moving objects detection during pose matching (54ecece0) · Commits · Elphel / imagej-elphel

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

+7 −2

Original line number	Diff line number	Diff line
		@@ -519,7 +519,7 @@ public class CorrVector{ // TODO: Update to non-quad (extract to a file first)?

		public double [] getIMU() {
		// double [] imu = {vector[IMU_INDEX + 0], vector[IMU_INDEX + 1], vector[IMU_INDEX + 2],vector[IMU_INDEX + 3], vector[IMU_INDEX + 4], vector[IMU_INDEX + 5]};
		int indx = getZoomIndex();
		int indx = getIMUIndex(); // Was bug: getZoomIndex();
		double [] imu = new double[6];
		for (int i = 0; i < imu.length; i++) {
		imu[i] = vector[indx + i];
		@@ -528,10 +528,15 @@ public class CorrVector{ // TODO: Update to non-quad (extract to a file first)?
		}

		public void setIMU(double [] imu) {
		int indx = getZoomIndex();
		int indx = getIMUIndex(); // Was bug: getZoomIndex();
		for (int i = 0; i < imu.length; i++) {
		vector [indx + i] = imu[i];
		}
		System.out.print("setIMU(");
		for (int i = 0; i < imu.length; i++) {
		System.out.print(imu[i]+",");
		}
		System.out.println(")");
		}

		public double setZoomsFromF(double [] f) { // USED in lwir

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

+6 −6

Original line number	Diff line number	Diff line
		@@ -67,22 +67,22 @@ public class IntersceneLma {
		full_vector[ErsCorrection.DP_DAZ],full_vector[ErsCorrection.DP_DTL],full_vector[ErsCorrection.DP_DRL]};
		}

		public double [] getSceneERSXYZ(boolean initial) {
		public double [] getSceneERSXYZ(boolean initial) { // never used
		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(boolean initial) {
		public double [] getSceneERSATR(boolean initial) { // never used
		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(boolean initial) {
		public double [] getReferenceERSXYZ(boolean initial) { // never used
		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(boolean initial) {
		public double [] getReferenceERSATR(boolean initial) { // never used
		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]};
		@@ -389,7 +389,7 @@ public class IntersceneLma {
		Matrix wjtjlambda = new Matrix(getWJtJlambda(
		lambda, // *10, // temporary
		this.last_jt)); // double [][] jt)
		if (debug_level > 2) {
		if (debug_level > 3) {
		try {
		System.out.println("getFxDerivs(): getChecksum(this.y_vector)="+ getChecksum(this.y_vector));
		System.out.println("getFxDerivs(): getChecksum(this.weights)="+ getChecksum(this.weights));
		@@ -793,7 +793,7 @@ public class IntersceneLma {
		fx [i + 2 * macrotile_centers.length] = vector[i]; // - parameters_initial[i]; // scale will be combined with weights
		jt[i][i + 2 * macrotile_centers.length] = 1.0; // scale will be combined with weights
		}
		if (debug_level > 2) {
		if (debug_level > 3) {
		try {
		System.out.println ("getFxDerivs(): getChecksum(fx)="+getChecksum(fx));
		if (jt != null) {

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

+99 −2

Original line number	Diff line number	Diff line
		@@ -116,6 +116,22 @@ public class IntersceneMatchParameters {
		public double maybe_avg = 0.005; // maybe average strength
		public double shure_avg = 0.015; // sure average strength

		// Reference scene disparity
		public boolean use_combo_dsi = true; // use interscene DSI if available (instead of the single-scene)
		public boolean use_lma_dsi = true; // only use reference DSI tiles that have LMA (strong) disparity

		// Remove moving objects (goal is not to detect slightest movement, but to improve pose matching
		public boolean mov_en = true; // enable detection/removal of the moving objects during pose matching
		public double mov_sigma = 1.5; // pix - weighted-blur offsets before detection
		// next two to prevent motion detection while errors are too big
		public double mov_max_std = 0.5; // pix
		public double mov_thresh_rel = 3.5; // .0; // exceed average error
		public double mov_thresh_abs= 0.5; // sqrt(dx^2+dy^2) in moving areas
		public double mov_clust_max = 1.5; // cluster maximum should exceed threshold this times
		public int mov_grow = 4; // grow detected moving area
		public boolean mov_show = true; // show debug images for movement detection
		public int mov_debug_level = 1; // >0 verbose


		//LMA parameters
		public boolean [] adjust_atr = new boolean [] {true,true,true};
		@@ -126,7 +142,7 @@ public class IntersceneMatchParameters {
		public int max_LMA = 25; // hard limit on LMA iterations
		public double max_rms = 2.0; // maximal RMS to consider adjustment to be a failure

		// Debug and visualisation
		// Debug and visualization
		public boolean scene_is_ref_test= false; // correlate ref-2-ref for testing
		private boolean render_ref = true; // render reference scene
		private boolean render_scene = true; // render scene to be correlated with ref
		@@ -147,6 +163,10 @@ public class IntersceneMatchParameters {
		public boolean showMotionVectors() {return (debug_level>1) && show_motion_vectors;}
		public boolean showCorrMotion() {return (debug_level>0) && show_motion_vectors;}

		public boolean showMovementDetection(){return (debug_level>0) && mov_show;}
		public int movDebugLevel() {return (debug_level > -1) ? mov_debug_level : 0;}


		public IntersceneMatchParameters() {

		}
		@@ -317,6 +337,32 @@ public class IntersceneMatchParameters {
		gd.addNumericField("\"Sure\" average of strengths", this.shure_avg, 5,7,"",
		"Definitely sufficient average of defined tiles strengths (will non continue looking for better).");

		gd.addMessage ("Reference scene disparity");
		gd.addCheckbox ("Use combo DSI (if available)", this.use_combo_dsi,
		"Use interscene DSI if available (instead of the single-scene)");
		gd.addCheckbox ("LMA tiles only", this.use_lma_dsi,
		"Use only strong correlation tiles (with LMA available) for interscene correlation (pose matching)");

		gd.addMessage ("Detect and remove moving objects from pose matching");
		gd.addCheckbox ("Enable movement detection/elimination", this.mov_en,
		"Detect and mask areas with detected movement to improve pose matching");
		gd.addNumericField("Detection blur sigma", this.mov_sigma, 6,7,"pix",
		"Blur squared difference (dx^2+dy^2) befopre thresholding for movement detection");
		gd.addNumericField("Max weighted mismatch std", this.mov_max_std, 6,7,"pix",
		"Do not try to detect moving objects until approximate pose match is achieved (standard deviation)");
		gd.addNumericField("Relative threshold", this.mov_thresh_rel, 6,7,"x",
		"Moving areas over standard deviation. Both relative and absolute should be exceeded.");
		gd.addNumericField("Absolute threshold", this.mov_thresh_abs, 6,7,"pix",
		"Moving areas sqrt(dxdx+dydy). Both relative and absolute should be exceeded.");
		gd.addNumericField("Cluster max over threshold", this.mov_clust_max, 6,7,"",
		"Moving cluster should contain tile with this exceed over thresholds");
		gd.addNumericField("Moving cluster grow", this.mov_grow, 0,3,"",
		"Standard grow values - 1 - ortho, 2 - diagonal, 3 - twice orto, 4 - twice diagonal");
		gd.addCheckbox ("Show movement debug images", this.mov_show,
		"Disabled if 'Debug Level for interscene match' < 1");
		gd.addNumericField("Debug level for movement detection (0/1)", this.mov_debug_level, 0,3,"",
		"Disabled if 'Debug Level for interscene match' < 0");

		gd.addMessage ("LMA parameters");
		gd.addCheckbox ("Azimuth", this.adjust_atr[0],
		"Adjust scene camera azimuth with LMA");
		@@ -447,6 +493,20 @@ public class IntersceneMatchParameters {
		this.shure_sum = gd.getNextNumber();
		this.maybe_avg = gd.getNextNumber();
		this.shure_avg = gd.getNextNumber();

		this.use_combo_dsi = gd.getNextBoolean();
		this.use_lma_dsi = gd.getNextBoolean();

		this.mov_en = gd.getNextBoolean();
		this.mov_sigma = gd.getNextNumber();
		this.mov_max_std = gd.getNextNumber();
		this.mov_thresh_rel = gd.getNextNumber();
		this.mov_thresh_abs = gd.getNextNumber();
		this.mov_clust_max = gd.getNextNumber();
		this.mov_grow = (int) gd.getNextNumber();
		this.mov_show = gd.getNextBoolean();
		this.mov_debug_level = (int) gd.getNextNumber();

		this.adjust_atr[0] = gd.getNextBoolean();
		this.adjust_atr[1] = gd.getNextBoolean();
		this.adjust_atr[2] = gd.getNextBoolean();
		@@ -548,6 +608,18 @@ public class IntersceneMatchParameters {
		properties.setProperty(prefix+"shure_sum", this.shure_sum+""); // double
		properties.setProperty(prefix+"maybe_avg", this.maybe_avg+""); // double
		properties.setProperty(prefix+"shure_avg", this.shure_avg+""); // double
		properties.setProperty(prefix+"use_combo_dsi", this.use_combo_dsi+""); // boolean
		properties.setProperty(prefix+"use_lma_dsi", this.use_lma_dsi+""); // boolean
		properties.setProperty(prefix+"mov_en", this.mov_en+""); // boolean
		properties.setProperty(prefix+"mov_sigma", this.mov_sigma+""); // double
		properties.setProperty(prefix+"mov_max_std", this.mov_max_std+""); // double
		properties.setProperty(prefix+"mov_thresh_rel", this.mov_thresh_rel+""); // double
		properties.setProperty(prefix+"mov_thresh_abs", this.mov_thresh_abs+""); // double
		properties.setProperty(prefix+"mov_clust_max", this.mov_clust_max+""); // double
		properties.setProperty(prefix+"mov_grow", this.mov_grow+""); // int
		properties.setProperty(prefix+"mov_show", this.mov_show+""); // boolean
		properties.setProperty(prefix+"mov_debug_level", this.mov_debug_level+""); // int

		properties.setProperty(prefix+"adjust_atr_0", this.adjust_atr[0]+""); // boolean
		properties.setProperty(prefix+"adjust_atr_1", this.adjust_atr[1]+""); // boolean
		properties.setProperty(prefix+"adjust_atr_2", this.adjust_atr[2]+""); // boolean
		@@ -566,7 +638,6 @@ public class IntersceneMatchParameters {
		properties.setProperty(prefix+"show_2d_correlations", this.show_2d_correlations+"");// boolean
		properties.setProperty(prefix+"show_motion_vectors", this.show_motion_vectors+""); // boolean
		properties.setProperty(prefix+"debug_level", this.debug_level+""); // int

		properties.setProperty(prefix+"test_ers", this.test_ers+""); // boolean
		properties.setProperty(prefix+"test_ers0", this.test_ers0+""); // int
		properties.setProperty(prefix+"test_ers1", this.test_ers1+""); // int
		@@ -647,6 +718,19 @@ public class IntersceneMatchParameters {
		if (properties.getProperty(prefix+"shure_sum")!=null) this.shure_sum=Double.parseDouble(properties.getProperty(prefix+"shure_sum"));
		if (properties.getProperty(prefix+"maybe_avg")!=null) this.maybe_avg=Double.parseDouble(properties.getProperty(prefix+"maybe_avg"));
		if (properties.getProperty(prefix+"shure_avg")!=null) this.shure_avg=Double.parseDouble(properties.getProperty(prefix+"shure_avg"));
		if (properties.getProperty(prefix+"use_combo_dsi")!=null) this.use_combo_dsi=Boolean.parseBoolean(properties.getProperty(prefix+"use_combo_dsi"));
		if (properties.getProperty(prefix+"use_lma_dsi")!=null) this.use_lma_dsi=Boolean.parseBoolean(properties.getProperty(prefix+"use_lma_dsi"));

		if (properties.getProperty(prefix+"mov_en")!=null) this.mov_en=Boolean.parseBoolean(properties.getProperty(prefix+"mov_en"));
		if (properties.getProperty(prefix+"mov_sigma")!=null) this.mov_sigma=Double.parseDouble(properties.getProperty(prefix+"mov_sigma"));
		if (properties.getProperty(prefix+"mov_max_std")!=null) this.mov_max_std=Double.parseDouble(properties.getProperty(prefix+"mov_max_std"));
		if (properties.getProperty(prefix+"mov_thresh_rel")!=null) this.mov_thresh_rel=Double.parseDouble(properties.getProperty(prefix+"mov_thresh_rel"));
		if (properties.getProperty(prefix+"mov_thresh_abs")!=null) this.mov_thresh_abs=Double.parseDouble(properties.getProperty(prefix+"mov_thresh_abs"));
		if (properties.getProperty(prefix+"mov_clust_max")!=null) this.mov_clust_max=Double.parseDouble(properties.getProperty(prefix+"mov_clust_max"));
		if (properties.getProperty(prefix+"mov_grow")!=null) this.mov_grow=Integer.parseInt(properties.getProperty(prefix+"mov_grow"));
		if (properties.getProperty(prefix+"mov_show")!=null) this.mov_show=Boolean.parseBoolean(properties.getProperty(prefix+"mov_show"));
		if (properties.getProperty(prefix+"mov_debug_level")!=null) this.mov_debug_level=Integer.parseInt(properties.getProperty(prefix+"mov_debug_level"));

		if (properties.getProperty(prefix+"adjust_atr_0")!=null) this.adjust_atr[0]=Boolean.parseBoolean(properties.getProperty(prefix+"adjust_atr_0"));
		if (properties.getProperty(prefix+"adjust_atr_1")!=null) this.adjust_atr[1]=Boolean.parseBoolean(properties.getProperty(prefix+"adjust_atr_1"));
		if (properties.getProperty(prefix+"adjust_atr_2")!=null) this.adjust_atr[2]=Boolean.parseBoolean(properties.getProperty(prefix+"adjust_atr_2"));
		@@ -747,6 +831,19 @@ public class IntersceneMatchParameters {
		imp.shure_sum = this.shure_sum;
		imp.maybe_avg = this.maybe_avg;
		imp.shure_avg = this.shure_avg;
		imp.use_combo_dsi = this.use_combo_dsi;
		imp.use_lma_dsi = this.use_lma_dsi;

		imp.mov_en = this.mov_en;
		imp.mov_sigma = this.mov_sigma;
		imp.mov_max_std = this.mov_max_std;
		imp.mov_thresh_rel = this.mov_thresh_rel;
		imp.mov_thresh_abs = this.mov_thresh_abs;
		imp.mov_clust_max = this.mov_clust_max;
		imp.mov_grow = this.mov_grow;
		imp.mov_show = this.mov_show;
		imp.mov_debug_level = this.mov_debug_level;

		imp.adjust_atr[0] = this.adjust_atr[0];
		imp.adjust_atr[1] = this.adjust_atr[1];
		imp.adjust_atr[2] = this.adjust_atr[2];

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