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Commit 88dc9e10 authored by Andrey Filippov's avatar Andrey Filippov
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has bug, but worked without alpha_mm_hole (set it to Double.NaN)

parent e496084a
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src/main/java/com/elphel/imagej/vegetation/VegetationLMA.java
View file @ 88dc9e10
......@@ -55,6 +55,18 @@ public class VegetationLMA {
public double alpha_loss = 0; // not used with cosine alpha
public double alpha_offset = 0; // if >0, start losses above 0.0 and below 1.0;
public double alpha_lpf = 0;
public boolean alpha_piece_linear = true;
public double alpha_scale_avg = 1.0; // 1.1; // scale average alpha (around 0.5) when pulling to it
public double alpha_push = 12.0; // push from alpha==0.5
public double alpha_push_neutral = 0.8; // alpha point from which push (closer to opaque)
public double alpha_push_center = 1.5; // weight of center alpha pixel relative to each of the 4 ortho ones
public double alpha_mm_hole = 0.1; // NaN to disable. Local "almost minimum" (lower than this fraction between min and max neighbor) is not subject to alpha_lpf
public double alpha_diff_hole = 0.01; // minimal alpha difference between min and max neighbor to be considered a hole
public boolean from_file = false;
public double terr_lpf = 0;
public double veget_lpf = 0;
......@@ -134,6 +146,12 @@ public class VegetationLMA {
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_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
final double alpha_push, // 5.0; // push from alpha==0.5
final double alpha_push_neutral, // = 0.8; // alpha point from which push (closer to opaque)
final double alpha_push_center,// 1.5; // weight of center alpha pixel relative to each of the 4 ortho ones
final double alpha_mm_hole, // = 0.1; // NaN to disable. Local "almost minimum" (lower than this fraction between min and max neighbor) is not subject to alpha_lpf
final double terr_lpf, // pull terrain to average of 4 neighbors (very small)
final double veget_lpf, // pull vegetation to average of 4 neighbors (very small - maybe not needed)
final double terr_pull0, // pull terrain to zero (makes sense with UM
......@@ -143,15 +161,23 @@ public class VegetationLMA {
final double um_weight,
final String parameters_read_path,
final int debugLevel) {
this.woi = woi;
this.alpha_loss = alpha_loss;
this.alpha_offset = alpha_offset;
this.alpha_lpf = alpha_lpf;
this.terr_lpf = terr_lpf;
this.veget_lpf = veget_lpf;
this.boost_parallax = boost_parallax;
this.um_sigma = um_sigma; // just use in debug image names
this.um_weight = um_weight;
this.woi = woi;
this.alpha_loss = alpha_loss;
this.alpha_offset = alpha_offset;
this.alpha_lpf = alpha_lpf;
this.alpha_scale_avg = alpha_scale_avg;
this.alpha_piece_linear= alpha_piece_linear;
this.alpha_push = alpha_push; // 5.0; // push from alpha==0.5
this.alpha_push_neutral = alpha_push_neutral; // 0.8; // alpha point from which push (closer to opaque)
this.alpha_push_center = alpha_push_center; // 1.5; // weight of center alpha pixel relative to each of the 4 ortho ones
this.alpha_mm_hole = alpha_mm_hole;
this.terr_lpf = terr_lpf;
this.veget_lpf = veget_lpf;
this.terr_pull0 = terr_pull0;
this.veget_pull0 = veget_pull0;
this.boost_parallax = boost_parallax;
this.um_sigma = um_sigma; // just use in debug image names
this.um_weight = um_weight;
final double [] scene_weights = setupSceneWeights(
boost_parallax); // double boost_parallax)
......@@ -179,6 +205,7 @@ public class VegetationLMA {
if (!keep_parameters) {
setupParametersVector (default_alpha); // areas where both terrain and vegetation are available
}
from_file = false;
if (parameters_read_path != null) {
readParametersFromImage(
parameters_read_path, // String path,
......@@ -527,7 +554,11 @@ public class VegetationLMA {
if (debug_level > -2) { //
String save_dir = debug_path;
String debug_title = "parameters_vector-x"+woi.x+"-y"+woi.y+"-w"+woi.width+"-h"+woi.height;
debug_title +="-al"+alpha_loss+"-alo"+alpha_offset+"-alp"+alpha_lpf+"-tl"+terr_lpf+"-vl"+veget_lpf+"-bp"+boost_parallax;
debug_title += "-al"+alpha_loss+"-alo"+alpha_offset+"-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+"-amm"+alpha_mm_hole;
debug_title += "-tl"+terr_lpf+"-vl"+veget_lpf+"-tp"+terr_pull0+"-vp"+veget_pull0;
debug_title += "-bp"+boost_parallax;
debug_title += from_file?"-file":"-new";
if (um_weight > 0) {
debug_title +="-um"+um_sigma+"_"+um_weight;
}
......@@ -854,6 +885,7 @@ public class VegetationLMA {
jt[i] = new double [weights.length]; // weights.length];
}
}
final int dbg_n = -69992;
final Thread[] threads = ImageDtt.newThreadArray();
final AtomicInteger ai = new AtomicInteger(0);
for (int ithread = 0; ithread < threads.length; ithread++) {
......@@ -862,6 +894,9 @@ public class VegetationLMA {
double [] vegetation = new double [4];
double [] alpha = new double [4];
for (int n = ai.getAndIncrement(); n < y_vector.length; n = ai.getAndIncrement()) {
if (n == dbg_n) {
System.out.println("getFxDerivs(): n="+n);
}
// int nscene = data_source[n][0][0];
// int indx = data_source[n][0][1];
double terrain = vector[data_source[n][0][2]];
......@@ -878,7 +913,13 @@ public class VegetationLMA {
sum_v += vegetation[i];
sum_a += alpha[i];
}
double k = (sum_a < 0)? 0: ( (sum_a > 1) ? 1.0: 0.5 * (1.0 - Math.cos(sum_a*Math.PI)));
double k;
if (alpha_piece_linear) {
k = (sum_a < 0)? 0: ((sum_a > 1) ? 1.0: sum_a);
} else {
k = (sum_a < 0)? 0: ((sum_a > 1) ? 1.0: 0.5 * (1.0 - Math.cos(sum_a*Math.PI)));
}
// d = terrain * (1.0 - sum_a) + sum_v * sum_a;
d = terrain * (1.0 - k) + sum_v * k;
......@@ -889,9 +930,11 @@ public class VegetationLMA {
jt[data_source[n][1][i]][n] = cw[i] * k; // sum_a; // d/dvegetation[i]
}
if ((indx_alpha[i] >= 0) && (sum_a > 0) && (sum_a < 1.0)) {
// jt[data_source[n][2][i]][n] = cw[i] * (sum_v - terrain); // d/dalpha[i]
jt[data_source[n][2][i]][n] = cw[i] * (sum_v - terrain) *0.5*Math.PI *Math.sin(sum_a*Math.PI); // d/dalpha[i]
if (alpha_piece_linear) {
jt[data_source[n][2][i]][n] = cw[i] * (sum_v - terrain); // d/dalpha[i]
} else {
jt[data_source[n][2][i]][n] = cw[i] * (sum_v - terrain) *0.5*Math.PI *Math.sin(sum_a*Math.PI); // d/dalpha[i]
}
}
}
}
......@@ -916,6 +959,7 @@ public class VegetationLMA {
int ind_next = y_vector.length;
if ((alpha_lpf >= 0) || (alpha_loss > 0)) {
int dbg_nx = -76340;
final int ind_y_alpha = ind_next;
ind_next += num_pars_vegetation_alpha;
ai.set(0);
......@@ -925,6 +969,9 @@ public class VegetationLMA {
for (int n = ai.getAndIncrement(); n < num_pars_vegetation_alpha; n = ai.getAndIncrement()) {
int np = ind_pars_vegetation_alpha + n; // index of the alpha parameter
int nx = n + ind_y_alpha; // y_vector.length; // x - index
if (nx == dbg_nx) {
System.out.println("getFxDerivs(): n="+n+", nx="+nx);
}
double d = 0;
fX[nx] = 0.0;
if (alpha_loss > 0) {
......@@ -941,35 +988,94 @@ public class VegetationLMA {
}
}
}
// add cost for difference between this alpha and average of 4 neighbors (when they exist
// applies to alpha before cosine, so it will pull borders even when alpha<0 or alpha > 1 (zero derivatives)
if (alpha_lpf > 0) { // should always be > 0 to provide stability for out-of-range alpha
double avg = 0;
int nn = 0;
for (int i = 0; i < alpha_neibs[n].length; i++) { // now 4, may be increased
int di = alpha_neibs[n][i];
d=0;
if (di >= 0) {
d = vector[di]; // d - full parameter index
avg+=d;
nn++;
} else if (di < -1) {
d = tvao[TVAO_VEGETATION_ALPHA][-di - 2];
avg+=d;
nn++;
}
double avg = 0;
int nn = 0;
double neib_min = Double.POSITIVE_INFINITY, neib_max = Double.NEGATIVE_INFINITY;
for (int i = 0; i < alpha_neibs[n].length; i++) { // now 4, may be increased
int di = alpha_neibs[n][i];
d=0;
if (di >= 0) {
d = vector[di]; // d - full parameter index
avg+=d;
if (d < neib_min) neib_min = d;
if (d > neib_max) neib_max = d;
nn++;
} else if (di < -1) {
d = tvao[TVAO_VEGETATION_ALPHA][-di - 2];
avg+=d;
if (d < neib_min) neib_min = d;
if (d > neib_max) neib_max = d;
nn++;
}
}
avg /= nn; // average
if (alpha_push > 0) {
// average including center:
double sum_w = (nn + alpha_push_center);
double avg_c = (avg * nn + vector[np] * alpha_push_center) / sum_w;
if ((avg_c > 0) || (avg_c < 1.0)) {
fX[nx] += alpha_push * avg_c * (1.0 - avg_c);
}
avg /= nn; // average
fX[nx] += alpha_lpf * (vector[np] - avg);
if (jt != null) {
jt[np][nx] += alpha_lpf;
double dd = alpha_push / sum_w * (1 - 2 * avg_c);
jt[np][nx] += dd * alpha_push_center; // 2 * alpha_loss * d; // d/dalpha[i]
for (int i = 0; i < alpha_neibs[n].length; i++) { // now 4, may be increased
int di = alpha_neibs[n][i];
if (di >= 0) {
jt[di][nx] -= alpha_lpf/nn;
jt[di][nx] += dd; // 2 * alpha_loss * d; // d/dalpha[i]
}
}
}
}
}
}
// add cost for difference between this alpha and average of 4 neighbors (when they exist
// applies to alpha before cosine, so it will pull borders even when alpha<0 or alpha > 1 (zero derivatives)
//alpha_scale_avg
if (alpha_lpf > 0) { // should always be > 0 to provide stability for out-of-range alpha
double mm = neib_min + (neib_max-neib_min) * alpha_mm_hole;
double effective_alpha_lpf = alpha_lpf;
if (!Double.isNaN(alpha_mm_hole) && (vector[np] <= mm) && ((neib_max-neib_min) >= alpha_diff_hole)) {
effective_alpha_lpf = 0.0; // disable alpha_lpf
}
// disable pull to average of neighbors for small holes in vegetation (local "almost minimum")
/// if (Double.isNaN(alpha_mm_hole) || (vector[np] > mm) || ((neib_max-neib_min) < alpha_diff_hole)) {
// this.alpha_mm_hole = alpha_mm_hole;
if (alpha_scale_avg == 1) {
fX[nx] += effective_alpha_lpf * (vector[np] - avg);
if (jt != null) {
jt[np][nx] += effective_alpha_lpf;
for (int i = 0; i < alpha_neibs[n].length; i++) { // now 4, may be increased
int di = alpha_neibs[n][i];
if (di >= 0) {
jt[di][nx] -= effective_alpha_lpf/nn;
}
}
}
} else {
if ((avg > 0) && (avg < 1)) {
double savg = 0.5 + (avg - 0.5) * alpha_scale_avg;
fX[nx] += effective_alpha_lpf * (vector[np] - savg);
if (jt != null) {
// jt[np][nx] += effective_alpha_lpf;
for (int i = 0; i < alpha_neibs[n].length; i++) { // now 4, may be increased
int di = alpha_neibs[n][i];
if (di >= 0) {
jt[di][nx] -= effective_alpha_lpf/nn * alpha_scale_avg;
}
}
}
} else {
if (avg <= 0) {
fX[nx] += effective_alpha_lpf * (vector[np] + 0.5*(alpha_scale_avg - 1.0));
} else { // avg > 1
fX[nx] += effective_alpha_lpf * (vector[np] - 0.5*(alpha_scale_avg + 1.0));
}
}
if (jt != null) {
jt[np][nx] += effective_alpha_lpf;
}
}
}
}
}
......@@ -1302,8 +1408,12 @@ public class VegetationLMA {
double [] vector,
final double delta,
final int debug_level) {
int dbg_n = -2486;
double [][] jt = new double [vector.length][weights.length];
for (int nv = 0; nv < vector.length; nv++) {
if (nv == dbg_n) {
System.out.println("getFxDerivsDelta(): nv="+nv);
}
double [] vpm = vector.clone();
vpm[nv]+= 0.5*delta;
double [] fx_p = getFxDerivs(
......@@ -1468,6 +1578,7 @@ public class VegetationLMA {
vector[indices[i]] = d;
}
}
from_file = true;
return;
}
......@@ -1779,6 +1890,11 @@ public class VegetationLMA {
par_index[TVAO_VEGETATION] = new int [image_length];
par_index[TVAO_VEGETATION_ALPHA] = new int [image_length];
par_index[TVAO_SCENE_OFFSET] = new int [num_scenes];
if (valid_woi == null) {
valid_woi = new boolean [2][woi.width*woi.height];
Arrays.fill(valid_woi[0],true);
Arrays.fill(valid_woi[1],true);
}
int max_pars = 0;
for (int i = 0; i < par_index.length; i++) {
max_pars += par_index[i].length;
......
src/main/java/com/elphel/imagej/vegetation/VegetationModel.java
View file @ 88dc9e10
......@@ -678,19 +678,50 @@ public class VegetationModel {
int debugLevel) {
boolean diff_mode = true;
Rectangle woi50 = new Rectangle(143,317,35,35);
/* Bad, pull terr lower, so it all shifts to terrain
int min_scenes = 10;
double default_alpha = 0.8;
double reg_weights = 0.25; // fraction of the total weight used for regularization
double alpha_loss = 10.0; // 10000.0; // 1000.0; // 100.; // 10.0; // quadratic loss when alpha reaches -1.0 or 2.0
double alpha_loss = 100.0; // 10.0; // 10000.0; // 1000.0; // 100.; // 10.0; // quadratic loss when alpha reaches -1.0 or 2.0
double alpha_offset = 0.0; // 0.02; // 0.03; // if >0, start losses above 0.0 and below 1.0;
double alpha_lpf = 10; // 20; // 6.0; // 3.0; // 2.0; // 1.5; // 5.0; // 0.5; // pull to average of 4 neighbors
double terr_lpf = 0.1; // pull terrain to average of 4 neighbors (very small)
double veget_lpf = 0.1; // pull vegetation to average of 4 neighbors (very small - maybe not needed)
double terr_pull0 = 0.1; //pull terrain to zero (makes sense with UM
double veget_pull0 = 0.1; // pull vegetation to zero (makes sense with UM
double boost_parallax = 1.0; // 5;
double alpha_lpf = 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 = true;
double terr_lpf = 0.1; // 0.15; /// 0.2; /// 0.1; // pull terrain to average of 4 neighbors (very small)
double veget_lpf = 0.2; //0.15; /// 0.2; //// 0.01; /// 0.1; // pull vegetation to average of 4 neighbors (very small - maybe not needed)
double terr_pull0 = 0.03; ////// 0.05; ///// 0.1; //// 0.01; /// 0.2; /// 0.1; //pull terrain to zero (makes sense with UM
double veget_pull0 = 0.1; // 0.03; ////// 0.05; ///// 0.1; //// 0.01; /// 0.1; // pull vegetation to zero (makes sense with UM
double boost_parallax = 3.0; /// 1.0; /////// 5.0; /// 1.0; // 5;
boolean next_run = false;
boolean read_pars = true; // false; // true;
boolean read_pars = true; /// false; /// true; // false; // true;
double threshold_terrain = 0.05;
double min_max_terrain= 0.1;
double min_terrain = 0.001;
double min_vegetation = 0.5;
boolean um_en = true;
double um_sigma = 1.0;
double um_weight = 0.8;
*/
int min_scenes = 1; // 10; // for new scenes only, for old ones use 10
double default_alpha = 0.5; // 0.8;
double reg_weights = 0.25; // fraction of the total weight used for regularization
double 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 = 0.0; // 0.02; // 0.03; // if >0, start losses above 0.0 and below 1.0;
double alpha_lpf = 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 = true; // false; // true;
double alpha_scale_avg = 1.0; // 1.1; // 0.9; // 2.0; // 1.5; // scale average alpha (around 0.5) when pulling to it
double alpha_push = 12; // 10.0; // 15.0; // push from alpha==0.5
double alpha_push_neutral = 0.8; // alpha point from which push (closer to opaque)
double alpha_push_center = 1.5; // weight of center alpha pixel relative to each of the 4 ortho ones
double alpha_mm_hole = 0.1; // NaN to disable. Local "almost minimum" (lower than this fraction between min and max neighbor) is not subject to alpha_lpf
double terr_lpf = 0.1; // 0.15; /// 0.2; /// 0.1; // pull terrain to average of 4 neighbors (very small)
double veget_lpf = 0.2; //0.15; /// 0.2; //// 0.01; /// 0.1; // pull vegetation to average of 4 neighbors (very small - maybe not needed)
double terr_pull0 = 0.05; //0.03; ////// 0.05; ///// 0.1; //// 0.01; /// 0.2; /// 0.1; //pull terrain to zero (makes sense with UM
double veget_pull0 = 0.05; //0.1; // 0.03; ////// 0.05; ///// 0.1; //// 0.01; /// 0.1; // pull vegetation to zero (makes sense with UM
double boost_parallax = 3.0; /// 1.0; /////// 5.0; /// 1.0; // 5;
boolean next_run = false;
boolean read_pars = false; // true; /// false; /// true; // false; // true;
double threshold_terrain = 0.05;
double min_max_terrain= 0.1;
double min_terrain = 0.001;
......@@ -705,7 +736,10 @@ public class VegetationModel {
// String parameters_path = "/media/elphel/SSD3-4GB/lwir16-proc/berdich3/debug/vegetation/essential/parameters_vector_data_1000-0.03.tiff";
// String parameters_path = "/media/elphel/SSD3-4GB/lwir16-proc/berdich3/debug/vegetation/essential/parameters_vector_data_x143-y317-w35-h35-live_10000_0.02_3.0.tiff";
// String parameters_path = "/media/elphel/SSD3-4GB/lwir16-proc/berdich3/debug/vegetation/essential/parameters_vector_data_x143-y317-w35-h35-al0.0-alo0.02-alp10.0-tl0.1-vl0.1-bp1.0-um1.0_0.8.tiff";
String parameters_path = "/media/elphel/SSD3-4GB/lwir16-proc/berdich3/debug/vegetation/essential/parameters_vector_data_x143-y317-w35-h35-al10.0-alo0.0-alp10.0-tl0.1-vl0.1-bp1.0-um1.0_0.8-live.tiff";
// String parameters_path = "/media/elphel/SSD3-4GB/lwir16-proc/berdich3/debug/vegetation/essential/parameters_vector_data_x143-y317-w35-h35-al10.0-alo0.0-alp10.0-tl0.1-vl0.1-bp1.0-um1.0_0.8-live.tiff";
String parameters_path = "/media/elphel/SSD3-4GB/lwir16-proc/berdich3/debug/vegetation/essential/parameters_vector_data_x143-y317-w35-h35-al100.0-alo0.0-alp10.0-alin-tl0.2-vl0.01-tp0.01-vp0.01-bp5.0-um1.0_0.8.tiff";
if (um_en) {
double [][] um_data = new double [terrain_rendered.length+2][];
System.arraycopy(terrain_rendered, 0, um_data, 0, terrain_rendered.length);
......@@ -785,14 +819,21 @@ public class VegetationModel {
default_alpha, // final double default_alpha,
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_lpf, // final double alpha_lpf, // pull to average of 4 neighbors
terr_lpf, // final double terr_lpf, // pull terrain to average of 4 neighbors (very small)
veget_lpf, // final double veget_lpf, // pull vegetation to average of 4 neighbors (very small - maybe not needed)
terr_pull0, // final double terr_pull0, // pull terrain to zero (makes sense with UM
veget_pull0, // final double veget_pull0, // pull vegetation to zero (makes sense with UM
boost_parallax,// final double boost_parallax, // increase weight of scene with maximal parallax relative to the reference scene
um_sigma, // final double um_sigma, // just use in debug image names
alpha_offset, // final double alpha_offset, // quadratic loss when alpha reaches -1.0 or 2.0
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
alpha_push, // final double alpha_push, // 5.0; // push from alpha==0.5
alpha_push_neutral, // double alpha_push_neutral = 0.8; // alpha point from which push (closer to opaque)
alpha_push_center,// final double alpha_push_center,// 1.5; // weight of center alpha pixel relative to each of the 4 ortho ones
alpha_mm_hole, // double alpha_mm_hole = 0.1; // NaN to disable. Local "almost minimum" (lower than this fraction between min and max neighbor) is not subject to alpha_lpf
terr_lpf, // final double terr_lpf, // pull terrain to average of 4 neighbors (very small)
veget_lpf, // final double veget_lpf, // pull vegetation to average of 4 neighbors (very small - maybe not needed)
terr_pull0, // final double terr_pull0, // pull terrain to zero (makes sense with UM
veget_pull0, // final double veget_pull0, // pull vegetation to zero (makes sense with UM
boost_parallax,// final double boost_parallax, // increase weight of scene with maximal parallax relative to the reference scene
um_sigma, // final double um_sigma, // just use in debug image names
(um_en? um_weight: 0.0), // final double um_weight,
par_path, // final String parameters_read_path,
debugLevel); // final int debugLevel);
......@@ -807,8 +848,6 @@ public class VegetationModel {
min_max_terrain, // double min_max_terrain, //0.1
min_terrain, //double min_terrain, //0.001
min_vegetation); // double min_vegetation) { // 0.5
}
next_run = true;
double lambda = 5.0; // 0.1;
......
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