Fixed affine inversion (5e03168f) · Commits · Elphel / imagej-elphel

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

+158 −15

Original line number	Diff line number	Diff line
		@@ -805,12 +805,26 @@ public class ComboMatch {
		int default_choice = 0;
		int num_scene_lines = 50;
		String scene_name = maps_collection.selectOneScene(
		0, // int num_scene,
		default_choice, // int default_choice,
		num_scene_lines); // int num_choice_lines)
		if (scene_name == null) {
		return false;
		}
		if (process_correlation) { // select a second image to match
		// select a second image and set gpu_spair
		int default_choice1 = 0;
		String scene_name1 = maps_collection.selectOneScene(
		1, // int num_scene,
		default_choice1, // int default_choice,
		num_scene_lines); // int num_choice_lines)
		if (scene_name1 == null) {
		return false;
		}
		gpu_spair = new String[] {scene_name, scene_name1};
		} else { // pattern match - single image
		gpu_spair = new String[] {scene_name};
		}
		} else {
		gpu_spair = new String[] {
		maps_collection.ortho_maps[available_pairs[pair][0]].getName(),
		@@ -818,15 +832,19 @@ public class ComboMatch {
		}
		}
		int [] gpu_pair = new int[gpu_spair.length];
		for (int i = 0; i < gpu_pair.length; i++) {
		gpu_pair[i] = maps_collection.getIndex(gpu_spair[i]);
		}
		int min_zoom_lev = maps_collection.ortho_maps[gpu_pair[0]].getOriginalZoomLevel();
		int max_zoom_lev = maps_collection.ortho_maps[gpu_pair[0]].getOriginalZoomLevel();

		double max_agl = maps_collection.ortho_maps[gpu_pair[0]].getAGL();
		for (int i = 0; i < gpu_pair.length; i++) {
		gpu_pair[i] = maps_collection.getIndex(gpu_spair[i]);
		max_agl = Math.max(max_agl, maps_collection.ortho_maps[gpu_pair[i]].getAGL());
		min_zoom_lev = Math.min(min_zoom_lev, maps_collection.ortho_maps[gpu_pair[i]].getOriginalZoomLevel());
		max_zoom_lev = Math.max(max_zoom_lev, maps_collection.ortho_maps[gpu_pair[i]].getOriginalZoomLevel());

		}
		double agl_ratio = max_agl/50.0;
		double metric_error_adj = metric_error * agl_ratio * agl_ratio; // metric_error settings is good for 50m. Increase for higher Maybe squared?
		int initial_zoom = max_zoom_lev - 4; // another algorithm?

		System.out.println("Setting up GPU");
		@@ -849,7 +867,7 @@ public class ComboMatch {
		double [][] affine1 = null;

		if (gpu_spair.length < 2) {
		System.out.println("Selected a single image");
		System.out.println("Selected a single image, not a pair");
		double [][][] affines = {affine0}; // or use affine1 = null as second?
		if (pattern_match) {
		ImagePlus imp_pat_match = maps_collection.patternMatchDualWrap (
		@@ -860,9 +878,23 @@ public class ComboMatch {
		// imp_pat_match.show();
		}

		} else {
		if (process_correlation && !use_marked_image) { // match may or may not exist
		// if match exists - ask if use it. If not - open dialog and start spiral
		pairwiseOrthoMatch = initialPairAdjust(
		clt_parameters, // CLTParameters clt_parameters,
		maps_collection, // OrthoMapsCollection maps_collection,
		frac_remove, // double frac_remove, // = 0.25
		metric_error_adj,// double metric_error,
		gpu_spair, // String[] gpu_spair,
		debugLevel); // int debugLevel)
		if (pairwiseOrthoMatch == null) { // if OK - either match existed or created by SpiralMatch()
		return false;
		}
		} else {
		pairwiseOrthoMatch = maps_collection.ortho_maps[gpu_pair[0]].getMatch(
		maps_collection.ortho_maps[gpu_pair[1]].getName());
		}
		if (pairwiseOrthoMatch == null) {
		System.out.println("No correlation data is available for pairs "+gpu_spair[0]+
		" - "+gpu_spair[1]+" need to implement/search reverse, a spiral search or restart command");
		@@ -874,8 +906,10 @@ public class ComboMatch {
		int [] zooms = {initial_zoom, min_zoom_lev, 1000,1000}; // make automatic
		double scale = 2.0; // scale vectors when warping;
		// int num_tries = 5; // make configurable
		if (!process_correlation) {
		if (!process_correlation \|\| !use_marked_image) { // skip low-res
		zooms = new int[] {min_zoom_lev, 1000};
		}
		if (!process_correlation) { // 0 LMA adjustments
		num_tries_fit = 0;
		update_match = false;
		}
		@@ -884,24 +918,31 @@ public class ComboMatch {
		boolean ignore_prev_rms = true;
		Rectangle woi = new Rectangle(); // used to return actual woi from correlateOrthoPair()
		double [][] ground_planes = null;
		double max_std = 1.5; // maximal standard deviation to limit center area
		double min_std_rad = 2.0; // minimal radius of the central area (if less - fail)

		for (int zi = 0; zi < zooms.length; zi++) {
		zoom_lev = zooms[zi];
		if (zoom_lev >=1000) {
		break;
		}
		boolean show_vf = render_match \|\| pattern_match;
		boolean show_vf = false; // render_match \|\| pattern_match;
		if (render_match \|\| pattern_match) {
		ground_planes = new double [gpu_pair.length][];
		}
		// will modify affines[1], later add jtj, weight, smth. else?
		PairwiseOrthoMatch pmatch = process_correlation? pairwiseOrthoMatch: null;
		FineXYCorr warp = maps_collection.correlateOrthoPair(
		clt_parameters, // CLTParameters clt_parameters,
		(process_correlation? pairwiseOrthoMatch: null), //PairwiseOrthoMatch pairwiseOrthoMatch, // will return statistics
		0, // int min_overlap,
		max_std, // double max_std, // maximal standard deviation to limit center area
		min_std_rad, // double min_std_rad, // minimal radius of the central area (if less - fail)
		frac_remove, // double frac_remove, // = 0.25
		metric_error, // double metric_error,
		metric_error_adj,// double metric_error,
		ignore_prev_rms, // boolean ignore_prev_rms,
		num_tries_fit, // = 5int num_tries, // = 5
		true, // boolean calc_warp,
		true, // boolean calc_warp, (will return null if false)
		batch_mode, // boolean batch_mode,
		gpu_pair, // String [] gpu_spair,
		affines, // double [][][] affines, // on top of GPS offsets
		@@ -910,7 +951,7 @@ public class ComboMatch {
		show_vf, // boolean show_vf,
		ground_planes, // double [][] ground_planes, // null or double[2] - will return ground planes
		debugLevel); // final int debugLevel)
		if (warp == null) {
		if ((warp == null) \|\| ((pmatch != null) && Double.isNaN(pmatch.rms))) {
		System.out.println("Failed correlateOrthoPair()");
		return false;
		}
		@@ -948,10 +989,10 @@ public class ComboMatch {
		// imp_pat_match.show();
		}
		if (render_match) {
		String title=String.format("multi_%03d-%03d_%s-%s_zoom%d_%d",gpu_pair[0],gpu_pair[1],gpu_spair[0],gpu_spair[1],min_zoom_lev,zoom_lev);
		ImagePlus imp_img_pair = maps_collection.renderMulti (
		//_zoom<integer> is needed for opening with "Extract Objects" command
		"multi_"+gpu_spair[0]+"-"+gpu_spair[1]+"_zoom"+min_zoom_lev+"_"+zoom_lev, // String title,
		// false, // boolean use_alt,
		title, // String title,
		OrthoMapsCollection.MODE_IMAGE, // int mode, // 0 - regular image, 1 - altitudes, 2 - black/white mask // boolean use_alt,
		gpu_pair, // int [] indices, // null or which indices to use (normally just 2 for pairwise comparison)
		bounds_to_indices, // boolean bounds_to_indices,
		@@ -978,6 +1019,98 @@ public class ComboMatch {
		}
		return true;
		}
		public static PairwiseOrthoMatch initialPairAdjust(
		CLTParameters clt_parameters,
		OrthoMapsCollection maps_collection,
		double frac_remove, // = 0.25
		double metric_error,
		String[] gpu_spair,
		int debugLevel) {
		int [] gpu_pair = new int[gpu_spair.length];
		gpu_pair[0] = maps_collection.getIndex(gpu_spair[0]);
		int min_zoom_lev = maps_collection.ortho_maps[gpu_pair[0]].getOriginalZoomLevel();
		int max_zoom_lev = maps_collection.ortho_maps[gpu_pair[0]].getOriginalZoomLevel();

		for (int i = 0; i < gpu_pair.length; i++) {
		gpu_pair[i] = maps_collection.getIndex(gpu_spair[i]);
		min_zoom_lev = Math.min(min_zoom_lev, maps_collection.ortho_maps[gpu_pair[i]].getOriginalZoomLevel());
		max_zoom_lev = Math.max(max_zoom_lev, maps_collection.ortho_maps[gpu_pair[i]].getOriginalZoomLevel());
		}
		int initial_zoom = max_zoom_lev - 4; // another algorithm?

		PairwiseOrthoMatch pairwiseOrthoMatch = maps_collection.ortho_maps[gpu_pair[0]].getMatch(
		maps_collection.ortho_maps[gpu_pair[1]].getName());
		// boolean has_match = pairwiseOrthoMatch != null;
		PairwiseOrthoMatch inv_match = maps_collection.ortho_maps[gpu_pair[1]].getMatch(
		maps_collection.ortho_maps[gpu_pair[0]].getName());

		// dialog - ask parameters and if has_match -ask if to use it (then just return true)
		// if has inv - ask and, if yes, = create inverted as initial
		boolean use_exixting_pair = false;
		boolean invert_exixting_pair = false;
		double search_step = 8.0; // pix
		double search_range = 50.0; // pix
		double maximal_rms = 0.25; //
		int min_overlap = 3000; // do not try to match if there is too small overlap (scaled pixels)
		int num_iter_lma = 5;
		GenericJTabbedDialog gd = new GenericJTabbedDialog("Setup SpiralMatch",1200,900);
		if (pairwiseOrthoMatch != null) {
		gd.addCheckbox ("Use existing image pair", use_exixting_pair, "Use existing affine settings for this pair, do not use spiral search.");
		}
		if (inv_match != null) {
		gd.addCheckbox ("Invert existing image pair", invert_exixting_pair, "Invert existing image pair affine transform, do not use spiral search.");
		}
		gd.addNumericField("Spiral search step", search_step, 3,7,"scaled pix", "Distance between spiral search probes, in scaled pixels.");
		gd.addNumericField("Spiral search radius", search_range, 3,7,"scaled pix", "Maximal radius of the spiral search, in scaled pixels.");
		gd.addNumericField("Maximal RMSE", maximal_rms, 3,7,"scaled pix", "Maximal RMSE to consider match, in scaled pixels.");
		gd.addNumericField("Minimal overlap", min_overlap, 0,4,"scaled pix ^ 2","Minimal overlap area in square scaled pixels.");
		gd.addNumericField("LMA iterations", num_iter_lma, 0,2,"", "Number of LMA iterations.");
		gd.showDialog();
		if (gd.wasCanceled()) return null;
		if (pairwiseOrthoMatch != null) {
		use_exixting_pair = gd.getNextBoolean();
		}
		if (inv_match != null) {
		invert_exixting_pair = gd.getNextBoolean();
		}
		search_step= gd.getNextNumber();
		search_range= gd.getNextNumber();
		maximal_rms = gd.getNextNumber();
		min_overlap = (int) gd.getNextNumber();
		num_iter_lma = (int) gd.getNextNumber();
		if (use_exixting_pair) {
		if (invert_exixting_pair) {
		System.out.println("Both direct and inverted matches are selected, using direct match");
		}
		return pairwiseOrthoMatch;
		} else if (invert_exixting_pair) {
		double [] enuOffset = maps_collection.ortho_maps[gpu_pair[0]].enuOffsetTo(maps_collection.ortho_maps[gpu_pair[1]]);
		double [] rd = {enuOffset[0], -enuOffset[1]}; // {right,down} of the image
		// create inverted pairwiseOrthoMatch - move to PairwiseOrthoMatch
		return inv_match.getInverse(rd);
		}
		double [][] affine0 = {{1,0,0},{0,1,0}}; // will always stay the same
		double [][] affine1 = {{1,0,0},{0,1,0}}; // here (manual mode) start from the center, may use prediction in auto
		double [][][] affines = new double[][][] {affine0,affine1};

		pairwiseOrthoMatch = maps_collection.SpiralMatch (
		clt_parameters, // CLTParameters clt_parameters,
		// PairwiseOrthoMatch pairwiseOrthoMatch, // will return statistics, may be null if not needed
		frac_remove, // double frac_remove, // = 0.25
		metric_error, // double metric_error,
		gpu_pair, // int [] gpu_pair,
		affines, // double [][][] affines_init, // here in meters, relative to vertical points
		initial_zoom, // int zoom_lev,
		search_step, // double pix_step,
		search_range, // double pix_range,
		maximal_rms, // double need_rms,
		num_iter_lma, // int num_tries, // = 5
		min_overlap, // int min_overlap, // 3000
		debugLevel); // int debugLevel){
		return pairwiseOrthoMatch;
		}



		public static boolean updateBlBcFileNames(
		String suffix,
		@@ -1375,7 +1508,9 @@ adjusted affines[1] for a pair: 1694564291_293695/1694564778_589341
		// get TD interscene correlation of 2 scenes, use only combo (all channels) data
		TDCorrTile [] corr_tiles = TDCorrTile.getFromGpu(
		GPU_QUAD_AFFINE);
		double neib_radius = clt_parameters.imp.rln_neib_radius;;

		// depends on zoom level
		double neib_radius = clt_parameters.imp.rln_neib_radius;
		boolean rln_neibs_fill = clt_parameters.imp.rln_neibs_fill;
		double rln_fat_zero = clt_parameters.imp.rln_fat_zero;
		boolean rln_use_neibs = clt_parameters.imp.rln_use_neibs;
		@@ -1384,6 +1519,14 @@ adjusted affines[1] for a pair: 1694564291_293695/1694564778_589341
		double rln_sngl_rstr = clt_parameters.imp.rln_sngl_rstr;
		double rln_neib_rstr = clt_parameters.imp.rln_neib_rstr;

		double max_neib_radius = Math.min(woi.width, woi.height)/GPUTileProcessor.DTT_SIZE * clt_parameters.imp.rln_radius_frac;
		if (neib_radius > max_neib_radius) {
		neib_radius = max_neib_radius;
		}




		double [][][] corr_tiles_pd = new double [(neib_radius>0)? 2: 1][][];
		// use TDCorrTile.calcNeibs() here to get 8-neighbors
		corr_tiles_pd[0] = TDCorrTile.convertTDtoPD(

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

+2 −0

Original line number	Diff line number	Diff line
		@@ -3005,6 +3005,7 @@ public class OrthoMap implements Comparable <OrthoMap>, Serializable{
		}
		return true;
		}

		public static double [][] combineAffine(
		double [][] ref_affine,
		double [][] other_affine){
		@@ -3023,6 +3024,7 @@ public class OrthoMap implements Comparable <OrthoMap>, Serializable{
		}



		/**
		* Get planar approximation of the ground
		*

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