Testing multiscene LY derivatives (816eae59) · Commits · Elphel / imagej-elphel

src/main/java/com/elphel/imagej/tileprocessor/Corr2dLMA.java

+3 −3

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

+2 −2

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

+448 −42

File changed.

Preview size limit exceeded, changes collapsed.

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

+48 −28

Original line number	Original line	Diff line number	Diff line
	@@ -11152,19 +11152,7 @@ if (debugLevel > -100) return true; // temporarily !
	boolean lma_only = true; // use clt_parameters		boolean lma_only = true; // use clt_parameters
	double dbg_disparity_offset = 0.0; // 0.1		double dbg_disparity_offset = 0.0; // 0.1
	double inf_disp_ref = 0.0;		double inf_disp_ref = 0.0;
	/*
	double far_inf = -0.5; //
	double near_inf = 0.5; //
	double far_fract = 0.05; //
	double inf_range_offs = 0.05; //
	double inf_range = 0.15; //
	double min_inf_str = 0.2; //
	double min_fg_str = 0.4; //
	// non-infinity parameters
	int clust_size = 4;
	double scene_range = 10.0; // disparity range for non-infinity in the same cluster
	int min_num_inf = 10; // Minimal number of tiles (in all scenes total) in an infinity cluster
	*/
	int last_scene_index = quadCLTs.length-1;		int last_scene_index = quadCLTs.length-1;
	QuadCLT last_scene = quadCLTs[last_scene_index];		QuadCLT last_scene = quadCLTs[last_scene_index];
	String composite_suffix = "-INTER-INTRA-LMA";		String composite_suffix = "-INTER-INTRA-LMA";
	@@ -11193,7 +11181,7 @@ if (debugLevel > -100) return true; // temporarily !
	// int [] num_tiles = new int [clusters]; // may be null;; // null;		// int [] num_tiles = new int [clusters]; // may be null;; // null;
	// boolean [] inf_cluster = new boolean [clusters]; // null;		// boolean [] inf_cluster = new boolean [clusters]; // null;

	boolean debug = debugLevel > -3;		boolean debug = debugLevel > -2;

	if (proc_infinity) {		if (proc_infinity) {
	double [] inf_avg = new double[1];		double [] inf_avg = new double[1];
	@@ -11263,14 +11251,11 @@ if (debugLevel > -100) return true; // temporarily !
	}		}
	}		}


	int [][] num_tiles2 = new int[2][];		int [][] num_tiles2 = new int[2][];
	double [][][] target_disparities = new double [2][][];		double [][][] target_disparities = new double [2][][];
	double [][][] lazy_eye_data = MultisceneLY.getLYDataInfNoinf(		double [][][] lazy_eye_data = MultisceneLY.getLYDataInfNoinf(
	clt_parameters, // final CLTParameters clt_parameters,		clt_parameters, // final CLTParameters clt_parameters,
	clt_parameters.lyms_clust_size, // final int clust_size,
	clt_parameters.lyms_inf_range, // final double inf_range, // full range centered at inf_disp_ref to be used as infinity
	clt_parameters.lyms_scene_range, // final double scene_range, // disparity range for non-infinity in the same cluster
	clt_parameters.lyms_min_num_inf, // final int min_num_inf, // Minimal number of tiles (in all scenes total) in an infinity cluster
	quadCLTs, // final QuadCLT [] scenes, // ordered by increasing timestamps		quadCLTs, // final QuadCLT [] scenes, // ordered by increasing timestamps
	valid_tile, // final boolean [][] valid_tile, // tile with lma and single correlation maximum		valid_tile, // final boolean [][] valid_tile, // tile with lma and single correlation maximum
	inf_disp_ref, // final double inf_disp_ref, // average disparity at infinity for ref scene // is_scene_infinity		inf_disp_ref, // final double inf_disp_ref, // average disparity at infinity for ref scene // is_scene_infinity
	@@ -11278,11 +11263,33 @@ if (debugLevel > -100) return true; // temporarily !
	target_disparities, // final double[][] target_disparities,		target_disparities, // final double[][] target_disparities,
	dbg_disparity_offset, // final double dbg_disparity_offset,		dbg_disparity_offset, // final double dbg_disparity_offset,
	num_tiles2, // final int [][] in_num_tiles, // null or number of tiles per cluster to multiply strength		num_tiles2, // final int [][] in_num_tiles, // null or number of tiles per cluster to multiply strength
			null, // final CorrVector corr_vector_delta, // null or extrinsic vector offset, applied to all scenes
	threadsMax, // final int threadsMax,		threadsMax, // final int threadsMax,
	debugLevel); // final int debug_level);		debugLevel); // final int debug_level);

			boolean use_tarz = false; // true; //false;
			double delta = 0.001; // 0.01;

			MultisceneLY.debugLYDerivatives(
			clt_parameters, // final CLTParameters clt_parameters,
			quadCLTs, // final QuadCLT [] scenes, // ordered by increasing timestamps
			lazy_eye_data, // double [][][] lazy_eye_data2, // inf, no_inf
			valid_tile, // final boolean [][] valid_tile, // tile with lma and single correlation maximum
			inf_disp_ref, // final double inf_disp_ref, // average disparity at infinity for ref scene // is_scene_infinity
			is_scene_infinity, //final boolean [][] is_scene_infinity, // may be null, if not - may be infinity from the composite depth map
			false, // boolean update_disparity, // re-measure disparity before measuring LY
			threadsMax, // final int threadsMax, // maximal number of threads to launch
			true, // final boolean updateStatus,
			delta, // double delta,
			use_tarz, // boolean use_tarz, // derivatives by tarz, not symmetrical vectors
			debugLevel); // final int debugLevel);
			if (debugLevel > -200) {
			return;
			}


	// debug images		// debug images
	if (debugLevel > -3) {		if (debugLevel > -2) {
	double [][] dbg_numCorrMax = new double[numCorrMax.length][];		double [][] dbg_numCorrMax = new double[numCorrMax.length][];
	for (int i = 0; i < dbg_numCorrMax.length; i++) {		for (int i = 0; i < dbg_numCorrMax.length; i++) {
	dbg_numCorrMax[i] = new double[numCorrMax[i].length];		dbg_numCorrMax[i] = new double[numCorrMax[i].length];
	@@ -11311,11 +11318,17 @@ if (debugLevel > -100) return true; // temporarily !
	"clusters_num_inf_boinf",		"clusters_num_inf_boinf",
	new String[] {"inf tiles", "noinf tiles"});		new String[] {"inf tiles", "noinf tiles"});

			}
	if (lazy_eye_data != null) {		if (lazy_eye_data != null) {
	ExtrinsicAdjustment ea_dbg = new ExtrinsicAdjustment (		multisceneLY.processLYdata(
			clt_parameters, // final CLTParameters clt_parameters,
			quadCLTs, // final QuadCLT [] scenes, // ordered by increasing timestamps
			lazy_eye_data, // final double [][][] lazy_eye_data,
			debugLevel); // final int debugLevel
			/*
			ExtrinsicAdjustment ea = new ExtrinsicAdjustment (
	last_scene.getErsCorrection(), // GeometryCorrection gc,		last_scene.getErsCorrection(), // GeometryCorrection gc,
	clt_parameters.tileStep, // int clusterSize,		clt_parameters.lyms_clust_size, // int clusterSize,
	clustersX, // int clustersX,		clustersX, // int clustersX,
	clustersY); // int clustersY)		clustersY); // int clustersY)
	double [][][] dbg_cluster = new double [lazy_eye_data.length][ExtrinsicAdjustment.get_INDX_LENGTH(last_scene.getNumSensors())][clustersY * clustersX];		double [][][] dbg_cluster = new double [lazy_eye_data.length][ExtrinsicAdjustment.get_INDX_LENGTH(last_scene.getNumSensors())][clustersY * clustersX];
	@@ -11338,11 +11351,18 @@ if (debugLevel > -100) return true; // temporarily !
	clustersY,		clustersY,
	true,		true,
	last_scene.getImageName()+"-lazy_eye_data-"+m,		last_scene.getImageName()+"-lazy_eye_data-"+m,
	ea_dbg.data_titles); // ExtrinsicAdjustment.DATA_TITLES);		ea.data_titles); // ExtrinsicAdjustment.DATA_TITLES);
	}
	}		}
			*/
			// Testing next step






	}		}
	if (debugLevel > -3) {		if (debugLevel > -2) {
	System.out.println("adjustLYSeries() Done");		System.out.println("adjustLYSeries() Done");
	}		}

Original line number	Original line	Diff line number	Diff line
	@@ -115,7 +115,7 @@ public class Corr2dLMA {
	private double [][] last_jt = null;		private double [][] last_jt = null;

	private int ddisp_index; // = G0_INDEX + NUM_PAIRS; // disparity offset per camera (at least 1 should be disabled)		private int ddisp_index; // = G0_INDEX + NUM_PAIRS; // disparity offset per camera (at least 1 should be disabled)
	private int ndisp_index; // = ddisp_index + NUM_CAMS; // disparity offset per camera - none should be disable		private int ndisp_index; // = ddisp_index + NUM_CAMS; // disparity offset per camera - none should be disabled
	private int num_all_pars; // = ndisp_index+ NUM_CAMS; // maximal number of parameters		private int num_all_pars; // = ndisp_index+ NUM_CAMS; // maximal number of parameters
	private final int [] used_cams_map; // = new int[NUM_CAMS]; // for each camera index return used index ???		private final int [] used_cams_map; // = new int[NUM_CAMS]; // for each camera index return used index ???

	@@ -1507,7 +1507,8 @@ public class Corr2dLMA {
	if (par_map[ndisp_index + f] >= 0) jt[par_map[ndisp_index + f]][ns] = 0.0;		if (par_map[ndisp_index + f] >= 0) jt[par_map[ndisp_index + f]][ns] = 0.0;
	}		}
	}		}
	double [] dd_deriv = new double[3]; // derivatives by dependent dd_pre_lars, dd_last and nd_last (calculated on demand) with sign according to first/second in a pair		double [] dd_deriv = new double[3]; // derivatives by dependent dd_pre_last (0), dd_last (1) and nd_last (1)
			// (calculated on demand) with sign according to first/second in a pair
	if ((fs[0] == pre_last_cam)) {		if ((fs[0] == pre_last_cam)) {
	dd_deriv[0] = 2 * WGp * lim_negative *		dd_deriv[0] = 2 * WGp * lim_negative *
	( (A * xmxp + B * ymyp) * m_disp[s.tile][pre_last_cam].get(0, 0)+		( (A * xmxp + B * ymyp) * m_disp[s.tile][pre_last_cam].get(0, 0)+
	@@ -1551,7 +1552,6 @@ public class Corr2dLMA {
	(B * xmxp + C * ymyp) * m_disp[s.tile][fs[0]].get(1, 1));		(B * xmxp + C * ymyp) * m_disp[s.tile][fs[0]].get(1, 1));
	}		}
	if (par_map[ndisp_index + fs[1]] >= 0) {		if (par_map[ndisp_index + fs[1]] >= 0) {

	jt[par_map[ndisp_index + fs[1]]][ns] -= 2 * WGp * lim_negative *		jt[par_map[ndisp_index + fs[1]]][ns] -= 2 * WGp * lim_negative *
	( (A * xmxp + B * ymyp) * m_disp[s.tile][fs[1]].get(0, 1)+		( (A * xmxp + B * ymyp) * m_disp[s.tile][fs[1]].get(0, 1)+
	(B * xmxp + C * ymyp) * m_disp[s.tile][fs[1]].get(1, 1));		(B * xmxp + C * ymyp) * m_disp[s.tile][fs[1]].get(1, 1));

Original line number	Original line	Diff line number	Diff line
	@@ -245,7 +245,7 @@ public class ExtrinsicAdjustment {
	double min_strength) {		double min_strength) {
	if (ref_data == null) ref_data = data;		if (ref_data == null) ref_data = data;
	double [] avg = new double [indx_length];		double [] avg = new double [indx_length];
	double [] weights = new double [data.length];		double [] weights = new double [data.length]; // nullp
	double sw = 0;		double sw = 0;
	for (int cluster = 0; cluster < weights.length; cluster++) if ((ref_data[cluster] != null) && (data[cluster] != null) && !Double.isNaN (ref_data[cluster][INDX_STRENGTH])){		for (int cluster = 0; cluster < weights.length; cluster++) if ((ref_data[cluster] != null) && (data[cluster] != null) && !Double.isNaN (ref_data[cluster][INDX_STRENGTH])){
	double w = ref_data[cluster][INDX_STRENGTH] - min_strength;		double w = ref_data[cluster][INDX_STRENGTH] - min_strength;
	@@ -279,7 +279,7 @@ public class ExtrinsicAdjustment {
	String dfmt = "%"+format[0]+"."+format[1]+"f,";		String dfmt = "%"+format[0]+"."+format[1]+"f,";
	String dfmta = "%"+format[0]+"."+(2*format[1])+"f";		String dfmta = "%"+format[0]+"."+(2*format[1])+"f";
	String hfmt = "%"+(format[0]/2)+"d%"+(format[0]-format[0]/2)+"s,";		String hfmt = "%"+(format[0]/2)+"d%"+(format[0]-format[0]/2)+"s,";
	double [] avg = weightedLY (data, ref_data, min_strength);		double [] avg = weightedLY (data, ref_data, min_strength); //nullp
	String s = "";		String s = "";
	double avg_dd = 0.0, avg_nd = 0.0, avg_x = 0.0, avg_y = 0.0;		double avg_dd = 0.0, avg_nd = 0.0, avg_x = 0.0, avg_y = 0.0;
	for (int p = 0; p < num_sensors; p++) avg_dd += avg[indx_dd0 + p]/ num_sensors;		for (int p = 0; p < num_sensors; p++) avg_dd += avg[indx_dd0 + p]/ num_sensors;

Admin message