Skip to content

I
imagej-elphel
Commit 7739a5cb authored by Andrey Filippov's avatar Andrey Filippov
Browse files
Options

Working snapshot, will try to improve matching scenes from different 

sequences
parent 883c0212
Show whitespace changes
Inline Side-by-side
Showing with 147 additions and 25 deletions
src/main/java/com/elphel/imagej/tileprocessor/IntersceneMatchParameters.java
View file @ 7739a5cb
......@@ -793,7 +793,10 @@ min_str_neib_fpn 0.35
public double terr_alpha_init_offs = 0.01; // Initial alpha: opaque/transparent offset from 1.0/0.0
public double terr_alpha_loss = 100.0;
public double terr_alpha_offset = 0.0;
public double terr_alpha_offset = 0.1;
public double terr_alpha_min_veg = -1; // old version 0.5; // Minimal vegetation alpha. If (alpha-alpha_offset)/(1-2*alpha_offset) < alpha_min_veg, pull down to lpha_offset
public double terr_alpha_lpf = 2.5; // pull to average of 4 neighbors
public boolean terr_alpha_piece_linear = true;
public double terr_alpha_scale_avg = 1.0; // scale average alpha (around 0.5) when pulling to it
......@@ -2102,6 +2105,8 @@ min_str_neib_fpn 0.35
gd.addNumericField("Alpha loss", terr_alpha_loss, 5,7,"", "Alpha quadratic growing loss for when out of [0,1] range");
gd.addNumericField("Alpha offset", terr_alpha_offset, 5,7,"", "Start alpha losses above 0.0 and below 1.0 by this value.");
gd.addNumericField("Minimal vegetation alpha", terr_alpha_min_veg, 5,7,"","Minimal vegetation alpha. If (alpha-alpha_offset)/(1-2*alpha_offset) < alpha_min_veg, pull down to lpha_offset.");
gd.addNumericField("Alpha diffusion", terr_alpha_lpf, 5,7,"", "Alpha diffusion to 4 ortho neighbors.");
gd.addCheckbox ("Alpha piece-linear", terr_alpha_piece_linear, "Piece-linear alpha (_/\u203E, false - 0.0-cosine-1.0.");
gd.addNumericField("Scale alpha", terr_alpha_scale_avg, 5,7,"","Scale target (average of neighbors) alpha before pulling to it (not used now).");
......@@ -2818,7 +2823,6 @@ min_str_neib_fpn 0.35
terr_fit_alpha = gd.getNextBoolean();// boolean
terr_fit_scenes = gd.getNextBoolean();// boolean
terr_fit_elevations = gd.getNextBoolean();// boolean
for (int i = 0; i < terr_fit_disable.length; i++) {
terr_fit_disable[i] = gd.getNextBoolean();// boolean
}
......@@ -2847,6 +2851,7 @@ min_str_neib_fpn 0.35
terr_alpha_loss = gd.getNextNumber();// double
terr_alpha_offset = gd.getNextNumber();// double
terr_alpha_min_veg = gd.getNextNumber();// double
terr_alpha_lpf = gd.getNextNumber();// double
terr_alpha_piece_linear = gd.getNextBoolean();// boolean
terr_alpha_scale_avg = gd.getNextNumber();// double
......@@ -3557,6 +3562,7 @@ min_str_neib_fpn 0.35
properties.setProperty(prefix+"terr_alpha_loss", terr_alpha_loss+""); // double
properties.setProperty(prefix+"terr_alpha_offset", terr_alpha_offset+""); // double
properties.setProperty(prefix+"terr_alpha_min_veg", terr_alpha_min_veg+""); // double
properties.setProperty(prefix+"terr_alpha_lpf", terr_alpha_lpf+""); // double
properties.setProperty(prefix+"terr_alpha_piece_linear", terr_alpha_piece_linear+""); // boolean
properties.setProperty(prefix+"terr_alpha_scale_avg", terr_alpha_scale_avg+""); // double
......@@ -4284,6 +4290,7 @@ min_str_neib_fpn 0.35
if (properties.getProperty(prefix+"terr_alpha_loss")!= null) terr_alpha_loss=Double.parseDouble(properties.getProperty(prefix+"terr_alpha_loss"));
if (properties.getProperty(prefix+"terr_alpha_offset")!= null) terr_alpha_offset=Double.parseDouble(properties.getProperty(prefix+"terr_alpha_offset"));
if (properties.getProperty(prefix+"terr_alpha_min_veg")!= null) terr_alpha_min_veg=Double.parseDouble(properties.getProperty(prefix+"terr_alpha_min_veg"));
if (properties.getProperty(prefix+"terr_alpha_lpf")!= null) terr_alpha_lpf=Double.parseDouble(properties.getProperty(prefix+"terr_alpha_lpf"));
if (properties.getProperty(prefix+"terr_alpha_piece_linear")!= null) terr_alpha_piece_linear=Boolean.parseBoolean(properties.getProperty(prefix+"terr_alpha_piece_linear"));
if (properties.getProperty(prefix+"terr_alpha_scale_avg")!= null) terr_alpha_scale_avg=Double.parseDouble(properties.getProperty(prefix+"terr_alpha_scale_avg"));
......@@ -4977,6 +4984,7 @@ min_str_neib_fpn 0.35
imp.terr_alpha_loss = this.terr_alpha_loss;
imp.terr_alpha_offset = this.terr_alpha_offset;
imp.terr_alpha_min_veg = this.terr_alpha_min_veg;
imp.terr_alpha_lpf = this.terr_alpha_lpf;
imp.terr_alpha_piece_linear = this.terr_alpha_piece_linear;
imp.terr_alpha_scale_avg = this.terr_alpha_scale_avg;
......
src/main/java/com/elphel/imagej/vegetation/VegetationLMA.java
View file @ 7739a5cb
......@@ -61,6 +61,10 @@ public class VegetationLMA {
public static final int SAMPLES_SIZE = SAMPLES_TOTAL+1;
public static final int SAMPLES_EXTRA = SAMPLES_SCENES; // start of "extra" samples
public final static String[] SAMPLES_NAMES = {"SAMPLES_Y", "SAMPLES_Y_HF", "SAMPLES_Y_AVG",
"SAMPLES_SCENES","SAMPLES_ALPHA_PULL","SAMPLES_ALPHA_LPF","SAMPLES_TERRAIN_PULL",
"SAMPLES_TERRAIN_LPF","SAMPLES_VEGETATION_PULL","SAMPLES_VEGETATION_LPF",
"SAMPLES_ELEVATION_PULL","SAMPLES_ELEVATION_LPF","SAMPLES_ELEVATION_ALPHA","SAMPLES_TOTAL"};
public static final int [] SAVE_TYPES = {TVAO_TERRAIN, TVAO_VEGETATION, TVAO_ALPHA, TVAO_ELEVATION, TVAO_SCENE_OFFSET};
private final Rectangle full;
......@@ -153,6 +157,7 @@ public class VegetationLMA {
private boolean [] fits; // (+)
private double alpha_loss = 0; // (+) not used with cosine alpha
private double alpha_offset = 0; // (+) if >0, start losses above 0.0 and below 1.0;
private double alpha_min_veg = 0.5; // (+) if (alpha-alpha_offset)/(1-2*alpha_offset) < alpha_min_veg, pull down to lpha_offset
private double alpha_lpf = 0; // (+)
private boolean alpha_piece_linear = true; // (+)
private double alpha_scale_avg = 1.0; // (+) 1.1; // scale average alpha (around 0.5) when pulling to it
......@@ -249,7 +254,7 @@ public class VegetationLMA {
image_length = full.width * full.height;
num_scenes = vegetationModel.terrain_scenes_render.length;
vegetation_average =vegetationModel.vegetation_full; // vegetation_average_render;
vegetation_pull = vegetationModel.vegetation_pull; // pull LMA to this level
// vegetation_pull = vegetationModel.vegetation_pull; // pull LMA to this level
terrain_average = vegetationModel.terrain_filled; // terrain filled under vegetation, use to pull terrain level to it
terrain_rendered = vegetationModel.terrain_scenes_render;
vegetation_offsets =vegetationModel.vegetation_warp;
......@@ -274,6 +279,8 @@ public class VegetationLMA {
scene_weights = new double [num_scenes];
scales_xy = getScalesXY(vegetationModel.scale_dirs);
tvao[TVAO_ELEVATION] = vegetationModel.elevations.clone();
// vegetation_pull = vegetationModel.vegetation_pull; // pull LMA to this level
vegetation_pull =tvao[TVAO_VEGETATION].clone();
if (debugLevel > -2) {
String [] titles = {"TVAO_TERRAIN", "TVAO_VEGETATION", "vegetation_pull", "vegetation_full", "elevations", "TVAO_ALPHA"};
double [][] dbg_img = {tvao[TVAO_TERRAIN],tvao[TVAO_VEGETATION],vegetationModel.vegetation_pull,vegetationModel.vegetation_full,vegetationModel.elevations,tvao[TVAO_ALPHA]};
......@@ -516,6 +523,7 @@ public class VegetationLMA {
final double reg_weights, // fraction of the total weight used for regularization
final double alpha_loss, // quadratic loss when alpha reaches -1.0 or 2.0
final double alpha_offset, // quadratic loss when alpha reaches -1.0 or 2.0
final double alpha_min_veg, // 0.5; // if (alpha-alpha_offset)/(1-2*alpha_offset) < alpha_min_veg, pull down to lpha_offset
final double alpha_lpf, // pull vegetation alpha to average of 4 neighbors
final boolean alpha_piece_linear, // true - piece-linear, false - half-cosine
final double alpha_scale_avg, // = 1.2; // scale average alpha (around 0.5) when pulling to it
......@@ -554,6 +562,7 @@ public class VegetationLMA {
this.reg_weights = reg_weights; // fraction of the total weight used for regularization
this.alpha_loss = alpha_loss;
this.alpha_offset = alpha_offset;
this.alpha_min_veg = alpha_min_veg;
this.alpha_lpf = alpha_lpf;
this.alpha_scale_avg = alpha_scale_avg;
this.alpha_piece_linear= alpha_piece_linear;
......@@ -924,6 +933,71 @@ public class VegetationLMA {
return wymfw;
}
public double[][] yMinusFxSummary(
final double [] fx,
final boolean show) {
final double [][] stats = new double [samples_pointers.length][2];
final Thread[] threads = ImageDtt.newThreadArray();
final AtomicInteger ai = new AtomicInteger(0);
final AtomicInteger ati = new AtomicInteger(0);
for (int n = 0; n < SAMPLES_TOTAL; n++) {
final int nstat = n;
final int nstat_start = samples_pointers[nstat][0];
final int nstat_length = samples_pointers[nstat][1];
if (nstat_length > 0) {
ai.set(0);
ati.set(0);
final double [][] stats_threaded = new double [threads.length][2];
for (int ithread = 0; ithread < threads.length; ithread++) { // first sum for pairs
threads[ithread] = new Thread() {
public void run() {
int nthread = ati.getAndIncrement();
for (int n = ai.getAndIncrement(); n < nstat_length; n = ai.getAndIncrement()) {
int indx = nstat_start + n;
double y = (indx < y_vector.length) ? y_vector[indx] : 0;
double d = y - fx[indx]; // - fx[n]; // +y_vector[i]
double w = weights[indx];
double wd = d * w;
if (Double.isNaN(wd)) {
System.out.println("wd=NaN, n="+n);
}
stats_threaded[nthread][0] += wd * d;
stats_threaded[nthread][1] += w;
}
}
};
}
ImageDtt.startAndJoin(threads);
for (int nthread = 0; nthread < stats_threaded.length; nthread++) {
stats[nstat][0] += stats_threaded[nthread][0];
stats[nstat][1] += stats_threaded[nthread][1];
}
}
}
for (int nstat = 0; nstat < SAMPLES_TOTAL; nstat++) {
stats[SAMPLES_TOTAL][0] += stats[nstat][0];
stats[SAMPLES_TOTAL][1] += stats[nstat][1];
}
if (show) {
System.out.println(String.format("%2s, %24s, %12s, %12s, %12s, %7s, %7s, %7s", "#", "name", "RMS_avg", "RMS_contrib", "weight", "start","end","length"));
for (int nstat = 0; nstat < stats.length; nstat++) if (stats[nstat][1] > 0) {
int istart = samples_pointers[nstat][0];
int ilength = samples_pointers[nstat][1];
int iend = istart+ilength-1;
double rms_avg = Math.sqrt(stats[nstat][0]/stats[nstat][1]);
double rms_contrib = Math.sqrt(stats[nstat][0] * stats[nstat][1]);
double weight = stats[nstat][1];
System.out.println(String.format("%2d, %24s, %12.8f, %12.8f, %12.8f, %7d, %7d, %7d",
nstat, SAMPLES_NAMES[nstat],
rms_avg, rms_contrib, weight,
istart, iend, ilength));
}
}
return stats;
}
public int runLma( // <0 - failed, >=0 iteration number (1 - immediately)
double lambda, // 0.1
double lambda_scale_good,// 0.5
......@@ -1020,7 +1094,15 @@ public class VegetationLMA {
}
System.out.println();
}
if (debug_level > -2) {
double [] fx = getFxDerivs(
parameters_vector, // double [] vector,
null, // final double [][] jt, // should be null or initialized with [vector.length][]
debug_level); // final int debug_level)
yMinusFxSummary(
fx, // final double [] fx,
true); // final boolean show)
}
return rslt[0]? iter : -1;
}
......@@ -1044,6 +1126,11 @@ public class VegetationLMA {
last_rms); // final double [] rms_fp // null or [2]
this.initial_rms = this.last_rms.clone();
this.good_or_bad_rms = this.last_rms.clone();
if (debug_level > 0) {
yMinusFxSummary(
fx, // final double [] fx,
true); // final boolean show)
}
if (last_ymfx == null) {
return null; // need to re-init/restart LMA
......@@ -1175,11 +1262,10 @@ public class VegetationLMA {
// vector_XYS, // final double [][] vector_XYS,
fx, // final double [] fx,
rms); // final double [] rms_fp // null or [2]
if (debug_level > 2) {
/*
dbgYminusFx(this.last_ymfx, "next y-fX");
dbgXY(new_vector, "XY-correction");
*/
if (debug_level > 0) {
yMinusFxSummary(
fx, // final double [] fx,
true); // final boolean show)
}
if (last_ymfx == null) {
......@@ -1223,6 +1309,11 @@ public class VegetationLMA {
last_ymfx = getYminusFxWeighted(
fx, // final double [] fx,
this.last_rms); // final double [] rms_fp // null or [2]
if (debug_level > 0) {
yMinusFxSummary(
fx, // final double [] fx,
true); // final boolean show)
}
if (last_ymfx == null) {
return null; // need to re-init/restart LMA
}
......@@ -1274,7 +1365,7 @@ public class VegetationLMA {
// hifreq_weight
String debug_title = "parameters_vector-x"+woi.x+"-y"+woi.y+"-w"+woi.width+"-h"+woi.height;
debug_title += "-hf"+hifreq_weight+"-tc"+terrain_correction;
debug_title += "-al"+alpha_loss+"-alo"+alpha_offset+"-alp"+alpha_lpf+"-als"+alpha_scale_avg+(alpha_piece_linear?"-alin":"-acos");
debug_title += "-al"+alpha_loss+"-alo"+alpha_offset+"-amv"+alpha_min_veg+"-alp"+alpha_lpf+"-als"+alpha_scale_avg+(alpha_piece_linear?"-alin":"-acos");
debug_title += "-ap"+alpha_push+"-apn"+alpha_push_neutral+"-apc"+alpha_push_center+(alpha_en_holes?("-amm"+alpha_mm_hole):"");
debug_title += "-tl"+terr_lpf+"-vl"+veget_lpf+"-el"+elevation_lpf+"-tp"+terr_pull0+"-vp"+veget_pull0+"-ep"+elevation_pull0;
if (elev_alpha_en) {
......@@ -2726,6 +2817,8 @@ public class VegetationLMA {
// No need here to add contributors as this should not depend on any other parameters
if (samples_pointers[SAMPLES_ALPHA_PULL][1] > 0) { // fits[TVAO_ALPHA] && ((alpha_loss > 0) || (alpha_push > 0))) {
int dbg_nx = -76340;
final double alpha_threshold = alpha_offset + alpha_min_veg *(1 - 2*alpha_offset);
final double alpha_plateau = alpha_threshold * alpha_loss;
ai.set(0);
for (int ithread = 0; ithread < threads.length; ithread++) {
threads[ithread] = new Thread() {
......@@ -2740,6 +2833,22 @@ public class VegetationLMA {
fX[nx] = 0.0;
if (alpha_loss > 0) {
double alpha = vector[np];
if (alpha_min_veg >= 0) {
if (alpha < alpha_threshold) {
fX[nx] = (alpha - alpha_offset) * alpha_loss;
if (jt != null) {
jt[np][nx] = alpha_loss; // d/dalpha[i]
}
} else if (alpha > (1 - alpha_offset)) {
fX[nx] = (alpha - (1.0 - alpha_offset)) * alpha_loss + alpha_plateau;
if (jt != null) {
jt[np][nx] = alpha_loss; // d/dalpha[i]
}
} else {
fX[nx] = alpha_plateau;
// jt[np][nx] = 0.0; // d/dalpha[i]
}
} else { // old version, requires alpha_min_veg < 0
if (alpha < alpha_offset) {
d = alpha- alpha_offset;
} else if (alpha > (1 - alpha_offset)) {
......@@ -2752,6 +2861,7 @@ public class VegetationLMA {
}
}
}
}
if (alpha_push > 0) {
// average including center:
/// double sum_w = (nn + alpha_push_center);
......@@ -3862,6 +3972,7 @@ public class VegetationLMA {
imp.setProperty("FIT_SCENE_OFFSET", ""+fits[TVAO_SCENE_OFFSET]);
imp.setProperty("ALPHA_LOSS", ""+alpha_loss);
imp.setProperty("ALPHA_OFFSET", ""+alpha_offset);
imp.setProperty("ALPHA_MIN_VEG", ""+alpha_min_veg);
imp.setProperty("ALPHA_LPF", ""+alpha_lpf);
imp.setProperty("ALPHA_PIECE_LINEAR", ""+alpha_piece_linear);
imp.setProperty("ALPHA_SCALE_AVG", ""+alpha_scale_avg);
......@@ -4028,6 +4139,7 @@ public class VegetationLMA {
fits[TVAO_SCENE_OFFSET] = Boolean.parseBoolean((String) imp_pars.getProperty("FIT_SCENE_OFFSET"));
alpha_loss = Double.parseDouble((String) imp_pars.getProperty("ALPHA_LOSS"));
alpha_offset = Double.parseDouble((String) imp_pars.getProperty("ALPHA_OFFSET"));
if (imp_pars.getProperty("ALPHA_MIN_VEG") != null) alpha_min_veg = Double.parseDouble((String) imp_pars.getProperty("ALPHA_MIN_VEG"));
alpha_lpf = Double.parseDouble((String) imp_pars.getProperty("ALPHA_LPF"));
alpha_piece_linear = Boolean.parseBoolean((String) imp_pars.getProperty("ALPHA_PIECE_LINEAR"));
alpha_scale_avg = Double.parseDouble((String) imp_pars.getProperty("ALPHA_SCALE_AVG"));
......@@ -5211,7 +5323,6 @@ public class VegetationLMA {
System.out.println("y_vector["+(wIndx+terr_start)+"]=NaN");
}
y_vector[wIndx+terr_start] = swy; // /sw; (fX uses the same weights)
}
}
};
......@@ -6380,8 +6491,8 @@ public class VegetationLMA {
threads[ithread] = new Thread() {
public void run() {
for (int indx_decim = ai.getAndIncrement(); indx_decim < data_decimated.length; indx_decim = ai.getAndIncrement()) {
int indx = par_map[0][indx_decim];
data_full[indx_decim] = (indx >= 0) ? data_decimated[indx] : 0.0;
int indx = par_map[1][indx_decim];
data_full[indx] = (indx >= 0) ? data_decimated[indx_decim] : 0.0;
}
}
};
......
src/main/java/com/elphel/imagej/vegetation/VegetationModel.java
View file @ 7739a5cb
......@@ -1428,6 +1428,8 @@ public class VegetationModel {
double default_alpha = clt_parameters.imp.terr_alpha_dflt; // 0.5; // 0.8;
double alpha_loss = clt_parameters.imp.terr_alpha_loss; //100.0; // 10.0; /// 100.0; // 10.0; // 10000.0; // 1000.0; // 100.; // 10.0; // quadratic loss when alpha reaches -1.0 or 2.0
double alpha_offset = clt_parameters.imp.terr_alpha_offset; // 0.0; // 0.02; // 0.03; // if >0, start losses above 0.0 and below 1.0;
double alpha_min_veg = clt_parameters.imp.terr_alpha_min_veg; // 0.5 // Minimal vegetation alpha. If (alpha-alpha_offset)/(1-2*alpha_offset) < alpha_min_veg, pull down to lpha_offset
double alpha_lpf = clt_parameters.imp.terr_alpha_lpf; // 2.5; // 5; /// 2; // 5; /// 10; /// 15; // 10.0; // 5.0; // 10.0; // 3; // 10; // 20; // 6.0; // 3.0; // 2.0; // 1.5; // 5.0; // 0.5; // pull to average of 4 neighbors
boolean alpha_piece_linear =clt_parameters.imp.terr_alpha_piece_linear; // true; // false; // true;
double alpha_scale_avg = clt_parameters.imp.terr_alpha_scale_avg; // 1.0; // 1.1; // 0.9; // 2.0; // 1.5; // scale average alpha (around 0.5) when pulling to it
......@@ -2007,6 +2009,7 @@ public class VegetationModel {
reg_weights, // final double reg_weights, // fraction of the total weight used for regularization
alpha_loss, // final double alpha_loss, // quadratic loss when alpha reaches -1.0 or 2.0
alpha_offset, // final double alpha_offset, // quadratic loss when alpha reaches -1.0 or 2.0
alpha_min_veg, //final double alpha_min_veg, // 0.5; // if (alpha-alpha_offset)/(1-2*alpha_offset) < alpha_min_veg, pull down to lpha_offset
alpha_lpf, // final double alpha_lpf, // pull to average of 4 neighbors
alpha_piece_linear, // final boolean alpha_piece_linear, // true - piece-linear, false - half-cosine
alpha_scale_avg, // final double alpha_scale_avg, // = 1.2; // scale average alpha (around 0.5) when pulling to it
......
Markdown is supported
0% or
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment