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Commit 6c3ff670 authored by Andrey Filippov's avatar Andrey Filippov
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Before removing interCorrPair_old()

parent f2095295
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Showing with 107 additions and 20 deletions
src/main/java/com/elphel/imagej/tileprocessor/OpticalFlow.java
View file @ 6c3ff670
...@@ -4552,6 +4552,10 @@ public class OpticalFlow { ...@@ -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 { ...@@ -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 [(2*search_rad+1)*(2*search_rad+1)][]; double [][] atrs = new double [(2*search_rad+1)*(2*search_rad+1)][];
...@@ -6242,6 +6248,35 @@ public class OpticalFlow { ...@@ -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 { ...@@ -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 { ...@@ -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 { ...@@ -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 { ...@@ -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) { // 2*16 or 2*17 (average, individual) if (dbg_corr_fpn != null) { // 2*16 or 2*17 (average, individual)
...@@ -11596,6 +11666,19 @@ public class OpticalFlow { ...@@ -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 { ...@@ -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 { ...@@ -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][(2*transform_size-1)*(2*transform_size-1)] // if null - will not calculate dcorr_tiles, // double [][][] dcorr_tiles,// [tile][sparse, correlation pair][(2*transform_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 { ...@@ -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(
......
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