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Commit a0c4b513 authored by Andrey Filippov's avatar Andrey Filippov
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bug fixes in multiple scene fitting

parent f62718b1
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src/main/java/com/elphel/imagej/tileprocessor/ErsCorrection.java
View file @ a0c4b513
......@@ -434,7 +434,7 @@ public class ErsCorrection extends GeometryCorrection {
this.xyz = xyz;
this.atr = atr;
this.ers_xyz_dt = ers_xyz_dt;
this.ers_atr_dt = ers_xyz_dt;
this.ers_atr_dt = ers_atr_dt;
this.ers_xyz_d2t = new double[3];
this.ers_atr_d2t = new double[3];
}
......@@ -774,6 +774,16 @@ public class ErsCorrection extends GeometryCorrection {
setupERS();
}
public void printVectors(
double [] xyz,
double [] atr)
{
if (xyz != null) printAngle(" XYZ",xyz);
if (atr != null) printAngle(" ATR",atr);
printAngle( "ERS XYZ_dt",ers_wxyz_center_dt);
printAngle( "ERS ATR_dt",ers_watr_center_dt);
}
public void setupERS()
{
double ers_sign = 1.0; // -1.0; // invert all corrections to opposite?
......
src/main/java/com/elphel/imagej/tileprocessor/GeometryCorrection.java
View file @ a0c4b513
......@@ -58,7 +58,6 @@ public class GeometryCorrection {
public int debugLevel = 0;
public double line_time = 26.5E-6; // duration of sensor scan line (for ERS) Wrong, 36.38us (change and re-run ERS
public int pixelCorrectionWidth=2592; // virtual camera center is at (pixelCorrectionWidth/2, pixelCorrectionHeight/2)
public int pixelCorrectionHeight=1936;
......
src/main/java/com/elphel/imagej/tileprocessor/OpticalFlow.java
View file @ a0c4b513
......@@ -1999,7 +1999,9 @@ public class OpticalFlow {
QuadCLT scene_QuadCLT,
int iscale) // 8
{
String title = reference_QuadCLT.getImageName()+"-"+scene_QuadCLT.image_name+suffix;
double [][] dsrbg = transformCameraVew( // shifts previous image correctly (right)
title, // final String title,
camera_xyz0, // double [] camera_xyz, // camera center in world coordinates
camera_atr0, //double [] camera_atr, // camera orientation relative to world frame
scene_QuadCLT, // QuadCLT camera_QuadClt,
......@@ -2008,10 +2010,11 @@ public class OpticalFlow {
double [][] dsrbg_ref;
if (blur_reference) {
dsrbg_ref = transformCameraVew( // shifts previous image correctly (right)
ZERO3, // camera_xyz0, // double [] camera_xyz, // camera center in world coordinates
ZERO3, // camera_atr0, // double [] camera_atr, // camera orientation relative to world frame
reference_QuadCLT, // scene_QuadCLT, // QuadCLT camera_QuadClt,
reference_QuadCLT, // reference_QuadCLT, // reference
title+"-reference", // final String title,
ZERO3, // camera_xyz0, // double [] camera_xyz, // camera center in world coordinates
ZERO3, // camera_atr0, // double [] camera_atr, // camera orientation relative to world frame
reference_QuadCLT, // scene_QuadCLT, // QuadCLT camera_QuadClt,
reference_QuadCLT, // reference_QuadCLT, // reference
iscale);
} else {
dsrbg_ref= reference_QuadCLT.getDSRBG();
......@@ -2024,22 +2027,21 @@ public class OpticalFlow {
String [] dsrbg_titles = {"d", "s", "r", "b", "g"};
// combine this scene with warped previous one
String [] rtitles = new String[2* dsrbg_titles.length];
double [][] dbg_rslt = new double [rtitles.length][];
for (int i = 0; i < dsrbg_titles.length; i++) {
rtitles[2*i] = dsrbg_titles[i]+"0";
rtitles[2*i+1] = dsrbg_titles[i];
dbg_rslt[2*i] = pair[0][i];
dbg_rslt[2*i+1] = pair[1][i];
}
String title = reference_QuadCLT.getImageName()+"-"+scene_QuadCLT.image_name+suffix;
(new ShowDoubleFloatArrays()).showArrays(
dbg_rslt,
tilesX,
tilesY,
true,
title,
rtitles);
String [] rtitles = new String[2* dsrbg_titles.length];
double [][] dbg_rslt = new double [rtitles.length][];
for (int i = 0; i < dsrbg_titles.length; i++) {
rtitles[2*i] = dsrbg_titles[i]+"0";
rtitles[2*i+1] = dsrbg_titles[i];
dbg_rslt[2*i] = pair[0][i];
dbg_rslt[2*i+1] = pair[1][i];
}
(new ShowDoubleFloatArrays()).showArrays(
dbg_rslt,
tilesX,
tilesY,
true,
title,
rtitles);
}
......@@ -2052,16 +2054,17 @@ public class OpticalFlow {
int iscale) // 8
{
int nscenes = scenes.length;
int indx_ref = nscenes - 1;
int indx_ref = nscenes - 1;
String title = "previous_frames_matching"+suffix;
double [][][] dsrbg = new double [nscenes][][];
String [] time_stamps = new String[nscenes];
// [0] - last scene before the reference one
for (int i = 0; i < nscenes; i++) {
int indx = dsrbg.length - i - 1;
time_stamps[i] = scenes[indx].getImageName();
if ((i == 0) && !blur_reference) {
dsrbg[0]= scenes[indx_ref].getDSRBG();
} else {
time_stamps[i] = scenes[indx].getImageName();
ErsCorrection ers_scene = scenes[indx].getErsCorrection();
double [] ers_scene_original_xyz_dt = ers_scene.getErsXYZ_dt();
double [] ers_scene_original_atr_dt = ers_scene.getErsATR_dt();
......@@ -2070,10 +2073,11 @@ public class OpticalFlow {
scene_ers_dt[indx][1]); // double [] ers_atr_dt)(ers_scene_original_xyz_dt);
ers_scene.setupERS();
dsrbg[i] = transformCameraVew( // shifts previous image correctly (right)
scene_xyzatr[indx][0], // double [] camera_xyz, // camera center in world coordinates
scene_xyzatr[indx][1], //double [] camera_atr, // camera orientation relative to world frame
scenes[indx], // QuadCLT camera_QuadClt,
scenes[indx_ref], // reference
title, // final String title,
scene_xyzatr[indx][0], // double [] camera_xyz, // camera center in world coordinates
scene_xyzatr[indx][1], //double [] camera_atr, // camera orientation relative to world frame
scenes[indx], // QuadCLT camera_QuadClt,
scenes[indx_ref], // reference
iscale);
ers_scene.setErsDt(
ers_scene_original_xyz_dt, // double [] ers_xyz_dt,
......@@ -2089,23 +2093,22 @@ public class OpticalFlow {
int nslices = dsrbg_titles.length;
// combine this scene with warped previous one
String [] rtitles = new String[nscenes * nslices];
double [][] dbg_rslt = new double [rtitles.length][];
for (int nslice = 0; nslice < nslices; nslice++) {
for (int nscene = 0; nscene < nscenes; nscene++) {
rtitles[nscenes * nslice + nscene] = dsrbg_titles[nslice]+"-"+time_stamps[nscene];
dbg_rslt[nscenes * nslice + nscene] = dsrbg[nscene][nslice];
}
String [] rtitles = new String[nscenes * nslices];
double [][] dbg_rslt = new double [rtitles.length][];
for (int nslice = 0; nslice < nslices; nslice++) {
for (int nscene = 0; nscene < nscenes; nscene++) {
rtitles[nscenes * nslice + nscene] = dsrbg_titles[nslice]+"-"+time_stamps[nscene];
dbg_rslt[nscenes * nslice + nscene] = dsrbg[nscene][nslice];
}
String title = "previous_frames_matching"+suffix;
(new ShowDoubleFloatArrays()).showArrays(
dbg_rslt,
tilesX,
tilesY,
true,
title,
rtitles);
}
(new ShowDoubleFloatArrays()).showArrays(
dbg_rslt,
tilesX,
tilesY,
true,
title,
rtitles);
}
......@@ -2220,6 +2223,7 @@ public class OpticalFlow {
/**
* Transform scene view to visually match with a reference scene. It is not accurate as it uses resampling and
* related low pass filtering.
* @param title image title to pring
* @param scene_xyz Scene X (right),Y (up), Z (negative away form camera) in the reference camera coordinates
* or null to use scene instance coordinates.
* @param scene_atr Scene azimuth, tilt and roll (or null to use scene instance).
......@@ -2229,6 +2233,7 @@ public class OpticalFlow {
* @return Per-tile array of resampled {disparity,strength,red,blue,green} values (or nulls).
*/
public double [][] transformCameraVew(
final String title,
final double [] scene_xyz, // camera center in world coordinates
final double [] scene_atr, // camera orientation relative to world frame
final QuadCLT scene_QuadClt,
......@@ -2261,11 +2266,26 @@ public class OpticalFlow {
final ErsCorrection ersSceneCorrection = scene_QuadClt.getErsCorrection();
ersReferenceCorrection.setupERS(); // just in case - setUP using instance paRAMETERS
ersSceneCorrection.setupERS();
System.out.println("\ntransformCameraVew(): >> "+title +" <<");
System.out.println("Reference scene ("+reference_QuadClt.getImageName()+"):");
ersReferenceCorrection.printVectors(null, null);
System.out.println("Target scene ("+scene_QuadClt.getImageName()+"):");
ersSceneCorrection.printVectors (scene_xyz, scene_atr);
final Thread[] threads = ImageDtt.newThreadArray(threadsMax);
final AtomicInteger ai = new AtomicInteger(0);
final double [] zbuffer = new double [tiles];
// DoubleAccumulator admax = new DoubleAccumulator (Double::max, Double.NEGATIVE_INFINITY);
// DoubleAccumulator admax = new DoubleAccumulator (Double::max, Double.NEGATIVE_INFINITY);
// final double [] zbuffer = new double [tiles];
DoubleAccumulator [] azbuffer = new DoubleAccumulator[tiles];
for (int ithread = 0; ithread < threads.length; ithread++) {
threads[ithread] = new Thread() {
public void run() {
for (int nTile = ai.getAndIncrement(); nTile < tiles; nTile = ai.getAndIncrement()) {
azbuffer[nTile] = new DoubleAccumulator (Double::max, Double.NEGATIVE_INFINITY);
}
}
};
}
ImageDtt.startAndJoin(threads);
ai.set(0);
for (int ithread = 0; ithread < threads.length; ithread++) {
threads[ithread] = new Thread() {
public void run() {
......@@ -2297,12 +2317,15 @@ public class OpticalFlow {
int spx = (int) Math.round(pXpYD[0]*scale);
int spy = (int) Math.round(pXpYD[1]*scale);
if ((px >= 0) && (py >= 0) && (px < tilesX) & (py < tilesY)) {
double d = pXpYD[2];
azbuffer[nTile].accumulate(pXpYD[2]);
//Z-buffer
if (!(pXpYD[2] < zbuffer[px + py* tilesX])) {
zbuffer[px + py* tilesX] = pXpYD[2];
// if (!(d < zbuffer[px + py* tilesX])) {
// zbuffer[px + py* tilesX] = d;
if (!(d < azbuffer[nTile].get())) {
if ((spx >= 0) && (spy >= 0) && (spx < stilesX) & (spy < stilesY)) {
int sTile = spx + spy* stilesX;
ds[QuadCLT.DSRBG_DISPARITY][sTile] = pXpYD[2]; //reduce*
ds[QuadCLT.DSRBG_DISPARITY][sTile] = d; // pXpYD[2]; //reduce*
for (int i = QuadCLT.DSRBG_STRENGTH; i < dsrbg_camera.length; i++) {
ds[i][sTile] = dsrbg_camera[i][nTile]; // reduce *
}
......@@ -2316,14 +2339,118 @@ public class OpticalFlow {
};
}
ImageDtt.startAndJoin(threads);
ai.set(0);
for (int ithread = 0; ithread < threads.length; ithread++) {
threads[ithread] = new Thread() {
public void run() {
for (int i = ai.getAndIncrement(); i < ds.length; i = ai.getAndIncrement()) {
ds[i] = (new DoubleGaussianBlur()).blurWithNaN(
ds[i], // double[] pixels,
null, // double [] in_weight, // or null
stilesX, // int width,
stilesY, // int height,
sigma, // double sigmaX,
sigma, // double sigmaY,
0.01); // double accuracy);
}
}
};
}
ImageDtt.startAndJoin(threads);
ai.set(0);
final double [][] dsrbg_out = new double [dsrbg_camera.length][tiles];
final int [][] num_non_nan = new int [dsrbg_out.length] [tiles];
for (int ithread = 0; ithread < threads.length; ithread++) {
threads[ithread] = new Thread() {
public void run() {
for (int nTile = ai.getAndIncrement(); nTile < tiles; nTile = ai.getAndIncrement()) if (dsrbg_camera[QuadCLT.DSRBG_STRENGTH][nTile] > 0.0) {
int tileY = nTile / tilesX;
int tileX = nTile % tilesX;
int tile = tileX + tileY * tilesX;
int stileY0 = tileY * iscale;
int stileY1 = stileY0 + iscale;
int stileX0 = tileX * iscale;
int stileX1 = stileX0 + iscale;
for (int stileY = stileY0; stileY < stileY1; stileY++) {
for (int stileX = stileX0; stileX < stileX1; stileX++) {
int stile = stileX + stileY * stilesX;
for (int i = 0; i < dsrbg_out.length; i++) {
double d = ds[i][stile];
if (!Double.isNaN(d)) {
num_non_nan[i][tile] ++;
dsrbg_out[i][tile] += d;
}
}
}
}
}
}
};
}
ImageDtt.startAndJoin(threads);
for (int i = 0; i < dsrbg_out.length; i++) {
for (int j = 0; j < tiles; j++) {
if (num_non_nan[i][j] == 0) {
dsrbg_out[i][j] = Double.NaN;
} else {
dsrbg_out[i][j]/=num_non_nan[i][j];
}
}
}
if (num_passes > 0) {
for (int i = 0; i < dsrbg_out.length; i++) {
dsrbg_out[i] = tp.fillNaNs(
dsrbg_out[i], // double [] data,
tilesX, //int width,
2 * num_passes, // int grow,
0.5 * Math.sqrt(2.0), // double diagonal_weight, // relative to ortho
num_passes * rel_num_passes, // int num_passes,
threadsMax); // final int threadsMax) // maximal number of threads to launch
}
}
return dsrbg_out;
}
public double [][] transformCameraVewSingle(
double [] scene_xyz, // camera center in world coordinates
double [] scene_atr, // camera orientation relative to world frame
QuadCLT scene_QuadClt,
QuadCLT reference_QuadClt,
int iscale)
{
TileProcessor tp = reference_QuadClt.getTileProcessor();
int tilesX = tp.getTilesX();
int tilesY = tp.getTilesY();
int tiles = tilesX*tilesY;
int transform_size = tp.getTileSize();
int rel_num_passes = 10;
int num_passes = transform_size; // * 2;
int stilesX = iscale*tilesX;
int stilesY = iscale*tilesY;
int stiles = stilesX*stilesY;
double sigma = 0.5 * iscale;
double scale = 1.0 * iscale/transform_size;
double [][] dsrbg_camera = scene_QuadClt.getDSRBG();
/// double [][] dsrbg_reference = reference_QuadClt.getDSRBG();
double [][] ds = new double [dsrbg_camera.length][stiles];
for (int i = 0; i <ds.length; i++) {
for (int j = 0; j <ds[i].length; j++) {
ds[i][j] = Double.NaN;
}
}
ErsCorrection ersReferenceCorrection = reference_QuadClt.getErsCorrection();
ErsCorrection ersSceneCorrection = scene_QuadClt.getErsCorrection();
ersReferenceCorrection.setupERS(); // just in case - setUP using instance paRAMETERS
ersSceneCorrection.setupERS();
double [] zbuffer = new double [tiles];
for (int tileY = 0; tileY < tilesY; tileY++) {
for (int tileX = 0; tileX < tilesX; tileX++) {
int nTile = tileX + tileY * tilesX;
......@@ -2425,6 +2552,9 @@ public class OpticalFlow {
return dsrbg_out;
}
public void adjustPairsDualPass(
CLTParameters clt_parameters,
double k_prev,
......@@ -2614,10 +2744,6 @@ public class OpticalFlow {
param_select2, // final boolean[] param_select,
param_regweights2, // final double [] param_regweights,
debug_level); // int debug_level)
if (debug_level > -1) {
System.out.println("Pass 1 scene "+i+" (of "+ scenes.length+") "+
reference_QuadClt.getImageName() + "/" + scene_QuadClt.getImageName()+" Done.");
}
ers_reference.addScene(scene_QuadClt.getImageName(),
scenes_xyzatr[i][0],
scenes_xyzatr[i][1],
......@@ -2736,7 +2862,7 @@ public class OpticalFlow {
int tilesY = tp.getTilesY();
if (clt_parameters.ofp.enable_debug_images && (debug_level > 0)) {
compareRefSceneTiles(
"before_LMA", // String suffix,
"-before_LMA", // String suffix,
blur_reference, // boolean blur_reference,
camera_xyz0, // double [] camera_xyz0,
camera_atr0, // double [] camera_atr0,
......@@ -2868,7 +2994,7 @@ public class OpticalFlow {
if (clt_parameters.ofp.enable_debug_images && (debug_level == 1)) {
/// if (!clt_parameters.ofp.enable_debug_images || (clt_parameters.ofp.enable_debug_images && (debug_level == 1))) {
compareRefSceneTiles(
"after_lma", // String suffix,
"-after_lma", // String suffix,
blur_reference, // boolean blur_reference,
camera_xyz0, // double [] camera_xyz0,
camera_atr0, // double [] camera_atr0,
......@@ -2876,33 +3002,7 @@ public class OpticalFlow {
scene_QuadCLT, // QuadCLT scene_QuadCLT,
iscale); // int iscale) // 8
}
/*
double [] wxyz_center_dt_prev1 = ersCorrectionPrev.ers_wxyz_center_dt;
double [] watr_center_dt_prev1 = ersCorrectionPrev.ers_watr_center_dt; // is twice omega!
double [] wxyz_delta1 = new double[3];
double [] watr_delta1 = new double[3];
for (int i = 0; i <3; i++) {
wxyz_delta1[i] = dt * (k_prev * wxyz_center_dt_prev1[i] + (1.0-k_prev) * ersCorrection.ers_wxyz_center_dt[i]);
watr_delta1[i] = 0.5 * dt * (k_prev * watr_center_dt_prev1[i] + (1.0-k_prev) * ersCorrection.ers_watr_center_dt[i]);
}
watr_delta1[0] = -watr_delta1[0]; /// TESTING!
watr_delta1[2] = -watr_delta1[2]; /// TESTING!
if (debug_level > 0) {
System.out.println(IntersceneLma.printNameV3("ATR from ERS", watr_delta1));
System.out.println(IntersceneLma.printNameV3("XYZ from ERS", wxyz_delta1));
System.out.println("Number of full corr+LMA runs = "+(nlma+1));
}
*/
/*
reference_QuadCLT.getErsCorrection().addScene(scene_QuadCLT.getImageName(), camera_xyz0,camera_atr0);
reference_QuadCLT.saveInterProperties( // save properties for interscene processing (extrinsics, ers, ...)
null, // String path, // full name with extension or w/o path to use x3d directory
debug_level);
*/
return new double [][] {camera_xyz0, camera_atr0};
// return null; //pair;
}
......@@ -3187,11 +3287,12 @@ public class OpticalFlow {
int tilesX = tp.getTilesX();
int tilesY = tp.getTilesY();
String [] dsrbg_titles = {"d", "s", "r", "b", "g"};
String title = this_image_name+"-"+scene_QuadCLT.image_name+"-dt"+dt;
double [][] dsrbg = transformCameraVew( // shifts previous image correctly (right)
camera_xyz0, // double [] camera_xyz, // camera center in world coordinates
camera_atr0, //double [] camera_atr, // camera orientation relative to world frame
scene_QuadCLT, // QuadCLT camera_QuadClt,
title, // final String title,
camera_xyz0, // double [] camera_xyz, // camera center in world coordinates
camera_atr0, //double [] camera_atr, // camera orientation relative to world frame
scene_QuadCLT, // QuadCLT camera_QuadClt,
reference_QuadCLT, // reference
iscale);
double [][][] pair = {reference_QuadCLT.getDSRBG(),dsrbg};
......@@ -3223,7 +3324,7 @@ public class OpticalFlow {
dbg_rslt[2*i] = pair[0][i];
dbg_rslt[2*i+1] = pair[1][i];
}
String title = this_image_name+"-"+scene_QuadCLT.image_name+"-dt"+dt;
// String title = this_image_name+"-"+scene_QuadCLT.image_name+"-dt"+dt;
(new ShowDoubleFloatArrays()).showArrays(
dbg_rslt,
tilesX,
......
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