working snapshot (a12d2254) · Commits · Elphel / imagej-elphel

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

+25 −0

Original line number	Original line	Diff line number	Diff line
	@@ -187,6 +187,10 @@ public class ErsCorrection extends GeometryCorrection {
	DP_DVX, DP_DVY, DP_DVZ,		DP_DVX, DP_DVY, DP_DVZ,
	DP_DSVAZ, DP_DSVTL, DP_DSVRL,		DP_DSVAZ, DP_DSVTL, DP_DSVRL,
	DP_DSVX, DP_DSVY, DP_DSVZ};		DP_DSVX, DP_DSVY, DP_DSVZ};
			public static final int [] DP_XYZR_INDICES = {DP_DSX,DP_DSY,DP_DSZ,DP_DSRL};
			public static final int [] DP_AT_INDICES = {DP_DSAZ,DP_DSTL};
			public static final int [] DP_ATT_ERS_INDICES = {DP_DSVAZ,DP_DSVTL};

	public static final RotationConvention ROT_CONV = RotationConvention.FRAME_TRANSFORM;		public static final RotationConvention ROT_CONV = RotationConvention.FRAME_TRANSFORM;
	static final double THRESHOLD = 1E-10;		static final double THRESHOLD = 1E-10;
	static final double LINE_ERR = 0.001; // line accuracy for ERS when converting from world to pixels.		static final double LINE_ERR = 0.001; // line accuracy for ERS when converting from world to pixels.
	@@ -223,8 +227,29 @@ public class ErsCorrection extends GeometryCorrection {
	if (d > 0) return 1.0/ERS_MIN_DISPARITY;		if (d > 0) return 1.0/ERS_MIN_DISPARITY;
	return -1.0/ERS_MIN_DISPARITY;		return -1.0/ERS_MIN_DISPARITY;
	}		}
			public static final int [] DP_XYZR_INDICES = {DP_DSX,DP_DSY,DP_DSZ,DP_DSRL};
			public static final int [] DP_AT_INDICES = {DP_DSAZ,DP_DSTL};
			public static final int [] DP_ATT_ERS_INDICES = {DP_DSVAZ,DP_DSVTL};

	*/		*/

			public static boolean [] getParamSelect(
			boolean use_AT,
			boolean use_ERS) {
			boolean [] param_select = new boolean[DP_NUM_PARS];
			for (int i:DP_XYZR_INDICES) param_select[i] = true;
			if (use_AT) for (int i:DP_AT_INDICES) param_select[i] = true;
			if (use_ERS) for (int i:DP_ATT_ERS_INDICES) param_select[i] = true;
			return param_select;
			}
			public static double [] getParamRegWeights(
			double reg_weight,
			boolean use_AT) {
			double [] reg_weights = new double[DP_NUM_PARS];
			reg_weights[DP_DSX] = reg_weight;
			reg_weights[DP_DSY] = reg_weight;
			return reg_weights;
			}
	public void setPose(		public void setPose(
	double [] camera_xyz,		double [] camera_xyz,
	double [] camera_atr) {		double [] camera_atr) {

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

+636 −1520

File changed.

Preview size limit exceeded, changes collapsed.

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

+105 −18

Original line number	Original line	Diff line number	Diff line
	@@ -41,8 +41,15 @@ public class IntersceneMatchParameters {
	public double [] ims_ortho = {0.5, -0.5, 0.5, -0.5}; // approximate (90-deg) IMS to camera		public double [] ims_ortho = {0.5, -0.5, 0.5, -0.5}; // approximate (90-deg) IMS to camera
	public double [] ims_mount_atr = {0, 0, 0}; // IMS mount fine correction (A,T,R around camera axes)		public double [] ims_mount_atr = {0, 0, 0}; // IMS mount fine correction (A,T,R around camera axes)
	public double [] ims_mount_xyz = {0, 0, 0}; // IMS center in camera coordinates		public double [] ims_mount_xyz = {0, 0, 0}; // IMS center in camera coordinates
	public double [] ims_scale_xyz = {1.1, 1.1, 1.1};		public double [] ims_scale_xyz = {1.0,1.0,1.0}; // {1.1, 1.1, 1.1};
	public double [] ims_scale_atr = {1.1, 1.1, 1.1};		public double [] ims_scale_atr = {1.0,1.0,1.0}; // {1.1, 1.1, 1.1};

			public boolean fmg_initial_en = true; // enable IMS-based FPN mitigation for initial orientation
			public boolean fmg_reorient_en = true; // enable IMS-based FPN mitigation for readjustmnet orientation
			public double fmg_distance = 10.0; // try to find other reference scene not closer than this pixels
			public double fmg_max_quad = 10.0; // estimate offset by 4 points (rooll-aware, 25% from center) if center
			// offset is too small
			public boolean fmg_rectilinear = false;// use rectilinear model for scene offset estimation


	public boolean sfm_use = true; // use SfM to improve depth map		public boolean sfm_use = true; // use SfM to improve depth map
	@@ -306,11 +313,18 @@ public class IntersceneMatchParameters {
	public double half_avg_diff = 0.2; // when L2 of x,y difference from average of neibs - reduce twice		public double half_avg_diff = 0.2; // when L2 of x,y difference from average of neibs - reduce twice

	// Detect initial match		// Detect initial match
	public boolean use_combo_relaible = true; // use combo dsi if available for relaible tiles		public boolean use_combo_reliable = true; // use combo dsi if available for relaible tiles
	public boolean ref_need_lma = true; // need LMA output for reliable tiles (no combo available)		public boolean ref_need_lma = true; // need LMA output for reliable tiles (no combo available)
	public boolean ref_need_lma_combo = true; // need LMA output for reliable tiles (when combo is available)		public boolean ref_need_lma_combo = true; // need LMA output for reliable tiles (when combo is available)
	public double min_ref_str = 0.33; // 0.22; // For orientations: use only tiles of the reference scene DSI_MAIN is stronger		public double min_ref_str = 0.33; // 0.22; // For orientations: use only tiles of the reference scene DSI_MAIN is stronger
	public double min_ref_frac = 0.2; // 0.22; if fraction number of reliable tiles is less than this, use best possible		public double min_ref_frac = 0.2; // 0.22; if fraction number of reliable tiles is less than this, use best possible
			// SfM-related filtering (remove tiles without SfM)
			public boolean sfm_filter = true; // use SfM filtering if available
			public double sfm_minmax = 10.0; // minimal value of the SfM gain maximum to consider available
			public double sfm_fracmax = 0.75; // minimal fraction of the SfM maximal gain
			public double sfm_fracall = 0.3; // minimal relative area of the SfM-enabled tiles (do not apply filter if less)


	public int pix_step = 4; // Azimuth/tilt search step in pixels		public int pix_step = 4; // Azimuth/tilt search step in pixels
	public int search_rad = 10; // Search radius in steps		public int search_rad = 10; // Search radius in steps
	public double maybe_sum = 1.0; // minimal sum of strengths (will search for the best)		public double maybe_sum = 1.0; // minimal sum of strengths (will search for the best)
	@@ -472,7 +486,19 @@ public class IntersceneMatchParameters {
	gd.addStringField ("scale XYZ from IMS", IntersceneMatchParameters.doublesToString(ims_scale_xyz), 80,		gd.addStringField ("scale XYZ from IMS", IntersceneMatchParameters.doublesToString(ims_scale_xyz), 80,
	"Scales for X, Y, and Z velocities when converting from IMS data, such as '1.1 1.1 1.1'.");		"Scales for X, Y, and Z velocities when converting from IMS data, such as '1.1 1.1 1.1'.");
	gd.addStringField ("scale ATR from IMS", IntersceneMatchParameters.doublesToString(ims_scale_atr), 80,		gd.addStringField ("scale ATR from IMS", IntersceneMatchParameters.doublesToString(ims_scale_atr), 80,
	"Scales for Azimuth, Tilt, and Roll velocities when converting from IMS data, such as '1.1 1.1 1.1'.");		"Scales for Azimuth, Tilt, and Roll velocities when converting from IMS data, such as '1.1 1.1 1.1' (not needed).");

			gd.addMessage ("IMS-based FPN mitigation for interscene matching");
			gd.addCheckbox ("FPN mitigation for initial orientation", this.fmg_initial_en,
			"Enable IMS-based FPN mitigation for initial orientation.");
			gd.addCheckbox ("FPN mitigation for re-orientation", this.fmg_reorient_en,
			"Enable IMS-based FPN mitigation for readjustmnet orientation.");
			gd.addNumericField("Maximal inter-scene offset", this.fmg_distance, 5,8,"pix",
			"Try to find other reference scene not closer than this pixels.");
			gd.addNumericField("Maximal offset for quad-point use", this.fmg_max_quad, 5,8,"pix",
			"Estimate offset by 4 points (rooll-aware, 25% from center) if center offset is too small.");
			gd.addCheckbox ("Rectilinear model for offset estimation", this.fmg_rectilinear,
			"Use rectilinear model for scene offset estimation.");

	gd.addTab ("SfM", "Structure from Motion to improve depth map for the lateral views");		gd.addTab ("SfM", "Structure from Motion to improve depth map for the lateral views");
	gd.addCheckbox ("Use SfM", this.sfm_use,		gd.addCheckbox ("Use SfM", this.sfm_use,
	@@ -945,9 +971,9 @@ public class IntersceneMatchParameters {
	gd.addNumericField("Difference from neighbors average ", this.half_avg_diff, 5,7,"",		gd.addNumericField("Difference from neighbors average ", this.half_avg_diff, 5,7,"",
	"Reduce twice for high difference from neighbors average.");		"Reduce twice for high difference from neighbors average.");

	gd.addMessage ("Initial search for the inter-scene match");		gd.addMessage ("Filtering tiles for interscene matching");

	gd.addCheckbox ("Use combo DSI (if available) for reliable", this.use_combo_relaible,		gd.addCheckbox ("Use combo DSI (if available) for reliable", this.use_combo_reliable,
	"Use interscene DSI if available (instead of the single-scene) for selecting reliable tiles");		"Use interscene DSI if available (instead of the single-scene) for selecting reliable tiles");
	gd.addCheckbox ("Need LMA", this.ref_need_lma,		gd.addCheckbox ("Need LMA", this.ref_need_lma,
	"Require LMA result for reliable reference");		"Require LMA result for reliable reference");
	@@ -959,6 +985,20 @@ public class IntersceneMatchParameters {
	gd.addNumericField("DSI_MAIN minimal fraction", this.min_ref_frac, 5,7,"",		gd.addNumericField("DSI_MAIN minimal fraction", this.min_ref_frac, 5,7,"",
	"If relative number of the reliable tiles is less than this - use this best fraction.");		"If relative number of the reliable tiles is less than this - use this best fraction.");

			gd.addCheckbox ("Use SfM filtering if available", this.sfm_filter,
			"Mask out tiles without sufficient SfM gain (if SfM data is available).");
			gd.addNumericField("Min SfM gain maximum to consider", this.sfm_minmax, 5,7,"",
			"Minimal value of the SfM gain maximum to consider SfM available.");
			gd.addNumericField("Threshold fraction of the SfM maximum", this.sfm_fracmax, 5,7,"",
			"Threshold (minimal) fraction of the SfM maximal gain to enable tile.");
			gd.addNumericField("Minimal relative SfM area", this.sfm_fracall, 5,7,"",
			"Minimal relative area of the SfM-enabled tiles (do not apply filter if less).");



			gd.addMessage ("Initial search for the interscene match");


	gd.addNumericField("Azimuth/tilt step", this.pix_step, 0,3,"pix",		gd.addNumericField("Azimuth/tilt step", this.pix_step, 0,3,"pix",
	"Search in a spiral starting with no-shift with this step between probes, in approximate pixels");		"Search in a spiral starting with no-shift with this step between probes, in approximate pixels");
	gd.addNumericField("Search spiral radius", this.search_rad, 0,3,"steps",		gd.addNumericField("Search spiral radius", this.search_rad, 0,3,"steps",
	@@ -1206,6 +1246,11 @@ public class IntersceneMatchParameters {
	this.ims_mount_xyz = IntersceneMatchParameters. StringToDoubles(gd.getNextString(), 3);		this.ims_mount_xyz = IntersceneMatchParameters. StringToDoubles(gd.getNextString(), 3);
	this.ims_scale_xyz = IntersceneMatchParameters. StringToDoubles(gd.getNextString(), 3);		this.ims_scale_xyz = IntersceneMatchParameters. StringToDoubles(gd.getNextString(), 3);
	this.ims_scale_atr = IntersceneMatchParameters. StringToDoubles(gd.getNextString(), 3);		this.ims_scale_atr = IntersceneMatchParameters. StringToDoubles(gd.getNextString(), 3);
			this.fmg_initial_en = gd.getNextBoolean();
			this.fmg_reorient_en = gd.getNextBoolean();
			this.fmg_distance = gd.getNextNumber();
			this.fmg_max_quad = gd.getNextNumber();
			this.fmg_rectilinear = gd.getNextBoolean();
	this.sfm_use = gd.getNextBoolean();		this.sfm_use = gd.getNextBoolean();
	this.sfm_min_base = gd.getNextNumber();		this.sfm_min_base = gd.getNextNumber();
	this.sfm_min_gain = gd.getNextNumber();		this.sfm_min_gain = gd.getNextNumber();
	@@ -1423,11 +1468,15 @@ public class IntersceneMatchParameters {
	this.weight_zero_neibs = gd.getNextNumber();		this.weight_zero_neibs = gd.getNextNumber();
	this.half_disparity = gd.getNextNumber();		this.half_disparity = gd.getNextNumber();
	this.half_avg_diff = gd.getNextNumber();		this.half_avg_diff = gd.getNextNumber();
	this.use_combo_relaible = gd.getNextBoolean();		this.use_combo_reliable = gd.getNextBoolean();
	this.ref_need_lma = gd.getNextBoolean();		this.ref_need_lma = gd.getNextBoolean();
	this.ref_need_lma_combo = gd.getNextBoolean();		this.ref_need_lma_combo = gd.getNextBoolean();
	this.min_ref_str = gd.getNextNumber();		this.min_ref_str = gd.getNextNumber();
	this.min_ref_frac = gd.getNextNumber();		this.min_ref_frac = gd.getNextNumber();
			this.sfm_filter = gd.getNextBoolean();
			this.sfm_minmax = gd.getNextNumber();
			this.sfm_fracmax = gd.getNextNumber();
			this.sfm_fracall = gd.getNextNumber();
	this.pix_step = (int) gd.getNextNumber();		this.pix_step = (int) gd.getNextNumber();
	this.search_rad = (int) gd.getNextNumber();		this.search_rad = (int) gd.getNextNumber();
	this.maybe_sum = gd.getNextNumber();		this.maybe_sum = gd.getNextNumber();
	@@ -1591,6 +1640,11 @@ public class IntersceneMatchParameters {
	properties.setProperty(prefix+"ims_mount_xyz", IntersceneMatchParameters.doublesToString(this.ims_mount_xyz));		properties.setProperty(prefix+"ims_mount_xyz", IntersceneMatchParameters.doublesToString(this.ims_mount_xyz));
	properties.setProperty(prefix+"ims_scale_xyz", IntersceneMatchParameters.doublesToString(this.ims_scale_xyz));		properties.setProperty(prefix+"ims_scale_xyz", IntersceneMatchParameters.doublesToString(this.ims_scale_xyz));
	properties.setProperty(prefix+"ims_scale_atr", IntersceneMatchParameters.doublesToString(this.ims_scale_atr));		properties.setProperty(prefix+"ims_scale_atr", IntersceneMatchParameters.doublesToString(this.ims_scale_atr));
			properties.setProperty(prefix+"fmg_initial_en", this.fmg_initial_en + ""); // boolean
			properties.setProperty(prefix+"fmg_reorient_en", this.fmg_reorient_en + ""); // boolean
			properties.setProperty(prefix+"fmg_distance", this.fmg_distance+""); // double
			properties.setProperty(prefix+"fmg_max_quad", this.fmg_max_quad+""); // double
			properties.setProperty(prefix+"fmg_rectilinear", this.fmg_rectilinear + ""); // boolean
	properties.setProperty(prefix+"sfm_use", this.sfm_use + ""); // boolean		properties.setProperty(prefix+"sfm_use", this.sfm_use + ""); // boolean
	properties.setProperty(prefix+"sfm_min_base", this.sfm_min_base+""); // double		properties.setProperty(prefix+"sfm_min_base", this.sfm_min_base+""); // double
	properties.setProperty(prefix+"sfm_min_gain", this.sfm_min_gain+""); // double		properties.setProperty(prefix+"sfm_min_gain", this.sfm_min_gain+""); // double
	@@ -1790,8 +1844,6 @@ public class IntersceneMatchParameters {
	properties.setProperty(prefix+"run_poly", this.run_poly+""); // boolean		properties.setProperty(prefix+"run_poly", this.run_poly+""); // boolean
	properties.setProperty(prefix+"centroid_radius", this.centroid_radius+""); // double		properties.setProperty(prefix+"centroid_radius", this.centroid_radius+""); // double
	properties.setProperty(prefix+"n_recenter", this.n_recenter+""); // int		properties.setProperty(prefix+"n_recenter", this.n_recenter+""); // int
	properties.setProperty(prefix+"min_ref_str", this.min_ref_str+""); // double
	properties.setProperty(prefix+"min_ref_frac", this.min_ref_frac+""); // double
	properties.setProperty(prefix+"td_weight", this.td_weight+""); // double		properties.setProperty(prefix+"td_weight", this.td_weight+""); // double
	properties.setProperty(prefix+"td_neib_weight", this.td_neib_weight+""); // double		properties.setProperty(prefix+"td_neib_weight", this.td_neib_weight+""); // double
	properties.setProperty(prefix+"pd_weight", this.pd_weight+""); // double		properties.setProperty(prefix+"pd_weight", this.pd_weight+""); // double
	@@ -1818,9 +1870,19 @@ public class IntersceneMatchParameters {
	properties.setProperty(prefix+"weight_zero_neibs", this.weight_zero_neibs+""); // double		properties.setProperty(prefix+"weight_zero_neibs", this.weight_zero_neibs+""); // double
	properties.setProperty(prefix+"half_disparity", this.half_disparity+""); // double		properties.setProperty(prefix+"half_disparity", this.half_disparity+""); // double
	properties.setProperty(prefix+"half_avg_diff", this.half_avg_diff+""); // double		properties.setProperty(prefix+"half_avg_diff", this.half_avg_diff+""); // double
	properties.setProperty(prefix+"use_combo_relaible", this.use_combo_relaible+""); // boolean
			properties.setProperty(prefix+"use_combo_reliable", this.use_combo_reliable+""); // boolean
	properties.setProperty(prefix+"ref_need_lma", this.ref_need_lma+""); // boolean		properties.setProperty(prefix+"ref_need_lma", this.ref_need_lma+""); // boolean
	properties.setProperty(prefix+"ref_need_lma_combo", this.ref_need_lma_combo+""); // boolean		properties.setProperty(prefix+"ref_need_lma_combo", this.ref_need_lma_combo+""); // boolean
			properties.setProperty(prefix+"min_ref_str", this.min_ref_str+""); // double
			properties.setProperty(prefix+"min_ref_frac", this.min_ref_frac+""); // double

			properties.setProperty(prefix+"sfm_filter", this.sfm_filter+""); // boolean
			properties.setProperty(prefix+"sfm_minmax", this.sfm_minmax+""); // double
			properties.setProperty(prefix+"sfm_fracmax", this.sfm_fracmax+""); // double
			properties.setProperty(prefix+"sfm_fracall", this.sfm_fracall+""); // double


	properties.setProperty(prefix+"pix_step", this.pix_step+""); // int		properties.setProperty(prefix+"pix_step", this.pix_step+""); // int
	properties.setProperty(prefix+"search_rad", this.search_rad+""); // int		properties.setProperty(prefix+"search_rad", this.search_rad+""); // int
	properties.setProperty(prefix+"maybe_sum", this.maybe_sum+""); // double		properties.setProperty(prefix+"maybe_sum", this.maybe_sum+""); // double
	@@ -1936,6 +1998,11 @@ public class IntersceneMatchParameters {
	if (properties.getProperty(prefix+"ims_mount_xyz")!=null) this.ims_mount_xyz= IntersceneMatchParameters.StringToDoubles(properties.getProperty(prefix+"ims_mount_xyz"),3);		if (properties.getProperty(prefix+"ims_mount_xyz")!=null) this.ims_mount_xyz= IntersceneMatchParameters.StringToDoubles(properties.getProperty(prefix+"ims_mount_xyz"),3);
	if (properties.getProperty(prefix+"ims_scale_xyz")!=null) this.ims_scale_xyz= IntersceneMatchParameters.StringToDoubles(properties.getProperty(prefix+"ims_scale_xyz"),3);		if (properties.getProperty(prefix+"ims_scale_xyz")!=null) this.ims_scale_xyz= IntersceneMatchParameters.StringToDoubles(properties.getProperty(prefix+"ims_scale_xyz"),3);
	if (properties.getProperty(prefix+"ims_scale_atr")!=null) this.ims_scale_atr= IntersceneMatchParameters.StringToDoubles(properties.getProperty(prefix+"ims_scale_atr"),3);		if (properties.getProperty(prefix+"ims_scale_atr")!=null) this.ims_scale_atr= IntersceneMatchParameters.StringToDoubles(properties.getProperty(prefix+"ims_scale_atr"),3);
			if (properties.getProperty(prefix+"fmg_initial_en")!=null) this.fmg_initial_en=Boolean.parseBoolean(properties.getProperty(prefix+"fmg_initial_en"));
			if (properties.getProperty(prefix+"fmg_reorient_en")!=null) this.fmg_reorient_en=Boolean.parseBoolean(properties.getProperty(prefix+"fmg_reorient_en"));
			if (properties.getProperty(prefix+"fmg_distance")!=null) this.fmg_distance=Double.parseDouble(properties.getProperty(prefix+"fmg_distance"));
			if (properties.getProperty(prefix+"fmg_max_quad")!=null) this.fmg_max_quad=Double.parseDouble(properties.getProperty(prefix+"fmg_max_quad"));
			if (properties.getProperty(prefix+"fmg_rectilinear")!=null) this.fmg_rectilinear=Boolean.parseBoolean(properties.getProperty(prefix+"fmg_rectilinear"));
	if (properties.getProperty(prefix+"sfm_use")!=null) this.sfm_use=Boolean.parseBoolean(properties.getProperty(prefix+"sfm_use"));		if (properties.getProperty(prefix+"sfm_use")!=null) this.sfm_use=Boolean.parseBoolean(properties.getProperty(prefix+"sfm_use"));
	if (properties.getProperty(prefix+"sfm_min_base")!=null) this.sfm_min_base=Double.parseDouble(properties.getProperty(prefix+"sfm_min_base"));		if (properties.getProperty(prefix+"sfm_min_base")!=null) this.sfm_min_base=Double.parseDouble(properties.getProperty(prefix+"sfm_min_base"));
	if (properties.getProperty(prefix+"sfm_min_gain")!=null) this.sfm_min_gain=Double.parseDouble(properties.getProperty(prefix+"sfm_min_gain"));		if (properties.getProperty(prefix+"sfm_min_gain")!=null) this.sfm_min_gain=Double.parseDouble(properties.getProperty(prefix+"sfm_min_gain"));
	@@ -2142,8 +2209,6 @@ public class IntersceneMatchParameters {
	if (properties.getProperty(prefix+"run_poly")!=null) this.run_poly=Boolean.parseBoolean(properties.getProperty(prefix+"run_poly"));		if (properties.getProperty(prefix+"run_poly")!=null) this.run_poly=Boolean.parseBoolean(properties.getProperty(prefix+"run_poly"));
	if (properties.getProperty(prefix+"centroid_radius")!=null) this.centroid_radius=Double.parseDouble(properties.getProperty(prefix+"centroid_radius"));		if (properties.getProperty(prefix+"centroid_radius")!=null) this.centroid_radius=Double.parseDouble(properties.getProperty(prefix+"centroid_radius"));
	if (properties.getProperty(prefix+"n_recenter")!=null) this.n_recenter=Integer.parseInt(properties.getProperty(prefix+"n_recenter"));		if (properties.getProperty(prefix+"n_recenter")!=null) this.n_recenter=Integer.parseInt(properties.getProperty(prefix+"n_recenter"));
	if (properties.getProperty(prefix+"min_ref_str")!=null) this.min_ref_str=Double.parseDouble(properties.getProperty(prefix+"min_ref_str"));
	if (properties.getProperty(prefix+"min_ref_frac")!=null) this.min_ref_frac=Double.parseDouble(properties.getProperty(prefix+"min_ref_frac"));
	if (properties.getProperty(prefix+"td_weight")!=null) this.td_weight=Double.parseDouble(properties.getProperty(prefix+"td_weight"));		if (properties.getProperty(prefix+"td_weight")!=null) this.td_weight=Double.parseDouble(properties.getProperty(prefix+"td_weight"));
	if (properties.getProperty(prefix+"td_neib_weight")!=null) this.td_neib_weight=Double.parseDouble(properties.getProperty(prefix+"td_neib_weight"));		if (properties.getProperty(prefix+"td_neib_weight")!=null) this.td_neib_weight=Double.parseDouble(properties.getProperty(prefix+"td_neib_weight"));
	if (properties.getProperty(prefix+"pd_weight")!=null) this.pd_weight=Double.parseDouble(properties.getProperty(prefix+"pd_weight"));		if (properties.getProperty(prefix+"pd_weight")!=null) this.pd_weight=Double.parseDouble(properties.getProperty(prefix+"pd_weight"));
	@@ -2169,9 +2234,19 @@ public class IntersceneMatchParameters {
	if (properties.getProperty(prefix+"weight_zero_neibs")!=null) this.weight_zero_neibs=Double.parseDouble(properties.getProperty(prefix+"weight_zero_neibs"));		if (properties.getProperty(prefix+"weight_zero_neibs")!=null) this.weight_zero_neibs=Double.parseDouble(properties.getProperty(prefix+"weight_zero_neibs"));
	if (properties.getProperty(prefix+"half_disparity")!=null) this.half_disparity=Double.parseDouble(properties.getProperty(prefix+"half_disparity"));		if (properties.getProperty(prefix+"half_disparity")!=null) this.half_disparity=Double.parseDouble(properties.getProperty(prefix+"half_disparity"));
	if (properties.getProperty(prefix+"half_avg_diff")!=null) this.half_avg_diff=Double.parseDouble(properties.getProperty(prefix+"half_avg_diff"));		if (properties.getProperty(prefix+"half_avg_diff")!=null) this.half_avg_diff=Double.parseDouble(properties.getProperty(prefix+"half_avg_diff"));
	if (properties.getProperty(prefix+"use_combo_relaible")!=null) this.use_combo_relaible=Boolean.parseBoolean(properties.getProperty(prefix+"use_combo_relaible"));
			if (properties.getProperty(prefix+"use_combo_reliable")!=null) this.use_combo_reliable=Boolean.parseBoolean(properties.getProperty(prefix+"use_combo_reliable"));
			else if (properties.getProperty(prefix+"use_combo_relaible")!=null) this.use_combo_reliable=Boolean.parseBoolean(properties.getProperty(prefix+"use_combo_relaible"));
	if (properties.getProperty(prefix+"ref_need_lma")!=null) this.ref_need_lma=Boolean.parseBoolean(properties.getProperty(prefix+"ref_need_lma"));		if (properties.getProperty(prefix+"ref_need_lma")!=null) this.ref_need_lma=Boolean.parseBoolean(properties.getProperty(prefix+"ref_need_lma"));
	if (properties.getProperty(prefix+"ref_need_lma_combo")!=null) this.ref_need_lma_combo=Boolean.parseBoolean(properties.getProperty(prefix+"ref_need_lma_combo"));		if (properties.getProperty(prefix+"ref_need_lma_combo")!=null) this.ref_need_lma_combo=Boolean.parseBoolean(properties.getProperty(prefix+"ref_need_lma_combo"));
			if (properties.getProperty(prefix+"min_ref_str")!=null) this.min_ref_str=Double.parseDouble(properties.getProperty(prefix+"min_ref_str"));
			if (properties.getProperty(prefix+"min_ref_frac")!=null) this.min_ref_frac=Double.parseDouble(properties.getProperty(prefix+"min_ref_frac"));

			if (properties.getProperty(prefix+"sfm_filter")!=null) this.sfm_filter=Boolean.parseBoolean(properties.getProperty(prefix+"sfm_filter"));
			if (properties.getProperty(prefix+"sfm_minmax")!=null) this.sfm_minmax=Double.parseDouble(properties.getProperty(prefix+"sfm_minmax"));
			if (properties.getProperty(prefix+"sfm_fracmax")!=null) this.sfm_fracmax=Double.parseDouble(properties.getProperty(prefix+"sfm_fracmax"));
			if (properties.getProperty(prefix+"sfm_fracall")!=null) this.sfm_fracall=Double.parseDouble(properties.getProperty(prefix+"sfm_fracall"));

	if (properties.getProperty(prefix+"pix_step")!=null) this.pix_step=Integer.parseInt(properties.getProperty(prefix+"pix_step"));		if (properties.getProperty(prefix+"pix_step")!=null) this.pix_step=Integer.parseInt(properties.getProperty(prefix+"pix_step"));
	if (properties.getProperty(prefix+"search_rad")!=null) this.search_rad=Integer.parseInt(properties.getProperty(prefix+"search_rad"));		if (properties.getProperty(prefix+"search_rad")!=null) this.search_rad=Integer.parseInt(properties.getProperty(prefix+"search_rad"));
	if (properties.getProperty(prefix+"maybe_sum")!=null) this.maybe_sum=Double.parseDouble(properties.getProperty(prefix+"maybe_sum"));		if (properties.getProperty(prefix+"maybe_sum")!=null) this.maybe_sum=Double.parseDouble(properties.getProperty(prefix+"maybe_sum"));
	@@ -2308,6 +2383,11 @@ public class IntersceneMatchParameters {
	imp.ims_mount_xyz = this.ims_mount_xyz.clone();		imp.ims_mount_xyz = this.ims_mount_xyz.clone();
	imp.ims_scale_xyz = this.ims_scale_xyz.clone();		imp.ims_scale_xyz = this.ims_scale_xyz.clone();
	imp.ims_scale_atr = this.ims_scale_atr.clone();		imp.ims_scale_atr = this.ims_scale_atr.clone();
			imp.fmg_initial_en = this.fmg_initial_en;
			imp.fmg_reorient_en = this.fmg_reorient_en;
			imp.fmg_distance = this.fmg_distance;
			imp.fmg_max_quad = this.fmg_max_quad;
			imp.fmg_rectilinear = this.fmg_rectilinear;
	imp.sfm_use = this.sfm_use;		imp.sfm_use = this.sfm_use;
	imp.sfm_min_base = this.sfm_min_base;		imp.sfm_min_base = this.sfm_min_base;
	imp.sfm_min_gain = this.sfm_min_gain;		imp.sfm_min_gain = this.sfm_min_gain;
	@@ -2503,8 +2583,6 @@ public class IntersceneMatchParameters {
	imp.run_poly = this.run_poly;		imp.run_poly = this.run_poly;
	imp.centroid_radius = this.centroid_radius;		imp.centroid_radius = this.centroid_radius;
	imp.n_recenter = this.n_recenter;		imp.n_recenter = this.n_recenter;
	imp.min_ref_str = this.min_ref_str;
	imp.min_ref_frac = this.min_ref_frac;

	imp.td_weight = this.td_weight;		imp.td_weight = this.td_weight;
	imp.td_neib_weight = this.td_neib_weight;		imp.td_neib_weight = this.td_neib_weight;
	@@ -2533,9 +2611,18 @@ public class IntersceneMatchParameters {
	imp.weight_zero_neibs = this.weight_zero_neibs;		imp.weight_zero_neibs = this.weight_zero_neibs;
	imp.half_disparity = this.half_disparity;		imp.half_disparity = this.half_disparity;
	imp.half_avg_diff = this.half_avg_diff;		imp.half_avg_diff = this.half_avg_diff;
	imp.use_combo_relaible = this.use_combo_relaible;
			imp.use_combo_reliable = this.use_combo_reliable;
	imp.ref_need_lma = this.ref_need_lma;		imp.ref_need_lma = this.ref_need_lma;
	imp.ref_need_lma_combo = this.ref_need_lma_combo;		imp.ref_need_lma_combo = this.ref_need_lma_combo;
			imp.min_ref_str = this.min_ref_str;
			imp.min_ref_frac = this.min_ref_frac;

			imp.sfm_filter = this.sfm_filter;
			imp.sfm_minmax = this.sfm_minmax;
			imp.sfm_fracmax = this.sfm_fracmax;
			imp.sfm_fracall = this.sfm_fracall;

	imp.pix_step = this.pix_step;		imp.pix_step = this.pix_step;
	imp.search_rad = this.search_rad;		imp.search_rad = this.search_rad;
	imp.maybe_sum = this.maybe_sum;		imp.maybe_sum = this.maybe_sum;

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

+12 −3

Original line number	Original line	Diff line number	Diff line
	@@ -4712,11 +4712,16 @@ public class OpticalFlow {
	int test_ers0 = clt_parameters.imp.test_ers0; // try adjusting a pair of scenes with ERS. Reference scene index		int test_ers0 = clt_parameters.imp.test_ers0; // try adjusting a pair of scenes with ERS. Reference scene index
	int test_ers1 = clt_parameters.imp.test_ers1; // try adjusting a pair of scenes with ERS. Other scene index		int test_ers1 = clt_parameters.imp.test_ers1; // try adjusting a pair of scenes with ERS. Other scene index
	test_ers &= (test_ers0 >= 0) && (test_ers1 >= 0);		test_ers &= (test_ers0 >= 0) && (test_ers1 >= 0);
	boolean use_combo_relaible = clt_parameters.imp.use_combo_relaible;		boolean use_combo_relaible = clt_parameters.imp.use_combo_reliable;
	boolean ref_need_lma = clt_parameters.imp.ref_need_lma;		boolean ref_need_lma = clt_parameters.imp.ref_need_lma;
	boolean ref_need_lma_combo = clt_parameters.imp.ref_need_lma_combo;		boolean ref_need_lma_combo = clt_parameters.imp.ref_need_lma_combo;
	double min_ref_str = clt_parameters.imp.min_ref_str;		double min_ref_str = clt_parameters.imp.min_ref_str;

			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
			double sfm_fracall = clt_parameters.imp.sfm_fracall; // 0.3; // minimal relative area of the SfM-enabled tiles (do not apply filter if less)

	double min_ref_frac= clt_parameters.imp.min_ref_frac;		double min_ref_frac= clt_parameters.imp.min_ref_frac;
	double [] ref_blue_sky = null; // turn off "lma" in the ML output		double [] ref_blue_sky = null; // turn off "lma" in the ML output
	if (reuse_video) { // disable all other options		if (reuse_video) { // disable all other options
	@@ -5234,8 +5239,12 @@ public class OpticalFlow {
	min_ref_frac, // double min_ref_frac,		min_ref_frac, // double min_ref_frac,
	ref_need_lma, // boolean needs_lma);		ref_need_lma, // boolean needs_lma);
	ref_need_lma_combo, // boolean needs_lma);		ref_need_lma_combo, // boolean needs_lma);
	reduced_strength); // if not null will return >0 if had to reduce strength (no change if did not reduce)		sfm_filter, // boolean sfm_filter, // use SfM filtering if available
			sfm_minmax, // double sfm_minmax, // minimal value of the SfM gain maximum to consider available
			sfm_fracmax, // double sfm_fracmax,// minimal fraction of the SfM maximal gain
			sfm_fracall, // double sfm_fracall,// minimal relative area of the SfM-enabled tiles (do not apply filter if less)
			reduced_strength, // if not null will return >0 if had to reduce strength (no change if did not reduce)
			debugLevel); // int debugLevel)
	if (show_reliable_ref) {		if (show_reliable_ref) {
	double [] dbg_img = new double [reliable_ref.length];		double [] dbg_img = new double [reliable_ref.length];
	for (int i = 0; i < dbg_img.length; i++) {		for (int i = 0; i < dbg_img.length; i++) {

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

+1782 −1765

Original line number	Original line	Diff line number	Diff line
	@@ -2410,7 +2410,12 @@ public class QuadCLTCPU {
	double min_ref_frac,		double min_ref_frac,
	boolean needs_lma,		boolean needs_lma,
	boolean needs_lma_combo,		boolean needs_lma_combo,
	double [] reduced_strength // if not null will return >0 if had to reduce strength (no change if did not reduce)		boolean sfm_filter,
			double sfm_minmax,
			double sfm_fracmax,
			double sfm_fracall,
			double [] reduced_strength, // if not null will return >0 if had to reduce strength (no change if did not reduce)
			int debugLevel
	) {		) {
	int NUM_BINS = 1024;		int NUM_BINS = 1024;
	// 10.15.2023 - was error here, readComboDSI (silent) returns combo_dsi, not converted to this.dsi format;		// 10.15.2023 - was error here, readComboDSI (silent) returns combo_dsi, not converted to this.dsi format;
	@@ -2419,7 +2424,6 @@ public class QuadCLTCPU {
	boolean silent = false;		boolean silent = false;
	if (use_combo) {		if (use_combo) {
	readComboDSI (silent);		readComboDSI (silent);
	main_dsi = this.dsi;
	needs_lma = needs_lma_combo;		needs_lma = needs_lma_combo;
	} else {		} else {
	main_dsi = readDsiMain();		main_dsi = readDsiMain();
	@@ -2427,6 +2431,7 @@ public class QuadCLTCPU {
	if (main_dsi == null) {		if (main_dsi == null) {
	return null;		return null;
	}		}

	double [] disparity_lma = main_dsi[isAux()?TwoQuadCLT.DSI_DISPARITY_AUX_LMA:TwoQuadCLT.DSI_DISPARITY_MAIN_LMA];		double [] disparity_lma = main_dsi[isAux()?TwoQuadCLT.DSI_DISPARITY_AUX_LMA:TwoQuadCLT.DSI_DISPARITY_MAIN_LMA];
	double [] strength = main_dsi[isAux()?TwoQuadCLT.DSI_STRENGTH_AUX:TwoQuadCLT.DSI_STRENGTH_MAIN];		double [] strength = main_dsi[isAux()?TwoQuadCLT.DSI_STRENGTH_AUX:TwoQuadCLT.DSI_STRENGTH_MAIN];
	double [] sfm_gain = main_dsi[isAux()?TwoQuadCLT.DSI_SFM_GAIN_AUX:TwoQuadCLT.DSI_SFM_GAIN_MAIN];		double [] sfm_gain = main_dsi[isAux()?TwoQuadCLT.DSI_SFM_GAIN_AUX:TwoQuadCLT.DSI_SFM_GAIN_MAIN];
	@@ -2449,22 +2454,34 @@ public class QuadCLTCPU {
	}		}
	}		}
	}		}
	if (sfm_gain != null) {		if (sfm_filter && (sfm_gain != null)) {
			double sfm_max = 0.0;
			for (int i = 0; i < reliable.length; i++) {
			if (sfm_gain[i] > sfm_max) sfm_max = sfm_gain[i];
			}
			if (sfm_max > sfm_minmax) {
			double sfm_thresh = sfm_max * sfm_fracmax;
			boolean [] sfm_good = new boolean [reliable.length];
	int num_sfm_gain = 0;		int num_sfm_gain = 0;
	for (int i = 0; i < reliable.length; i++) {		for (int i = 0; i < reliable.length; i++) {
	if (sfm_gain[i] >0) {		if (sfm_gain[i] >= sfm_thresh) {
			sfm_good[i] = true;
	num_sfm_gain++;		num_sfm_gain++;
	}		}
	}		}
	if (num_sfm_gain > min_reliable) {		if (num_sfm_gain > (sfm_fracall * reliable.length)) {
			if (debugLevel > -3) {
			System.out.println("getReliableTiles(): Using SfM filter");
			}
	for (int i = 0; i < reliable.length; i++) {		for (int i = 0; i < reliable.length; i++) {
	if (sfm_gain[i] <= 0){		if (!sfm_good[i]) { // sfm_gain[i] <= 0){
	reliable[i] = false;		reliable[i] = false;
	strength[i] = 0.0;		strength[i] = 0.0;
	}		}
	}		}
	}		}
	}		}
			}
	int num_reliable = 0;		int num_reliable = 0;
	for (boolean b: reliable) if (b) num_reliable++;		for (boolean b: reliable) if (b) num_reliable++;
	if (num_reliable < min_reliable) { // not enough, select best tiles, ignoring LMA		if (num_reliable < min_reliable) { // not enough, select best tiles, ignoring LMA

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