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imagej-elphel
Commit 78002a6b authored by Andrey Filippov's avatar Andrey Filippov
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Center of mass calculation for X/Y motion vector

parent 82ae5d53
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Showing with 589 additions and 159 deletions
src/main/java/com/elphel/imagej/tileprocessor/Correlation2d.java
View file @ 78002a6b
......@@ -361,7 +361,7 @@ public class Correlation2d {
* @param fat_zero add to normalization amplitude
* @return [4][transform_len] FD CLT data
*/
public double[][] correlateSingleColorFD( // USED in lwir
public double[][] correlateSingleColorFD( // USED in lwir
double [][] clt_data1,
double [][] clt_data2,
double [][] tcorr, // null or initialized to [4][transform_len]
......@@ -452,7 +452,7 @@ public class Correlation2d {
tcorr[col],
fat_zero/scale_value);
if (first_col < 0) {// accummulate all channels in first non-null color ( 0 for color, 2 for mono?)
if (first_col < 0) {// accumulate all channels in first non-null color ( 0 for color, 2 for mono?)
first_col = col; // first non-empty color (2, green) or 0 for color images
for (int n = 0; n < 4; n++) {
for (int i = 0; i < transform_len; i++) {
......
src/main/java/com/elphel/imagej/tileprocessor/ImageDttCPU.java
View file @ 78002a6b
......@@ -43,6 +43,24 @@ public class ImageDttCPU {
static int FPGA_WND_BITS = 17; // bits to represent mclt window (positive for 18-bit signed mpy input)
static int FPGA_DTT_IN = 22; // bits to represent maximal value after folding (input to DTT)
static int FPGA_TILE_SIZE = 22; // size of square side for the composite colors tile (16..22)
public static int [][] ZI =
{{ 0, 1, 2, 3},
{-1, 0, -3, 2},
{-2, -3, 0, 1},
{ 3, -2, -1, 0}};
public static int [][] CORR_PAIRS ={ // {first, second, rot} rot: 0 - as is, 1 - swap y,x
{0,1,0},
{2,3,0},
{0,2,1},
{1,3,1}};
public static double[][] PORT_OFFSETS = {
{-0.5, -0.5},
{ 0.5, -0.5},
{-0.5, 0.5},
{ 0.5, 0.5}};
// kernels ar designed to have sum = 1.0 and completely reject Bayer modulation for each color
static double [] kern_g={
0.0, 0.125, 0.0 ,
......@@ -2547,22 +2565,6 @@ public class ImageDttCPU {
System.out.println("clt_aberrations_quad_corr(): width="+width+" height="+height+" transform_size="+transform_size+
" debug_tileX="+debug_tileX+" debug_tileY="+debug_tileY+" globalDebugLevel="+globalDebugLevel);
}
final int [][] zi =
{{ 0, 1, 2, 3},
{-1, 0, -3, 2},
{-2, -3, 0, 1},
{ 3, -2, -1, 0}};
final int [][] corr_pairs ={ // {first, second, rot} rot: 0 - as is, 1 - swap y,x // not used in lwir
{0,1,0},
{2,3,0},
{0,2,1},
{1,3,1}};
final double[][] port_offsets = { // lwir: used only in textures to scale differences
{-0.5, -0.5},
{ 0.5, -0.5},
{-0.5, 0.5},
{ 0.5, 0.5}};
final int transform_len = transform_size * transform_size;
final double [] filter = doubleGetCltLpfFd(corr_sigma);
......@@ -2669,8 +2671,8 @@ public class ImageDttCPU {
int img_mask = getImgMask(tile_op[tileY][tileX]); // which images to use
int corr_mask = getPairMask(tile_op[tileY][tileX]); // which pairs to combine in the combo: 1 - top, 2 bottom, 4 - left, 8 - right
// mask out pairs that use missing channels
for (int i = 0; i< corr_pairs.length; i++){
if ((((1 << corr_pairs[i][0]) & img_mask) == 0) || (((1 << corr_pairs[i][1]) & img_mask) == 0)) {
for (int i = 0; i< CORR_PAIRS.length; i++){
if ((((1 << CORR_PAIRS[i][0]) & img_mask) == 0) || (((1 << CORR_PAIRS[i][1]) & img_mask) == 0)) {
corr_mask &= ~ (1 << i);
}
}
......@@ -3569,13 +3571,13 @@ public class ImageDttCPU {
// old (per-color correlation)
// ****** FIXME tries to use color == 3, should be disabled!
if ((clt_corr_combo != null) && !imgdtt_params.corr_mode_debug){ // not null - calculate correlations // not used in lwir
tcorr_tpartial= new double[corr_pairs.length][numcol+1][4][transform_len];
tcorr_tpartial= new double[CORR_PAIRS.length][numcol+1][4][transform_len];
tcorr_partial = new double[quad][numcol+1][];
for (int pair = 0; pair < corr_pairs.length; pair++){
for (int pair = 0; pair < CORR_PAIRS.length; pair++){
for (int ncol = 0; ncol <numcol; ncol++) if (clt_data[ncol] != null){
double [][] data1 = clt_data[corr_pairs[pair][0]][ncol][tileY][tileX];
double [][] data2 = clt_data[corr_pairs[pair][1]][ncol][tileY][tileX];
double [][] data1 = clt_data[CORR_PAIRS[pair][0]][ncol][tileY][tileX];
double [][] data2 = clt_data[CORR_PAIRS[pair][1]][ncol][tileY][tileX];
if ((data1 != null) && (data2 != null)) {
double [] a2 = new double[transform_len];
......@@ -3595,12 +3597,12 @@ public class ImageDttCPU {
for (int n = 0; n<4; n++){
tcorr_tpartial[pair][ncol][n][i] = 0;
for (int k=0; k<4; k++){
if (zi[n][k] < 0)
if (ZI[n][k] < 0)
tcorr_tpartial[pair][ncol][n][i] -=
data1[-zi[n][k]][i] * data2[k][i];
data1[-ZI[n][k]][i] * data2[k][i];
else
tcorr_tpartial[pair][ncol][n][i] +=
data1[zi[n][k]][i] * data2[k][i];
data1[ZI[n][k]][i] * data2[k][i];
}
tcorr_tpartial[pair][ncol][n][i] *= scale;
}
......@@ -3647,7 +3649,7 @@ public class ImageDttCPU {
transform_size);
}
// transpose vertical pairs
if (corr_pairs[pair][2] != 0) {
if (CORR_PAIRS[pair][2] != 0) {
for (int ncol = firstColor; ncol <= numcol; ncol++) if (tcorr_tpartial[pair][ncol] != null) {
for (int i = 0; i < transpose_indices.length; i++) {
double d = tcorr_partial[pair][ncol][transpose_indices[i][0]];
......@@ -3680,9 +3682,9 @@ public class ImageDttCPU {
tcorr_combo = new double [TCORR_TITLES.length][corr_size * corr_size];
int numPairs = 0, numPairsHor = 0, numPairsVert = 0;
for (int pair = 0; pair < corr_pairs.length; pair++) if (((corr_mask >> pair) & 1) != 0){
for (int pair = 0; pair < CORR_PAIRS.length; pair++) if (((corr_mask >> pair) & 1) != 0){
numPairs++;
if (corr_pairs[pair][2] == 0) { // horizontal pair)
if (CORR_PAIRS[pair][2] == 0) { // horizontal pair)
numPairsHor++;
} else {
numPairsVert++;
......@@ -3702,9 +3704,9 @@ public class ImageDttCPU {
tcorr_combo[TCORR_COMBO_RSLT][i] = 0.0;
tcorr_combo[TCORR_COMBO_HOR][i] = 0.0;
tcorr_combo[TCORR_COMBO_VERT][i] = 0.0;
for (int pair = 0; pair < corr_pairs.length; pair++) if (((corr_mask >> pair) & 1) != 0){
for (int pair = 0; pair < CORR_PAIRS.length; pair++) if (((corr_mask >> pair) & 1) != 0){
tcorr_combo[TCORR_COMBO_RSLT][i] += avScale*tcorr_partial[pair][numcol][i]; // only composite color channel
if (corr_pairs[pair][2] == 0) { // horizontal pair
if (CORR_PAIRS[pair][2] == 0) { // horizontal pair
tcorr_combo[TCORR_COMBO_HOR][i] += avScaleHor*tcorr_partial[pair][numcol][i]; // only composite color channel
} else { //vertical pair
tcorr_combo[TCORR_COMBO_VERT][i] += avScaleVert*tcorr_partial[pair][numcol][i]; // only composite color channel
......@@ -3719,9 +3721,9 @@ public class ImageDttCPU {
tcorr_combo[TCORR_COMBO_RSLT][i] = 1.0;
tcorr_combo[TCORR_COMBO_HOR][i] = 1.0;
tcorr_combo[TCORR_COMBO_VERT][i] = 1.0;
for (int pair = 0; pair < corr_pairs.length; pair++) if (((corr_mask >> pair) & 1) != 0){
for (int pair = 0; pair < CORR_PAIRS.length; pair++) if (((corr_mask >> pair) & 1) != 0){
tcorr_combo[TCORR_COMBO_RSLT][i] *= (tcorr_partial[pair][numcol][i] + corr_offset); // only composite color channel
if (corr_pairs[pair][2] == 0) { // horizontal pair
if (CORR_PAIRS[pair][2] == 0) { // horizontal pair
tcorr_combo[TCORR_COMBO_HOR][i] *= (tcorr_partial[pair][numcol][i] + corr_offset); // only composite color channel
} else { //vertical pair
tcorr_combo[TCORR_COMBO_VERT][i] *= (tcorr_partial[pair][numcol][i] + corr_offset); // only composite color channel
......@@ -3754,7 +3756,7 @@ public class ImageDttCPU {
// calculate sum also
for (int i = 0; i < tcorr_combo[TCORR_COMBO_SUM].length; i++){
tcorr_combo[TCORR_COMBO_SUM][i] = 0.0;
for (int pair = 0; pair < corr_pairs.length; pair++) if (((corr_mask >> pair) & 1) != 0){
for (int pair = 0; pair < CORR_PAIRS.length; pair++) if (((corr_mask >> pair) & 1) != 0){
tcorr_combo[TCORR_COMBO_SUM][i] += avScale*tcorr_partial[pair][numcol][i]; // only composite color channel
if (debugMax) {
System.out.println("tcorr_combo[TCORR_COMBO_SUM]["+i+"]="+tcorr_combo[TCORR_COMBO_SUM][i]+" tcorr_partial["+pair+"]["+numcol+"]["+i+"]="+tcorr_partial[pair][numcol][i]);
......@@ -3785,8 +3787,8 @@ public class ImageDttCPU {
fract_shift( // fractional shift in transform domain. Currently uses sin/cos - change to tables with 2? rotations
clt_data[i][ncol][tileY][tileX], // double [][] clt_tile,
// transform_size,
extra_disparity * port_offsets[i][0] / corr_magic_scale, // double shiftX,
extra_disparity * port_offsets[i][1] / corr_magic_scale, // double shiftY,
extra_disparity * PORT_OFFSETS[i][0] / corr_magic_scale, // double shiftX,
extra_disparity * PORT_OFFSETS[i][1] / corr_magic_scale, // double shiftY,
// (globalDebugLevel > 0) && (tileX == debug_tileX) && (tileY == debug_tileY)); // external tile compare
((globalDebugLevel > 0) && (ncol==0) && (tileX >= debug_tileX - 2) && (tileX <= debug_tileX + 2) &&
(tileY >= debug_tileY - 2) && (tileY <= debug_tileY+2)));
......@@ -3902,7 +3904,7 @@ public class ImageDttCPU {
ports_rgb, // double [] ports_rgb, // average values of R,G,B for each camera (R0,R1,...,B2,B3)
max_diff, // maximal (weighted) deviation of each channel from the average
lt_window2, // [256]
port_offsets, // [port]{x_off, y_off}
PORT_OFFSETS, // [port]{x_off, y_off}
img_mask, // which port to use, 0xf - all 4 (will modify as local variable)
diff_sigma, // pixel value/pixel change
diff_threshold, // pixel value/pixel change
......@@ -5453,19 +5455,6 @@ public class ImageDttCPU {
*
* T= transp({cc, sc, cs, ss})
*/
/*
final int [][] zi =
{{ 0, -1, -2, 3},
{ 1, 0, -3, -2},
{ 2, -3, 0, -1},
{ 3, 2, 1, 0}};
*/
final int [][] zi =
{{ 0, 1, 2, 3},
{-1, 0, -3, 2},
{-2, -3, 0, 1},
{ 3, -2, -1, 0}};
final int dct_len = transform_size * transform_size;
final double [][][][] rslt = new double[tilesY][tilesX][4][dct_len];
final Thread[] threads = newThreadArray(threadsMax);
......@@ -5488,12 +5477,12 @@ public class ImageDttCPU {
for (int n = 0; n<4; n++){
rslt[tileY][tileX][n][i] = 0;
for (int k=0; k<4; k++){
if (zi[n][k] < 0)
if (ZI[n][k] < 0)
rslt[tileY][tileX][n][i] -=
data1[tileY][tileX][-zi[n][k]][i] * data2[tileY][tileX][k][i];
data1[tileY][tileX][-ZI[n][k]][i] * data2[tileY][tileX][k][i];
else
rslt[tileY][tileX][n][i] +=
data1[tileY][tileX][zi[n][k]][i] * data2[tileY][tileX][k][i];
data1[tileY][tileX][ZI[n][k]][i] * data2[tileY][tileX][k][i];
}
rslt[tileY][tileX][n][i] *= scale;
}
......@@ -6850,24 +6839,6 @@ public class ImageDttCPU {
*
* T= transp({cc, sc, cs, ss})
*/
/*
final int [][] zi =
{{ 0, -1, -2, 3},
{ 1, 0, -3, -2},
{ 2, -3, 0, -1},
{ 3, 2, 1, 0}};
final int [][] zi =
{{ 0, 1, 2, 3},
{-1, 0, -3, 2},
{-2, -3, 0, 1},
{ 3, -2, -1, 0}};
*/
// opposite sign from correlation
final int [][] zi = { //
{ 0, -1, -2, 3},
{ 1, 0, -3, -2},
{ 2, -3, 0, -1},
{ 3, 2, 1, 0}};
final int transform_len = transform_size * transform_size;
final double [][] rslt = new double[4][transform_len];
......@@ -6875,10 +6846,10 @@ public class ImageDttCPU {
for (int n = 0; n<4; n++){
rslt[n][i] = 0;
for (int k=0; k<4; k++){
if (zi[n][k] < 0)
rslt[n][i] -= data[-zi[n][k]][i] * kernel[k][i];
if (ZI[n][k] < 0)
rslt[n][i] -= data[-ZI[n][k]][i] * kernel[k][i];
else
rslt[n][i] += data[ zi[n][k]][i] * kernel[k][i];
rslt[n][i] += data[ ZI[n][k]][i] * kernel[k][i];
}
}
}
......@@ -7613,25 +7584,7 @@ public class ImageDttCPU {
System.out.println("clt_aberrations_quad_corr(): width="+width+" height="+height+" transform_size="+transform_size+
" debug_tileX="+debug_tileX+" debug_tileY="+debug_tileY+" globalDebugLevel="+globalDebugLevel);
}
final int [][] zi =
{{ 0, 1, 2, 3},
{-1, 0, -3, 2},
{-2, -3, 0, 1},
{ 3, -2, -1, 0}};
final int [][] corr_pairs ={ // {first, second, rot} rot: 0 - as is, 1 - swap y,x
{0,1,0},
{2,3,0},
{0,2,1},
{1,3,1}};
final double[][] port_offsets = {
{-0.5, -0.5},
{ 0.5, -0.5},
{-0.5, 0.5},
{ 0.5, 0.5}};
final int transform_len = transform_size * transform_size;
/*
final double [] filter_direct= new double[transform_len];
if (corr_sigma == 0) {
......@@ -7749,8 +7702,8 @@ public class ImageDttCPU {
int img_mask = getImgMask(tile_op[tileY][tileX]); // which images to use
int corr_mask = getPairMask(tile_op[tileY][tileX]); // which pairs to combine in the combo: 1 - top, 2 bottom, 4 - left, 8 - right
// mask out pairs that use missing channels
for (int i = 0; i< corr_pairs.length; i++){
if ((((1 << corr_pairs[i][0]) & img_mask) == 0) || (((1 << corr_pairs[i][1]) & img_mask) == 0)) {
for (int i = 0; i< CORR_PAIRS.length; i++){
if ((((1 << CORR_PAIRS[i][0]) & img_mask) == 0) || (((1 << CORR_PAIRS[i][1]) & img_mask) == 0)) {
corr_mask &= ~ (1 << i);
}
}
......@@ -8032,13 +7985,13 @@ public class ImageDttCPU {
double extra_disparity = 0.0; // if allowed, shift images extra before trying to combine
if (clt_corr_combo != null){ // not null - calculate correlations
tcorr_tpartial=new double[corr_pairs.length][numcol+1][4][transform_len];
tcorr_tpartial=new double[CORR_PAIRS.length][numcol+1][4][transform_len];
tcorr_partial = new double[quad][numcol+1][];
for (int pair = 0; pair < corr_pairs.length; pair++){
for (int pair = 0; pair < CORR_PAIRS.length; pair++){
for (int chn = 0; chn <numcol; chn++){
double [][] data1 = clt_data[corr_pairs[pair][0]][chn][tileY][tileX];
double [][] data2 = clt_data[corr_pairs[pair][1]][chn][tileY][tileX];
double [][] data1 = clt_data[CORR_PAIRS[pair][0]][chn][tileY][tileX];
double [][] data2 = clt_data[CORR_PAIRS[pair][1]][chn][tileY][tileX];
/* for (int i = 0; i < transform_len; i++) {
double s1 = 0.0, s2=0.0;
for (int n = 0; n< 4; n++){
......@@ -8049,12 +8002,12 @@ public class ImageDttCPU {
for (int n = 0; n<4; n++){
tcorr_tpartial[pair][chn][n][i] = 0;
for (int k=0; k<4; k++){
if (zi[n][k] < 0)
if (ZI[n][k] < 0)
tcorr_tpartial[pair][chn][n][i] -=
data1[-zi[n][k]][i] * data2[k][i];
data1[-ZI[n][k]][i] * data2[k][i];
else
tcorr_tpartial[pair][chn][n][i] +=
data1[zi[n][k]][i] * data2[k][i];
data1[ZI[n][k]][i] * data2[k][i];
}
tcorr_tpartial[pair][chn][n][i] *= scale;
}
......@@ -8078,12 +8031,12 @@ public class ImageDttCPU {
for (int n = 0; n<4; n++){
tcorr_tpartial[pair][chn][n][i] = 0;
for (int k=0; k<4; k++){
if (zi[n][k] < 0)
if (ZI[n][k] < 0)
tcorr_tpartial[pair][chn][n][i] -=
data1[-zi[n][k]][i] * data2[k][i];
data1[-ZI[n][k]][i] * data2[k][i];
else
tcorr_tpartial[pair][chn][n][i] +=
data1[zi[n][k]][i] * data2[k][i];
data1[ZI[n][k]][i] * data2[k][i];
}
tcorr_tpartial[pair][chn][n][i] *= scale;
}
......@@ -8126,7 +8079,7 @@ public class ImageDttCPU {
transform_size);
}
// transpose vertical pairs
if (corr_pairs[pair][2] != 0) {
if (CORR_PAIRS[pair][2] != 0) {
for (int chn = firstColor; chn <= numcol; chn++){
for (int i = 0; i < transpose_indices.length; i++) {
double d = tcorr_partial[pair][chn][transpose_indices[i][0]];
......@@ -8157,9 +8110,9 @@ public class ImageDttCPU {
tcorr_combo = new double [TCORR_TITLES.length][corr_size * corr_size];
int numPairs = 0, numPairsHor = 0, numPairsVert = 0;
for (int pair = 0; pair < corr_pairs.length; pair++) if (((corr_mask >> pair) & 1) != 0){
for (int pair = 0; pair < CORR_PAIRS.length; pair++) if (((corr_mask >> pair) & 1) != 0){
numPairs++;
if (corr_pairs[pair][2] == 0) { // horizontal pair)
if (CORR_PAIRS[pair][2] == 0) { // horizontal pair)
numPairsHor++;
} else {
numPairsVert++;
......@@ -8168,7 +8121,7 @@ public class ImageDttCPU {
double avScale = 0.0, avScaleHor = 0.0, avScaleVert = 0.0;
if ((globalDebugLevel > -1) && (tileX == debug_tileX) && (tileY == debug_tileY)){
System.out.println ("Before combining tiles, numcol="+numcol);
for (int pair = 0; pair < corr_pairs.length; pair++) if (((corr_mask >> pair) & 1) != 0){
for (int pair = 0; pair < CORR_PAIRS.length; pair++) if (((corr_mask >> pair) & 1) != 0){
System.out.println("pair # "+pair);
for (int i = 0; i < corr_size; i++) {
System.out.print(String.format("%2d:", i));
......@@ -8194,9 +8147,9 @@ public class ImageDttCPU {
tcorr_combo[TCORR_COMBO_RSLT][i] = 0.0;
tcorr_combo[TCORR_COMBO_HOR][i] = 0.0;
tcorr_combo[TCORR_COMBO_VERT][i] = 0.0;
for (int pair = 0; pair < corr_pairs.length; pair++) if (((corr_mask >> pair) & 1) != 0){
for (int pair = 0; pair < CORR_PAIRS.length; pair++) if (((corr_mask >> pair) & 1) != 0){
tcorr_combo[TCORR_COMBO_RSLT][i] += avScale*tcorr_partial[pair][numcol][i]; // only composite color channel
if (corr_pairs[pair][2] == 0) { // horizontal pair
if (CORR_PAIRS[pair][2] == 0) { // horizontal pair
tcorr_combo[TCORR_COMBO_HOR][i] += avScaleHor*tcorr_partial[pair][numcol][i]; // only composite color channel
} else { //vertical pair
tcorr_combo[TCORR_COMBO_VERT][i] += avScaleVert*tcorr_partial[pair][numcol][i]; // only composite color channel
......@@ -8213,9 +8166,9 @@ public class ImageDttCPU {
tcorr_combo[TCORR_COMBO_RSLT][i] = 1.0;
tcorr_combo[TCORR_COMBO_HOR][i] = 1.0;
tcorr_combo[TCORR_COMBO_VERT][i] = 1.0;
for (int pair = 0; pair < corr_pairs.length; pair++) if (((corr_mask >> pair) & 1) != 0){
for (int pair = 0; pair < CORR_PAIRS.length; pair++) if (((corr_mask >> pair) & 1) != 0){
tcorr_combo[TCORR_COMBO_RSLT][i] *= (tcorr_partial[pair][numcol][i] + corr_offset); // only composite color channel
if (corr_pairs[pair][2] == 0) { // horizontal pair
if (CORR_PAIRS[pair][2] == 0) { // horizontal pair
tcorr_combo[TCORR_COMBO_HOR][i] *= (tcorr_partial[pair][numcol][i] + corr_offset); // only composite color channel
} else { //vertical pair
tcorr_combo[TCORR_COMBO_VERT][i] *= (tcorr_partial[pair][numcol][i] + corr_offset); // only composite color channel
......@@ -8264,7 +8217,7 @@ public class ImageDttCPU {
// calculate sum also
for (int i = 0; i < tcorr_combo[TCORR_COMBO_SUM].length; i++){
tcorr_combo[TCORR_COMBO_SUM][i] = 0.0;
for (int pair = 0; pair < corr_pairs.length; pair++) if (((corr_mask >> pair) & 1) != 0){
for (int pair = 0; pair < CORR_PAIRS.length; pair++) if (((corr_mask >> pair) & 1) != 0){
tcorr_combo[TCORR_COMBO_SUM][i] += avScale*tcorr_partial[pair][numcol][i]; // only composite color channel
if (debugMax) {
System.out.println("tcorr_combo[TCORR_COMBO_SUM]["+i+"]="+tcorr_combo[TCORR_COMBO_SUM][i]+" tcorr_partial["+pair+"]["+numcol+"]["+i+"]="+tcorr_partial[pair][numcol][i]);
......@@ -8316,7 +8269,7 @@ public class ImageDttCPU {
disparity_map[DISPARITY_INDEX_POLY] [tIndex] = Double.NaN;
disparity_map[DISPARITY_INDEX_POLY+1] [tIndex] = Double.NaN;
if (clt_mismatch != null){
for (int pair = 0; pair < corr_pairs.length; pair++) if (((corr_mask >> pair) & 1) != 0){
for (int pair = 0; pair < CORR_PAIRS.length; pair++) if (((corr_mask >> pair) & 1) != 0){
clt_mismatch[3*pair + 0 ][tIndex] = Double.NaN;
clt_mismatch[3*pair + 1 ][tIndex] = Double.NaN;
clt_mismatch[3*pair + 2 ][tIndex] = Double.NaN;
......@@ -8488,7 +8441,7 @@ public class ImageDttCPU {
if (Double.isNaN(extra_disparity)) extra_disparity = 0;
if (clt_mismatch != null){
for (int pair = 0; pair < corr_pairs.length; pair++) if (((corr_mask >> pair) & 1) != 0){
for (int pair = 0; pair < CORR_PAIRS.length; pair++) if (((corr_mask >> pair) & 1) != 0){
icorr_max =getMaxXYInt( // find integer pair or null if below threshold
tcorr_partial[pair][numcol], // [data_size * data_size]
corr_size,
......@@ -8508,7 +8461,7 @@ public class ImageDttCPU {
debugMax); // should never return null
// Only use Y components for pairs 0,1 and X components - for pairs 2,3
double yp,xp;
if (corr_pairs[pair][2] > 0){ // transpose - switch x <-> y
if (CORR_PAIRS[pair][2] > 0){ // transpose - switch x <-> y
yp = transform_size - 1 -corr_max_XYmp[0] - disparity_map[DISPARITY_INDEX_CM][tIndex];
xp = transform_size - 1 -corr_max_XYmp[1]; // do not compare to average - it should be 0 anyway
......@@ -8539,8 +8492,8 @@ public class ImageDttCPU {
fract_shift( // fractional shift in transform domain. Currently uses sin/cos - change to tables with 2? rotations
clt_data[i][chn][tileY][tileX], // double [][] clt_tile,
// transform_size,
extra_disparity * port_offsets[i][0] / corr_magic_scale, // double shiftX,
extra_disparity * port_offsets[i][1] / corr_magic_scale, // double shiftY,
extra_disparity * PORT_OFFSETS[i][0] / corr_magic_scale, // double shiftX,
extra_disparity * PORT_OFFSETS[i][1] / corr_magic_scale, // double shiftY,
// (globalDebugLevel > 0) && (tileX == debug_tileX) && (tileY == debug_tileY)); // external tile compare
((globalDebugLevel > 0) && (chn==0) && (tileX >= debug_tileX - 2) && (tileX <= debug_tileX + 2) &&
(tileY >= debug_tileY - 2) && (tileY <= debug_tileY+2)));
......@@ -8632,7 +8585,7 @@ public class ImageDttCPU {
max_diff, // maximal (weighted) deviation of each channel from the average
lt_window2, // [256]
port_offsets, // [port]{x_off, y_off}
PORT_OFFSETS, // [port]{x_off, y_off}
img_mask, // which port to use, 0xf - all 4 (will modify as local variable)
diff_sigma, // pixel value/pixel change
diff_threshold, // pixel value/pixel change
......@@ -9751,11 +9704,6 @@ public class ImageDttCPU {
" debug_tileX="+debug_tileX+" debug_tileY="+debug_tileY+" globalDebugLevel="+globalDebugLevel);
}
final double[][] port_offsets = { // What are these (for textures)
{-0.5, -0.5},
{ 0.5, -0.5},
{-0.5, 0.5},
{ 0.5, 0.5}};
final double [] filter = doubleGetCltLpfFd(clt_parameters.getCorrSigma(isMonochrome()));
dbg_filter_corr = filter;
......@@ -10365,7 +10313,7 @@ public class ImageDttCPU {
texture_tiles_main, // final double [][][][] texture_tiles, // [tilesY][tilesX]["RGBA".length()][]; null - will skip images combining
lpf_rgb, //null, // filter, //null // final double [] filter,
lt_window2, // final double [] lt_window2,
port_offsets, // final double[][] port_offsets,
PORT_OFFSETS, // final double[][] port_offsets,
col_weights, // final double [] col_weights,
dtt, // final DttRad2 dtt,
tileX, // final int tileX, // only used in debug output
......@@ -10387,7 +10335,7 @@ public class ImageDttCPU {
texture_tiles_aux, // final double [][][][] texture_tiles, // [tilesY][tilesX]["RGBA".length()][]; null - will skip images combining
lpf_rgb, // null, // filter, // final double [] filter,
lt_window2, // final double [] lt_window2,
port_offsets, // final double[][] port_offsets,
PORT_OFFSETS, // final double[][] port_offsets,
col_weights, // final double [] col_weights,
dtt, // final DttRad2 dtt,
tileX, // final int tileX, // only used in debug output
......
src/main/java/com/elphel/imagej/tileprocessor/OpticalFlow.java
View file @ 78002a6b
......@@ -27,6 +27,7 @@ import java.util.Arrays;
import java.util.Comparator;
import java.util.concurrent.atomic.AtomicInteger;
import com.elphel.imagej.cameras.CLTParameters;
import com.elphel.imagej.common.DoubleGaussianBlur;
import com.elphel.imagej.common.ShowDoubleFloatArrays;
......@@ -98,12 +99,353 @@ public class OpticalFlow {
}
public double [][] correlation2DToVectors_CM(
final double [][] corr2d_tiles, // per 2d calibration tiles (or nulls)
final int transform_size,
final int iradius, // half-size of the square to process
final double dradius, // weight calculation (1/(r/dradius)^2 + 1)
final int refine_num, // number of iterations to apply weights around new center
final int debug_level)
{
final Thread[] threads = ImageDtt.newThreadArray(threadsMax);
final AtomicInteger ai = new AtomicInteger(0);
final double [][] vectors_xys = new double [corr2d_tiles.length][];
final int dbg_mtile = 620; // 453; // 500;
for (int ithread = 0; ithread < threads.length; ithread++) {
threads[ithread] = new Thread() {
public void run() {
for (int iMTile = ai.getAndIncrement(); iMTile < corr2d_tiles.length; iMTile = ai.getAndIncrement()) if (corr2d_tiles[iMTile] != null) {
if (iMTile == dbg_mtile) {
System.out.println("iMTile = "+iMTile);
}
vectors_xys[iMTile] = getCorrCenterXYS_CM(
corr2d_tiles[iMTile], // double [] corr2d_tile,
transform_size, // int transform_size,
iradius, // int iradius,
dradius, // double dradius,
refine_num); // int refine_num);
}
}
};
}
ImageDtt.startAndJoin(threads);
return vectors_xys;
}
public double [] getCorrCenterXYS_CM(
double [] corr2d_tile,
int transform_size,
int iradius,
double dradius,
int refine_num) // [2 * iradius + 1][2 * iradius + 1]
{
// strength - (maximum - average)/stdev?
int corr_size = 2* transform_size - 1;
int imax = 0;
for (int i = 1; i < corr2d_tile.length; i++) {
if (corr2d_tile[i] > corr2d_tile[imax]) {
imax = i;
}
}
double xMax = imax % corr_size;
double yMax = imax / corr_size;
double k2 = 1.0/dradius*dradius;
for (int pass = 0; pass < refine_num; pass ++) {
int iXMax = (int) Math.floor(xMax);
int iYMax = (int) Math.floor(yMax);
int iY0 = iYMax - iradius; if (iY0 < 0) iY0 = 0;
int iY1 = iYMax + iradius + 1; if (iY1 >= corr_size) iY1 = corr_size -1;
int iX0 = iXMax - iradius; if (iX0 < 0) iX0 = 0;
int iX1 = iXMax + iradius + 1; if (iX1 >= corr_size) iX1 = corr_size -1;
double s = 0.0, sx = 0.0, sy = 0.0;
for (int iy = iY0; iy <= iY1; iy++) {
double r2y = (iy - yMax)*(iy - yMax);
for (int ix = iX0; ix <= iX1; ix++) {
double d = corr2d_tile[ix + iy * corr_size];
double r2 = r2y + (ix - xMax)*(ix - xMax);
double w = 1.0/(k2*r2 + 1);
double wd = w * d;
s += wd;
sx += wd * ix;
sy += wd * iy;
}
}
xMax = sx/s;
yMax = sy/s;
}
int iYMmax = (int) Math.round(yMax);
int iXMmax = (int) Math.round(xMax);
double dMax = corr2d_tile[iYMmax * corr_size + iXMmax]; // negative
double s1=0.0, s2 =0.0;
for (int i = 0; i < corr2d_tile.length; i++) {
s1 += corr2d_tile[i];
s2 += corr2d_tile[i] * corr2d_tile[i];
}
double avg = s1/corr2d_tile.length;
double sd = Math.sqrt(corr2d_tile.length * s2 - s1*s1)/corr2d_tile.length;
double strength = (dMax - avg)/sd;
return new double [] {xMax - transform_size +1, yMax - transform_size +1, strength};
}
public double [][] correlate2DSceneToReference(// to match to reference
final ImageDttParameters imgdtt_params, // Now just extra correlation parameters, later will include, most others
final QuadCLT scene_QuadClt,
final QuadCLT reference_QuadClt,
final double [][][] scene_tiles, // prepared with prepareSceneTiles()
final double [][][] reference_tiles, // prepared with prepareReferenceTiles() + fillTilesNans(); - combine?
// final double [][] flowXY, // per macro tile {mismatch in IMAGE_PIXELS in X and Y directions (pre-shift)
// final int combine
final double [][] flowXY_frac, // X, YH fractional shift [-0.5,0.5) to implement with FD rotations
final double [] chn_weights, // absolute, starting from strength (strength,r,b,g)
final double corr_sigma,
final double fat_zero,
final boolean late_normalize,
final double combine_dradius, // 1 - 3x3, 2 - 5x5
final double tolerance_absolute, // absolute disparity half-range to consolidate tiles
final double tolerance_relative, // relative disparity half-range to consolidate tiles
final int debug_level)
// returns per-tile 2-d correlations (15x15)
{
final Thread[] threads = ImageDtt.newThreadArray(threadsMax);
final AtomicInteger ai = new AtomicInteger(0);
final TileProcessor tp = reference_QuadClt.getTileProcessor();
final int tilesX = tp.getTilesX();
final int tilesY = tp.getTilesY();
final int transform_size = tp.getTileSize();
final int tile_length = transform_size * transform_size;
final int macroTilesX = tilesX/transform_size;
final int macroTilesY = tilesY/transform_size;
final int macroTiles = macroTilesX * macroTilesY;
final double [][] corr_tiles = new double [macroTiles][];
final double [][][] corr_tiles_TD = new double [macroTiles][][];
final int dbg_mtile = 0; // 203;
final int num_channels = chn_weights.length;
final int chn_offset = QuadCLT.DSRBG_STRENGTH; // start scene_tiles, reference tiles with this 2-nd index
// final int corr_size = transform_size * 2 -1;
final ImageDtt image_dtt = new ImageDtt(
transform_size,
false,
false,
1.0);
final double [] filter = image_dtt.doubleGetCltLpfFd(corr_sigma);
final int combine_radius = (int) Math.floor(combine_dradius); // 1 - 3x3, 2 - 5x5
final double [][] rad_weights = new double [2 * combine_radius + 1][2 * combine_radius + 1];
for (int dY = -combine_radius; dY <= combine_radius; dY ++) {
for (int dX = -combine_radius; dX <= combine_radius; dX ++) {
rad_weights[dY + combine_radius][dX + combine_radius] =
Math.cos(0.5 * Math.PI * dY / combine_dradius) *
Math.cos(0.5 * Math.PI * dX / combine_dradius);
}
}
final double [] avg_disparity_ref = new double [macroTiles];
final double [] avg_disparity_scene = new double [macroTiles];
for (int ithread = 0; ithread < threads.length; ithread++) {
threads[ithread] = new Thread() {
public void run() {
DttRad2 dtt = new DttRad2(transform_size);
dtt.set_window(1);
double [][][] clt_tiles_ref = new double [num_channels][4][];
double [][][] clt_tiles_scene = new double [num_channels][4][];
Correlation2d corr2d = new Correlation2d(
imgdtt_params, // ImageDttParameters imgdtt_params,
transform_size, // int transform_size,
2.0, // double wndx_scale, // (wndy scale is always 1.0)
false, // boolean monochrome,
false); // boolean debug)
for (int iMTile = ai.getAndIncrement(); iMTile < macroTiles; iMTile = ai.getAndIncrement()) {
if (reference_tiles[iMTile] != null) { // to calculate average reference disparity
double sw = 0.0, sdw=0.0;
double [] disparity = reference_tiles[iMTile][QuadCLT.DSRBG_DISPARITY];
double [] strength = reference_tiles[iMTile][QuadCLT.DSRBG_STRENGTH];
for (int i = 0; i < strength.length; i++) {
if (!Double.isNaN(disparity[i]) && (strength[i] > 0.0)) {
sw += strength[i];
sdw += strength[i]*(disparity[i]);
}
}
if (sw > 0.0) avg_disparity_ref[iMTile] = sdw/sw;
}
if (scene_tiles[iMTile] != null) { // to calculate average scene disparity
double sw = 0.0, sdw=0.0;
double [] disparity = scene_tiles[iMTile][QuadCLT.DSRBG_DISPARITY];
double [] strength = scene_tiles[iMTile][QuadCLT.DSRBG_STRENGTH];
for (int i = 0; i < strength.length; i++) {
if (!Double.isNaN(disparity[i]) && (strength[i] > 0.0)) {
sw += strength[i];
sdw += strength[i]*(disparity[i]);
}
}
if (sw > 0.0) avg_disparity_scene[iMTile] = sdw/sw;
}
if ((scene_tiles[iMTile] != null) && (reference_tiles[iMTile] != null)) {
if (iMTile == dbg_mtile) {
System.out.println("iMTile = "+iMTile);
}
// convert reference tile
double [][][] fold_coeff_ref = dtt.get_shifted_fold_2d ( // get_shifted_fold_2d(
transform_size,
0.0,
0.0,
0); // debug level
double [][][] fold_coeff_scene = dtt.get_shifted_fold_2d ( // get_shifted_fold_2d(
transform_size,
flowXY_frac[iMTile][0],
flowXY_frac[iMTile][1],
0); // debug level
for (int chn = 0; chn < num_channels; chn++) {
double [] tile_in_ref = reference_tiles[iMTile][chn + chn_offset];
double [] tile_in_scene = scene_tiles[iMTile][chn + chn_offset];
// unfold and convert both reference and scene
for (int dct_mode = 0; dct_mode < 4; dct_mode++) {
clt_tiles_ref[chn][dct_mode] = dtt.fold_tile (tile_in_ref, transform_size, dct_mode, fold_coeff_ref);
clt_tiles_ref[chn][dct_mode] = dtt.dttt_iv (clt_tiles_ref[chn][dct_mode], dct_mode, transform_size);
clt_tiles_scene[chn][dct_mode] = dtt.fold_tile (tile_in_scene, transform_size, dct_mode, fold_coeff_scene);
clt_tiles_scene[chn][dct_mode] = dtt.dttt_iv (clt_tiles_scene[chn][dct_mode], dct_mode, transform_size);
}
// Apply shift to scene only (reference is not shifted)
image_dtt.fract_shift( // fractional shift in transform domain. Currently uses sin/cos - change to tables with 2? rotations
clt_tiles_scene[chn], // double [][] clt_tile,
flowXY_frac[iMTile][0], // double shiftX,
flowXY_frac[iMTile][1], // double shiftY,
false); // debug);
}
if (late_normalize) {
corr_tiles_TD[iMTile] = corr2d.correlateCompositeTD( // correlate, do not normalize, stay in TD
clt_tiles_ref, // double [][][] clt_data1,
clt_tiles_scene, // double [][][] clt_data2,
null, // double [] lpf,
1.0, // double scale_value, // scale correlation value
chn_weights); // double [] col_weights_in, // should have the same dimension as clt_data1 and clt_data2
/*
corr2d.normalize_TD(
corr_tiles_TD[iMTile], // double [][] td,
filter, // double [] lpf, // or null
fat_zero); // double fat_zero);
// double [] corrs_ortho = corr2d.convertCorrToPD(
corr_tiles[iMTile] = corr2d.convertCorrToPD(
corr_tiles_TD[iMTile]); // double [][] td);
*/
} else {
corr_tiles[iMTile] = corr2d.correlateCompositeFD( //
clt_tiles_ref, // double [][][] clt_data1,
clt_tiles_scene, // double [][][] clt_data2,
filter, // double [] lpf,
1.0, // double scale_value, // scale correlation value
chn_weights, // double [] col_weights_in, // should have the same dimension as clt_data1 and clt_data2
fat_zero); // double fat_zero)
}
}
}
}
};
}
ImageDtt.startAndJoin(threads);
if (late_normalize) {
ai.set(0);
for (int ithread = 0; ithread < threads.length; ithread++) {
threads[ithread] = new Thread() {
public void run() {
// DttRad2 dtt = new DttRad2(transform_size);
// dtt.set_window(1);
final TileNeibs tn = new TileNeibs(macroTilesX, macroTilesY);
double [][] corr_tile_2D = new double [4][tile_length];
Correlation2d corr2d = new Correlation2d(
imgdtt_params, // ImageDttParameters imgdtt_params,
transform_size, // int transform_size,
2.0, // double wndx_scale, // (wndy scale is always 1.0)
false, // boolean monochrome,
false); // boolean debug)
for (int iMTile = ai.getAndIncrement(); iMTile < macroTiles; iMTile = ai.getAndIncrement()) {
// if (((scene_tiles[iMTile] != null) && (reference_tiles[iMTile] != null)) || (combine_radius > 0)) {
if ((scene_tiles[iMTile] != null) && (reference_tiles[iMTile] != null)) {
if (iMTile == dbg_mtile) {
System.out.println("iMTile = "+iMTile);
}
/*
if ((scene_tiles[iMTile] != null) && (reference_tiles[iMTile] != null)) {
for (int i = 0; i< 4; i++) {
System.arraycopy(corr_tiles_TD[iMTile][i], 0, corr_tile_2D[i], 0, tile_length);
}
num_tiles
}
*/
if (combine_radius > 0) {
for (int q = 0; q< 4; q++) {
Arrays.fill(corr_tile_2D[q], 0.0);
}
double disp_tol = tolerance_absolute + tolerance_relative * avg_disparity_ref[iMTile];
double sw = 0;
// int num_tiles = 0;
int iMX = iMTile % macroTilesX;
int iMY = iMTile / macroTilesX;
for (int dY = -combine_radius; dY <= combine_radius; dY ++) {
for (int dX = -combine_radius; dX <= combine_radius; dX ++) {
int indx = tn.getIndex(iMX+dX, iMY + dY);
if ((indx >= 0) && (corr_tiles_TD[indx] != null)) {
if ((Math.abs(avg_disparity_scene[iMTile] - avg_disparity_ref[iMTile])) <= disp_tol) {
double w = rad_weights[dY + combine_radius][dX + combine_radius];
for (int q = 0; q < 4; q++) {
for (int i = 0; i < tile_length; i++) {
corr_tile_2D[q][i] += w * corr_tiles_TD[indx][q][i];
}
}
sw+= w;
}
}
}
}
if (sw <= 0.0) {
continue; // no non-null tiles around
}
double a = 1.0/sw;
for (int q = 0; q < 4; q++) {
for (int i = 0; i < tile_length; i++) {
corr_tile_2D[q][i] *= a;
}
}
} else {
corr_tile_2D = corr_tiles_TD[iMTile]; // no need to clone, reference OK
}
corr2d.normalize_TD(
corr_tile_2D, // double [][] td,
filter, // double [] lpf, // or null
fat_zero); // double fat_zero);
// double [] corrs_ortho = corr2d.convertCorrToPD(
corr_tiles[iMTile] = corr2d.convertCorrToPD(
corr_tile_2D); // double [][] td);
}
}
}
};
}
ImageDtt.startAndJoin(threads);
}
return corr_tiles;
}
public double [][][] prepareSceneTiles(// to match to reference
// null for {scene,reference}{xyz,atr} uses instances globals
final double [] scene_xyz, // camera center in world coordinates
final double [] scene_atr, // camera orientation relative to world frame
// final double [] reference_xyz, // camera center in world coordinates
// final double [] reference_atr, // camera orientation relative to world frame
final QuadCLT scene_QuadClt,
final QuadCLT reference_QuadClt,
final double [][][] reference_tiles, // prepared with prepareReferenceTiles() + fillTilesNans();
......@@ -274,7 +616,7 @@ public class OpticalFlow {
// use offsX, offsY as fractional shift and for data interpolation
if (offsX >= .5) offsX -= 1.0;
if (offsY >= .5) offsY -= 1.0;
flowXY_frac[iMTile] = new double [] {offsX, offsY};
flowXY_frac[iMTile] = new double [] {-offsX, -offsY};
double min_tX = Double.NaN, max_tX = Double.NaN, min_tY = Double.NaN, max_tY = Double.NaN;
for (int iY = 0; iY < fullTileSize; iY++) {
for (int iX = 0; iX < fullTileSize; iX++) {
......@@ -534,7 +876,7 @@ public class OpticalFlow {
String [] dbg_titles= {"dX","dY"};
String dbg_title= "flowXY_frac";
String dbg_title= "flowXY_frac"; // TODO: Visualize RMS of individual tiles fitting
double [][] dbg_img = new double [2][macroTilesX*macroTilesY];
for (int nt =0; nt < flowXY_frac.length; nt++) {
if(flowXY_frac[nt] != null) {
......@@ -900,25 +1242,61 @@ public class OpticalFlow {
}
public void showCorrTiles(
String title,
double [][][] source_tiles,
int tilesX,
int tile_width,
int tile_height) // extra margins over 16x16 tiles to accommodate distorted destination tiles
{
// show debug image
final int dbg_with = tilesX * (tile_width +1) - 1;
final int dbg_height = (source_tiles[0].length / tilesX) * (tile_height +1) - 1;
final double [][] dbg_img = new double [source_tiles.length][dbg_with * dbg_height];
for (int l = 0; l < dbg_img.length; l++) {
Arrays.fill(dbg_img[l], Double.NaN);
}
for (int slice = 0; slice < source_tiles.length; slice++) {
for (int mtile = 0; mtile < source_tiles[slice].length; mtile++) if (source_tiles[slice][mtile] != null){
int mTileY = mtile / tilesX;
int mTileX = mtile % tilesX;
for (int iY = 0; iY < tile_height; iY++) {
int tileY = (tile_height +1) * mTileY + iY;
for (int iX = 0; iX < tile_width; iX++) {
int tileX = (tile_width +1) * mTileX + iX;
dbg_img[slice][tileY * dbg_with + tileX] = source_tiles[slice][mtile][iY * tile_width + iX];
}
}
}
}
// String [] dsrbg_titles = {"d", "s", "r", "b", "g"};
(new ShowDoubleFloatArrays()).showArrays(
dbg_img,
dbg_with+0,
dbg_height,
true,
title); // dsrbg_titles);
}
public double[][][] get_pair(
CLTParameters clt_parameters,
double k_prev,
QuadCLT qthis,
QuadCLT qprev,
QuadCLT reference_QuadCLT,
QuadCLT scene_QuadCLT,
double corr_scale, // = 0.75
int debug_level)
{
TileProcessor tp = qthis.getTileProcessor();
TileProcessor tp = reference_QuadCLT.getTileProcessor();
final int iscale = 8;
double ts = qthis.getTimeStamp();
double ts = reference_QuadCLT.getTimeStamp();
double ts_prev = ts;
double [] camera_xyz0 = ZERO3.clone();
double [] camera_atr0 = ZERO3.clone();
ErsCorrection ersCorrection = qthis.getErsCorrection();
String this_image_name = qthis.getImageName();
ErsCorrection ersCorrection = reference_QuadCLT.getErsCorrection();
String this_image_name = reference_QuadCLT.getImageName();
System.out.println("\n"+this_image_name+":\n"+ersCorrection.extrinsic_corr.toString());
System.out.println(String.format("%s: ers_wxyz_center= %f, %f, %f", this_image_name,
......@@ -933,11 +1311,11 @@ public class OpticalFlow {
ersCorrection.ers_watr_center_d2t[0], ersCorrection.ers_watr_center_d2t[1],ersCorrection.ers_watr_center_d2t[2] ));
double dt = 0.0;
if (qprev == null) {
qprev = qthis;
if (scene_QuadCLT == null) {
scene_QuadCLT = reference_QuadCLT;
}
if (qprev != null) {
ts_prev = qprev.getTimeStamp();
if (scene_QuadCLT != null) {
ts_prev = scene_QuadCLT.getTimeStamp();
dt = ts-ts_prev;
if (dt < 0) {
k_prev = (1.0-k_prev);
......@@ -946,7 +1324,7 @@ public class OpticalFlow {
k_prev = 0.5;
System.out.println("Non-consecutive frames, dt = "+dt);
}
ErsCorrection ersCorrectionPrev = (ErsCorrection) (qprev.geometryCorrection);
ErsCorrection ersCorrectionPrev = (ErsCorrection) (scene_QuadCLT.geometryCorrection);
double [] wxyz_center_dt_prev = ersCorrectionPrev.ers_wxyz_center_dt;
double [] watr_center_dt_prev = ersCorrectionPrev.ers_watr_center_dt;
double [] wxyz_delta = new double[3];
......@@ -964,12 +1342,12 @@ public class OpticalFlow {
String [] dsrbg_titles = {"d", "s", "r", "b", "g"};
double [][] dsrbg = transformCameraVew( // shifts previous image correctly (right)
qthis, // reference
qprev, // QuadCLT camera_QuadClt,
reference_QuadCLT, // reference
scene_QuadCLT, // QuadCLT camera_QuadClt,
camera_xyz0, // double [] camera_xyz, // camera center in world coordinates
camera_atr0, //double [] camera_atr, // camera orientation relative to world frame
iscale);
double [][][] pair = {qthis.getDSRBG(),dsrbg};
double [][][] pair = {reference_QuadCLT.getDSRBG(),dsrbg};
// combine this scene with warped previous one
if (debug_level > 0) {
......@@ -981,7 +1359,7 @@ public class OpticalFlow {
dbg_rslt[2*i] = pair[0][i];
dbg_rslt[2*i+1] = pair[1][i];
}
String title = this_image_name+"-"+qprev.image_name+"-dt"+dt;
String title = this_image_name+"-"+scene_QuadCLT.image_name+"-dt"+dt;
(new ShowDoubleFloatArrays()).showArrays(
dbg_rslt,
tilesX,
......@@ -1001,30 +1379,41 @@ public class OpticalFlow {
double tolerance_relative_inter = 0.2; // relative disparity half-range in each tile
double occupancy_inter = 0.25; // fraction of remaining tiles in the center 8x8 area (<1.0)
// Add limitations on disparity ? To be used with multi-tile consolidation
// Check with walkingh, not only rotating
double [][][] reference_tiles = prepareReferenceTiles(
qthis, // final QuadCLT qthis,
reference_QuadCLT, // final QuadCLT qthis,
tolerance_absolute, // final double tolerance_absolute, // absolute disparity half-range in each tile
tolerance_relative, // final double tolerance_relative, // relative disparity half-range in each tile
center_occupancy, // final double center_occupancy, // fraction of remaining tiles in the center 8x8 area (<1.0)
2); // final int debug_level)
1); // -1); // 2); // final int debug_level)
fillTilesNans(
reference_tiles, // final double [][][] nan_tiles,
qthis, // final QuadCLT qthis,
reference_QuadCLT, // final QuadCLT qthis,
num_passes, // final int num_passes,
max_change, // final double max_change,
2); // final int debug_level)
1); //-1); // 2); // final int debug_level)
double [][] flowXY = new double [reference_tiles.length][2]; // zero pre-shifts
double [][] flowXY_frac = new double [reference_tiles.length][]; // Will contain fractional X/Y shift for CLT
double [] chn_weights = {1.0,1.0,1.0,1.0}; // strength, r,b,g
double corr_sigma = 0.5;
double fat_zero = 0.05;
double frac_radius = 0.9; // add to integer radius for window calculation
double tolerance_absolute_inter_macro = 0.25; // absolute disparity half-range to consolidate macro tiles
double tolerance_relative_inter_macro = 0.2; // relative disparity half-range to consolidate macro tiles
int iradius = 3; // half-size of the square to process
double dradius = 1.5; // weight calculation (1/(r/dradius)^2 + 1)
int refine_num = 5; // number of iterations to apply weights around new center
double [][][] scene_tiles = prepareSceneTiles(// to match to reference
// null for {scene,reference}{xyz,atr} uses instances globals
camera_xyz0, // final double [] scene_xyz, // camera center in world coordinates
camera_atr0, // final double [] scene_atr, // camera orientation relative to world frame
qprev, // final QuadCLT scene_QuadClt,
qthis, // final QuadCLT reference_QuadClt,
scene_QuadCLT, // final QuadCLT scene_QuadClt,
reference_QuadCLT, // final QuadCLT reference_QuadClt,
reference_tiles, // final double [][][] reference_tiles, // prepared with prepareReferenceTiles() + fillTilesNans();
flowXY, // final double [][] flowXY, // per macro tile {mismatch in image pixels in X and Y directions
flowXY_frac, // final double [][] flowXY_frac, // should be initialized as [number of macro tiles][] - returns fractional shifts [-0.5, 0.5)
......@@ -1033,8 +1422,99 @@ public class OpticalFlow {
occupancy_inter, // final double occupancy, // fraction of remaining tiles (<1.0)
num_passes, // final int num_passes,
max_change, // final double max_change,
2); // final int debug_level)
1); //-1); // 1); // 2); // final int debug_level)
/* */
int max_rad = 3;
double [][][] corr2dscene_ref_multi = new double [max_rad + 2][][];
// double [][] corr2dscene_ref_0
corr2dscene_ref_multi[0] = correlate2DSceneToReference(// to match to reference
clt_parameters.img_dtt, // final ImageDttParameters imgdtt_params, // Now just extra correlation parameters, later will include, most others
scene_QuadCLT, // final QuadCLT scene_QuadClt,
reference_QuadCLT, // final QuadCLT reference_QuadClt,
scene_tiles, // final double [][][] scene_tiles, // prepared with prepareSceneTiles()
reference_tiles, // final double [][][] reference_tiles, // prepared with prepareReferenceTiles() + fillTilesNans(); - combine?
// final double [][] flowXY, // per macro tile {mismatch in IMAGE_PIXELS in X and Y directions (pre-shift)
flowXY_frac, // final double [][] flowXY_frac, // X, YH fractional shift [-0.5,0.5) to implement with FD rotations
chn_weights, // final double [] chn_weights, // absolute, starting from strength (strength,r,b,g)
corr_sigma, // final double corr_sigma,
fat_zero, // final double fat_zero,
false, // final boolean late_normalize,
0.0, // final double combine_dradius
tolerance_absolute_inter_macro, // final double tolerance_absolute, // absolute disparity half-range to consolidate tiles
tolerance_relative_inter_macro, // final double tolerance_relative, // relative disparity half-range to consolidate tiles
-1); // 1); // final int debug_level)
for (int irad = 0; irad <= 3; irad++) {
// double [][] corr2dscene_ref_1
corr2dscene_ref_multi[irad+1]= correlate2DSceneToReference(// to match to reference
clt_parameters.img_dtt, // final ImageDttParameters imgdtt_params, // Now just extra correlation parameters, later will include, most others
scene_QuadCLT, // final QuadCLT scene_QuadClt,
reference_QuadCLT, // final QuadCLT reference_QuadClt,
scene_tiles, // final double [][][] scene_tiles, // prepared with prepareSceneTiles()
reference_tiles, // final double [][][] reference_tiles, // prepared with prepareReferenceTiles() + fillTilesNans(); - combine?
// final double [][] flowXY, // per macro tile {mismatch in IMAGE_PIXELS in X and Y directions (pre-shift)
flowXY_frac, // final double [][] flowXY_frac, // X, YH fractional shift [-0.5,0.5) to implement with FD rotations
chn_weights, // final double [] chn_weights, // absolute, starting from strength (strength,r,b,g)
corr_sigma, // final double corr_sigma,
fat_zero, // final double fat_zero,
true, // final boolean late_normalize,
irad + frac_radius, // final double combine_dradius
tolerance_absolute_inter_macro, // final double tolerance_absolute, // absolute disparity half-range to consolidate tiles
tolerance_relative_inter_macro, // final double tolerance_relative, // relative disparity half-range to consolidate tiles
-1); // 1); // final int debug_level)
}
int transform_size = tp.getTileSize();
int macroTilesX = tilesX/transform_size;
int macroTilesY = tilesY/transform_size;
// double [][][] multicorrs = new double[][][] {corr2dscene_ref_0, corr2dscene_ref_1};
showCorrTiles(
"scene:"+scene_QuadCLT.getImageName()+"-ref"+reference_QuadCLT.getImageName(), // String title,
corr2dscene_ref_multi, // double [][] source_tiles,
tilesX/transform_size, // int tilesX,
(2 * transform_size - 1), // int tile_width,
(2 * transform_size - 1)); // int tile_height) // extra margins over 16x16 tiles to accommodate distorted destination tiles
double [][][] vectorsXYS = new double [corr2dscene_ref_multi.length][][];
for (int i = 0; i < vectorsXYS.length; i++) {
vectorsXYS[i] = correlation2DToVectors_CM(
corr2dscene_ref_multi[i], // final double [][] corr2d_tiles, // per 2d calibration tiles (or nulls)
transform_size, // final int transform_size,
iradius, // final int iradius, // half-size of the square to process
dradius, // final double dradius, // weight calculation (1/(r/dradius)^2 + 1)
refine_num, // final int refine_num, // number of iterations to apply weights around new center
1); //final int debug_level)
}
if (debug_level > -1) {
String dbg_title = "dXdYS-"+scene_QuadCLT.getImageName()+"-"+reference_QuadCLT.getImageName();
int slices = vectorsXYS.length;
String [] dbg_titles = new String[slices * 3];
double [][] dbg_img = new double [dbg_titles.length][macroTilesX*macroTilesY];
for (int slice = 0; slice < vectorsXYS.length; slice++) {
dbg_titles[slice + 0 * slices] = "dX"+slice;
dbg_titles[slice + 1 * slices] = "dY"+slice;
dbg_titles[slice + 2 * slices] = "S"+slice;
Arrays.fill(dbg_img[slice + slices * 0], Double.NaN);
Arrays.fill(dbg_img[slice + slices * 1], Double.NaN);
Arrays.fill(dbg_img[slice + slices * 2], Double.NaN);
for (int i = 0; i < vectorsXYS[slice].length; i++) if (vectorsXYS[slice][i] != null){
dbg_img[slice + 0 * slices][i] = vectorsXYS[slice][i][0];
dbg_img[slice + 1 * slices][i] = vectorsXYS[slice][i][1];
dbg_img[slice + 2 * slices][i] = vectorsXYS[slice][i][2];
}
}
(new ShowDoubleFloatArrays()).showArrays(
dbg_img,
macroTilesX,
macroTilesY,
true,
dbg_title,
dbg_titles);
}
return pair;
}
......@@ -1193,5 +1673,6 @@ public class OpticalFlow {
return dsrbg_out;
}
}
src/main/java/com/elphel/imagej/tileprocessor/TwoQuadCLT.java
View file @ 78002a6b
......@@ -8297,11 +8297,12 @@ if (debugLevel > -100) return true; // temporarily !
double [][][] pair_sets =
opticalFlow.get_pair(
k_prev,
quadCLTs[i],
qPrev,
corr_scale,
1); // -1); // int debug_level);
clt_parameters, // CLTParameters clt_parameters,
k_prev,
quadCLTs[i],
qPrev,
corr_scale,
1); // -1); // int debug_level);
}
/*
......
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