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Commit 75c570c2 authored by Andrey Filippov's avatar Andrey Filippov
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Tested LMA equalization, some bug fixes

parent f7f4a8dd
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Showing with 770 additions and 105 deletions
src/main/java/com/elphel/imagej/orthomosaic/ComboMatch.java
View file @ 75c570c2
......@@ -159,6 +159,8 @@ public class ComboMatch {
boolean create_overlaps = false;
boolean equalize_overlaps = false;
boolean create_map = false;
boolean create_equalize = false;
// boolean show_combo_mask = false; // generate image mas (where it is defined)_
// boolean use_alt = false;
// boolean show_centers = true;
......@@ -194,7 +196,7 @@ public class ComboMatch {
}
GenericJTabbedDialog gd = new GenericJTabbedDialog("Set image pair",1200,700);
GenericJTabbedDialog gd = new GenericJTabbedDialog("Set image pair",1200,800);
gd.addChoice ("Files list/data path (w/o extension):", files_lists_paths, files_lists_paths[default_list_choice]);
gd.addCheckbox ("Use saved maps collection", use_saved_collection, "If false - use files list.");
gd.addCheckbox ("Save maps collection", save_collection, "Save maps collection to be able to restore.");
......@@ -235,6 +237,7 @@ public class ComboMatch {
gd.addCheckbox ("Create overlap pairs", create_overlaps, "Create scene pairs overlaps.");
gd.addCheckbox ("Equalize overlap pairs", equalize_overlaps, "Equalize intensities in overlaps.");
gd.addCheckbox ("Create map", create_map, "Create combined map from pairwise matches.");
gd.addCheckbox ("Equalize intensities", create_equalize, "Create map intensities equalization from pairwise matches.");
// gd.addCheckbox ("Show combo image mask", show_combo_mask, "Display combo binary image.");
// gd.addCheckbox ("Show altitude combo image", use_alt, "Load and process altitude maps.");
gd.addNumericField("Remove fraction of worst matches", frac_remove, 3,7,"", "When fitting scenes remove this fraction of worst match.");
......@@ -263,6 +266,7 @@ public class ComboMatch {
String orthoMapsCollection_path =files_lists_paths[choice_index]+".data";
use_saved_collection = gd.getNextBoolean();
save_collection = gd.getNextBoolean();
String orthoMapsCollection_savepath = save_collection?orthoMapsCollection_path:null;
process_correlation= gd.getNextBoolean();
num_tries_fit = (int) gd.getNextNumber();
update_match= gd.getNextBoolean();
......@@ -292,6 +296,7 @@ public class ComboMatch {
create_overlaps = gd.getNextBoolean();
equalize_overlaps = gd.getNextBoolean();
create_map = gd.getNextBoolean();
create_equalize = gd.getNextBoolean();
frac_remove = gd.getNextNumber();
metric_error= gd.getNextNumber();
if (use_marked_image ) { // will only be used if found and asked
......@@ -778,20 +783,28 @@ public class ComboMatch {
OrthoMultiLMA.buildOrthoMap(
clt_parameters, // CLTParameters clt_parameters,
maps_collection, // OrthoMapsCollection maps_collection
orthoMapsCollection_path); // String orthoMapsCollection_path
orthoMapsCollection_savepath); // String orthoMapsCollection_path
return true;
}
if (create_equalize) {
OrthoEqualizeLMA.buildEqualize(
clt_parameters, // CLTParameters clt_parameters,
maps_collection, // OrthoMapsCollection maps_collection
orthoMapsCollection_savepath); // String orthoMapsCollection_path
return true;
}
if (create_overlaps) {
boolean ok =maps_collection.getIntersectedPairs(
clt_parameters, // CLTParameters clt_parameters,
orthoMapsCollection_path); // String orthoMapsCollection_path);
orthoMapsCollection_savepath); // String orthoMapsCollection_path);
return ok; // Just exit, do not try other commands. if (!ok) return false;
}
if (equalize_overlaps) {
boolean ok =maps_collection.equalizeIntersectedPairs(
clt_parameters, // CLTParameters clt_parameters,
orthoMapsCollection_path); // String orthoMapsCollection_path);
orthoMapsCollection_savepath); // String orthoMapsCollection_path);
return ok; // Just exit, do not try other commands. if (!ok) return false;
}
......
src/main/java/com/elphel/imagej/orthomosaic/OrthoMap.java
View file @ 75c570c2
......@@ -117,6 +117,9 @@ public class OrthoMap implements Comparable <OrthoMap>, Serializable{
public transient double sfm_gain = Double.NaN; // maximal SfM gain of this map
public transient double [] equalize = {1,0}; // rectified value = equalize[0]*source_value+equalize[1]
private void writeObject(ObjectOutputStream oos) throws IOException {
// temporary fix:
// double [][] affine_clone = {affine[0].clone(), affine[1].clone()};
// affine = affine_clone;
oos.defaultWriteObject();
oos.writeObject(path);
// oos.writeObject(scenes_path);
......@@ -511,7 +514,7 @@ public class OrthoMap implements Comparable <OrthoMap>, Serializable{
}
public void setAffine(double [][] affine) {
this.affine = affine;
this.affine = new double[][] {affine[0].clone(),affine[1].clone()};
}
public double [][] getAffine(){
return affine;
......
src/main/java/com/elphel/imagej/orthomosaic/OrthoMapsCollection.java
View file @ 75c570c2
......@@ -4893,7 +4893,7 @@ public class OrthoMapsCollection implements Serializable{
int debugLevel) {
int [] indices = getScenesSelection(
null, // boolean select_all,
" to process"); // String purpose)
" to process/display"); // String purpose)
if (indices == null) {
return false;
}
......@@ -4907,7 +4907,7 @@ public class OrthoMapsCollection implements Serializable{
int [] indices,
int debugLevel) {
boolean show_map_stats = false;
boolean show_combo_map = false; // true;
boolean show_combo_map = true; // false; // true;
boolean show_alt_map = false;
boolean show_combo_mask = false; // generate image mas (where it is defined)
boolean show_frames = false;
......@@ -4920,6 +4920,8 @@ public class OrthoMapsCollection implements Serializable{
boolean show_centers = true;
boolean bounds_to_indices = true;
boolean merge_layers = false; // instead of individuals
boolean ignore_affines = false;
boolean ignore_equalize = false;
String save_top_dir = "/media/elphel/NVME/lwir16-proc/ortho_videos/debug/sept12-13/pattern_match/";
String sub_dir = "combo_maps";
......@@ -4942,10 +4944,15 @@ public class OrthoMapsCollection implements Serializable{
gd.addNumericField("Margins", margins, 0,4,"",
"Add margins around images");
gd.addCheckbox ("Show transformation centers", show_centers, "Mark verticals from the UAS on the ground.");
gd.addCheckbox ("Show transformation centers",show_centers, "Mark verticals from the UAS on the ground.");
gd.addCheckbox ("Bounds to selected images", bounds_to_indices, "Set combo image bounds to selected images only. False - all images.");
gd.addCheckbox ("Merge layers", merge_layers, "Generate composite binary image.");
gd.addCheckbox ("Ignore affines", ignore_affines, "Ignore available affines, use unity.");
gd.addCheckbox ("Ignore equalization", ignore_equalize, "Ignore available intensity equalization, use unity.");
gd.addStringField ("Pattern match save directory", save_top_dir, 120, "Top directory to save combo maps");
gd.addStringField ("Save subdirectory", sub_dir, 80, "Subdirectory for versions of the same scene/pair of scenes");
gd.addCheckbox ("Show generated images", show_images, "Display generated images.");
......@@ -4968,7 +4975,8 @@ public class OrthoMapsCollection implements Serializable{
show_centers = gd.getNextBoolean();
bounds_to_indices = gd.getNextBoolean();
merge_layers = gd.getNextBoolean();
ignore_affines = gd.getNextBoolean();
ignore_equalize = gd.getNextBoolean();
save_top_dir= gd.getNextString();
sub_dir= gd.getNextString();
show_images= gd.getNextBoolean();
......@@ -5015,13 +5023,22 @@ public class OrthoMapsCollection implements Serializable{
int [] wh = new int[2];
int [] origin = new int[2];
double [][] centers = show_centers? (new double [indices.length][]): null;
double [][][] affines = null;
if (ignore_affines) {
affines = new double [indices.length][2][3];
for (int i = 0; i < indices.length; i++) {
affines[i][0][0] = 1;
affines[i][1][1] = 1;
}
}
double [][] dmulti = renderMultiDouble (
null, // double [][] ground_planes, // null - images, non-null altitudes. use new double[2][3] for old way alt
indices, // int [] indices, // null or which indices to use (normally just 2 for pairwise comparison)
bounds_to_indices, // boolean bounds_to_indices,
null, // affines, // double [][][] affines, // null or [indices.length][2][3]
affines, // null, // affines, // double [][][] affines, // null or [indices.length][2][3]
null, // double [][] equalize,
true, // boolean ignore_equalize,
ignore_equalize, // true, // boolean ignore_equalize,
null, // warp, // FineXYCorr warp,,
zoom_lev, // int zoom_level,
wh, // int [] wh,
......
src/main/java/com/elphel/imagej/orthomosaic/OrthoMultiLMA.java
View file @ 75c570c2
/**
**
** OrthoMultiLMA - Fit multiple scenes orthographic using pair-wise affine
** tr4ansform matrices already calculated.
** transform matrices already calculated.
**
** Copyright (C) 2024 Elphel, Inc.
**
......@@ -48,8 +48,6 @@ public class OrthoMultiLMA {
private double [] parameters_vector = null;
// private double [] x_vector = null; // not used. Save total weight
private double [] y_vector = null;
private double [][] tile_centers = null;
private double weight = 0; // total weight
private double pure_weight; // weight of samples only as a fraction of total weight
private double [] weights; // normalized so sum is 1.0 for all - samples and extra regularization
// private double pure_weight; // weight of samples only
......@@ -219,17 +217,18 @@ public class OrthoMultiLMA {
OrthoMapsCollection maps_collection,
String orthoMapsCollection_path
) {
int debugLevel = 1;
int debugLevel = 2;
boolean move_only = false;
double [] val_coord = null; // 1 - valid, 0 - invalid, minimize coordinates errors
boolean ignore_affines = false;
boolean use_inv = false;
double overlap_pow = 2.0; // match weight as overlap fraction to this power
double skew_pull = 1.0;
double tilt_pull = 1.0;
double scale_pull = 0.1; // .0;
double position_pull = 0.0001;
boolean corr_avg= (skew_pull > 0) || (tilt_pull > 0) || (scale_pull > 0);
boolean show_result_image = false;
int [] indices = maps_collection.getScenesSelection(
null, // boolean select_all,
" to build a map"); // String purpose)
......@@ -247,6 +246,7 @@ public class OrthoMultiLMA {
clt_parameters, // CLTParameters clt_parameters,
maps_collection, // OrthoMapsCollection maps_collection,
indices, // int [] indices,
ignore_affines, // boolean ignore_affines,
val_coord, // double [] val_coord, // 1 - valid, 0 - invalid, minimize coordinates errors
position_pull, // double position_pull,
skew_pull, // double skew_pull,
......@@ -273,26 +273,10 @@ public class OrthoMultiLMA {
}
//Get and apply affines
//oml.updateAffines(maps_collection);
oml.updateAffines(maps_collection);
if (show_result_image) {
double [][][] affines = oml.getAffines();
double [] fx = oml.getFx();
// test
/*
PairwiseOrthoMatch match = maps_collection.ortho_maps[indices[0]].getMatch(maps_collection.ortho_maps[indices[1]].getName());
double [][] match_affine = match.getAffine();
double [] enuOffset = maps_collection.ortho_maps[indices[1]].enuOffsetTo(maps_collection.ortho_maps[indices[0]]);
double [] rd = {enuOffset[0], -enuOffset[1]}; // {right,down} of the image
double [][] affine1a = PairwiseOrthoMatch.combineAffines(
affines[0], // double [][] affine0,
match_affine, //double [][] affine, // differential
rd); // double [] rd);
PairwiseOrthoMatch test_match = new PairwiseOrthoMatch (
affines[0], // double [][] affine0,
affines[1], // double [][] affine1,
rd); // double [] rd);
*/
int zoom_level = -2;
int [] wh = new int[2];
......@@ -328,21 +312,8 @@ public class OrthoMultiLMA {
roi.setOptions("label");
imp_multi.setRoi(roi);
imp_multi.show();
/*
double [][] affine = getAffineAndDerivatives(
move_only, //boolean move_only,
affines[0], // double [][] affine00,
affines[1], // double [][] affine10,
oml.offsets[0], // double [] rd,
null); // double [][][] derivs)
PairwiseOrthoMatch pom = new PairwiseOrthoMatch (
affines[0],
affines[1],
oml.offsets[0]);
*/
}
/*
if (orthoMapsCollection_path != null) {
try {
maps_collection.writeOrthoMapsCollection(orthoMapsCollection_path);
......@@ -354,7 +325,6 @@ public class OrthoMultiLMA {
System.out.println("Saved data to "+ orthoMapsCollection_path);
}
}
*/
return 0;
}
......@@ -373,6 +343,7 @@ public class OrthoMultiLMA {
CLTParameters clt_parameters,
OrthoMapsCollection maps_collection,
int [] indices,
boolean ignore_affines,
double [] val_coord, // 1 - valid, 0 - invalid, minimize coordinates errors
double position_pull,
double skew_pull,
......@@ -434,7 +405,7 @@ public class OrthoMultiLMA {
weights = new double [n62*num_pairs + 2 * num_scenes + (corr_avg ? 3:0)];
parameters_vector = new double [n62*num_scenes]; // maybe will need move-only mode?
for (int n = 0; n < num_scenes; n++) {
double [][] affine = maps_collection.ortho_maps[indices[n]].getAffine();
double [][] affine = ignore_affines? (new double[][] {{1,0,0},{0,1,0}}):maps_collection.ortho_maps[indices[n]].getAffine();
System.arraycopy(affine[0], 0, parameters_vector, n62*n, n13);
System.arraycopy(affine[1], 0, parameters_vector, n62*n + n13, n13);
y_vector[n62*num_pairs+2*n + 0] = affine[0][2];
......@@ -760,7 +731,7 @@ public class OrthoMultiLMA {
return affine; // _alt;
}
private static int [][] createNonIntersectingPairs(int [][] pairs) {
public static int [][] createNonIntersectingPairs(int [][] pairs) {
ArrayList<Integer> pairs_list = new ArrayList<Integer>();
for (int i = 0; i < pairs.length; i++) {
pairs_list.add(i);
......@@ -835,7 +806,7 @@ public class OrthoMultiLMA {
System.out.println("LMA step "+iter+": {"+rslt[0]+","+rslt[1]+"} full RMS= "+good_or_bad_rms[0]+
" ("+initial_rms[0]+"), pure RMS="+good_or_bad_rms[1]+" ("+initial_rms[1]+") + lambda="+lambda);
}
if (rslt[1]) {
if (rslt[1]) {// the place to put a breakpoint
break;
}
if (rslt[0]) { // good
......@@ -1035,7 +1006,6 @@ public class OrthoMultiLMA {
return rslt;
}
private double [][] getWJtJlambda(
final double lambda,
final double [][] jt)
......@@ -1129,11 +1099,11 @@ public class OrthoMultiLMA {
return last_rms;
}
public double [] getInitialRms() {
return initial_rms;
}
private double [] getFxDerivs(
final double [] vector,
final double [][] jt, // should be null or initialized with [vector.length][]
......
src/main/java/com/elphel/imagej/orthomosaic/PairwiseOrthoMatch.java
View file @ 75c570c2
......@@ -19,6 +19,9 @@ public class PairwiseOrthoMatch implements Serializable {
public PairwiseOrthoMatch() {
}
public double getOverlap() {
return overlap;
}
public PairwiseOrthoMatch(
double [][] affine,
......
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