Debugging Jacobian with delta (a398d330) · Commits · Elphel / imagej-elphel

src/main/java/com/elphel/imagej/tileprocessor/Corr2dLMA.java

+50 −26

Original line number	Original line	Diff line number	Diff line
	@@ -144,19 +144,24 @@ public class Corr2dLMA {
	}		}

	public Corr2dLMA (		public Corr2dLMA (
	int ts // null - use default table		int ts, // null - use default table
			double [][] corr_wnd // may be null
	) {		) {
	boolean sq = false;		boolean sq = false;
	this.transform_size = ts;		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];		this.corr_wnd = new double[2 * transform_size - 1][2 * transform_size - 1];
	int tsm1 = transform_size - 1; // 7		int tsm1 = transform_size - 1; // 7
	int dtsm1 = 2 * transform_size - 1; // 15		int dtsm1 = 2 * transform_size - 1; // 15
	this.corr_wnd[tsm1][tsm1] = 1.0;		this.corr_wnd[tsm1][tsm1] = 1.0;
	for (int i = 1; i < transform_size; i++) {		for (int i = 1; i < transform_size; i++) {
	this.corr_wnd[tsm1 + i][tsm1 ] = Math.acos(Math.PIi/(2 transform_size));		this.corr_wnd[tsm1 + i][tsm1 ] = Math.cos(Math.PIi/(2 transform_size));
	this.corr_wnd[tsm1 - i][tsm1 ] = Math.acos(Math.PIi/(2 transform_size));		this.corr_wnd[tsm1 - i][tsm1 ] = Math.cos(Math.PIi/(2 transform_size));
	this.corr_wnd[tsm1 ][tsm1 + i] = Math.acos(Math.PIi/(2 transform_size));		this.corr_wnd[tsm1 ][tsm1 + i] = Math.cos(Math.PIi/(2 transform_size));
	this.corr_wnd[tsm1 ][tsm1 - i] = Math.acos(Math.PIi/(2 transform_size));		this.corr_wnd[tsm1 ][tsm1 - i] = Math.cos(Math.PIi/(2 transform_size));
	}		}
	for (int i = 1; i < transform_size; i++) {		for (int i = 1; i < transform_size; i++) {
	for (int j = 1; j < transform_size; j++) {		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		public void addSample( // x = 0, y=0 - center
	int fcam, // first camera index		int fcam, // first camera index
	@@ -278,7 +285,7 @@ public class Corr2dLMA {
	this.par_mask[CMA_INDEX] = adjust_ellipse;		this.par_mask[CMA_INDEX] = adjust_ellipse;
	for (int i = 0; i <NUM_PAIRS; i++) {		for (int i = 0; i <NUM_PAIRS; i++) {
	this.par_mask[G0_INDEX + i] = used_pairs[i] & adjust_scales;		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++) {		for (int i = 0; i <NUM_CAMS; i++) {
	@@ -312,7 +319,7 @@ public class Corr2dLMA {
	if (this.corr_wnd !=null) {		if (this.corr_wnd !=null) {
	d /= this.corr_wnd[s.iy][s.ix];		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;		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)		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		//corr_wnd
	for (int ns = 0; ns < num_samples; ns++) {		for (int ns = 0; ns < num_samples; ns++) {
			// if (ns == 18) {
			// System.out.println("ns == 18");
			// }
	Sample s = samples.get(ns);		Sample s = samples.get(ns);
	int pair = pindx[s.fcam][s.scam];		int pair = pindx[s.fcam][s.scam];
	double Gp = av[G0_INDEX + pair];		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 WGp = Wp * Gp;
	double xmxp = s.ix - xp_yp[s.fcam][s.scam][0];		double xmxp = s.ix - xp_yp[s.fcam][s.scam][0];
	double ymyp = s.iy - xp_yp[s.fcam][s.scam][1];		double ymyp = s.iy - xp_yp[s.fcam][s.scam][1];
	@@ -422,10 +432,11 @@ public class Corr2dLMA {
	// USED_PAIRS_MAP		// USED_PAIRS_MAP
	// USED_CAMS_MAP		// USED_CAMS_MAP
	// process ddisp (last camera not used, is equal to minus sum of others to make a sum == 0)		// 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;		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) {		if (s.fcam != last_cam) {
	jt[np + USED_CAMS_MAP[s.fcam]][ns] += 2 * WGp *		jt[np + USED_CAMS_MAP[s.fcam]][ns] += 2 * WGp *
	((A * xmxp + B * ymyp) * m_disp[s.fcam].get(0, 0)+		((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		} 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]) {		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 *		jt[np + USED_CAMS_MAP[c]][ns] -= 2 * WGp *
	((A * xmxp + B * ymyp) * m_disp[c].get(0, 0)+		// ((A * xmxp + B * ymyp) * m_disp[c].get(0, 0)+
	(B * xmxp + C * ymyp) * m_disp[c].get(1, 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 {		} else {
	for (int c = 0; c < NUM_CAMS; c++) if ((c != last_cam) && par_mask[DDISP_INDEX + c]) {		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 *		jt[np + USED_CAMS_MAP[c]][ns] += 2 * WGp *
	((A * xmxp + B * ymyp) * m_disp[c].get(0, 0)+		// ((A * xmxp + B * ymyp) * m_disp[c].get(0, 0)+
	(B * xmxp + C * ymyp) * m_disp[c].get(1, 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		// 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;		jt[np + USED_CAMS_MAP[f]][ns] = 0.0;
	}		}
	if (par_mask[NDISP_INDEX + s.fcam] && (par_mask[NDISP_INDEX + s.scam] )) {		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		// np now points at the first ndisp
	for (int i = 0; i < NUM_CAMS; i++) {		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		for (int j = 0; j < NUM_CAMS; j++) { // j - column
	jt[np][num_samples + NUM_CAMS + j] = (i==j)? 1.0 : 0.0;		jt[np][num_samples + NUM_CAMS + j] = (i==j)? 1.0 : 0.0;
	}		}
	@@ -615,7 +630,7 @@ public class Corr2dLMA {
	double [][] jt_delta = new double [num_pars][num_points];		double [][] jt_delta = new double [num_pars][num_points];
	double [] fx = getFxJt( vector,jt);		double [] fx = getFxJt( vector,jt);
	getFxJt(delta, vector,jt_delta);		getFxJt(delta, vector,jt_delta);
	System.out.println("Test of jt-jt_delta difference, delta = "+delta);		System.out.println("Test of jt-jt_delta difference, delta = "+delta+ " ");
	System.out.print(String.format(" %3s: %10s ", "#", "fx"));		System.out.print(String.format(" %3s: %10s ", "#", "fx"));
	for (int anp = 0; anp< all_pars.length; anp++) if(par_mask[anp]){		for (int anp = 0; anp< all_pars.length; anp++) if(par_mask[anp]){
	String parname;		String parname;
	@@ -624,14 +639,23 @@ public class Corr2dLMA {
	else if (anp < NDISP_INDEX) parname = PAR_NAME_CORRDISP + (anp - DDISP_INDEX);		else if (anp < NDISP_INDEX) parname = PAR_NAME_CORRDISP + (anp - DDISP_INDEX);
	else parname = PAR_NAME_CORRNDISP + (anp - NDISP_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();		System.out.println();
			int npair0 = -1;
	for (int i = 0; i < num_points; i++) {		for (int i = 0; i < num_points; 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]));		System.out.print(String.format(" %3d: %10.7f ", i, fx[i]));
			}
	for (int np = 0; np < num_pars; np++) {		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]);		double adiff = Math.abs(jt[np][i] - jt_delta[np][i]);
	if (adiff > max_diff[np]) {		if (adiff > max_diff[np]) {
	max_diff[np] = adiff;		max_diff[np] = adiff;
	@@ -641,7 +665,7 @@ public class Corr2dLMA {
	}		}
	System.out.print(String.format(" %15s ", "Maximal diff:"));		System.out.print(String.format(" %15s ", "Maximal diff:"));
	for (int np = 0; np < num_pars; np++) {		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();		System.out.println();
	}		}

src/main/java/com/elphel/imagej/tileprocessor/Correlation2d.java

+3 −2

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

+2 −0

Original line number	Original line	Diff line number	Diff line
	@@ -1791,6 +1791,7 @@ public class ImageDtt {
	double [][][] tcorr_partial = null; // [quad][numcol+1][15*15]		double [][][] tcorr_partial = null; // [quad][numcol+1][15*15]
	double [][][][] tcorr_tpartial = null; // [quad][numcol+1][4][8*8]		double [][][][] tcorr_tpartial = null; // [quad][numcol+1][4][8*8]
	double [] ports_rgb = null;		double [] ports_rgb = null;
			double [][] corr_wnd = (new Corr2dLMA(transform_size, null)).getCorrWnd();
	Correlation2d corr2d = new Correlation2d(		Correlation2d corr2d = new Correlation2d(
	imgdtt_params, // ImageDttParameters imgdtt_params,		imgdtt_params, // ImageDttParameters imgdtt_params,
	transform_size, // int transform_size,		transform_size, // int transform_size,
	@@ -2303,6 +2304,7 @@ public class ImageDtt {

	Corr2dLMA lma2 = corr2d.corrLMA2(		Corr2dLMA lma2 = corr2d.corrLMA2(
	imgdtt_params, // ImageDttParameters imgdtt_params,		imgdtt_params, // ImageDttParameters imgdtt_params,
			corr_wnd, // double [][] corr_wnd, // correlation window to save on re-calculation of the window
	corrs, // double [][] corrs,		corrs, // double [][] corrs,
	disp_dist,		disp_dist,
	imgdtt_params.dbg_pair_mask, // int pair_mask, // which pairs to process		imgdtt_params.dbg_pair_mask, // int pair_mask, // which pairs to process

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