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Commit 971025da authored by Andrey Filippov's avatar Andrey Filippov
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Tested other reference (FPN mitigation) with initial orientation

parent e17a0659
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src/main/java/com/elphel/imagej/tileprocessor/Interscene.java
View file @ 971025da
......@@ -23,6 +23,7 @@
*/
package com.elphel.imagej.tileprocessor;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.concurrent.atomic.AtomicInteger;
......@@ -427,7 +428,7 @@ public class Interscene {
}
}
boolean scale_ims_velocities = true;
boolean scale_ims_velocities = false; // true;
double [][][] scenes_dxyzatr = QuadCLTCPU.getDxyzatrIms(
clt_parameters, // CLTParameters clt_parameters,
quadCLTs, // QuadCLT[] quadCLTs,
......@@ -748,9 +749,9 @@ public class Interscene {
double maximal_series_rms = 0.0;
double min_ref_str = clt_parameters.imp.min_ref_str;
boolean ref_need_lma = clt_parameters.imp.ref_need_lma;
double min_ref_frac= clt_parameters.imp.min_ref_frac;
int max_num_scenes = clt_parameters.imp.max_num_scenes; // cut longer series
boolean ims_use = clt_parameters.imp.ims_use;
double min_ref_frac= clt_parameters.imp.min_ref_frac;
int max_num_scenes = clt_parameters.imp.max_num_scenes; // cut longer series
boolean ims_use = clt_parameters.imp.ims_use;
double boost_max_short = 2.0; //
double boost_zoom_short = 1.5; //
......@@ -768,7 +769,7 @@ public class Interscene {
int tilesX = quadCLTs[ref_index].getTileProcessor().getTilesX();
int tilesY = quadCLTs[ref_index].getTileProcessor().getTilesY();
int tile_size = quadCLTs[ref_index].getTileProcessor().getTileSize();
double min_offset = 0.0; // clt_parameters.imp.min_offset;
double min_offset = clt_parameters.imp.min_offset; // 0.0; //
double max_offset = clt_parameters.imp.max_rel_offset * tilesX * tile_size;
double max_roll = clt_parameters.imp.max_roll_deg*Math.PI/180.0;
double max_zoom_diff = clt_parameters.imp.max_zoom_diff;
......@@ -819,15 +820,15 @@ public class Interscene {
}
double max_z_change = Double.NaN; // only applicable for drone images
double avg_z = quadCLTs[ref_index].getAverageZ(true); // use lma
if (max_zoom_diff > 0) { // ignore if set to
double avg_z = quadCLTs[ref_index].getAverageZ(true); // use lma
max_z_change = avg_z * max_zoom_diff;
if (debugLevel > -3) {
System.out.println("Setting maximal Z-direction movement to "+ max_z_change+" m.");
}
}
boolean scale_ims_velocities = true;
boolean scale_ims_velocities = false; // true;
double [][][] scenes_dxyzatr = QuadCLTCPU.getDxyzatrIms(
clt_parameters, // CLTParameters clt_parameters,
quadCLTs, // QuadCLT[] quadCLTs,
......@@ -863,7 +864,13 @@ public class Interscene {
double mb_max_gain = clt_parameters.imp.mb_max_gain_inter; // 5.0; // motion blur maximal gain (if more - move second point more than a pixel
TpTask[][] tp_tasks_ref = new TpTask[2][];
double [][] pXpYD_ref = new double [tilesX*tilesY][];
boolean rectilinear = false;
double max_quad = 10; // use quad if center offset is less than this
ArrayList<Integer> fpn_list = new ArrayList<Integer>();
// boolean [] need_fpn_mitigate = new boolean [quadCLTs.length];
// int num_fpn_mitigate = 0;
double [] reg_weights = clt_parameters.ilp.ilma_regularization_weights;
min_max[1] = max_offset;
for (int scene_index = ref_index - 1; scene_index >= earliest_scene ; scene_index--) {
if ((ref_index - scene_index) >= max_num_scenes){
earliest_scene = scene_index + 1;
......@@ -892,8 +899,6 @@ public class Interscene {
initial_pose[1].clone()
};
// Refine with LMA
double [] reg_weights = clt_parameters.ilp.ilma_regularization_weights;
min_max[1] = max_offset;
//boost_zoom_short
double max_z_change_scaled = max_z_change;
if ((ref_index - scene_index) < min_num_scenes) {
......@@ -922,36 +927,61 @@ public class Interscene {
clt_parameters,
scenes_dxyzatr[scene_index])); // cam_dxyzatr));
// Trying new version with motion blur and single-setting of the reference frame
scenes_xyzatr[scene_index] = adjustDiffPairsLMAInterscene( // compare two scenes, first may be reference, use motion blur
clt_parameters, // CLTParameters clt_parameters,
use_lma_dsi, // clt_parameters.imp.use_lma_dsi,
false, // boolean fpn_disable, // disable fpn filter if images are known to be too close
true, // boolean disable_ers,
min_max, // double [] min_max, // null or pair of minimal and maximal offsets
fail_reason, // int [] fail_reason, // null or int[1]: 0 - OK, 1 - LMA, 2 - min, 3 - max
quadCLTs, // QuadCLT [] quadCLTs,
ref_index, // int ref_index,
tp_tasks_ref, // TpTask[][] tp_tasks_ref, // Should be TpTask[2][*]. If tp_tasks_ref[0] == null will calculate
// at set first scene to the GPU
pXpYD_ref, // double [][] pXpYD_ref, // should be se or at least double [num_tiles][] if tp_tasks_ref[0] == null
ref_index, // int nscene0, // may be == ref_index
scene_index, // int nscene1, // compares to nscene0
null, // double [] ref_disparity, // null or alternative reference disparity
reliable_ref, //boolean [] reliable_ref, // null or bitmask of reliable reference tiles
scenes_xyzatr[ref_index], // double [][] scene0_xyzatr,,
initial_pose, // double [][] scene1_xyzatr,
initial_pose, // double [] scene1_xyzatr_pull, // if both are not null, specify target values to pull to
clt_parameters.ilp.ilma_lma_select, // boolean[] param_select,
reg_weights, // double [] param_regweights,
lma_rms, // double [] rms_out, // null or double [2]
clt_parameters.imp.max_rms, // double max_rms,
mb_en, // boolean mb_en,
mb_tau, // double mb_tau, // 0.008; // time constant, sec
mb_max_gain, // double mb_max_gain, // 5.0; // motion blur maximal gain (if more - move second point more than a pixel
clt_parameters.imp.debug_level); // int debugLevel);
boolean adjust_OK = scenes_xyzatr[scene_index] != null;
if (adjust_OK) { // check only for initial orientation, do not check on readjustments
double est_shift = quadCLTs[ref_index].estimateAverageShift(
scenes_xyzatr[ref_index], // double [][] xyzatr0,
scenes_xyzatr[scene_index], // double [][] xyzatr1,
avg_z, // double average_z,
false, // boolean use_rot,
rectilinear); // boolean rectilinear)
if (est_shift < max_quad) {
est_shift = quadCLTs[ref_index].estimateAverageShift(
scenes_xyzatr[ref_index], // double [][] xyzatr0,
scenes_xyzatr[scene_index], // double [][] xyzatr1,
avg_z, // double average_z,
true, // boolean use_rot,
rectilinear); // boolean rectilinear)
}
if (debugLevel > -4) {
System.out.println("nscene="+scene_index+": est offset "+
est_shift+"pix");
}
boolean adjust_OK = false;
if (est_shift < min_max[0]) {
fail_reason[0]=FAIL_REASON_MIN;
} else {
/*
fail_reason[0]==FAIL_REASON_MIN)
*/
scenes_xyzatr[scene_index] = adjustDiffPairsLMAInterscene( // compare two scenes, first may be reference, use motion blur
clt_parameters, // CLTParameters clt_parameters,
use_lma_dsi, // clt_parameters.imp.use_lma_dsi,
false, // boolean fpn_disable, // disable fpn filter if images are known to be too close
true, // boolean disable_ers,
min_max, // double [] min_max, // null or pair of minimal and maximal offsets
fail_reason, // int [] fail_reason, // null or int[1]: 0 - OK, 1 - LMA, 2 - min, 3 - max
quadCLTs, // QuadCLT [] quadCLTs,
ref_index, // int ref_index,
tp_tasks_ref, // TpTask[][] tp_tasks_ref, // Should be TpTask[2][*]. If tp_tasks_ref[0] == null will calculate
// at set first scene to the GPU
pXpYD_ref, // double [][] pXpYD_ref, // should be set or at least double [num_tiles][] if tp_tasks_ref[0] == null
ref_index, // int nscene0, // may be == ref_index
scene_index, // int nscene1, // compares to nscene0
null, // double [] ref_disparity, // null or alternative reference disparity
reliable_ref, //boolean [] reliable_ref, // null or bitmask of reliable reference tiles
scenes_xyzatr[ref_index], // double [][] scene0_xyzatr,,
initial_pose, // double [][] scene1_xyzatr,
initial_pose, // double [] scene1_xyzatr_pull, // if both are not null, specify target values to pull to
clt_parameters.ilp.ilma_lma_select, // boolean[] param_select,
reg_weights, // double [] param_regweights,
lma_rms, // double [] rms_out, // null or double [2]
clt_parameters.imp.max_rms, // double max_rms,
mb_en, // boolean mb_en,
mb_tau, // double mb_tau, // 0.008; // time constant, sec
mb_max_gain, // double mb_max_gain, // 5.0; // motion blur maximal gain (if more - move second point more than a pixel
clt_parameters.imp.debug_level); // int debugLevel);
adjust_OK = scenes_xyzatr[scene_index] != null;
}
if (adjust_OK) { // check only for initial orientation, do not check on readjustments
if (Math.abs(scenes_xyzatr[scene_index][1][2]) > max_roll) {
fail_reason[0] = FAIL_REASON_ROLL;
adjust_OK = false;
......@@ -975,8 +1005,9 @@ public class Interscene {
System.out.println("LMA failed at nscene = "+scene_index+". Reason = "+fail_reason[0]+
" ("+getFailReason(fail_reason[0])+")");
if ((fail_reason[0]==FAIL_REASON_MIN) || ((fail_reason[0]==FAIL_REASON_LMA) && !got_spiral)) {
fpn_list.add(scene_index);
if (fpn_skip) {
System.out.println("fpn_skip is set, just using initial pose");
System.out.println("fpn_skip is set, just using initial pose, num_fpn_mitigate="+fpn_list.size());
scenes_xyzatr[scene_index] = initial_pose;
break handle_failure; // to next scene
} else {
......@@ -1056,6 +1087,89 @@ public class Interscene {
}
return -1;
}
// fpn_list.add(ref_index); // just for testing
if (debugLevel > -4) {
System.out.println("num_fpn_mitigate= "+fpn_list.size());
}
boolean fpn_mitigate_en = true; // false; // true;
double fpn_mitigate_dist = 10.0; // 40.0; // 5.0 ; // try to find at least that far from the the one needed for mitigation
if (fpn_mitigate_en && !fpn_list.isEmpty()) {
int [][] fpn_pairs = getFPNPairs(
fpn_list, // ArrayList<Integer> fpn_list,
fpn_mitigate_dist, // double fpn_mitigate_dist,
rectilinear, // boolean rectilinear,
quadCLTs, // QuadCLT [] quadCLTs,
scenes_xyzatr, // double [][][] scenes_xyzatr,
avg_z, // double avg_z,
ref_index, // int ref_index, // >= earliest_scene
earliest_scene); // int earliest_scene)
for (int ipair = 0; ipair < fpn_pairs.length; ipair++) if (fpn_pairs[ipair][1] >= 0) {
if (debugLevel > -4) {
System.out.println("Mitigating FPN for scene "+fpn_pairs[ipair][0]+
" being too close to reference "+ref_index+
", using scene "+fpn_pairs[ipair][1]+" as a reference");
}
TpTask[][] tp_tasks_rel_ref = new TpTask[2][];
double [][] rel_xyzatr = adjustDiffPairsLMAInterscene( // compare two scenes, first may be reference, use motion blur
clt_parameters, // CLTParameters clt_parameters,
use_lma_dsi, // clt_parameters.imp.use_lma_dsi,
false, // boolean fpn_disable, // disable fpn filter if images are known to be too close
true, // boolean disable_ers,
min_max, // double [] min_max, // null or pair of minimal and maximal offsets
fail_reason, // int [] fail_reason, // null or int[1]: 0 - OK, 1 - LMA, 2 - min, 3 - max
quadCLTs, // QuadCLT [] quadCLTs,
ref_index, // int ref_index,
tp_tasks_rel_ref, // TpTask[][] tp_tasks_ref, // Should be TpTask[2][*]. If tp_tasks_ref[0] == null will calculate
// at set first scene to the GPU
pXpYD_ref, // double [][] pXpYD_ref, // should be set or at least double [num_tiles][] if tp_tasks_ref[0] == null
fpn_pairs[ipair][1], // ref_index, // int nscene0, // may be == ref_index
fpn_pairs[ipair][0], // int nscene1, // compares to nscene0
null, // double [] ref_disparity, // null or alternative reference disparity
reliable_ref, //boolean [] reliable_ref, // null or bitmask of reliable reference tiles
scenes_xyzatr[fpn_pairs[ipair][1]], // double [][] scene0_xyzatr,,
scenes_xyzatr[fpn_pairs[ipair][0]], // initial_pose, // double [][] scene1_xyzatr,
scenes_xyzatr[fpn_pairs[ipair][0]], // initial_pose, // double [] scene1_xyzatr_pull, // if both are not null, specify target values to pull to
clt_parameters.ilp.ilma_lma_select, // boolean[] param_select,
reg_weights, // double [] param_regweights,
lma_rms, // double [] rms_out, // null or double [2]
clt_parameters.imp.max_rms, // double max_rms,
mb_en, // boolean mb_en,
mb_tau, // double mb_tau, // 0.008; // time constant, sec
mb_max_gain, // double mb_max_gain, // 5.0; // motion blur maximal gain (if more - move second point more than a pixel
clt_parameters.imp.debug_level); // int debugLevel);
boolean adjust_OK = rel_xyzatr != null;
if (!adjust_OK) {
System.out.println("LMA failed at scene pair = "+fpn_pairs[ipair][1]+
" referenced from scene "+fpn_pairs[ipair][0]+". Reason = "+fail_reason[0]+
" ("+getFailReason(fail_reason[0])+")");
} else {
scenes_xyzatr[fpn_pairs[ipair][0]] = rel_xyzatr;
/// scenes_xyzatr[fpn_pairs[ipair][0]] = ErsCorrection.combineXYZATR(
/// rel_xyzatr, // new
/// scenes_xyzatr[fpn_pairs[ipair][1]]); // reference for this
double [][] adjusted_xyzatr_dt = QuadCLTCPU.scaleDtFromErs(
clt_parameters,
quadCLTs[fpn_pairs[ipair][0]].getErsCorrection().getErsXYZATR_dt(
));
ers_reference.addScene(quadCLTs[fpn_pairs[ipair][0]].getImageName(),
scenes_xyzatr[fpn_pairs[ipair][0]][0],
scenes_xyzatr[fpn_pairs[ipair][0]][1],
adjusted_xyzatr_dt[0], // ZERO3, // ers_scene.getErsXYZ_dt(),
adjusted_xyzatr_dt[1] // ZERO3 // ers_scene.getErsATR_dt()
);
if (lma_rms[0] > maximal_series_rms) {
maximal_series_rms = lma_rms[0];
}
if (debugLevel > -3) {
System.out.println("Pass multi scene "+fpn_pairs[ipair][0]+" (of "+ quadCLTs.length+") "+
quadCLTs[fpn_pairs[ipair][1]].getImageName() + "/" + quadCLTs[fpn_pairs[ipair][0]].getImageName()+
" Done. RMS="+lma_rms[0]+", maximal so far was "+maximal_series_rms);
}
}
}
}
if (earliest_scene > 0) {
System.out.println("setInitialOrientationsIms(): Not all scenes matched, earliest useful scene = "+earliest_scene+
" (total number of scenes = "+(ref_index - earliest_scene + 1)+
......@@ -1072,6 +1186,7 @@ public class Interscene {
ref_index, // int end1_scene,
scenes_xyzatr, // double [][][] scenes_xyzatr,
half_run_range); // double half_run_range
/*
quadCLTs[ref_index].getErsCorrection().setErsDt( // set for ref also (should be set before non-ref!)
dxyzatr_dt[ref_index][0], // (ers_use_xyz? dxyzatr_dt[nscene][0]: ZERO3), //, // dxyzatr_dt[nscene][0], // double [] ers_xyz_dt,
dxyzatr_dt[ref_index][1]); // dxyzatr_dt[nscene][1]); // double [] ers_atr_dt)(ers_scene_original_xyz_dt);
......@@ -1083,7 +1198,7 @@ public class Interscene {
dxyzatr_dt[scene_index][1] // ers_scene.getErsATR_dt()
);
}
*/
quadCLTs[ref_index].set_orient(1); // first orientation
quadCLTs[ref_index].set_accum(0); // reset accumulations ("build_interscene") number
quadCLTs[ref_index].saveInterProperties( // save properties for interscene processing (extrinsics, ers, ...) // null pointer
......@@ -1093,6 +1208,58 @@ public class Interscene {
}
public static int [][] getFPNPairs(
ArrayList<Integer> fpn_list,
double fpn_mitigate_dist,
boolean rectilinear,
QuadCLT [] quadCLTs,
double [][][] scenes_xyzatr,
double avg_z,
int ref_index, // >= earliest_scene
int earliest_scene){
int [][] fpn_pairs = new int [fpn_list.size()][2];
// int [] fpn_ref_scenes = new int [quadCLTs.length];
boolean [] need_fpn_mitigate = new boolean [quadCLTs.length];
for (int i:fpn_list) {
need_fpn_mitigate[i] = true;
}
// Arrays.fill(fpn_ref_scenes, -1);
int fpn_index = ref_index; // - 1;
for (int ipair = 0; ipair < fpn_pairs.length; ipair++) {
// find first needed
for (;(fpn_index >= 0) && !need_fpn_mitigate[fpn_index]; fpn_index--);
// find closest but farther than fpn_mitigate_dist;
fpn_pairs[ipair][0] = fpn_index;
fpn_pairs[ipair][1] = -1;
double best_dist = Double.NaN;
for (int i = ref_index; i >= earliest_scene; i--) {
double fpn_dist = quadCLTs[ref_index].estimateAverageShift(
scenes_xyzatr[i], // double [][] xyzatr0,
scenes_xyzatr[fpn_index], // double [][] xyzatr1,
avg_z, // double average_z,
false, // boolean use_rot,
rectilinear); // boolean rectilinear)
if (fpn_dist < fpn_mitigate_dist) {
fpn_dist = quadCLTs[i].estimateAverageShift(
scenes_xyzatr[i], // double [][] xyzatr0,
scenes_xyzatr[fpn_index], // double [][] xyzatr1,
avg_z, // double average_z,
true, // boolean use_rot,
rectilinear); // boolean rectilinear)
}
if (fpn_dist >= fpn_mitigate_dist) {
if (!(fpn_dist >= best_dist)) { // Double.NaN OK
best_dist = fpn_dist;
fpn_pairs[ipair][1] = i;
need_fpn_mitigate[fpn_pairs[ipair][0]] = false;
}
}
}
}
return fpn_pairs;
}
public static int setInitialOrientations(
final CLTParameters clt_parameters,
......
src/main/java/com/elphel/imagej/tileprocessor/QuadCLTCPU.java
View file @ 971025da
......@@ -654,8 +654,8 @@ public class QuadCLTCPU {
{0.25*wh[0],0.75*wh[1]},
{0.75*wh[0],0.75*wh[1]}};
}
double s2 = 0.0;
for (double [] xy:xy_pairs) {
double s2 = 0.0, s0=0.0;
for (double [] xy:xy_pairs) if (xy != null){
double [] pXpYD = ers.getImageCoordinatesERS(
null, // QuadCLT cameraQuadCLT, // camera station that got image to be to be matched
xy[0], // double px, // pixel coordinate X in the reference view
......@@ -668,11 +668,16 @@ public class QuadCLTCPU {
xyzatr1[0], // double [] camera_xyz, // camera center in world coordinates
xyzatr1[1], // double [] camera_atr, // camera orientation relative to world frame
OpticalFlow.LINE_ERR); // double line_err); // threshold error in scan lines (1.0)
double dx = pXpYD[0]-xy[0];
double dy = pXpYD[1]-xy[1];
s2 += dx*dx+dy*dy;
if (pXpYD != null) {
double dx = pXpYD[0]-xy[0]; // null pointer
double dy = pXpYD[1]-xy[1];
s2 += dx*dx+dy*dy;
s0+=1.0;
} else {
continue;
}
}
double offs_avg = Math.sqrt(s2/xy_pairs.length);
double offs_avg = Math.sqrt(s2/s0);
return offs_avg;
}
......
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