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imagej-elphel
Commit a398d330 authored by Andrey Filippov's avatar Andrey Filippov
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Debugging Jacobian with delta

parent 0e938474
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Showing with 55 additions and 28 deletions
src/main/java/com/elphel/imagej/tileprocessor/Corr2dLMA.java
View file @ a398d330
......@@ -144,19 +144,24 @@ public class Corr2dLMA {
}
public Corr2dLMA (
int ts // null - use default table
int ts, // null - use default table
double [][] corr_wnd // may be null
) {
boolean sq = false;
this.transform_size = ts;
if (corr_wnd!=null) {
this.corr_wnd = corr_wnd;
return;
}
this.corr_wnd = new double[2 * transform_size - 1][2 * transform_size - 1];
int tsm1 = transform_size - 1; // 7
int dtsm1 = 2 * transform_size - 1; // 15
this.corr_wnd[tsm1][tsm1] = 1.0;
for (int i = 1; i < transform_size; i++) {
this.corr_wnd[tsm1 + i][tsm1 ] = Math.acos(Math.PI*i/(2 * transform_size));
this.corr_wnd[tsm1 - i][tsm1 ] = Math.acos(Math.PI*i/(2 * transform_size));
this.corr_wnd[tsm1 ][tsm1 + i] = Math.acos(Math.PI*i/(2 * transform_size));
this.corr_wnd[tsm1 ][tsm1 - i] = Math.acos(Math.PI*i/(2 * transform_size));
this.corr_wnd[tsm1 + i][tsm1 ] = Math.cos(Math.PI*i/(2 * transform_size));
this.corr_wnd[tsm1 - i][tsm1 ] = Math.cos(Math.PI*i/(2 * transform_size));
this.corr_wnd[tsm1 ][tsm1 + i] = Math.cos(Math.PI*i/(2 * transform_size));
this.corr_wnd[tsm1 ][tsm1 - i] = Math.cos(Math.PI*i/(2 * transform_size));
}
for (int i = 1; i < transform_size; i++) {
for (int j = 1; j < transform_size; j++) {
......@@ -175,7 +180,9 @@ public class Corr2dLMA {
}
}
}
public double[][] getCorrWnd() {
return this.corr_wnd;
}
public void addSample( // x = 0, y=0 - center
int fcam, // first camera index
......@@ -278,7 +285,7 @@ public class Corr2dLMA {
this.par_mask[CMA_INDEX] = adjust_ellipse;
for (int i = 0; i <NUM_PAIRS; i++) {
this.par_mask[G0_INDEX + i] = used_pairs[i] & adjust_scales;
this.all_pars[G0_INDEX + i] = Double.NaN; // will be assigned later for used
this.all_pars[G0_INDEX + i] = Double.NaN; // will be assigned later for used - should be for all !
}
for (int i = 0; i <NUM_CAMS; i++) {
......@@ -312,7 +319,7 @@ public class Corr2dLMA {
if (this.corr_wnd !=null) {
d /= this.corr_wnd[s.iy][s.ix];
}
if (d > this.all_pars[indx]) this.all_pars[indx] = d;
if (!(d <= this.all_pars[indx])) this.all_pars[indx] = d; // to include Double.isNan()
}
pure_weight = sw;
for (int i = 0; i < 2 * NUM_CAMS; i++) { // weight of the regularization terms (twice number of cameras, some may be disabled by a mask)
......@@ -396,10 +403,13 @@ public class Corr2dLMA {
//corr_wnd
for (int ns = 0; ns < num_samples; ns++) {
// if (ns == 18) {
// System.out.println("ns == 18");
// }
Sample s = samples.get(ns);
int pair = pindx[s.fcam][s.scam];
double Gp = av[G0_INDEX + pair];
double Wp = corr_wnd[s.fcam][s.scam];
double Wp = corr_wnd[s.ix][s.iy];
double WGp = Wp * Gp;
double xmxp = s.ix - xp_yp[s.fcam][s.scam][0];
double ymyp = s.iy - xp_yp[s.fcam][s.scam][1];
......@@ -422,10 +432,11 @@ public class Corr2dLMA {
// USED_PAIRS_MAP
// USED_CAMS_MAP
// process ddisp (last camera not used, is equal to minus sum of others to make a sum == 0)
for (int f = 0; f < NUM_CAMS; f++) {
for (int f = 0; f < ncam - 1; f++) { // -1 for the last_cam
jt[np + USED_CAMS_MAP[f]][ns] = 0.0;
}
if (par_mask[DDISP_INDEX + s.fcam] && (par_mask[DDISP_INDEX + s.scam] )) {
if ((par_mask[DDISP_INDEX + s.fcam] || (s.fcam == last_cam)) &&
((par_mask[DDISP_INDEX + s.scam] || (s.scam == last_cam)))) {
if (s.fcam != last_cam) {
jt[np + USED_CAMS_MAP[s.fcam]][ns] += 2 * WGp *
((A * xmxp + B * ymyp) * m_disp[s.fcam].get(0, 0)+
......@@ -434,8 +445,10 @@ public class Corr2dLMA {
} else { // last camera - use all others with minus sign
for (int c = 0; c < NUM_CAMS; c++) if ((c != last_cam) && par_mask[DDISP_INDEX + c]) {
jt[np + USED_CAMS_MAP[c]][ns] -= 2 * WGp *
((A * xmxp + B * ymyp) * m_disp[c].get(0, 0)+
(B * xmxp + C * ymyp) * m_disp[c].get(1, 0));
// ((A * xmxp + B * ymyp) * m_disp[c].get(0, 0)+
// (B * xmxp + C * ymyp) * m_disp[c].get(1, 0));
((A * xmxp + B * ymyp) * m_disp[s.fcam].get(0, 0)+
(B * xmxp + C * ymyp) * m_disp[s.fcam].get(1, 0));
}
}
......@@ -447,15 +460,17 @@ public class Corr2dLMA {
} else {
for (int c = 0; c < NUM_CAMS; c++) if ((c != last_cam) && par_mask[DDISP_INDEX + c]) {
jt[np + USED_CAMS_MAP[c]][ns] += 2 * WGp *
((A * xmxp + B * ymyp) * m_disp[c].get(0, 0)+
(B * xmxp + C * ymyp) * m_disp[c].get(1, 0));
// ((A * xmxp + B * ymyp) * m_disp[c].get(0, 0)+
// (B * xmxp + C * ymyp) * m_disp[c].get(1, 0));
((A * xmxp + B * ymyp) * m_disp[s.scam].get(0, 0)+
(B * xmxp + C * ymyp) * m_disp[s.scam].get(1, 0));
}
}
}
np += ncam;
np += ncam -1;// -1 for the last_cam
// process ndisp
for (int f = 0; f < NUM_CAMS; f++) {
for (int f = 0; f < ncam; f++) {
jt[np + USED_CAMS_MAP[f]][ns] = 0.0;
}
if (par_mask[NDISP_INDEX + s.fcam] && (par_mask[NDISP_INDEX + s.scam] )) {
......@@ -493,7 +508,7 @@ public class Corr2dLMA {
}
// np now points at the first ndisp
for (int i = 0; i < NUM_CAMS; i++) {
if (par_mask[DDISP_INDEX + i]) {
if (par_mask[NDISP_INDEX + i]) {
for (int j = 0; j < NUM_CAMS; j++) { // j - column
jt[np][num_samples + NUM_CAMS + j] = (i==j)? 1.0 : 0.0;
}
......@@ -615,8 +630,8 @@ public class Corr2dLMA {
double [][] jt_delta = new double [num_pars][num_points];
double [] fx = getFxJt( vector,jt);
getFxJt(delta, vector,jt_delta);
System.out.println("Test of jt-jt_delta difference, delta = "+delta);
System.out.print(String.format("%3s: %10s ", "#", "fx"));
System.out.println("Test of jt-jt_delta difference, delta = "+delta+ " ");
System.out.print(String.format(" %3s: %10s ", "#", "fx"));
for (int anp = 0; anp< all_pars.length; anp++) if(par_mask[anp]){
String parname;
if (anp < G0_INDEX) parname = PAR_NAMES[anp];
......@@ -624,14 +639,23 @@ public class Corr2dLMA {
else if (anp < NDISP_INDEX) parname = PAR_NAME_CORRDISP + (anp - DDISP_INDEX);
else parname = PAR_NAME_CORRNDISP + (anp - NDISP_INDEX);
System.out.print(String.format("%17s ", parname));
System.out.print(String.format("| %16s ", parname));
}
System.out.println();
int npair0 = -1;
for (int i = 0; i < num_points; i++) {
System.out.print(String.format("%3d: %10.7f ", i, fx[i]));
if (i < samples.size()) {
int npair = USED_PAIRS_MAP[samples.get(i).fcam][samples.get(i).scam];
if (npair !=npair0) {
if (npair0 >=0) System.out.println();
npair0 = npair;
}
System.out.print(String.format("%1d %3d: %10.7f ", npair, i, fx[i]));
} else {
System.out.print(String.format(" %3d: %10.7f ", i, fx[i]));
}
for (int np = 0; np < num_pars; np++) {
System.out.print(String.format("%8.5f %8.5f ", jt_delta[np][i], 1000*(jt[np][i] - jt_delta[np][i])));
System.out.print(String.format("|%8.5f %8.5f ", jt_delta[np][i], 1000*(jt[np][i] - jt_delta[np][i])));
double adiff = Math.abs(jt[np][i] - jt_delta[np][i]);
if (adiff > max_diff[np]) {
max_diff[np] = adiff;
......@@ -639,9 +663,9 @@ public class Corr2dLMA {
}
System.out.println();
}
System.out.print(String.format("%15s ", "Maximal diff:"));
System.out.print(String.format(" %15s ", "Maximal diff:"));
for (int np = 0; np < num_pars; np++) {
System.out.print(String.format("%8s %8.5f ", "1/1000×", 1000*max_diff[np]));
System.out.print(String.format("|%8s %8.5f ", "1/1000×", 1000*max_diff[np]));
}
System.out.println();
}
......
src/main/java/com/elphel/imagej/tileprocessor/Correlation2d.java
View file @ a398d330
......@@ -1754,6 +1754,7 @@ public class Correlation2d {
public Corr2dLMA corrLMA2( // USED in lwir
ImageDttParameters imgdtt_params,
double [][] corr_wnd, // correlation window to save on re-calculation of the window
double [][] corrs,
double [][] disp_dist, // per camera disparity matrix as a 1d (linescan order)
int pair_mask, // which pairs to process
......@@ -1773,7 +1774,7 @@ public class Correlation2d {
if (sigma > 0) gb = new DoubleGaussianBlur();
int center = transform_size - 1;
int corr_size = 2 * transform_size - 1;
Corr2dLMA lma = new Corr2dLMA(transform_size);
Corr2dLMA lma = new Corr2dLMA(transform_size, corr_wnd);
double [][] dbg_corr = debug_graphic ? new double [corrs.length][] : null;
double [][] dbg_weights = debug_graphic ? new double [corrs.length][] : null;
......@@ -1872,7 +1873,7 @@ public class Correlation2d {
imgdtt_params.lma_lambda_max, // double lambda_max, // 100
imgdtt_params.lma_rms_diff, // double rms_diff, // 0.001
imgdtt_params.lma_num_iter, // int num_iter, // 20
debug_level); // int debug_level)
4); // debug_level); // int debug_level) // > 3
lma.updateFromVector();
double [] rms = lma.getRMS();
......
src/main/java/com/elphel/imagej/tileprocessor/ImageDtt.java
View file @ a398d330
......@@ -1791,6 +1791,7 @@ public class ImageDtt {
double [][][] tcorr_partial = null; // [quad][numcol+1][15*15]
double [][][][] tcorr_tpartial = null; // [quad][numcol+1][4][8*8]
double [] ports_rgb = null;
double [][] corr_wnd = (new Corr2dLMA(transform_size, null)).getCorrWnd();
Correlation2d corr2d = new Correlation2d(
imgdtt_params, // ImageDttParameters imgdtt_params,
transform_size, // int transform_size,
......@@ -2303,6 +2304,7 @@ public class ImageDtt {
Corr2dLMA lma2 = corr2d.corrLMA2(
imgdtt_params, // ImageDttParameters imgdtt_params,
corr_wnd, // double [][] corr_wnd, // correlation window to save on re-calculation of the window
corrs, // double [][] corrs,
disp_dist,
imgdtt_params.dbg_pair_mask, // int pair_mask, // which pairs to process
......
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