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imagej-elphel
Commit 9e339a49 authored by Andrey Filippov's avatar Andrey Filippov
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improving matching with MB, working version

parent 6c3ff670
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Showing with 452 additions and 617 deletions
src/main/java/com/elphel/imagej/tileprocessor/ErsCorrection.java
View file @ 9e339a49
......@@ -24,6 +24,7 @@
package com.elphel.imagej.tileprocessor;
import java.io.IOException;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.Collections;
......@@ -2147,8 +2148,15 @@ public class ErsCorrection extends GeometryCorrection {
xyz4[1] /= xyz4[2];
xyz4[2] = 1.0;
}
Matrix dpscene_dxyz = dx_dpscene.inverse();
Matrix dpscene_dxyz = null;
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
double[][] derivatives = new double[DP_NUM_PARS+1][]; // includes [0] - pXpYD vector
// scene pX, pY, Disparity
......
src/main/java/com/elphel/imagej/tileprocessor/ImageDtt.java
View file @ 9e339a49
......@@ -1331,7 +1331,7 @@ public class ImageDtt extends ImageDttCPU {
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_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 boolean run_poly, // polynomial max, if false - centroid
final boolean use_partial, // find motion vectors for individual pairs, false - for sum only
......
src/main/java/com/elphel/imagej/tileprocessor/IntersceneLmaParameters.java
View file @ 9e339a49
......@@ -45,6 +45,13 @@ public class IntersceneLmaParameters {
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 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() {
ilma_lma_select[ErsCorrection.DP_DVAZ]= true;
......@@ -141,6 +148,18 @@ public class IntersceneLmaParameters {
"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.");
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) {
......@@ -164,6 +183,12 @@ public class IntersceneLmaParameters {
this.ilma_debug_adjust_series = gd.getNextBoolean();
this.ilma_debug_invariant = gd.getNextBoolean();
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){
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_invariant", this.ilma_debug_invariant+"");
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){
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_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_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
......@@ -227,6 +271,12 @@ public class IntersceneLmaParameters {
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;
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;
}
}
src/main/java/com/elphel/imagej/tileprocessor/IntersceneMatchParameters.java
View file @ 9e339a49
......@@ -248,6 +248,7 @@ public class IntersceneMatchParameters {
public boolean mb_en = true;
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_inter = 2.0; // same for interscene correlation for pose adjustment
public boolean stereo_merge = true;
......@@ -732,6 +733,8 @@ public class IntersceneMatchParameters {
"Sensor exponential decay in seconds.");
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).");
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.addMessage ("Stereo");
......@@ -1016,7 +1019,7 @@ public class IntersceneMatchParameters {
this.mb_en = gd.getNextBoolean();
this.mb_tau = gd.getNextNumber();
this.mb_max_gain = gd.getNextNumber();
this.mb_max_gain_inter = gd.getNextNumber();
if (stereo_views.length > 0) {
int i = gd.getNextChoiceIndex();
if (i > 0) {
......@@ -1296,7 +1299,7 @@ public class IntersceneMatchParameters {
properties.setProperty(prefix+"mb_en", this.mb_en+""); // boolean
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_inter", this.mb_max_gain_inter+""); // double
properties.setProperty(prefix+"stereo_merge", this.stereo_merge+""); // boolean
properties.setProperty(prefix+"stereo_gap", this.stereo_gap+""); // int
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_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_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_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_tau = this.mb_tau;
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_gap = this.stereo_gap;
......
src/main/java/com/elphel/imagej/tileprocessor/QuadCLT.java
View file @ 9e339a49
......@@ -1277,6 +1277,28 @@ public class QuadCLT extends QuadCLTCPU {
debugLevel);
}
/**
* Making scene_xyz==null or scene_atr==null to use uniform grid (for rendering raw images)
* @param sensor_mask
* @param merge_channels
* @param full_woi_in
* @param clt_parameters
* @param disparity_ref
* @param mb_tau
* @param mb_max_gain
* @param mb_vectors
* @param scene_xyz
* @param scene_atr
* @param scene
* @param ref_scene
* @param toRGB
* @param show_nan
* @param suffix
* @param threadsMax
* @param debugLevel
* @return
*/
public static ImagePlus renderGPUFromDSI(
final int sensor_mask,
final boolean merge_channels,
......@@ -1288,8 +1310,8 @@ public class QuadCLT extends QuadCLTCPU {
double mb_max_gain, // 5.0; // motion blur maximal gain (if more - move second point more than a pixel
double [][] mb_vectors, // now [2][ntiles];
final double [] scene_xyz, // camera center in world coordinates
final double [] scene_atr, // camera orientation relative to world frame
double [] scene_xyz, // camera center in world coordinates. If null - no shift, no ers
double [] scene_atr, // camera orientation relative to world frame
final QuadCLT scene,
final QuadCLT ref_scene, // now - may be null - for testing if scene is rotated ref
final boolean toRGB,
......@@ -1297,14 +1319,28 @@ public class QuadCLT extends QuadCLTCPU {
String suffix,
int threadsMax,
final int debugLevel){
double [][] pXpYD =OpticalFlow.transformToScenePxPyD( // now should work with offset ref_scene
full_woi_in, // final Rectangle [] extra_woi, // show larger than sensor WOI (or null)
disparity_ref, // final double [] disparity_ref, // invalid tiles - NaN in disparity
scene_xyz, // final double [] scene_xyz, // camera center in world coordinates
scene_atr, // final double [] scene_atr, // camera orientation relative to world frame
scene, // final QuadCLT scene_QuadClt,
ref_scene, // final QuadCLT reference_QuadClt, // now - may be null - for testing if scene is rotated ref
threadsMax); // int threadsMax)
double [][] pXpYD;
if ((scene_xyz == null) || (scene_atr == null)) {
scene_xyz = new double[3];
scene_atr = new double[3];
pXpYD=OpticalFlow.transformToScenePxPyD( // now should work with offset ref_scene
full_woi_in, // final Rectangle [] extra_woi, // show larger than sensor WOI (or null)
disparity_ref, // final double [] disparity_ref, // invalid tiles - NaN in disparity
scene_xyz, // final double [] scene_xyz, // camera center in world coordinates
scene_atr, // final double [] scene_atr, // camera orientation relative to world frame
ref_scene, // final QuadCLT scene_QuadClt,
ref_scene, // final QuadCLT reference_QuadClt, // now - may be null - for testing if scene is rotated ref
threadsMax); // int threadsMax)
} else {
pXpYD=OpticalFlow.transformToScenePxPyD( // now should work with offset ref_scene
full_woi_in, // final Rectangle [] extra_woi, // show larger than sensor WOI (or null)
disparity_ref, // final double [] disparity_ref, // invalid tiles - NaN in disparity
scene_xyz, // final double [] scene_xyz, // camera center in world coordinates
scene_atr, // final double [] scene_atr, // camera orientation relative to world frame
scene, // final QuadCLT scene_QuadClt,
ref_scene, // final QuadCLT reference_QuadClt, // now - may be null - for testing if scene is rotated ref
threadsMax); // int threadsMax)
}
int rendered_width = scene.getErsCorrection().getSensorWH()[0];
if (full_woi_in != null) {
rendered_width = full_woi_in.width * GPUTileProcessor.DTT_SIZE;
......@@ -1429,7 +1465,7 @@ public class QuadCLT extends QuadCLTCPU {
/**
* Prepare 16x16 texture tiles using GPU from disparity reference. Includes motion blur correction
* Does not use scene.saveQuadClt() to re-load new set of Bayer images to the GPU -- should be done by callaer
* Does not use scene.saveQuadClt() to re-load new set of Bayer images to the GPU -- should be done by caller
* @param clt_parameters processing parameters
* @param disparity_ref disparity scene reference
* @param mb_tau thermal constant
......
src/main/java/com/elphel/imagej/tileprocessor/TexturedModel.java
View file @ 9e339a49
......@@ -921,10 +921,14 @@ public class TexturedModel {
scene_ers_atr_dt); // double [] ers_atr_dt)(ers_scene_original_xyz_dt);
}
double [][] dxyzatr_dt = null;
// should get velocities from HashMap at reference scene from timestamp , not re-calculate.
if (mb_en) { // all scenes have the same name/path
dxyzatr_dt = OpticalFlow.getVelocities( // looks at previous/next scene poses
scenes, // QuadCLT [] quadCLTs,
nscene); // int nscene)
// dxyzatr_dt = OpticalFlow.getVelocities( // looks at previous/next scene poses
// scenes, // QuadCLT [] quadCLTs,
// nscene); // int nscene)
dxyzatr_dt = new double[][] { // for all, including ref
scenes[nscene].getErsCorrection().getErsXYZ_dt(),
scenes[nscene].getErsCorrection().getErsATR_dt()};
}
scenes[nscene].saveQuadClt(); // to re-load new set of Bayer images to the GPU (do nothing for CPU)
for (int nslice = 0; nslice < num_slices; nslice++) { // prepare and measure textures for each combo textures
......
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