improving matching with MB, working version (9e339a49) · Commits · Elphel / imagej-elphel

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

+10 −2

Original line number	Original line	Diff line number	Diff line
	@@ -24,6 +24,7 @@

	package com.elphel.imagej.tileprocessor;		package com.elphel.imagej.tileprocessor;

			import java.io.IOException;
	import java.util.ArrayList;		import java.util.ArrayList;
	import java.util.Arrays;		import java.util.Arrays;
	import java.util.Collections;		import java.util.Collections;
	@@ -2147,8 +2148,15 @@ public class ErsCorrection extends GeometryCorrection {
	xyz4[1] /= xyz4[2];		xyz4[1] /= xyz4[2];
	xyz4[2] = 1.0;		xyz4[2] = 1.0;
	}		}
			Matrix dpscene_dxyz = null;
	Matrix dpscene_dxyz = dx_dpscene.inverse();		try {
			dpscene_dxyz = dx_dpscene.inverse();
			} catch (Exception e) {
			// TODO Auto-generated catch block
			System.out.println("dx_dpscene is singular");
			e.printStackTrace();
			return null;
			}
	Matrix dpscene_dxyz_minus = dpscene_dxyz.times(-1.0); // negated to calculate /d{pX,pY,D) for the scene parameters		Matrix dpscene_dxyz_minus = dpscene_dxyz.times(-1.0); // negated to calculate /d{pX,pY,D) for the scene parameters
	double[][] derivatives = new double[DP_NUM_PARS+1][]; // includes [0] - pXpYD vector		double[][] derivatives = new double[DP_NUM_PARS+1][]; // includes [0] - pXpYD vector
	// scene pX, pY, Disparity		// scene pX, pY, Disparity

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

+1 −1

Original line number	Original line	Diff line number	Diff line
	@@ -1331,7 +1331,7 @@ public class ImageDtt extends ImageDttCPU {
	final double [][] pXpYD, // pXpYD for the reference scene		final double [][] pXpYD, // pXpYD for the reference scene
	final double [][] fpn_offsets, // null, or per-tile X,Y offset to be blanked		final double [][] fpn_offsets, // null, or per-tile X,Y offset to be blanked
	final double fpn_radius, // radius to be blanked around FPN offset center		final double fpn_radius, // radius to be blanked around FPN offset center
	final boolean fpn_ignore_border, // only if fpn_mask != null - ignore tile if maximum touches fpn_mask		final boolean fpn_ignore_border, // NOT used! only if fpn_mask != null - ignore tile if maximum touches fpn_mask
	final double[][][] motion_vectors, // [tilesY*tilesX][][] -> [][num_sel_sensors+1 or 2][3]		final double[][][] motion_vectors, // [tilesY*tilesX][][] -> [][num_sel_sensors+1 or 2][3]
	final boolean run_poly, // polynomial max, if false - centroid		final boolean run_poly, // polynomial max, if false - centroid
	final boolean use_partial, // find motion vectors for individual pairs, false - for sum only		final boolean use_partial, // find motion vectors for individual pairs, false - for sum only

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

+50 −0

Original line number	Original line	Diff line number	Diff line
	@@ -46,6 +46,13 @@ public class IntersceneLmaParameters {
	public boolean ilma_debug_adjust_series = false; // Debug images for series of pose and ers		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 boolean ilma_debug_invariant = false; // Monitoring variations when restarting program (should be ilma_thread_invariant=true)

			public double ilma_motion_filter = 3.5; // filter atr, xyz between consecutive scenes to get velocities
			public double [] ilma_scale_xyz = {1.0, 1.0, 1.0};
			public double [] ilma_scale_atr = {1.0, 1.0, 1.0}; // roll - minus?
			public boolean ilma_debug_ers = false; // Debug ers-related operation



	public IntersceneLmaParameters() {		public IntersceneLmaParameters() {
	ilma_lma_select[ErsCorrection.DP_DVAZ]= true;		ilma_lma_select[ErsCorrection.DP_DVAZ]= true;
	ilma_lma_select[ErsCorrection.DP_DVTL]= true;		ilma_lma_select[ErsCorrection.DP_DVTL]= true;
	@@ -141,6 +148,18 @@ public class IntersceneLmaParameters {
	"Generate debug images and text output to verify same results regardless of threads" );		"Generate debug images and text output to verify same results regardless of threads" );
	gd.addNumericField("Debug level", this.ilma_debug_level, 0,3,"",		gd.addNumericField("Debug level", this.ilma_debug_level, 0,3,"",
	"Debug level of interscene LMA operation.");		"Debug level of interscene LMA operation.");

			gd.addMessage("Debug ERS-related operation");
			gd.addNumericField("Motion filter (half number of scenes)", this.ilma_motion_filter, 5,7,"",
			"filter atr, xyz between consecutive scenes to get velocities.");
			gd.addStringField ("XYZ scales", IntersceneMatchParameters.doublesToString(ilma_scale_xyz), 80,
			"Scales for X, Y, and Z velocities, such as '1.0 1.0 1.0'.");
			gd.addStringField ("ATR scales", IntersceneMatchParameters.doublesToString(ilma_scale_atr), 80,
			"Scales for Azimuth, Tilt, and Roll velocities, such as '1.0 1.0 1.0'.");
			gd.addCheckbox ("Debug ERS", this.ilma_debug_ers,
			"Debug ERS-related parameters during pose fitting." );


	}		}

	public void dialogAnswers(GenericJTabbedDialog gd) {		public void dialogAnswers(GenericJTabbedDialog gd) {
	@@ -164,6 +183,12 @@ public class IntersceneLmaParameters {
	this.ilma_debug_adjust_series = gd.getNextBoolean();		this.ilma_debug_adjust_series = gd.getNextBoolean();
	this.ilma_debug_invariant = gd.getNextBoolean();		this.ilma_debug_invariant = gd.getNextBoolean();
	this.ilma_debug_level = (int) gd.getNextNumber();		this.ilma_debug_level = (int) gd.getNextNumber();

			this.ilma_motion_filter = gd.getNextNumber();
			this.ilma_scale_xyz = IntersceneMatchParameters. StringToDoubles(gd.getNextString(), 3);
			this.ilma_scale_atr = IntersceneMatchParameters. StringToDoubles(gd.getNextString(), 3);
			this.ilma_debug_ers = gd.getNextBoolean();

	}		}
	public void setProperties(String prefix,Properties properties){		public void setProperties(String prefix,Properties properties){
	properties.setProperty(prefix+"ilma_thread_invariant", this.ilma_thread_invariant+"");		properties.setProperty(prefix+"ilma_thread_invariant", this.ilma_thread_invariant+"");
	@@ -184,6 +209,11 @@ public class IntersceneLmaParameters {
	properties.setProperty(prefix+"ilma_debug_adjust_series",this.ilma_debug_adjust_series+"");		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_invariant", this.ilma_debug_invariant+"");
	properties.setProperty(prefix+"ilma_debug_level", this.ilma_debug_level+"");		properties.setProperty(prefix+"ilma_debug_level", this.ilma_debug_level+"");

			properties.setProperty(prefix+"ilma_motion_filter", this.ilma_motion_filter+"");
			properties.setProperty(prefix+"ilma_scale_xyz", IntersceneMatchParameters.doublesToString(ilma_scale_xyz));
			properties.setProperty(prefix+"ilma_scale_atr", IntersceneMatchParameters.doublesToString(ilma_scale_atr));
			properties.setProperty(prefix+"ilma_debug_ers", this.ilma_debug_ers+"");
	}		}
	public void getProperties(String prefix,Properties properties){		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"));		if (properties.getProperty(prefix+"ilma_thread_invariant")!=null) this.ilma_thread_invariant=Boolean.parseBoolean(properties.getProperty(prefix+"ilma_thread_invariant"));
	@@ -206,6 +236,20 @@ public class IntersceneLmaParameters {
	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_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_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"));		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_motion_filter")!=null) this.ilma_motion_filter=Double.parseDouble(properties.getProperty(prefix+"ilma_motion_filter"));
			if (properties.getProperty(prefix+"ilma_scale_xyz")!=null) {
			this.ilma_scale_xyz= IntersceneMatchParameters.StringToDoubles(
			properties.getProperty(prefix+"ilma_scale_xyz"),3);
			}
			if (properties.getProperty(prefix+"ilma_scale_atr")!=null) {
			this.ilma_scale_atr= IntersceneMatchParameters.StringToDoubles(
			properties.getProperty(prefix+"ilma_scale_atr"),3);
			}


			if (properties.getProperty(prefix+"ilma_debug_ers")!=null) this.ilma_debug_ers=Boolean.parseBoolean(properties.getProperty(prefix+"ilma_debug_ers"));

	}		}

	@Override		@Override
	@@ -227,6 +271,12 @@ public class IntersceneLmaParameters {
	ilp.ilma_debug_adjust_series = this.ilma_debug_adjust_series;		ilp.ilma_debug_adjust_series = this.ilma_debug_adjust_series;
	ilp.ilma_debug_invariant = this.ilma_debug_invariant;		ilp.ilma_debug_invariant = this.ilma_debug_invariant;
	ilp.ilma_debug_level = this.ilma_debug_level;		ilp.ilma_debug_level = this.ilma_debug_level;

			ilp.ilma_motion_filter = this.ilma_motion_filter;
			ilp.ilma_scale_xyz = this.ilma_scale_xyz.clone();
			ilp.ilma_scale_atr = this.ilma_scale_atr.clone();
			ilp.ilma_debug_ers = this.ilma_debug_ers;

	return ilp;		return ilp;
	}		}
	}		}

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

+7 −2

Original line number	Original line	Diff line number	Diff line
	@@ -248,6 +248,7 @@ public class IntersceneMatchParameters {
	public boolean mb_en = true;		public boolean mb_en = true;
	public double mb_tau = 0.008; // time constant, sec		public double mb_tau = 0.008; // time constant, sec
	public double mb_max_gain = 5.0; // motion blur maximal gain (if more - move second point more than a pixel		public double mb_max_gain = 5.0; // motion blur maximal gain (if more - move second point more than a pixel
			public double mb_max_gain_inter = 2.0; // same for interscene correlation for pose adjustment


	public boolean stereo_merge = true;		public boolean stereo_merge = true;
	@@ -732,6 +733,8 @@ public class IntersceneMatchParameters {
	"Sensor exponential decay in seconds.");		"Sensor exponential decay in seconds.");
	gd.addNumericField("Maximal gain", this.mb_max_gain, 5,7,"x",		gd.addNumericField("Maximal gain", this.mb_max_gain, 5,7,"x",
	"Maximal gain for motion blur correction (if needed more for 1 pixel, increase offset).");		"Maximal gain for motion blur correction (if needed more for 1 pixel, increase offset).");
			gd.addNumericField("Maximal gain pose", this.mb_max_gain_inter, 5,7,"x",
			"Maximal gain for motion blur correction during interscene correlation (if needed more for 1 pixel, increase offset).");

	gd.addTab("Stereo/Video","Parameters for stereo video generation");		gd.addTab("Stereo/Video","Parameters for stereo video generation");
	gd.addMessage ("Stereo");		gd.addMessage ("Stereo");
	@@ -1016,7 +1019,7 @@ public class IntersceneMatchParameters {
	this.mb_en = gd.getNextBoolean();		this.mb_en = gd.getNextBoolean();
	this.mb_tau = gd.getNextNumber();		this.mb_tau = gd.getNextNumber();
	this.mb_max_gain = gd.getNextNumber();		this.mb_max_gain = gd.getNextNumber();
			this.mb_max_gain_inter = gd.getNextNumber();
	if (stereo_views.length > 0) {		if (stereo_views.length > 0) {
	int i = gd.getNextChoiceIndex();		int i = gd.getNextChoiceIndex();
	if (i > 0) {		if (i > 0) {
	@@ -1296,7 +1299,7 @@ public class IntersceneMatchParameters {
	properties.setProperty(prefix+"mb_en", this.mb_en+""); // boolean		properties.setProperty(prefix+"mb_en", this.mb_en+""); // boolean
	properties.setProperty(prefix+"mb_tau", this.mb_tau+""); // double		properties.setProperty(prefix+"mb_tau", this.mb_tau+""); // double
	properties.setProperty(prefix+"mb_max_gain", this.mb_max_gain+""); // double		properties.setProperty(prefix+"mb_max_gain", this.mb_max_gain+""); // double
			properties.setProperty(prefix+"mb_max_gain_inter", this.mb_max_gain_inter+""); // double
	properties.setProperty(prefix+"stereo_merge", this.stereo_merge+""); // boolean		properties.setProperty(prefix+"stereo_merge", this.stereo_merge+""); // boolean
	properties.setProperty(prefix+"stereo_gap", this.stereo_gap+""); // int		properties.setProperty(prefix+"stereo_gap", this.stereo_gap+""); // int
	properties.setProperty(prefix+"stereo_intereye", this.stereo_intereye+""); // double		properties.setProperty(prefix+"stereo_intereye", this.stereo_intereye+""); // double
	@@ -1531,6 +1534,7 @@ public class IntersceneMatchParameters {
	if (properties.getProperty(prefix+"mb_en")!=null) this.mb_en=Boolean.parseBoolean(properties.getProperty(prefix+"mb_en"));		if (properties.getProperty(prefix+"mb_en")!=null) this.mb_en=Boolean.parseBoolean(properties.getProperty(prefix+"mb_en"));
	if (properties.getProperty(prefix+"mb_tau")!=null) this.mb_tau=Double.parseDouble(properties.getProperty(prefix+"mb_tau"));		if (properties.getProperty(prefix+"mb_tau")!=null) this.mb_tau=Double.parseDouble(properties.getProperty(prefix+"mb_tau"));
	if (properties.getProperty(prefix+"mb_max_gain")!=null) this.mb_max_gain=Double.parseDouble(properties.getProperty(prefix+"mb_max_gain"));		if (properties.getProperty(prefix+"mb_max_gain")!=null) this.mb_max_gain=Double.parseDouble(properties.getProperty(prefix+"mb_max_gain"));
			if (properties.getProperty(prefix+"mb_max_gain_inter")!=null) this.mb_max_gain_inter=Double.parseDouble(properties.getProperty(prefix+"mb_max_gain_inter"));

	if (properties.getProperty(prefix+"stereo_merge")!=null) this.stereo_merge=Boolean.parseBoolean(properties.getProperty(prefix+"stereo_merge"));		if (properties.getProperty(prefix+"stereo_merge")!=null) this.stereo_merge=Boolean.parseBoolean(properties.getProperty(prefix+"stereo_merge"));
	if (properties.getProperty(prefix+"stereo_gap")!=null) this.stereo_gap=Integer.parseInt(properties.getProperty(prefix+"stereo_gap"));		if (properties.getProperty(prefix+"stereo_gap")!=null) this.stereo_gap=Integer.parseInt(properties.getProperty(prefix+"stereo_gap"));
	@@ -1782,6 +1786,7 @@ public class IntersceneMatchParameters {
	imp.mb_en = this.mb_en;		imp.mb_en = this.mb_en;
	imp.mb_tau = this.mb_tau;		imp.mb_tau = this.mb_tau;
	imp.mb_max_gain = this.mb_max_gain;		imp.mb_max_gain = this.mb_max_gain;
			imp.mb_max_gain_inter = this.mb_max_gain_inter;

	imp.stereo_merge = this.stereo_merge;		imp.stereo_merge = this.stereo_merge;
	imp.stereo_gap = this.stereo_gap;		imp.stereo_gap = this.stereo_gap;

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