Debugging preExpandCLTQuad3d() with 16-sensor LWIR setup (71ac4a10) · Commits · Elphel / imagej-elphel

src/main/java/com/elphel/imagej/cameras/CLTParameters.java

+3 −3

Original line number	Diff line number	Diff line
		@@ -126,14 +126,14 @@ public class CLTParameters {

		public double diff_sigma = 5.0; // RMS difference from average to reduce weights (~ 1.0 - 1/255 full scale image)
		public double diff_threshold = 1.5; // RMS difference from average to discard channel (~ 1.0 - 1/255 full scale image)
		public boolean diff_gauss = true; // when averaging images, use gaussian around average as weight (false - sharp all/nothing)
		public boolean diff_gauss = true; // when averaging images, use Gaussian around average as weight (false - sharp all/nothing)
		public double min_agree = 3.0; // minimal number of channels to agree on a point (real number to work with fuzzy averages)
		public boolean dust_remove = true; // Do not reduce average weight when only one image differes much from the average

		public boolean black_back = true; // use Black for backdrop outside of the FOV
		public boolean keep_weights = true; // add port weights to RGBA stack (debug feature)
		public boolean sharp_alpha = false; // combining mode for alpha channel: false - treat as RGB, true - apply center 8x8 only
		public double alpha0 = 0.6; // > .525 Alpha channel 0.0 thereshold (lower - transparent) (watch for far objects)
		public double alpha0 = 0.6; // > .525 Alpha channel 0.0 threshold (lower - transparent) (watch for far objects)
		public double alpha1 = 0.8; // Alpha channel 1.0 threshold (higher - opaque) (watch for window dust)

		public boolean gen_chn_stacks = false; // generate shifted channel rgb stacks
		@@ -345,7 +345,7 @@ public class CLTParameters {
		public int min_clstr_seed = 4; //2; // number of tiles in a cluster to seed (just background?)
		public int min_clstr_lone = 4; // number of tiles in a cluster not close to other clusters (more than 2 tiles apart)
		public double min_clstr_weight = 0.0; // Minimal total strength of the cluster
		public double min_clstr_max = 0.25; // Minimal maximal strength of the cluster
		public double min_clstr_max = 0.18; // Minimal maximal strength of the cluster

		public int fill_gaps = 4; // same as in grow - 1: 4 directions by 1 step, 2: 8 directions by 1 step. +2*n - alternating hor/vert
		public int fill_final = 50; // same as fill_gaps, on the final pass

src/main/java/com/elphel/imagej/tileprocessor/CLTPass3d.java

+2 −2

Original line number	Diff line number	Diff line
		@@ -57,8 +57,8 @@ public class CLTPass3d{
		// exceeds minBgFract, otherwise proceed to the next one (and accumulate strength)
		private double [] bgTileDisparity = null;
		private double [] bgTileStrength = null;
		public boolean [] border_tiles = null; // these are border tiles, zero out alpha
		public boolean [] selected = null; // which tiles are selected for this layer
		private boolean [] border_tiles = null; // these are border tiles, zero out alpha
		private boolean [] selected = null; // which tiles are selected for this layer
		public double [][][][] texture_tiles;
		// texture_selection is only used for the GPU and if not null means it is for the GPU
		public boolean [] texture_selection = null; // use by the GPU to set texture to generate

src/main/java/com/elphel/imagej/tileprocessor/Correlation2d.java

+20 −20

Original line number	Diff line number	Diff line
		@@ -455,10 +455,10 @@ public class Correlation2d {
		HashSet<Integer> contrib_set = new HashSet<Integer>();
		Iterator<Integer> contrib_itr;
		for (int num_pair = ai.getAndIncrement(); num_pair < corr_pairs.length; num_pair = ai.getAndIncrement()) {
		if (num_pair == 62) {
		System.out.println("num_pair="+num_pair);
		System.out.println("num_pair="+num_pair);
		}
		// if (num_pair == 62) {
		// System.out.println("num_pair="+num_pair);
		// System.out.println("num_pair="+num_pair);
		// }
		if (corr_pairs[num_pair]) {
		resample_indices[num_pair] = new int [mcorr_comb_width * mcorr_comb_height][];
		resample_weights[num_pair] = new double [mcorr_comb_width * mcorr_comb_height][];
		@@ -485,10 +485,10 @@ public class Correlation2d {
		int ix = j - mcorr_comb_width/2;
		Arrays.fill(contrib, 0.0);
		contrib_set.clear();
		if ((num_pair == 62) && (i==7) && (j==7)) {
		System.out.println("num_pair="+num_pair+", i="+i+", j="+j);
		System.out.println("num_pair="+num_pair+", i="+i+", j="+j);
		}
		// if ((num_pair == 62) && (i==7) && (j==7)) {
		// System.out.println("num_pair="+num_pair+", i="+i+", j="+j);
		// System.out.println("num_pair="+num_pair+", i="+i+", j="+j);
		// }

		for (int idy = 0; idy < weights_size; idy++) {
		mxy.set(1, 0, iy+ (idy - SUB_SAMPLE + 1) * ksub); //idy == (SUB_SAMPLE -1) - no fractional pixel
		@@ -564,10 +564,10 @@ public class Correlation2d {
		ArrayList<Integer> contrib_list = new ArrayList<Integer>();
		ArrayList<Double> contrib_weights_list = new ArrayList<Double>();
		for (int num_pair = ai.getAndIncrement(); num_pair < corr_pairs.length; num_pair = ai.getAndIncrement()) {
		if (num_pair == 62) {
		System.out.println("num_pair="+num_pair);
		System.out.println("num_pair="+num_pair);
		}
		// if (num_pair == 62) {
		// System.out.println("num_pair="+num_pair);
		// System.out.println("num_pair="+num_pair);
		// }
		if (corr_pairs[num_pair]) {
		resample_indices[num_pair] = new int [mcorr_comb_width * mcorr_comb_height][];
		resample_weights[num_pair] = new double [mcorr_comb_width * mcorr_comb_height][];
		@@ -596,10 +596,10 @@ public class Correlation2d {
		int iy = i + mcorr_comb_offset - mcorr_comb_height/2;
		for (int j = 0; j < mcorr_comb_width; j++) {
		int ix = j - mcorr_comb_width/2;
		if ((num_pair == 62) && (i==7) && (j==7)) {
		System.out.println("num_pair="+num_pair+", i="+i+", j="+j);
		System.out.println("num_pair="+num_pair+", i="+i+", j="+j);
		}
		// if ((num_pair == 62) && (i==7) && (j==7)) {
		// System.out.println("num_pair="+num_pair+", i="+i+", j="+j);
		// System.out.println("num_pair="+num_pair+", i="+i+", j="+j);
		// }
		// convert +/- 1 pixel to pair
		double minXPair = Double.NaN,minYPair = Double.NaN, maxXPair = Double.NaN, maxYPair = Double.NaN;
		for (int d = 0; d < four_corners.length; d++) {
		@@ -676,10 +676,10 @@ public class Correlation2d {
		mxy.set(0, 0, ix);
		mxy.set(1, 0, iy);
		double [] xy_pair = toPair.times(mxy).getColumnPackedCopy();
		if ((num_pair == 62) && (i==7) && (j==7)) {
		System.out.println("num_pair="+num_pair+", i="+i+", j="+j);
		System.out.println("num_pair="+num_pair+", i="+i+", j="+j);
		}
		// if ((num_pair == 62) && (i==7) && (j==7)) {
		// System.out.println("num_pair="+num_pair+", i="+i+", j="+j);
		// System.out.println("num_pair="+num_pair+", i="+i+", j="+j);
		// }
		// find 4 corners in the pair array
		if ( (xy_pair[0] >= (1 - transform_size)) &&
		(xy_pair[0] <= (transform_size - 1)) &&

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

+12 −8

Original line number	Diff line number	Diff line
		@@ -114,8 +114,9 @@ public class ImageDtt extends ImageDttCPU {
		//gpuQuad
		final boolean debug_distort= globalDebugLevel > 0; ///false; // true;

		final double [][] debug_offsets = new double[imgdtt_params.lma_dbg_offset.length][2];
		for (int i = 0; i < debug_offsets.length; i++) for (int j = 0; j < debug_offsets[i].length; j++) {
		// final double [][] debug_offsets = new double[imgdtt_params.lma_dbg_offset.length][2];
		final double [][] debug_offsets = new double[getNumSensors()][2];
		for (int i = 0; i < imgdtt_params.lma_dbg_offset.length; i++) for (int j = 0; j < debug_offsets[i].length; j++) {
		debug_offsets[i][j] = imgdtt_params.lma_dbg_offset[i][j]*imgdtt_params.lma_dbg_scale;
		}

		@@ -929,8 +930,9 @@ public class ImageDtt extends ImageDttCPU {
		//gpuQuad
		final boolean debug_distort= globalDebugLevel > 0; ///false; // true;

		final double [][] debug_offsets = new double[imgdtt_params.lma_dbg_offset.length][2];
		for (int i = 0; i < debug_offsets.length; i++) for (int j = 0; j < debug_offsets[i].length; j++) {
		// final double [][] debug_offsets = new double[imgdtt_params.lma_dbg_offset.length][2];
		final double [][] debug_offsets = new double[getNumSensors()][2];
		for (int i = 0; i < imgdtt_params.lma_dbg_offset.length; i++) for (int j = 0; j < debug_offsets[i].length; j++) {
		debug_offsets[i][j] = imgdtt_params.lma_dbg_offset[i][j]*imgdtt_params.lma_dbg_scale;
		}

		@@ -1617,8 +1619,9 @@ public class ImageDtt extends ImageDttCPU {
		//gpuQuad
		final boolean debug_distort= globalDebugLevel > 0; ///false; // true;

		final double [][] debug_offsets = new double[imgdtt_params.lma_dbg_offset.length][2];
		for (int i = 0; i < debug_offsets.length; i++) for (int j = 0; j < debug_offsets[i].length; j++) {
		// final double [][] debug_offsets = new double[imgdtt_params.lma_dbg_offset.length][2];
		final double [][] debug_offsets = new double[getNumSensors()][2];
		for (int i = 0; i < imgdtt_params.lma_dbg_offset.length; i++) for (int j = 0; j < debug_offsets[i].length; j++) {
		debug_offsets[i][j] = imgdtt_params.lma_dbg_offset[i][j]*imgdtt_params.lma_dbg_scale;
		}
		//dbg_pair_mask
		@@ -1967,8 +1970,9 @@ public class ImageDtt extends ImageDttCPU {
		//gpuQuad
		final boolean debug_distort= globalDebugLevel > 0; ///false; // true;

		final double [][] debug_offsets = new double[imgdtt_params.lma_dbg_offset.length][2];
		for (int i = 0; i < debug_offsets.length; i++) for (int j = 0; j < debug_offsets[i].length; j++) {
		// final double [][] debug_offsets = new double[imgdtt_params.lma_dbg_offset.length][2];
		final double [][] debug_offsets = new double[getNumSensors()][2];
		for (int i = 0; i < imgdtt_params.lma_dbg_offset.length; i++) for (int j = 0; j < debug_offsets[i].length; j++) {
		debug_offsets[i][j] = imgdtt_params.lma_dbg_offset[i][j]*imgdtt_params.lma_dbg_scale;
		}
		//dbg_pair_mask

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

+38 −16

Original line number	Diff line number	Diff line
		@@ -1705,8 +1705,9 @@ public class ImageDttCPU {
		final boolean debug_distort= (globalDebugLevel >0); // .false; // true;
		// final double [][] debug_offsets = null;
		//lma_dbg_scale
		final double [][] debug_offsets = new double[imgdtt_params.lma_dbg_offset.length][2];
		for (int i = 0; i < debug_offsets.length; i++) for (int j = 0; j < debug_offsets[i].length; j++) {
		// final double [][] debug_offsets = new double[imgdtt_params.lma_dbg_offset.length][2];
		final double [][] debug_offsets = new double[getNumSensors()][2];
		for (int i = 0; i < imgdtt_params.lma_dbg_offset.length; i++) for (int j = 0; j < debug_offsets[i].length; j++) {
		debug_offsets[i][j] = imgdtt_params.lma_dbg_offset[i][j]*imgdtt_params.lma_dbg_scale;
		}

		@@ -2563,8 +2564,9 @@ public class ImageDttCPU {
		final int globalDebugLevel)
		{
		final boolean debug_distort= (globalDebugLevel >0); // .false; // true;
		final double [][] debug_offsets = new double[imgdtt_params.lma_dbg_offset.length][2];
		for (int i = 0; i < debug_offsets.length; i++) for (int j = 0; j < debug_offsets[i].length; j++) {
		// final double [][] debug_offsets = new double[imgdtt_params.lma_dbg_offset.length][2];
		final double [][] debug_offsets = new double[getNumSensors()][2];
		for (int i = 0; i < imgdtt_params.lma_dbg_offset.length; i++) for (int j = 0; j < debug_offsets[i].length; j++) {
		debug_offsets[i][j] = imgdtt_params.lma_dbg_offset[i][j]*imgdtt_params.lma_dbg_scale;
		}

		@@ -3205,8 +3207,10 @@ public class ImageDttCPU {
		final double [][][][] clt_combo_dbg, // generate sparse partial rotated/scaled pairs
		// When clt_mismatch is non-zero, no far objects extraction will be attempted
		// clt_mismatch is used in older code, not supported in GPU - there is cltMeasureLazyEye for that purpose
		// this.correlation2d should be not null if disparity_map != null
		final double [][] disparity_map, // [8][tilesY][tilesX], only [6][] is needed on input or null - do not calculate
		// last 2 - contrast, avg/ "geometric average)

		final double [][][][] texture_tiles, // [tilesY][tilesX]["RGBA".length()][]; null - will skip images combining
		final int width,
		final double corr_fat_zero, // add to denominator to modify phase correlation (same units as data1, data2). <0 - pure sum
		@@ -3322,8 +3326,9 @@ public class ImageDttCPU {
		}
		final boolean [][] combo_sels = pcombo_sels;
		final boolean debug_distort= globalDebugLevel > 0; ///false; // true;
		final double [][] debug_offsets = new double[imgdtt_params.lma_dbg_offset.length][2];
		for (int i = 0; i < debug_offsets.length; i++) for (int j = 0; j < debug_offsets[i].length; j++) {
		// final double [][] debug_offsets = new double[imgdtt_params.lma_dbg_offset.length][2];
		final double [][] debug_offsets = new double[getNumSensors()][2];
		for (int i = 0; i < imgdtt_params.lma_dbg_offset.length; i++) for (int j = 0; j < debug_offsets[i].length; j++) {
		debug_offsets[i][j] = imgdtt_params.lma_dbg_offset[i][j]*imgdtt_params.lma_dbg_scale;
		}

		@@ -4112,12 +4117,16 @@ public class ImageDttCPU {
		}
		}
		// iclt here: [quad][color][256]
		if ((globalDebugLevel > 0) && debugTile) {
		if ((globalDebugLevel > 0) && debugTile0) {
		ShowDoubleFloatArrays sdfa_instance = new ShowDoubleFloatArrays(); // just for debugging?
		String [] titles = {"red0","blue0","green0","red1","blue1","green1","red2","blue2","green2","red3","blue3","green3"};
		String [] col_names= {"red","blue","green"};
		String [] titles = new String[numSensors * numcol];
		// String [] titles = {"red0","blue0","green0","red1","blue1","green1","red2","blue2","green2","red3","blue3","green3"};
		double [][] dbg_tile = new double [numSensors*numcol][];
		for (int i = 0; i < numSensors; i++) {
		for (int ncol = 0; ncol <numcol; ncol++) if (iclt_tile[i][ncol] != null) { // color
		String col_name = (ncol < col_names.length)?col_names[ncol]:("c<"+ncol+">");
		titles[i * numcol + ncol] = col_name + i;
		dbg_tile[i * numcol + ncol] = iclt_tile[i][ncol];
		}
		}
		@@ -4145,12 +4154,16 @@ public class ImageDttCPU {
		}
		}
		}
		if ((globalDebugLevel > 0) && debugTile) {
		if ((globalDebugLevel > 0) && debugTile0) {
		ShowDoubleFloatArrays sdfa_instance = new ShowDoubleFloatArrays(); // just for debugging?
		String [] titles = {"red0","blue0","green0","red1","blue1","green1","red2","blue2","green2","red3","blue3","green3"};
		String [] col_names= {"red","blue","green"};
		String [] titles = new String[numSensors * numcol];

		double [][] dbg_tile = new double [numSensors*numcol][];
		for (int i = 0; i < numSensors; i++) {
		for (int chn = 0; chn <numcol; chn++) { // color
		String col_name = (chn< col_names.length)?col_names[chn]:("c<"+chn+">");
		titles[i * numcol + chn] = col_name + i;
		dbg_tile[i * numcol + chn] = tiles_debayered[i][chn];
		}
		}
		@@ -4182,7 +4195,10 @@ public class ImageDttCPU {
		(globalDebugLevel > 0) && debugTile,
		false); // boolean debug_gpu) // generate output fro matching with GPU processing


		if ((globalDebugLevel > 0) && debugTile0) {
		ShowDoubleFloatArrays sdfa_instance = new ShowDoubleFloatArrays(); // just for debugging?
		sdfa_instance.showArrays(texture_tiles[tileY][tileX], 2* transform_size, 2* transform_size, true, "tile_combine_rgba_x"+tileX+"_y"+tileY);
		}
		// mix RGB from iclt_tile, mix alpha with - what? correlation strength or 'don't care'? good correlation or all > min?
		for (int i = 0; i < iclt_tile[0][first_color].length; i++ ) {
		double sw = 0.0;
		@@ -4197,6 +4213,10 @@ public class ImageDttCPU {
		}
		}
		}
		if ((globalDebugLevel > 0) && debugTile0) { // same as previous for mono
		ShowDoubleFloatArrays sdfa_instance = new ShowDoubleFloatArrays(); // just for debugging?
		sdfa_instance.showArrays(texture_tiles[tileY][tileX], 2* transform_size, 2* transform_size, true, "tile_mixed_rgba_x"+tileX+"_y"+tileY);
		}
		if ((disparity_map != null) && (disparity_map.length >= (IMG_DIFF0_INDEX + numSensors))){
		for (int i = 0; i < max_diff.length; i++){
		disparity_map[IMG_DIFF0_INDEX + i][tIndex] = max_diff[i];
		@@ -6702,8 +6722,9 @@ public class ImageDttCPU {
		final boolean [][] saturation_imp = quadCLT.saturation_imp; // boolean [][] saturation_imp, // (near) saturated pixels or null
		final boolean debug_distort= globalDebugLevel > 0; ///false; // true;

		final double [][] debug_offsets = new double[imgdtt_params.lma_dbg_offset.length][2];
		for (int i = 0; i < debug_offsets.length; i++) for (int j = 0; j < debug_offsets[i].length; j++) {
		// final double [][] debug_offsets = new double[imgdtt_params.lma_dbg_offset.length][2];
		final double [][] debug_offsets = new double[quadCLT.getNumSensors()][2];
		for (int i = 0; i < imgdtt_params.lma_dbg_offset.length; i++) for (int j = 0; j < debug_offsets[i].length; j++) {
		debug_offsets[i][j] = imgdtt_params.lma_dbg_offset[i][j]*imgdtt_params.lma_dbg_scale;
		}
		final int quad = 4; // number of subcameras
		@@ -12682,8 +12703,9 @@ public class ImageDttCPU {

		final boolean debug_distort= globalDebugLevel > 0; ///false; // true;

		final double [][] debug_offsets = new double[imgdtt_params.lma_dbg_offset.length][2];
		for (int i = 0; i < debug_offsets.length; i++) for (int j = 0; j < debug_offsets[i].length; j++) {
		// final double [][] debug_offsets = new double[imgdtt_params.lma_dbg_offset.length][2];
		final double [][] debug_offsets = new double[getNumSensors()][2];
		for (int i = 0; i < imgdtt_params.lma_dbg_offset.length; i++) for (int j = 0; j < debug_offsets[i].length; j++) {
		debug_offsets[i][j] = imgdtt_params.lma_dbg_offset[i][j]*imgdtt_params.lma_dbg_scale;
		}

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