working version (9a499c0a) · Commits · Elphel / imagej-elphel

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

+1 −1

Original line number	Diff line number	Diff line
		@@ -1598,7 +1598,7 @@ public class ErsCorrection extends GeometryCorrection {

		}
		}

		@Deprecated
		public void compareDSItoWorldDerivatives(
		QuadCLT scene_QuadClt,
		double max_inf_disparity, // absolute value

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

+135 −6

Original line number	Diff line number	Diff line
		@@ -514,6 +514,7 @@ public class Interscene {
		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;
		boolean ref_smooth = clt_parameters.imp.ref_smooth; //true; // use SfM filtering if available
		boolean sfm_filter = clt_parameters.imp.sfm_filter; //true; // use SfM filtering if available
		double sfm_minmax = clt_parameters.imp.sfm_minmax; //10.0; // minimal value of the SfM gain maximum to consider available
		double sfm_fracmax = clt_parameters.imp.sfm_fracmax; // 0.75; // minimal fraction of the SfM maximal gain
		@@ -636,6 +637,7 @@ public class Interscene {
		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
		ref_smooth, // boolean smooth_disparity, // smooth disparity (according to clt_parameters)+update reliable_ref if true
		scenes_xyzatr[ref_index], // double [][] scene0_xyzatr,,
		initial_pose, // double [][] scene1_xyzatr,
		Double.NaN, // double average_z,
		@@ -749,6 +751,7 @@ public class Interscene {
		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
		ref_smooth, // boolean smooth_disparity, // smooth disparity (according to clt_parameters)+update reliable_ref if true
		scenes_xyzatr[fpn_pairs[ipair][1]], // double [][] scene0_xyzatr,,
		scenes_xyzatr[fpn_pairs[ipair][0]], // initial_pose, // double [][] scene1_xyzatr,
		Double.NaN, // double average_z,
		@@ -847,6 +850,12 @@ public class Interscene {
		double sfm_minmax = clt_parameters.imp.sfm_minmax; //10.0; // minimal value of the SfM gain maximum to consider available
		double sfm_fracmax = clt_parameters.imp.sfm_fracmax; // 0.75; // minimal fraction of the SfM maximal gain
		double sfm_fracall = clt_parameters.imp.sfm_fracall; // 0.3; // minimal relative area of the SfM-e

		boolean ref_smooth = clt_parameters.imp.ref_smooth; //true; // use SfM filtering if available
		// double ref_sigma = clt_parameters.imp.ref_sigma; //10.0; // minimal value of the SfM gain maximum to consider available
		// double ref_smooth_diff = clt_parameters.imp.ref_smooth_diff; // 0.75; // minimal fraction of the SfM maximal gain


		int max_num_scenes = clt_parameters.imp.max_num_scenes; // cut longer series
		boolean ims_use = clt_parameters.imp.ims_use;

		@@ -906,7 +915,7 @@ public class Interscene {


		ErsCorrection ers_reference = quadCLTs[ref_index].getErsCorrection();
		int debug_scene = -15;
		int debug_scene = 57; // -15; last before
		boolean debug2 = !batch_mode; // false; // true;
		boolean [] reliable_ref = null;
		boolean use_lma_dsi = clt_parameters.imp.use_lma_dsi;
		@@ -974,6 +983,26 @@ public class Interscene {
		debugLevel); // final int debugLevel);
		}
		double [][][] ims_xyzatr;

		// TODO: Remove when done!
		// if ((nscene == 57) \|\| (nscene == 58)) {

		// }
		/*
		double [][][] ims_xyzatr_PIMU= QuadCLT.integratePIMU(
		clt_parameters, // final CLTParameters clt_parameters,
		quadCLTs, // final QuadCLT[] quadCLTs,
		ref_index, // final int ref_index,
		null, // double [][][] dxyzatr,
		0, // final int early_index,
		(quadCLTs.length -1) // int last_index,
		);
		double [][][] ims_xyzatr_INT=quadCLTs[ref_index].getXyzatrIms(
		clt_parameters, // CLTParameters clt_parameters,
		quadCLTs, // QuadCLT[] quadCLTs,
		quat_corr, // double [] quat_corr, // only applies to rotations - verify!
		debugLevel) ; // int debugLevel)
		*/
		if (inertial_only) {
		ims_xyzatr = QuadCLT.integratePIMU(
		clt_parameters, // final CLTParameters clt_parameters,
		@@ -991,7 +1020,29 @@ public class Interscene {
		quat_corr, // double [] quat_corr, // only applies to rotations - verify!
		debugLevel) ; // int debugLevel)
		}

		boolean man_corr = debugLevel<10;
		int other_scene = -1; // 57
		if (man_corr) {
		other_scene = 57;
		// double [][] xyz_atr_le = {{-0.5183922094898724, 9.154782438090823, 1.9419561092947408},{0,0,0}};
		// double [][] xyz_atr_le = {{-0.8268073979557207, 12.435651264663617, 0.43389361433133333},{0,0,0}};
		// double [][] xyz_atr_le = {
		// {-1.5074533979557208, 5.289806264663618, 0.6908026143313334},
		// {-0.015346300027727794,0.16450786973129805,-0.008030574830017914}};
		double [][] xyz_atr_le = {
		{-1.5074533979557208, 2.401806264663618, 0.6908026143313334},
		{-0.015346300027727794,0.23050786973129805,-0.008030574830017914}};
		// double [][] xyz_atr_le = {
		// {0, 0, 0.6908026143313334},
		// {0.018641752679327314, 0.2862869959075706, -0.008030574830017914}};

		double [][] xyz_atr_gt = {{ 0, 0, 0}, {0,0,0}};
		manualIMSCorrection (
		ims_xyzatr, // double [][][] xyz_atr,
		other_scene, // int corr_indx, // 57 correct scenes LE this
		xyz_atr_le, // double [][] xyz_atr_le,
		xyz_atr_gt);// double [][] xyz_atr_gt);
		}
		double [][][] scenes_xyzatr = new double [quadCLTs.length][][]; // previous scene relative to the next one
		scenes_xyzatr[ref_index] = new double[2][3]; // all zeros
		// boolean after_spiral = false;
		@@ -1019,6 +1070,9 @@ public class Interscene {
		// min_max[1] = max_offset;
		final double max_rms = clt_parameters.imp.eig_use? clt_parameters.imp.eig_max_rms: clt_parameters.imp.max_rms;
		for (int scene_index = ref_index - 1; scene_index >= earliest_scene ; scene_index--) {
		if (scene_index == other_scene) {
		last_corr_xyzatr = new double [][] {ZERO3,ZERO3}; // start from scratch
		}
		if ((ref_index - scene_index) >= max_num_scenes){
		earliest_scene = scene_index + 1;
		if (debugLevel > -3) {
		@@ -1113,6 +1167,7 @@ public class Interscene {
		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
		ref_smooth, // boolean smooth_disparity, // smooth disparity (according to clt_parameters)+update reliable_ref if true
		scenes_xyzatr[ref_index], // double [][] scene0_xyzatr,,
		initial_pose, // double [][] scene1_xyzatr,
		Double.NaN, // double average_z,
		@@ -1278,6 +1333,7 @@ public class Interscene {
		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
		ref_smooth, // boolean smooth_disparity, // smooth disparity (according to clt_parameters)+update reliable_ref if true
		scenes_xyzatr[fpn_pairs[ipair][1]], // double [][] scene0_xyzatr,,
		scenes_xyzatr[fpn_pairs[ipair][0]], // initial_pose, // double [][] scene1_xyzatr,
		Double.NaN, // double average_z,
		@@ -1375,6 +1431,28 @@ public class Interscene {
		return earliest_scene;
		}

		public static void manualIMSCorrection (
		double [][][] xyz_atr,
		int corr_indx, // 57 correct scenes LE this
		double [][] xyz_atr_le,
		double [][] xyz_atr_gt) {
		for (int i = 0; i <= corr_indx; i++) {
		for (int t = 0; t < xyz_atr_le.length; t++) {
		for (int j = 0; j < xyz_atr_le[t].length; j++) {
		xyz_atr[i][t][j] += xyz_atr_le[t][j];
		}
		}
		}
		for (int i = corr_indx+1; i < xyz_atr.length; i++) {
		for (int t = 0; t < xyz_atr_le.length; t++) {
		for (int j = 0; j < xyz_atr_le[t].length; j++) {
		xyz_atr[i][t][j] += xyz_atr_gt[t][j];
		}
		}
		}
		}


		public static void testPIMU(
		final CLTParameters clt_parameters,
		final QuadCLT[] quadCLTs,
		@@ -2167,7 +2245,7 @@ public class Interscene {

		scenes_xyzatr[ref_index] = new double[2][3]; // all zeros
		// should have at least next or previous non-null
		int debug_scene = 69; // -68; // -8;
		int debug_scene = 161; // 69; // -68; // -8;
		RMSEStats rmse_stats = new RMSEStats();
		RMSEStats rmse_stats_metric = clt_parameters.imp.eig_use ? (new RMSEStats()):null;
		if (debug_ers) {
		@@ -2385,6 +2463,7 @@ public class Interscene {
		test_pair[1], // int nscene1, // compares to nscene0
		interscene_ref_disparity,// double [] ref_disparity, // null or alternative reference disparity
		reliable_ref, // boolean [] reliable_ref, // null or bitmask of reliable reference tiles
		false, // boolean smooth_disparity, // smooth disparity (according to clt_parameters)+update reliable_ref if true
		scenes_xyzatr[test_pair[0]],// double [][] scene0_xyzatr,
		scenes_xyzatr[test_pair[1]], // double [][] scene1_xyzatr,
		avg_z, // double average_z,
		@@ -2515,6 +2594,7 @@ public class Interscene {
		nscene, // int nscene1, // compares to nscene0
		interscene_ref_disparity,// double [] ref_disparity, // null or alternative reference disparity
		reliable_ref, // boolean [] reliable_ref, // null or bitmask of reliable reference tiles
		false, // boolean smooth_disparity, // smooth disparity (according to clt_parameters)+update reliable_ref if true
		scenes_xyzatr[ref_index],// double [][] scene0_xyzatr,
		scenes_xyzatr[nscene], // double [][] scene1_xyzatr,
		avg_z, // double average_z,
		@@ -2698,6 +2778,7 @@ public class Interscene {
		fpn_pairs[ipair][0], // int nscene1, // compares to nscene0
		interscene_ref_disparity,// double [] ref_disparity, // null or alternative reference disparity
		reliable_ref, // boolean [] reliable_ref, // null or bitmask of reliable reference tiles
		false, // boolean smooth_disparity, // smooth disparity (according to clt_parameters)+update reliable_ref if true
		scenes_xyzatr[fpn_pairs[ipair][1]],// double [][] scene0_xyzatr,
		scenes_xyzatr[fpn_pairs[ipair][0]], // double [][] scene1_xyzatr,
		avg_z, // double average_z,
		@@ -2774,6 +2855,7 @@ public class Interscene {
		test_pair[0], // int nscene1, // compares to nscene0
		interscene_ref_disparity,// double [] ref_disparity, // null or alternative reference disparity
		reliable_ref, // boolean [] reliable_ref, // null or bitmask of reliable reference tiles
		false, // boolean smooth_disparity, // smooth disparity (according to clt_parameters)+update reliable_ref if true
		scenes_xyzatr[test_pair[1]],// double [][] scene0_xyzatr,
		scenes_xyzatr[test_pair[0]], // double [][] scene1_xyzatr,
		avg_z, // double average_z,
		@@ -2896,12 +2978,13 @@ public class Interscene {
		int ref_index,
		TpTask[][] tp_tasks_ref, // Should be TpTask[2][*]. If tp_tasks_ref[0] == null will calculate
		// at set first scene to the GPU
		double [][] pXpYD_ref, // should be se or at least double [num_tiles][] if tp_tasks_ref[0] == null
		double [][] pXpYD_ref, // should be set or at least double [num_tiles][] if tp_tasks_ref[0] == null
		// will be recalculated when tp_tasks_ref[0] == null, but for reference frame
		int nscene0, // may be == ref_index
		int nscene1, // compares to nscene0
		double [] ref_disparity, // null or alternative reference disparity
		boolean [] reliable_ref, // null or bitmask of reliable reference tiles
		boolean smooth_disparity, // smooth disparity (according to clt_parameters)+update reliable_ref if true
		double [][] scene0_xyzatr,
		double [][] scene1_xyzatr,
		double average_z,
		@@ -2915,10 +2998,53 @@ public class Interscene {
		double mb_max_gain, // 5.0; // motion blur maximal gain (if more - move second point more than a pixel
		int debugLevel)
		{
		double ref_sigma = clt_parameters.imp.ref_sigma; //10.0; // minimal value of the SfM gain maximum to consider available
		double ref_smooth_diff = clt_parameters.imp.ref_smooth_diff; // 0.75; // minimal fraction of the SfM maximal gain
		boolean apply_nan = true;

		// boolean use_lma_dsi = clt_parameters.imp.use_lma_dsi;
		if (ref_disparity == null) {
		ref_disparity = quadCLTs[ref_index].getDLS()[use_lma_dsi?1:0];
		}

		if (smooth_disparity) {
		double [] dbg_disparity = (debugLevel > 2) ? ref_disparity.clone() : null;
		boolean [] dbg_reliable = ((dbg_disparity != null) && (reliable_ref != null)) ? reliable_ref.clone(): null;
		ref_disparity = quadCLTs[ref_index].smoothDisparity(
		ref_disparity, // double [] disparity_in, (will not modify)
		reliable_ref, // boolean [] reliable_ref, // optional
		ref_sigma, // double sigma,
		ref_smooth_diff, // double max_diff,
		apply_nan); // boolean apply_nan)
		if (dbg_disparity != null) {
		String [] dbg_titles = {"ref", "smooth", "reliable_in", "reliable_out"};
		String dbg_title = quadCLTs[ref_index].getImageName()+"-smooth_ref";
		double [][] dbg_img = new double [dbg_titles.length][ref_disparity.length];
		for (int i = 0; i < dbg_img.length; i++) {
		Arrays.fill(dbg_img[i], Double.NaN);
		}
		dbg_img[0] = dbg_disparity;
		dbg_img[1] = ref_disparity;
		for (int i = 0; i < ref_disparity.length; i++) {
		if (dbg_reliable != null) {
		dbg_img[2][i] = dbg_reliable[i] ? 10.0: Double.NaN;
		}
		if (reliable_ref != null) {
		dbg_img[3][i] = reliable_ref[i] ? 10.0: Double.NaN;
		}
		}
		int dbg_width = quadCLTs[ref_index].getTileProcessor().getTilesX();
		int dbg_height = quadCLTs[ref_index].getTileProcessor().getTilesY();
		ShowDoubleFloatArrays.showArrays(
		dbg_img,
		dbg_width,
		dbg_height,
		true,
		dbg_title,
		dbg_titles);
		}
		}

		// TODO: set reference as new version of adjustPairsLMAInterscene() assumes it set
		if ((tp_tasks_ref == null) \|\| (tp_tasks_ref[0] == null)) { // calculate and setup reference (for comparison) scene to GPU
		if (tp_tasks_ref == null) {
		@@ -3357,6 +3483,7 @@ public class Interscene {
		// boolean dbg_images = false;
		double [][] eigen_masked = clt_parameters.imp.eig_xy_lma? null : eigen;
		String dbg_prefix = dbg_images? (first_QuadClt.getImageName()+"-"+scene_QuadClt.getImageName()+"-NLMA_"+nlma) : null;
		final boolean same_weights = false;
		intersceneLma.prepareLMA(
		scene_xyzatr0, // final double [] scene_xyzatr0, // camera center in world coordinates (or null to use instance)
		scene_xyzatr_pull, // final double [] scene_xyz_pull, // if both are not null, specify target values to pull to
		@@ -3371,6 +3498,7 @@ public class Interscene {
		eigen_masked, // final double [][] eigen, // [tilesX*tilesY]{lamb0_x,lamb0_y, lamb0, lamb1} eigenvector0[x,y],lam0,lam1
		coord_motion[1], // final double [][] vector_XYS, // optical flow X,Y, confidence obtained from the correlate2DIterate()
		coord_motion[0], // final double [][] centers, // macrotile centers (in pixels and average disparities
		same_weights, // final boolean same_weights,
		(nlma == 0), // boolean first_run,
		dbg_prefix, // String dbg_prefix, // null or image name prefix
		clt_parameters.imp.debug_level); // final int debug_level)
		@@ -3838,7 +3966,8 @@ public class Interscene {
		boolean mov_en = clt_parameters.imp.mov_en; // true; // enable detection/removal of the moving objects during pose matching
		boolean mov_debug_images = clt_parameters.imp.showMovementDetection(imp_debug_level);
		int mov_debug_level = clt_parameters.imp.movDebugLevel(imp_debug_level);

		// if (dbg_prefix != null) {
		// }
		boolean fpn_remove = !fpn_disable && clt_parameters.imp.fpn_remove;
		double fpn_max_offset = clt_parameters.imp.fpn_max_offset;
		final double fpn_min_offset = clt_parameters.imp.fpn_min_offset;

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