bug fixes in multiple scene fitting (a0c4b513) · Commits · Elphel / imagej-elphel

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

+11 −1

Original line number	Diff line number	Diff line
		@@ -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

+0 −1

Original line number	Diff line number	Diff line
		@@ -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

+190 −89

Original line number	Diff line number	Diff line
		@@ -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,
		@@ -2008,6 +2010,7 @@ public class OpticalFlow {
		double [][] dsrbg_ref;
		if (blur_reference) {
		dsrbg_ref = transformCameraVew( // shifts previous image correctly (right)
		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,
		@@ -2032,7 +2035,6 @@ public class OpticalFlow {
		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,
		@@ -2053,15 +2055,16 @@ public class OpticalFlow {
		{
		int nscenes = scenes.length;
		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();
		@@ -2070,6 +2073,7 @@ 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)
		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,
		@@ -2097,7 +2101,6 @@ public class OpticalFlow {
		dbg_rslt[nscenes * nslice + nscene] = dsrbg[nscene][nslice];
		}
		}
		String title = "previous_frames_matching"+suffix;
		(new ShowDoubleFloatArrays()).showArrays(
		dbg_rslt,
		tilesX,
		@@ -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;
		}


		@@ -3187,8 +3287,9 @@ 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)
		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,
		@@ -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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