Before removing interCorrPair_old() (6c3ff670) · Commits · Elphel / imagej-elphel

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

+107 −20

Original line number	Original line	Diff line number	Diff line
	@@ -4552,6 +4552,10 @@ public class OpticalFlow {
	}		}
	scenes_xyzatr[scene_index] = new double [][] {new double[3], use_atr};		scenes_xyzatr[scene_index] = new double [][] {new double[3], use_atr};
	} else { // assume linear motion		} else { // assume linear motion
			if (scene_index == debug_scene) {
			System.out.println("adjusting orientation, scene_index="+scene_index);
			System.out.println("adjusting orientation, scene_index="+scene_index);
			}
	int num_avg = 1; // 3;		int num_avg = 1; // 3;
	double scale_xyz = 0.0; // 0.5;		double scale_xyz = 0.0; // 0.5;
	int na = num_avg;		int na = num_avg;
	@@ -6229,6 +6233,8 @@ public class OpticalFlow {
	double sure_fom = clt_parameters.imp.sure_fom; // 10.0; // good - 30, second good - 10		double sure_fom = clt_parameters.imp.sure_fom; // 10.0; // good - 30, second good - 10
	boolean treat_serch_fpn = clt_parameters.imp.treat_serch_fpn;// use FPN (higher) thresholds during search (even if offset is not small)		boolean treat_serch_fpn = clt_parameters.imp.treat_serch_fpn;// use FPN (higher) thresholds during search (even if offset is not small)

			boolean use_lma_dsi = clt_parameters.imp.use_lma_dsi;

	double [][] pose = new double [2][3];		double [][] pose = new double [2][3];
	double angle_per_step = reference_QuadClt.getGeometryCorrection().getCorrVector().getTiltAzPerPixel() * pix_step;		double angle_per_step = reference_QuadClt.getGeometryCorrection().getCorrVector().getTiltAzPerPixel() * pix_step;
	double [][] atrs = new double [(2search_rad+1)(2*search_rad+1)][];		double [][] atrs = new double [(2search_rad+1)(2*search_rad+1)][];
	@@ -6242,6 +6248,35 @@ public class OpticalFlow {
	int num_good=0;		int num_good=0;
	double [] use_atr = null;		double [] use_atr = null;
	int dbg_ntry = 61;		int dbg_ntry = 61;

			// testing switching to use interCorrPair() instead of interCorrPair_old():
			boolean use_new_mode = true;
			double [] ref_disparity = null;
			double [][] pXpYD_ref = null;
			TpTask[] tp_tasks_ref = null;
			if (use_new_mode) {
			ref_disparity = reference_QuadClt.getDLS()[use_lma_dsi?1:0];
			pXpYD_ref = transformToScenePxPyD( // full size - [tilesX*tilesY], some nulls
			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?)
			ZERO3, // final double [] scene_xyz, // camera center in world coordinates
			ZERO3, // final double [] scene_atr, // camera orientation relative to world frame
			reference_QuadClt, // final QuadCLT scene_QuadClt,
			reference_QuadClt); // final QuadCLT reference_QuadClt)
			tp_tasks_ref = setReferenceGPU (
			clt_parameters, // CLTParameters clt_parameters,
			reference_QuadClt, // QuadCLT ref_scene,
			ref_disparity, // double [] ref_disparity, // null or alternative reference disparity
			pXpYD_ref, // double [][] ref_pXpYD,
			reliable_ref, // final boolean [] selection, // may be null, if not null do not process unselected tiles
			margin, // final int margin,
			// motion blur compensation
			0.0, // double mb_tau, // 0.008; // time constant, sec
			0.0, // double mb_max_gain, // 5.0; // motion blur maximal gain (if more - move second point more than a pixel
			null, // double [][] mb_vectors, // now [2][ntiles];
			debugLevel)[0]; // int debug_level)
			}

	try_around:		try_around:
	for (rad = 00; rad <= search_rad; rad++) {		for (rad = 00; rad <= search_rad; rad++) {
	for (dir = 0; dir < ((rad==0)?1:4); dir++) {		for (dir = 0; dir < ((rad==0)?1:4); dir++) {
	@@ -6260,7 +6295,29 @@ public class OpticalFlow {
	if (ntry==dbg_ntry) {		if (ntry==dbg_ntry) {
	System.out.println("ntry="+ntry);		System.out.println("ntry="+ntry);
	}		}
	double [][][] coord_motion = interCorrPair_old( // new double [tilesY][tilesX][][];		double [][][] coord_motion = null;
			if (use_new_mode) {
			coord_motion = interCorrPair( // new double [tilesY][tilesX][][];
			clt_parameters, // CLTParameters clt_parameters,
			reference_QuadClt, // QuadCLT reference_QuadCLT,
			ref_disparity, // null, // double [] ref_disparity, // null or alternative reference disparity
			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
			scene_QuadClt, // QuadCLT scene_QuadCLT,
			pose[0], // camera_xyz0, // xyz
			atr, // camera_atr0, // pose[1], // atr
			reliable_ref, // null, // final boolean [] selection, // may be null, if not null do not process unselected tiles
			margin, // final int margin,
			sensor_mask_inter, // final int sensor_mask_inter, // The bitmask - which sensors to correlate, -1 - all.
			facc_2d_img, // final float [][][] accum_2d_corr, // if [1][][] - return accumulated 2d correlations (all pairs)final float [][][] accum_2d_corr, // if [1][][] - return accumulated 2d correlations (all pairs)
			null, // final float [][][] dbg_corr_fpn,
			false, // boolean near_important, // do not reduce weight of the near tiles
			treat_serch_fpn, // true, // boolean all_fpn, // do not lower thresholds for non-fpn (used during search)
			null, // double [][] mb_vectors, // now [2][ntiles];
			clt_parameters.imp.debug_level, // int imp_debug_level,
			clt_parameters.imp.debug_level); // 1); // -1); // int debug_level);
			} else {
			coord_motion = interCorrPair_old( // new double [tilesY][tilesX][][];
	clt_parameters, // CLTParameters clt_parameters,		clt_parameters, // CLTParameters clt_parameters,
	reference_QuadClt, // QuadCLT reference_QuadCLT,		reference_QuadClt, // QuadCLT reference_QuadCLT,
	null, // double [] ref_disparity, // null or alternative reference disparity		null, // double [] ref_disparity, // null or alternative reference disparity
	@@ -6276,6 +6333,7 @@ public class OpticalFlow {
	treat_serch_fpn, // true, // boolean all_fpn, // do not lower thresholds for non-fpn (used during search)		treat_serch_fpn, // true, // boolean all_fpn, // do not lower thresholds for non-fpn (used during search)
	clt_parameters.imp.debug_level, // int imp_debug_level,		clt_parameters.imp.debug_level, // int imp_debug_level,
	clt_parameters.imp.debug_level); // 1); // -1); // int debug_level);		clt_parameters.imp.debug_level); // 1); // -1); // int debug_level);
			}
	// may return null if failed to match		// may return null if failed to match
	if (coord_motion == null) {		if (coord_motion == null) {
	System.out.println("Failed to find a match between the reference scene ("+reference_QuadClt.getImageName() +		System.out.println("Failed to find a match between the reference scene ("+reference_QuadClt.getImageName() +
	@@ -11139,6 +11197,19 @@ public class OpticalFlow {
	sensor_mask_inter, // final int sensor_mask_inter, // The bitmask - which sensors to correlate, -1 - all.		sensor_mask_inter, // final int sensor_mask_inter, // The bitmask - which sensors to correlate, -1 - all.
	THREADS_MAX, // final int threadsMax, // maximal number of threads to launch		THREADS_MAX, // final int threadsMax, // maximal number of threads to launch
	debug_level); // final int globalDebugLevel);		debug_level); // final int globalDebugLevel);
			if (show_render_ref) {
			ImagePlus imp_render_ref = ref_scene.renderFromTD (
			-1, // final int sensor_mask,
			false, // boolean merge_channels,
			clt_parameters, // CLTParameters clt_parameters,
			clt_parameters.getColorProcParameters(ref_scene.isAux()), //ColorProcParameters colorProcParameters,
			clt_parameters.getRGBParameters(), //EyesisCorrectionParameters.RGBParameters rgbParameters,
			null, // int [] wh,
			toRGB, // boolean toRGB,
			true, //boolean use_reference
			"GPU-SHIFTED-REF"); // String suffix)
			imp_render_ref.show();
			}
	if (show_render_scene) {		if (show_render_scene) {
	ImagePlus imp_render_scene = scene.renderFromTD (		ImagePlus imp_render_scene = scene.renderFromTD (
	-1, // final int sensor_mask,		-1, // final int sensor_mask,
	@@ -11150,7 +11221,6 @@ public class OpticalFlow {
	toRGB, // boolean toRGB,		toRGB, // boolean toRGB,
	false, //boolean use_reference		false, //boolean use_reference
	"GPU-SHIFTED-SCENE"); // String suffix)		"GPU-SHIFTED-SCENE"); // String suffix)

	imp_render_scene.show();		imp_render_scene.show();
	}		}
	if (dbg_corr_fpn != null) { // 216 or 217 (average, individual)		if (dbg_corr_fpn != null) { // 216 or 217 (average, individual)
	@@ -11596,6 +11666,19 @@ public class OpticalFlow {
	THREADS_MAX, // final int threadsMax, // maximal number of threads to launch		THREADS_MAX, // final int threadsMax, // maximal number of threads to launch
	debug_level); // final int globalDebugLevel);		debug_level); // final int globalDebugLevel);
	}		}
			if (show_render_ref) {
			ImagePlus imp_render_ref = ref_scene.renderFromTD (
			-1, // final int sensor_mask,
			false, // boolean merge_channels,
			clt_parameters, // CLTParameters clt_parameters,
			clt_parameters.getColorProcParameters(ref_scene.isAux()), //ColorProcParameters colorProcParameters,
			clt_parameters.getRGBParameters(), //EyesisCorrectionParameters.RGBParameters rgbParameters,
			null, // int [] wh,
			toRGB, // boolean toRGB,
			true, //boolean use_reference
			"GPU-SHIFTED-REF"); // String suffix)
			imp_render_ref.show();
			}
	if (show_render_scene) { //set toRGB=false		if (show_render_scene) { //set toRGB=false
	ImagePlus imp_render_scene = scene.renderFromTD (		ImagePlus imp_render_scene = scene.renderFromTD (
	-1, // final int sensor_mask,		-1, // final int sensor_mask,
	@@ -11637,13 +11720,17 @@ public class OpticalFlow {
	//all_fpn		//all_fpn
	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 corr_fz_inter = clt_parameters.getGpuFatZeroInter(ref_scene.isMonochrome());
			if (mb_en && (mb_vectors!=null)) { // increase fat zero when there is motion blur
			corr_fz_inter *= 8;
			}
	coord_motion = image_dtt.clt_process_tl_interscene( // convert to pixel domain and process correlations already prepared in fcorr_td and/or fcorr_combo_td		coord_motion = image_dtt.clt_process_tl_interscene( // convert to pixel domain and process correlations already prepared in fcorr_td and/or fcorr_combo_td
	clt_parameters.img_dtt, // final ImageDttParameters imgdtt_params, // Now just extra correlation parameters, later will include, most others		clt_parameters.img_dtt, // final ImageDttParameters imgdtt_params, // Now just extra correlation parameters, later will include, most others
	fcorr_td, // final float [][][][] fcorr_td, // [tilesY][tilesX][pair][4*64] transform domain representation of all selected corr pairs		fcorr_td, // final float [][][][] fcorr_td, // [tilesY][tilesX][pair][4*64] transform domain representation of all selected corr pairs
	null, // float [][][] num_acc, // number of accumulated tiles [tilesY][tilesX][pair] (or null). Can be inner null if not used in tp_tasks		null, // float [][][] num_acc, // number of accumulated tiles [tilesY][tilesX][pair] (or null). Can be inner null if not used in tp_tasks
	null, // double [] dcorr_weight, // alternative to num_acc, compatible with CPU processing (only one non-zero enough)		null, // double [] dcorr_weight, // alternative to num_acc, compatible with CPU processing (only one non-zero enough)
	clt_parameters.gpu_corr_scale, // final double gpu_corr_scale, // 0.75; // reduce GPU-generated correlation values		clt_parameters.gpu_corr_scale, // final double gpu_corr_scale, // 0.75; // reduce GPU-generated correlation values
	clt_parameters.getGpuFatZeroInter(ref_scene.isMonochrome()), // final double gpu_fat_zero, // clt_parameters.getGpuFatZero(is_mono);absolute == 30.0		corr_fz_inter, // final double gpu_fat_zero, // clt_parameters.getGpuFatZero(is_mono);absolute == 30.0
	image_dtt.transform_size - 1, // final int gpu_corr_rad, // = transform_size - 1 ?		image_dtt.transform_size - 1, // final int gpu_corr_rad, // = transform_size - 1 ?
	// The tp_tasks data should be decoded from GPU to get coordinates		// The tp_tasks data should be decoded from GPU to get coordinates
	// should it be reference or scene? Or any?		// should it be reference or scene? Or any?
	@@ -11758,7 +11845,7 @@ public class OpticalFlow {
	}		}
	}		}
	}		}
			// seems that fclt_corr and fclt_corr1 are both not needed w/o debug
	float [][][] fclt_corr1 = ImageDtt.convertFcltCorr( // partial length, matching corr_indices = gpuQuad.getCorrIndices(); // also sets num_corr_tiles		float [][][] fclt_corr1 = ImageDtt.convertFcltCorr( // partial length, matching corr_indices = gpuQuad.getCorrIndices(); // also sets num_corr_tiles
	dcorr_tiles, // double [][][] dcorr_tiles,// [tile][sparse, correlation pair][(2transform_size-1)(2*transform_size-1)] // if null - will not calculate		dcorr_tiles, // double [][][] dcorr_tiles,// [tile][sparse, correlation pair][(2transform_size-1)(2*transform_size-1)] // if null - will not calculate
	fclt_corr); // float [][][] fclt_corr) // new float [tilesX * tilesY][][] or null		fclt_corr); // float [][][] fclt_corr) // new float [tilesX * tilesY][][] or null
	@@ -12888,7 +12975,7 @@ public class OpticalFlow {
	imp_mbc_merged.show();		imp_mbc_merged.show();
	}		}
	}		}
	if (nscene == ref_index) { // set GPU reference CLT data		if (nscene == ref_index) { // set GPU reference CLT data - should be before other scenes
	mb_vectors_ref = null;		mb_vectors_ref = null;
	if (mb_en) {		if (mb_en) {
	double [][] dxyzatr_dt_ref = getVelocities(		double [][] dxyzatr_dt_ref = getVelocities(