendMotionScan(
		targets_nonoverlap, // final double [][][] motion_scan,

src/main/java/com/elphel/imagej/cuas/CuasMotionLMA.java

+54 −53

Original line number	Diff line number	Diff line
		@@ -83,58 +83,58 @@ public class CuasMotionLMA {
		public static final int RSLT_VSTR = 19;
		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_BX = 22;
		public static final int RSLT_BY = 23; // RSLT_BX+1;
		public static final int RSLT_AX = 24; // RSLT_BX+2;
		public static final int RSLT_AY = 25; // RSLT_BX+3;
		public static final int RSLT_MISMATCH_BEFORE = 26;
		public static final int RSLT_MISMATCH_AFTER = 27; // RSLT_MISMATCH_BEFORE+1;
		public static final int RSLT_MISMATCH_DIRS= 28;
		public static final int RSLT_MATCH_LENGTH= 29; // is one less than the total length (0 - isolated)
		public static final int RSLT_BEFORE_LENGTH= 30; // just for debug
		public static final int RSLT_AFTER_LENGTH= 31; // just for debug
		public static final int RSLT_SEQ_TRAVEL= 32;
		public static final int RSLT_MSCORE = 33;
		public static final int RSLT_QA = 34;
		public static final int RSLT_QRMS = 35;
		public static final int RSLT_QRMS_A = 36;
		public static final int RSLT_QCENTER = 37;
		public static final int RSLT_QMATCH = 38;
		public static final int RSLT_QMATCH_LEN= 39;
		public static final int RSLT_QTRAVEL= 40;
		public static final int RSLT_QSCORE = 41;
		public static final int RSLT_STRONGER = 42; // index of stronger neighbor (may be more)
		public static final int RSLT_SLOW = 43; // 1 - slow, 0 - fast
		public static final int RSLT_WHEN = 44;
		public static final int RSLT_FAIL = 45;
		public static final int RSLT_DISPARITY= 46; // disparity from single keyframe sequences
		public static final int RSLT_DISP_DIFF= 47; // disparity difference between what?
		public static final int RSLT_DISP_STR = 48; // disparity strength
		public static final int RSLT_RANGE = 49; // range (meters) found from RSLT_DISPARITY, modified by RSLT_INFINITY
		public static final int RSLT_GLOBAL = 50; // local target ID (1-based)
		public static final int RSLT_GLENGTH = 51; // length (symmetrical around this one) for which disparity and range are provided
		public static final int RSLT_GDISPARITY= 52; // disparity from accumulation of the range (RSLT_GLENGTH)
		public static final int RSLT_GDISP_DIFF= 53; // disparity difference for a range
		public static final int RSLT_GDISP_STR = 54; // disparity strength for a range
		public static final int RSLT_GRANGE = 55; // global range - calculated for long sequences (and its fractions)
		public static final int RSLT_FL_PX = 56; // flight log px
		public static final int RSLT_FL_PY = 57; // flight log py
		public static final int RSLT_FL_DISP = 58; // flight log true disparity
		public static final int RSLT_FL_RANGE = 59; // flight log range (meters)
		public static final int RSLT_INFINITY = 60; // disparity at infinity used for range calculation
		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_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_VEL_RIGHT = 63; // lateral velocity, right ( calculated from angular and RSLT_GRANGE
		public static final int RSLT_VEL_UP = 64; // lateral velocity, up ( calculated from angular and RSLT_GRANGE
		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_VCORR = 22; // Last correction of VX, VY during refine (large correction means failed correction)
		public static final int RSLT_BX = 23;
		public static final int RSLT_BY = 24; // RSLT_BX+1;
		public static final int RSLT_AX = 25; // RSLT_BX+2;
		public static final int RSLT_AY = 26; // RSLT_BX+3;
		public static final int RSLT_MISMATCH_BEFORE = 27;
		public static final int RSLT_MISMATCH_AFTER = 28; // RSLT_MISMATCH_BEFORE+1;
		public static final int RSLT_MISMATCH_DIRS= 29;
		public static final int RSLT_MATCH_LENGTH= 30; // is one less than the total length (0 - isolated)
		public static final int RSLT_BEFORE_LENGTH= 31; // just for debug
		public static final int RSLT_AFTER_LENGTH= 32; // just for debug
		public static final int RSLT_SEQ_TRAVEL= 33;
		public static final int RSLT_MSCORE = 34;
		public static final int RSLT_QA = 35;
		public static final int RSLT_QRMS = 36;
		public static final int RSLT_QRMS_A = 37;
		public static final int RSLT_QCENTER = 38;
		public static final int RSLT_QMATCH = 39;
		public static final int RSLT_QMATCH_LEN= 40;
		public static final int RSLT_QTRAVEL= 41;
		public static final int RSLT_QSCORE = 42;
		public static final int RSLT_STRONGER = 43; // index of stronger neighbor (may be more)
		public static final int RSLT_SLOW = 44; // 1 - slow, 0 - fast
		public static final int RSLT_WHEN = 45;
		public static final int RSLT_FAIL = 46;
		public static final int RSLT_DISPARITY= 47; // disparity from single keyframe sequences
		public static final int RSLT_DISP_DIFF= 48; // disparity difference between what?
		public static final int RSLT_DISP_STR = 49; // disparity strength
		public static final int RSLT_RANGE = 50; // range (meters) found from RSLT_DISPARITY, modified by RSLT_INFINITY
		public static final int RSLT_GLOBAL = 51; // local target ID (1-based)
		public static final int RSLT_GLENGTH = 52; // length (symmetrical around this one) for which disparity and range are provided
		public static final int RSLT_GDISPARITY= 53; // disparity from accumulation of the range (RSLT_GLENGTH)
		public static final int RSLT_GDISP_DIFF= 54; // disparity difference for a range
		public static final int RSLT_GDISP_STR = 55; // disparity strength for a range
		public static final int RSLT_GRANGE = 56; // global range - calculated for long sequences (and its fractions)
		public static final int RSLT_FL_PX = 57; // flight log px
		public static final int RSLT_FL_PY = 58; // flight log py
		public static final int RSLT_FL_DISP = 59; // flight log true disparity
		public static final int RSLT_FL_RANGE = 60; // flight log range (meters)
		public static final int RSLT_INFINITY = 61; // disparity at infinity used for range calculation
		public static final int RSLT_TARGET_ID = 62; // unique target id for the whole sequence of segments. 1 is reserved for the UAS
		public static final int RSLT_VEL_AWAY = 63; // 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 = 64; // lateral velocity, right ( calculated from angular and RSLT_GRANGE
		public static final int RSLT_VEL_UP = 65; // lateral velocity, up ( calculated from angular and RSLT_GRANGE
		public static final int RSLT_RANGE_LIN = 66; // 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 String [] LMA_TITLES =
		{"X-OFFS","Y-OFFS", "AMPLITUDE", "RADIUS","RAD_POS", "OVERSHOOT","OFFSET","RMSE","RMSE/A","MAX2A","ITERATIONS",
		"CENTERED", "EXP-BOOST",
		"Centr-X","Centr-Y","Centr-max","Centr-frac",
		"Vx", "Vy", "V-conf","V-frac", "V-boost",// from motion vectors
		"Vx", "Vy", "V-conf","V-frac", "V-boost","V-corr",// from motion vectors
		"X-before", "Y-before","X-after","Y-after", // from getHalfBeforeAfterPixXY()
		"ERR-BEFORE", "ERR-AFTER", "BA-DIRS", // before dir + 16*after dir
		"Match-length",
		@@ -166,12 +166,13 @@ public class CuasMotionLMA {
		public static final int FAIL_K_LOW = 13; // Overshoot is too low (not used, it can be down to 0)
		public static final int FAIL_K_HIGH = 14; // Overshoot is too high
		public static final int FAIL_FAR = 15; // Peak is too far from the center
		public static final int FAIL_HORIZON = 16; // Peak is below horizon
		public static final int FAIL_MISMATCH = 17; // Mismatch on both ends is too high
		public static final int FAIL_NEIGHBOR = 18; // failed because some neighbor is stronger
		public static final int FAIL_DUPLICATE= 19; // coordinate are (almost) the same as those of a stronger tile
		public static final int FAIL_USED= 20; // non-centered used to generate centered, remove this
		public static final int FAIL_FL_ONLY= 21; // Flight log data only, no target detected here
		public static final int FAIL_VCORR = 16; // MV refinement (fine pass) resulted in a too high correction (not yet checked)
		public static final int FAIL_HORIZON = 17; // Peak is below horizon
		public static final int FAIL_MISMATCH = 18; // Mismatch on both ends is too high
		public static final int FAIL_NEIGHBOR = 19; // failed because some neighbor is stronger
		public static final int FAIL_DUPLICATE= 20; // coordinate are (almost) the same as those of a stronger tile
		public static final int FAIL_USED= 21; // non-centered used to generate centered, remove this
		public static final int FAIL_FL_ONLY= 22; // Flight log data only, no target detected here

		public static final int CENTERED_NO = 0;
		public static final int CENTERED_YES = 1;

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

+47 −12

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