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imagej-elphel
Commit 89fbf5c2 authored by Andrey Filippov's avatar Andrey Filippov
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cleaning up, adding parameters for different debug modes

parent decd04ed
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Showing with 64 additions and 47 deletions
src/main/java/com/elphel/imagej/tileprocessor/IntersceneLma.java
View file @ 89fbf5c2
......@@ -266,24 +266,28 @@ public class IntersceneLma {
}
if (rslt[0]) { // better
if (iter >= num_iter) { // better, but num tries exceeded
if (debug_level > 0) System.out.println("Step "+iter+": Improved, but number of steps exceeded maximal");
if (debug_level > 1) System.out.println("Step "+iter+": Improved, but number of steps exceeded maximal");
} else {
if (debug_level > 0) System.out.println("Step "+iter+": LMA: Success");
if (debug_level > 1) System.out.println("Step "+iter+": LMA: Success");
}
} else { // improved over initial ?
if (last_rms[0] < initial_rms[0]) { // NaN
rslt[0] = true;
if (debug_level > 0) System.out.println("Step "+iter+": Failed to converge, but result improved over initial");
if (debug_level > 1) System.out.println("Step "+iter+": Failed to converge, but result improved over initial");
} else {
if (debug_level > 0) System.out.println("Step "+iter+": Failed to converge");
if (debug_level > 1) System.out.println("Step "+iter+": Failed to converge");
}
}
if (debug_level > 0) {
boolean show_intermediate = true;
if (show_intermediate && (debug_level > 0)) {
System.out.println("LMA: full RMS="+last_rms[0]+" ("+initial_rms[0]+"), pure RMS="+last_rms[1]+" ("+initial_rms[1]+") + lambda="+lambda);
}
if (debug_level > 0) {
if ((debug_level > 1) || (iter == 1) || last_run) {
if (!show_intermediate) {
System.out.println("LMA: full RMS="+last_rms[0]+" ("+initial_rms[0]+"), pure RMS="+last_rms[1]+" ("+initial_rms[1]+") + lambda="+lambda);
}
String [] lines = printOldNew(false); // boolean allvectors)
for (String line : lines) {
System.out.println(line);
......
src/main/java/com/elphel/imagej/tileprocessor/IntersceneLmaParameters.java
View file @ 89fbf5c2
......@@ -29,7 +29,7 @@ import java.util.Properties;
import com.elphel.imagej.common.GenericJTabbedDialog;
public class IntersceneLmaParameters {
public boolean ilma_thread_invariant = true; // Do not use DoubleAdder, provide results not dependent on threads
public boolean ilma_thread_invariant = true; // Do not use DoubleAdder, provide results not dependent on threads
public boolean [] ilma_lma_select = new boolean [ErsCorrection.DP_NUM_PARS]; // first three will not be used
public double [] ilma_regularization_weights = new double [ErsCorrection.DP_NUM_PARS]; // first three will not be used
public boolean ilma_ignore_ers = false; // ignore linear and angular velocities, assume tham zeroes
......@@ -43,6 +43,8 @@ public class IntersceneLmaParameters {
public int ilma_num_iter = 20;
public int ilma_num_corr = 10; // maximal number of full correlation+LMA cycles
public int ilma_debug_level = 1;
public boolean ilma_debug_adjust_series = false; // Debug images for series of pose and ers
public boolean ilma_debug_invariant = false; // Monitoring variations when restarting program (should be ilma_thread_invariant=true)
public IntersceneLmaParameters() {
ilma_lma_select[ErsCorrection.DP_DVAZ]= true;
......@@ -133,11 +135,14 @@ public class IntersceneLmaParameters {
"A hard limit on LMA iterations.");
gd.addNumericField("Maximal number of correlation +LMA iterations",this.ilma_num_corr, 0,3,"",
"Outer cycle (recalculate correlations + lma). Otherwise exits if LMA exits at first iteration.");
gd.addCheckbox ("Debug adjust_series()", this.ilma_debug_adjust_series,
"Generate debug images for series of pose and ERS (derivatives of pose)" );
gd.addCheckbox ("Debug thread-invariant", this.ilma_debug_invariant,
"Generate debug images and text output to verify same results regardless of threads" );
gd.addNumericField("Debug level", this.ilma_debug_level, 0,3,"",
"Debug level of interscene LMA operation.");
}
public void dialogAnswers(GenericJTabbedDialog gd) {
this.ilma_thread_invariant = gd.getNextBoolean();
for (int i = ErsCorrection.DP_DVAZ; i < ErsCorrection.DP_NUM_PARS; i++) {
......@@ -156,6 +161,8 @@ public class IntersceneLmaParameters {
this.ilma_rms_diff = gd.getNextNumber();
this.ilma_num_iter = (int) gd.getNextNumber();
this.ilma_num_corr = (int) gd.getNextNumber();
this.ilma_debug_adjust_series = gd.getNextBoolean();
this.ilma_debug_invariant = gd.getNextBoolean();
this.ilma_debug_level = (int) gd.getNextNumber();
}
public void setProperties(String prefix,Properties properties){
......@@ -164,17 +171,19 @@ public class IntersceneLmaParameters {
properties.setProperty(prefix+ErsCorrection.DP_DERIV_NAMES[i]+"_sel", this.ilma_lma_select[i]+"");
properties.setProperty(prefix+ErsCorrection.DP_DERIV_NAMES[i]+"_regweight", this.ilma_regularization_weights[i]+"");
}
properties.setProperty(prefix+"ilma_ignore_ers", this.ilma_ignore_ers+"");
properties.setProperty(prefix+"ilma_ers_adj_lin", this.ilma_ers_adj_lin+"");
properties.setProperty(prefix+"ilma_ers_adj_ang", this.ilma_ers_adj_ang+"");
properties.setProperty(prefix+"ilma_lambda", this.ilma_lambda+"");
properties.setProperty(prefix+"ilma_lambda_scale_good", this.ilma_lambda_scale_good+"");
properties.setProperty(prefix+"ilma_lambda_scale_bad", this.ilma_lambda_scale_bad+"");
properties.setProperty(prefix+"ilma_lambda_max", this.ilma_lambda_max+"");
properties.setProperty(prefix+"ilma_rms_diff", this.ilma_rms_diff+"");
properties.setProperty(prefix+"ilma_num_iter", this.ilma_num_iter+"");
properties.setProperty(prefix+"ilma_num_corr", this.ilma_num_corr+"");
properties.setProperty(prefix+"ilma_debug_level", this.ilma_debug_level+"");
properties.setProperty(prefix+"ilma_ignore_ers", this.ilma_ignore_ers+"");
properties.setProperty(prefix+"ilma_ers_adj_lin", this.ilma_ers_adj_lin+"");
properties.setProperty(prefix+"ilma_ers_adj_ang", this.ilma_ers_adj_ang+"");
properties.setProperty(prefix+"ilma_lambda", this.ilma_lambda+"");
properties.setProperty(prefix+"ilma_lambda_scale_good", this.ilma_lambda_scale_good+"");
properties.setProperty(prefix+"ilma_lambda_scale_bad", this.ilma_lambda_scale_bad+"");
properties.setProperty(prefix+"ilma_lambda_max", this.ilma_lambda_max+"");
properties.setProperty(prefix+"ilma_rms_diff", this.ilma_rms_diff+"");
properties.setProperty(prefix+"ilma_num_iter", this.ilma_num_iter+"");
properties.setProperty(prefix+"ilma_num_corr", this.ilma_num_corr+"");
properties.setProperty(prefix+"ilma_debug_adjust_series",this.ilma_debug_adjust_series+"");
properties.setProperty(prefix+"ilma_debug_invariant", this.ilma_debug_invariant+"");
properties.setProperty(prefix+"ilma_debug_level", this.ilma_debug_level+"");
}
public void getProperties(String prefix,Properties properties){
if (properties.getProperty(prefix+"ilma_thread_invariant")!=null) this.ilma_thread_invariant=Boolean.parseBoolean(properties.getProperty(prefix+"ilma_thread_invariant"));
......@@ -184,18 +193,19 @@ public class IntersceneLmaParameters {
pn_sel = prefix+ErsCorrection.DP_DERIV_NAMES[i]+"_regweight";
if (properties.getProperty(pn_sel)!=null) this.ilma_regularization_weights[i]=Double.parseDouble(properties.getProperty(pn_sel));
}
if (properties.getProperty(prefix+"ilma_ignore_ers")!=null) this.ilma_ignore_ers=Boolean.parseBoolean(properties.getProperty(prefix+"ilma_ignore_ers"));
if (properties.getProperty(prefix+"ilma_ers_adj_lin")!=null) this.ilma_ers_adj_lin=Boolean.parseBoolean(properties.getProperty(prefix+"ilma_ers_adj_lin"));
if (properties.getProperty(prefix+"ilma_ers_adj_ang")!=null) this.ilma_ers_adj_ang=Boolean.parseBoolean(properties.getProperty(prefix+"ilma_ers_adj_ang"));
if (properties.getProperty(prefix+"ilma_lambda")!=null) this.ilma_lambda=Double.parseDouble(properties.getProperty(prefix+"ilma_lambda"));
if (properties.getProperty(prefix+"ilma_lambda_scale_good")!=null) this.ilma_lambda_scale_good=Double.parseDouble(properties.getProperty(prefix+"ilma_lambda_scale_good"));
if (properties.getProperty(prefix+"ilma_lambda_scale_bad")!=null) this.ilma_lambda_scale_bad=Double.parseDouble(properties.getProperty(prefix+"ilma_lambda_scale_bad"));
if (properties.getProperty(prefix+"ilma_lambda_max")!=null) this.ilma_lambda_max=Double.parseDouble(properties.getProperty(prefix+"ilma_lambda_max"));
if (properties.getProperty(prefix+"ilma_rms_diff")!=null) this.ilma_rms_diff=Double.parseDouble(properties.getProperty(prefix+"ilma_rms_diff"));
if (properties.getProperty(prefix+"ilma_num_iter")!=null) this.ilma_num_iter=Integer.parseInt(properties.getProperty(prefix+"ilma_num_iter"));
if (properties.getProperty(prefix+"ilma_num_corr")!=null) this.ilma_num_corr=Integer.parseInt(properties.getProperty(prefix+"ilma_num_corr"));
if (properties.getProperty(prefix+"ilma_debug_level")!=null) this.ilma_debug_level=Integer.parseInt(properties.getProperty(prefix+"ilma_debug_level"));
if (properties.getProperty(prefix+"ilma_ignore_ers")!=null) this.ilma_ignore_ers=Boolean.parseBoolean(properties.getProperty(prefix+"ilma_ignore_ers"));
if (properties.getProperty(prefix+"ilma_ers_adj_lin")!=null) this.ilma_ers_adj_lin=Boolean.parseBoolean(properties.getProperty(prefix+"ilma_ers_adj_lin"));
if (properties.getProperty(prefix+"ilma_ers_adj_ang")!=null) this.ilma_ers_adj_ang=Boolean.parseBoolean(properties.getProperty(prefix+"ilma_ers_adj_ang"));
if (properties.getProperty(prefix+"ilma_lambda")!=null) this.ilma_lambda=Double.parseDouble(properties.getProperty(prefix+"ilma_lambda"));
if (properties.getProperty(prefix+"ilma_lambda_scale_good")!=null) this.ilma_lambda_scale_good=Double.parseDouble(properties.getProperty(prefix+"ilma_lambda_scale_good"));
if (properties.getProperty(prefix+"ilma_lambda_scale_bad")!=null) this.ilma_lambda_scale_bad=Double.parseDouble(properties.getProperty(prefix+"ilma_lambda_scale_bad"));
if (properties.getProperty(prefix+"ilma_lambda_max")!=null) this.ilma_lambda_max=Double.parseDouble(properties.getProperty(prefix+"ilma_lambda_max"));
if (properties.getProperty(prefix+"ilma_rms_diff")!=null) this.ilma_rms_diff=Double.parseDouble(properties.getProperty(prefix+"ilma_rms_diff"));
if (properties.getProperty(prefix+"ilma_num_iter")!=null) this.ilma_num_iter=Integer.parseInt(properties.getProperty(prefix+"ilma_num_iter"));
if (properties.getProperty(prefix+"ilma_num_corr")!=null) this.ilma_num_corr=Integer.parseInt(properties.getProperty(prefix+"ilma_num_corr"));
if (properties.getProperty(prefix+"ilma_debug_adjust_series")!=null)this.ilma_debug_adjust_series=Boolean.parseBoolean(properties.getProperty(prefix+"ilma_debug_adjust_series"));
if (properties.getProperty(prefix+"ilma_debug_invariant")!=null) this.ilma_debug_invariant=Boolean.parseBoolean(properties.getProperty(prefix+"ilma_debug_invariant"));
if (properties.getProperty(prefix+"ilma_debug_level")!=null) this.ilma_debug_level=Integer.parseInt(properties.getProperty(prefix+"ilma_debug_level"));
}
@Override
......@@ -204,17 +214,19 @@ public class IntersceneLmaParameters {
ilp.ilma_thread_invariant = this.ilma_thread_invariant;
System.arraycopy(this.ilma_lma_select, 0, ilp.ilma_lma_select, 0, ilma_lma_select.length);
System.arraycopy(this.ilma_regularization_weights, 0, ilp.ilma_regularization_weights, 0, ilma_regularization_weights.length);
ilp.ilma_ignore_ers = this.ilma_ignore_ers;
ilp.ilma_ers_adj_lin = this.ilma_ers_adj_lin;
ilp.ilma_ers_adj_ang = this.ilma_ers_adj_ang;
ilp.ilma_lambda = this.ilma_lambda;
ilp.ilma_lambda_scale_good = this.ilma_lambda_scale_good;
ilp.ilma_lambda_scale_bad = this.ilma_lambda_scale_bad;
ilp.ilma_lambda_max = this.ilma_lambda_max;
ilp.ilma_rms_diff = this.ilma_rms_diff;
ilp.ilma_num_iter = this.ilma_num_iter;
ilp.ilma_num_corr = this.ilma_num_corr;
ilp.ilma_debug_level = this.ilma_debug_level;
ilp.ilma_ignore_ers = this.ilma_ignore_ers;
ilp.ilma_ers_adj_lin = this.ilma_ers_adj_lin;
ilp.ilma_ers_adj_ang = this.ilma_ers_adj_ang;
ilp.ilma_lambda = this.ilma_lambda;
ilp.ilma_lambda_scale_good = this.ilma_lambda_scale_good;
ilp.ilma_lambda_scale_bad = this.ilma_lambda_scale_bad;
ilp.ilma_lambda_max = this.ilma_lambda_max;
ilp.ilma_rms_diff = this.ilma_rms_diff;
ilp.ilma_num_iter = this.ilma_num_iter;
ilp.ilma_num_corr = this.ilma_num_corr;
ilp.ilma_debug_adjust_series = this.ilma_debug_adjust_series;
ilp.ilma_debug_invariant = this.ilma_debug_invariant;
ilp.ilma_debug_level = this.ilma_debug_level;
return ilp;
}
}
src/main/java/com/elphel/imagej/tileprocessor/OpticalFlow.java
View file @ 89fbf5c2
......@@ -581,7 +581,7 @@ public class OpticalFlow {
final int debug_level, //1
final boolean enable_debug_images) // true
{
boolean debug_mismatch = (debug_level > -10); // true;
boolean debug_mismatch = (debug_level > -10); // && enable_debug_images);
// int debug_corr2d = 0;// 10
final TileProcessor tp = reference_QuadClt.getTileProcessor();
......@@ -3602,8 +3602,7 @@ public class OpticalFlow {
int debug_level
)
{
boolean show_results = true;
boolean show_results = clt_parameters.ilp.ilma_debug_adjust_series;
if (ref_index < 0) {
ref_index += scenes.length;
}
......@@ -8428,6 +8427,8 @@ public double[][] correlateIntersceneDebug( // only uses GPU and quad
double [][] flowXY = new double [macroTiles][2]; // zero pre-shifts
// double [][] flowXY_frac = new double [macroTiles][]; // Will contain fractional X/Y shift for CLT
double [][] reference_tiles_macro = new double [macroTiles][];
// hack below to pass nlma for debugging. Change clt_parameters.ilp.ilma_num_corr to -11 after first pass
int test_debug_level = clt_parameters.ilp.ilma_debug_invariant? (clt_parameters.ofp.debug_level_iterate-nlma): -11;
double [][] vector_XYS = correlate2DIterate( // returns optical flow and confidence
clt_parameters.img_dtt, // final ImageDttParameters imgdtt_params,
// for prepareSceneTiles()
......@@ -8460,7 +8461,7 @@ public double[][] correlateIntersceneDebug( // only uses GPU and quad
clt_parameters.ofp.min_change, // final double min_change,
clt_parameters.ofp.best_neibs_num, // final int best_num,
clt_parameters.ofp.ref_stdev, // final double ref_stdev,
clt_parameters.ofp.debug_level_iterate-nlma, // final int debug_level)
test_debug_level, // clt_parameters.ofp.debug_level_iterate-nlma, // final int debug_level)
clt_parameters.ofp.enable_debug_images); //final boolean enable_debug_images)
if (dbg_img != null) {
for (int iy = 0; iy < macroTilesY; iy++) {
......@@ -8505,7 +8506,7 @@ public double[][] correlateIntersceneDebug( // only uses GPU and quad
}
}
if (dbg_img != null) {
if (clt_parameters.ilp.ilma_debug_invariant) { // dbg_img != null) {
/*
long [] long_xyz0 = new long [camera_xyz0.length];
long [] long_atr0 = new long [camera_atr0.length];
......
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