Debugging for low-contrast targets (a86749dc) · Commits · Elphel / imagej-elphel

src/main/java/com/elphel/imagej/cuas/CuasMotion.java

+104 −58

Original line number	Diff line number	Diff line
		@@ -265,6 +265,7 @@ public class CuasMotion {
		private CLTParameters clt_parameters=null;
		private QuadCLT parentCLT = null;
		private double [] noise_map = null;
		private double [] noise_map8 = null;
		private int debugLevel = 0;
		private GpuQuad gpuQuad = null;
		private ImageDtt image_dtt = null;
		@@ -286,6 +287,10 @@ public class CuasMotion {
		return noise_map;
		}

		public double [] getNoiseMap8 () {
		return noise_map8;
		}

		public UasLogReader getUasLogReader() {
		return uasLogReader;
		}
		@@ -413,7 +418,7 @@ public class CuasMotion {
		gpu_max_height = tilesY * GPUTileProcessor.DTT_SIZE;
		corr_offset = clt_parameters.imp.cuas_corr_offset;
		corr_pairs = clt_parameters.imp.cuas_corr_pairs;
		double scale_window = clt_parameters.imp.cuas_scale_wnd = 2.0; //; When building noise map, scale search window range from original -8..+7 (2.0 -> -16..+15)
		double scale_window = clt_parameters.imp.cuas_scale_wnd; // = 2.0; //; When building noise map, scale search window range from original -8..+7 (2.0 -> -16..+15)

		// int start_frame = 0;
		int num_corr_samples = (scene_titles.length - getSeqLength() - start_frame) / getCorrInc();
		@@ -511,6 +516,9 @@ public class CuasMotion {
		noise_map = getNoiseMap(
		scale_window, // final double scale_window, // 1.0->8, 2.0 - 16.
		fpixels_avg); // final float [] fpixels_avg)
		noise_map8 = getNoiseMap(
		1.0, // final double scale_window, // 1.0->8, 2.0 - 16.
		fpixels_avg); // final float [] fpixels_avg)
		return;
		}

		@@ -1748,7 +1756,7 @@ public class CuasMotion {
		return effective_strength;
		}


		/*
		private static void setBadHorizon(
		final double [][][] target_sequence,
		final double horizon_y,
		@@ -1778,6 +1786,45 @@ public class CuasMotion {
		ImageDtt.startAndJoin(threads);
		}
		}
		*/
		private static void setBadHorizon(
		final double [][][] target_sequence,
		final double horizon_y, // <0 - do not filter by horizon
		final double [] noise8, // null - do not filter by noise
		final double noise_max,
		final int tilesX){
		final int num_seq = target_sequence.length;
		final int num_tiles = target_sequence[0].length;
		final int tilesY = num_tiles/tilesX;
		final int ihorizon = (horizon_y > 0) ?( (int) Math.ceil(horizon_y/GPUTileProcessor.DTT_SIZE)) : -1; // tiles with tileY >= ihorizon are removed
		final int ntile_horizon = (ihorizon > 0) ? (ihorizon * tilesX) : num_tiles;
		if ((ihorizon > 0) \|\| (noise8 != null)){
		final Thread[] threads = ImageDtt.newThreadArray();
		final AtomicInteger ai = new AtomicInteger(0);
		for (int ithread = 0; ithread < threads.length; ithread++) {
		threads[ithread] = new Thread() {
		public void run() {
		for (int nSeq = ai.getAndIncrement(); nSeq < num_seq; nSeq = ai.getAndIncrement()) {
		if (noise8 != null) {
		for (int ntile = 0; ntile < ntile_horizon; ntile++) if (noise8[ntile] > noise_max) {
		target_sequence[nSeq][ntile] = null;
		}
		}
		if (ihorizon > 0) {
		for (int tileY = ihorizon; tileY < tilesY; tileY++) {
		int ntile = tileY*tilesX;
		for (int tileX = 0; tileX < tilesX; tileX++) {
		target_sequence[nSeq][ntile++] = null;
		}
		}
		}
		}
		}
		};
		}
		ImageDtt.startAndJoin(threads);
		}
		}


		private static double getEffectiveStrengthMV(
		@@ -2026,8 +2073,8 @@ public class CuasMotion {
		final int corr_pairs_ref = (int) Math.round(2 * half_accum_range * recalc_mv_boost);

		// Hard-coded debug selectors: set >= 0 to enable per-scan/per-tile visualisation
		final int dbg_nseq = 41; // 157; // -(116); // 57; // 20; // -1;
		final int dbg_tile = 50+3880; // 55+3880; // -(17 + 3380); // 48+3280; // 50+38*80; // -1;
		final int dbg_nseq = 40; // 41; // 157; // -(116); // 57; // 20; // -1;
		final int dbg_tile = 52+3880; // 50+3880; // 55+3880; // -(17 + 3380); // 48+3280; // 50+3880; // -1;

		// Pre-compute integer-pixel raised-cosine mask kernel once (shared across all nseq)
		final int r1i = (int) Math.ceil(recalc_mv_r1);
		@@ -2206,7 +2253,7 @@ public class CuasMotion {
		if (target == null \|\| Double.isNaN(target[CuasMotionLMA.RSLT_X])) continue;
		if (vector_field[ntile] == null) continue;
		if (ntile == dbg_tile && debugLevel >= 0) {
		System.out.printf("refineMotionVectors(): nseq=%3d ntile=%4d before: VX=%9.4f VY=%9.4f delta: dVX=%8.4f dVY=%8.4f% after: VX1=%9.4f VY1=%9.4f%",
		System.out.printf("refineMotionVectors(): nseq=%3d ntile=%4d before: VX=%9.4f VY=%9.4f delta: dVX=%8.4f dVY=%8.4f after: VX1=%9.4f VY1=%9.4f\n",
		nseq, ntile,
		target[CuasMotionLMA.RSLT_VX], target[CuasMotionLMA.RSLT_VY],
		vector_field[ntile][INDX_VX], vector_field[ntile][INDX_VY],
		@@ -2218,7 +2265,7 @@ public class CuasMotion {
		}
		}
		// Debug: CORR2D overview — one slice per keyframe, same layout as *CORR2D.tiff
		if (show_dbg && corr2d_ref != null) {
		if (show_dbg && (corr2d_ref != null) && (dbg_iter_index<= max_index_dbg)) {
		final int corr_size = 2 * GPUTileProcessor.DTT_SIZE - 1; // 15
		String[] slice_titles_ref = new String[targets_nonoverlap.length];
		for (int i = 0; i < targets_nonoverlap.length; i++) {
		@@ -2635,21 +2682,7 @@ public class CuasMotion {

		// final int erase = 1; //NaN
		for (int nseq = 0; nseq < target_sequence.length; nseq++) {
		/*
		// from getTargetsFromCorr2d()
		int corr_pairs_scaled = (int) Math.round(corr_pairs*boost_pairs);
		if (boost_pairs > 1) {
		frame0 -= (int) Math.round((corr_pairs * (boost_pairs - 1))/ 2);
		}
		int frame1 = frame0 + corr_offset;
		// int frame_cent = frame0 + seq_length/2; // debug only
		int frame_cent = frame0 + corr_offset/2; // debug only
		String suffix_param = "-"+frame_cent+"-"+corr_offset+"-"+corr_pairs;
		String dbg_suffix = (title != null) ? (title+suffix_param) : null;
		*/
		int frame_center = frame0 + nseq * frame_step;


		boolean fits = (frame_center >= half_range_boosted) && (frame_center < (fpixels.length - half_range_boosted));
		double [] window = fits? window_full: window_full.clone();
		if (!fits) {
		@@ -7213,16 +7246,19 @@ public class CuasMotion {
		boolean smooth = clt_parameters.imp.cuas_smooth; // true;
		boolean half_step = clt_parameters.imp.cuas_half_step; // true;
		double [][] target_frac = new double [clt_parameters.imp.cuas_target_frac.length][2];
		double noisemax8 = clt_parameters. imp.cuas_noisemax8;
		double target_horizon= clt_parameters.imp.cuas_horizon;
		double input_range = clt_parameters.imp.cuas_input_range; // 5;
		boolean corr2d_save_show = clt_parameters.imp.cuas_2d_save_show; //true;
		boolean intermed_low = clt_parameters.imp.cuas_intermed_low; //true;
		boolean intermed_high = clt_parameters.imp.cuas_intermed_high; //true;
		boolean cuas_gaussian_ra = clt_parameters.imp.cuas_gaussian_ra; // use gaussian temporal Gaussian instead of running average

		// slow_mode
		int slow_scale_samples = slow_mode ? clt_parameters.imp.cuas_mul_samples : 1; // multiply number of samples
		int slow_scale_offset = slow_mode ? clt_parameters.imp.cuas_mul_offset : 1; // multiply offset


		for (int i = 0; i < target_frac.length; i++) {
		if (clt_parameters.imp.cuas_target_frac[i].length >= 2) {
		target_frac[i][0] = clt_parameters.imp.cuas_target_frac[i][0];
		@@ -7383,6 +7419,8 @@ public class CuasMotion {
		setBadHorizon(
		target_sequence, // final double [][][] target_sequence,
		target_horizon, // final double horizon_y,
		cuasMotion.getNoiseMap8(), // final double [] noise8, // null - do not filter by noise
		noisemax8, // final double noise_max,
		cuasMotion.tilesX); // final int tilesX)
		// After this target_sequence should not be null-ed, failure status should only change from NaN to 0/>0 values

		@@ -7599,7 +7637,7 @@ public class CuasMotion {
		boolean fail_mismatch = clt_parameters. imp.cuas_fail_mismatch; // Fail on high mismatch early (when calculating scores);
		double offcenter = clt_parameters. imp.cuas_offcenter;
		double noisemax = clt_parameters. imp.cuas_noisemax;

		double noisemax8 = clt_parameters. imp.cuas_noisemax8;
		double target_horizon= clt_parameters.imp.cuas_horizon;
		// Handling overall target scores

		@@ -8049,6 +8087,14 @@ public class CuasMotion {
		double recalc_mv_boost = clt_parameters.imp.cuas_recalc_mv_boost;
		double recalc_mv_r0 = clt_parameters.imp.cuas_recalc_mv_r0;
		double recalc_mv_r1 = clt_parameters.imp.cuas_recalc_mv_r1;

		lma_rrms = clt_parameters.imp.cuas_lma_rrms2; // = 0.15; // Maximal relative to A rms. OK is when (RMS < cuas_lma_arms) \|\| (RMS < cuas_lma_rrms * A)
		lma_mina = clt_parameters.imp.cuas_lma_mina2; // = 1.0; // Minimal A (amplitude)
		if (debugLevel > -4) {
		System.out.println("Updated for the centered pass lma_rrms="+lma_rrms);
		System.out.println("Updated for the centered pass lma_mina="+lma_mina);
		}

		// second pass, using non-centered targets
		int niter_lim = niter+ num_cycles;
		int iter_show1 = iter_show + niter;
		@@ -8061,7 +8107,7 @@ public class CuasMotion {
		cuasMotion.tilesX); // int tilesX) {
		parentCLT.saveImagePlusInModelDirectory(imp_mv_strength);
		}

		int niter0 = niter; // for debugging, so (niter - niter0) will start from 0
		for (; niter < niter_lim; niter++) {
		boolean good_only= false;
		boolean show_empty = true; // false; // show scenes with no (valid) targets
		@@ -8178,8 +8224,8 @@ public class CuasMotion {
		half_accum_range, // int half_accum_range,
		smooth, // boolean smooth,
		corr_offset, // int corr_offset,
		niter, // int dbg_iter_index,
		debugLevel); // int debugLevel)
		niter - niter0, // int dbg_iter_index,
		-1); // debugLevel); // int debugLevel)
		}
		double [][][] extended_scan = extendMotionScan(
		targets_nonoverlap, // final double [][][] motion_scan,
		@@ -8420,7 +8466,7 @@ public class CuasMotion {


		if (intermed_low) { // targets_good now has
		ImagePlus imp_good = showTargetSequence(
		ImagePlus imp_good = showTargetSequence(// tried 8064243815 slices
		target_sequence_multi, // double [][][] vector_fields_sequence,
		slice_titles, // String [] titles, // all slices*frames titles or just slice titles or null
		model_prefix+"-ROUND_TWO",// String title,

src/main/java/com/elphel/imagej/cuas/CuasRanging.java

+6 −1

Original line number	Diff line number	Diff line
		@@ -255,7 +255,12 @@ public class CuasRanging {
		cuasMotion.getTilesY(), // int height,
		center_CLT.getImageName()+"-NOISE-MAP"); //String [] titles)
		center_CLT.saveImagePlusInModelDirectory(imp_noise_map); // ImagePlus imp)

		ImagePlus imp_noise_map8 = ShowDoubleFloatArrays.makeArrays(
		cuasMotion.getNoiseMap8(), // float[][] pixels,
		cuasMotion.getTilesX(), // int width,
		cuasMotion.getTilesY(), // int height,
		center_CLT.getImageName()+"-NOISE-MAP8"); //String [] titles)
		center_CLT.saveImagePlusInModelDirectory(imp_noise_map8); // ImagePlus imp)
		}

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

+28 −5

Original line number	Diff line number	Diff line
		@@ -872,8 +872,12 @@ min_str_neib_fpn 0.35
		// CUAS Motion LMA filter parameters
		public double cuas_lma_rms = 1.5; // 1.5; // Maximal RMS (should always match, regardless if A)
		public double cuas_lma_arms = 0.37; // 0.06; // Maximal absolute RMS (should match one of cuas_lma_arms OR cuas_lma_rrms (0.484)
		public double cuas_lma_rrms = 0.28; // 0.15; // Maximal relative to A rms. OK is when (RMS < cuas_lma_arms) \|\| (RMS < cuas_lma_rrms * A)
		public double cuas_lma_mina = 0.4; // 1.0; // Minimal A (amplitude) = 1.0 (< 2.0)
		public double cuas_lma_rrms = 0.5; // 0.35; // 0.28; // 0.15; // Maximal relative to A rms. OK is when (RMS < cuas_lma_arms) \|\| (RMS < cuas_lma_rrms * A)
		public double cuas_lma_rrms2 = 0.35; // 0.28; // 0.15; // Maximal relative to A rms. OK is when (RMS < cuas_lma_arms) \|\| (RMS < cuas_lma_rrms * A)
		public double cuas_lma_mina = 0.25; // 0.4; // 1.0; // Minimal A (amplitude) = 1.0 (< 2.0)
		public double cuas_lma_mina2 = 0.4; // 1.0; // Minimal A (amplitude) = 1.0 (< 2.0)


		public double cuas_lma_pre_mina = 0.5; // scale cuas_lma_mina to filter initial candidates (if there are > one of them)
		public int cuas_min_keep = 2; // keep at least this number of candidates before using cuas_lma_pre_mina filter

		@@ -913,6 +917,7 @@ min_str_neib_fpn 0.35
		public double cuas_offcenter = 0.6; // maximal off-center relative to the tile size (0.5 - how it was, +/-4 pix)
		public double cuas_scale_wnd = 2.0; // When building noise map, scale search window range from original -8..+7 (2.0 -> -16..+15).
		public double cuas_noisemax = 10.0; // when (max-min) of a 16-pixel tile exceeds this, do not fail on far offcenter
		public double cuas_noisemax8 = 50.0; // when (max-min) of a 8-pixel tile exceeds this, do not consider it

		public boolean cuas_fail_mismatch = false; // fail high mismatch early
		public boolean cuas_ignore_mismatch = false; // calculate mismatch but do not remove
		@@ -2847,9 +2852,13 @@ min_str_neib_fpn 0.35
		"Maximal RMS for target that should match always, regardless of the amplitude.");
		gd.addNumericField("Maximal sufficient RMS", this.cuas_lma_arms, 5,8,"",
		"Maximal sufficient RMS for target. Satisfying any of the sufficient or relative is enough");
		gd.addNumericField("Maximal relative RMS", this.cuas_lma_rrms, 5,8,"",
		gd.addNumericField("Maximal relative RMS, first pass", this.cuas_lma_rrms, 5,8,"",
		"Maximal relative (to amplitude) RMS for target. Satisfying any of the absolute and relative is sufficient");
		gd.addNumericField("Minimal target amplitude", this.cuas_lma_mina, 5,8,"",
		gd.addNumericField("Maximal relative RMS, centered", this.cuas_lma_rrms2, 5,8,"",
		"Maximal relative (to amplitude) RMS for target. Satisfying any of the absolute and relative is sufficient");
		gd.addNumericField("Minimal target amplitude, first pass", this.cuas_lma_mina, 5,8,"",
		"Filter out weak targets.");
		gd.addNumericField("Minimal target amplitude, centered", this.cuas_lma_mina2, 5,8,"",
		"Filter out weak targets.");
		gd.addNumericField("Scale minimal amplitude", this.cuas_lma_pre_mina, 5,8,"",
		"Scale cuas_lma_mina to filter initial candidates (if there are > one of them).");
		@@ -2918,8 +2927,10 @@ min_str_neib_fpn 0.35
		"Maximal relative offset of the maximum as a fraction of ther tile size (0.5 -> +/-4 pix).");
		gd.addNumericField("Scale min/max search window", this.cuas_scale_wnd, 5,8,"",
		"When building noise map, scale search window range from original -8..+7 (2.0 -> -16..+15).");
		gd.addNumericField("\"Maximal variations for \"far\" failures.", this.cuas_noisemax, 5,8,"",
		gd.addNumericField("Maximal variations for \"far\" failures.", this.cuas_noisemax, 5,8,"",
		"When (max-min) of a 16-pixel tile exceeds this, do not fail on far offcenter.");
		gd.addNumericField("Maximal pixel variation in a sky tile", this.cuas_noisemax8, 5,8,"",
		"When (max-min) of a 8-pixel tile exceeds this, do not use it (terrain background).");

		gd.addCheckbox ("Fail mismatch early", this.cuas_fail_mismatch,
		"Fail after score calculation if there is not match both before and after.");
		@@ -4450,7 +4461,9 @@ min_str_neib_fpn 0.35
		this.cuas_lma_rms = gd.getNextNumber();
		this.cuas_lma_arms = gd.getNextNumber();
		this.cuas_lma_rrms = gd.getNextNumber();
		this.cuas_lma_rrms2 = gd.getNextNumber();
		this.cuas_lma_mina = gd.getNextNumber();
		this.cuas_lma_mina2 = gd.getNextNumber();
		this.cuas_lma_pre_mina = gd.getNextNumber();
		this.cuas_min_keep = (int) gd.getNextNumber();

		@@ -4488,6 +4501,7 @@ min_str_neib_fpn 0.35
		this.cuas_offcenter = gd.getNextNumber();
		this.cuas_scale_wnd = gd.getNextNumber();
		this.cuas_noisemax = gd.getNextNumber();
		this.cuas_noisemax8 = gd.getNextNumber();

		this.cuas_fail_mismatch = gd.getNextBoolean();
		this.cuas_ignore_mismatch = gd.getNextBoolean();
		@@ -5756,7 +5770,9 @@ min_str_neib_fpn 0.35
		properties.setProperty(prefix+"cuas_lma_rms", this.cuas_lma_rms+""); // double
		properties.setProperty(prefix+"cuas_lma_arms", this.cuas_lma_arms+""); // double
		properties.setProperty(prefix+"cuas_lma_rrms", this.cuas_lma_rrms+""); // double
		properties.setProperty(prefix+"cuas_lma_rrms2", this.cuas_lma_rrms2+""); // double
		properties.setProperty(prefix+"cuas_lma_mina", this.cuas_lma_mina+""); // double
		properties.setProperty(prefix+"cuas_lma_mina2", this.cuas_lma_mina2+""); // double
		properties.setProperty(prefix+"cuas_lma_pre_mina", this.cuas_lma_pre_mina+""); // double
		properties.setProperty(prefix+"cuas_min_keep", this.cuas_min_keep+""); // int

		@@ -5794,6 +5810,7 @@ min_str_neib_fpn 0.35
		properties.setProperty(prefix+"cuas_offcenter", this.cuas_offcenter+""); // double
		properties.setProperty(prefix+"cuas_scale_wnd", this.cuas_scale_wnd+""); // double
		properties.setProperty(prefix+"cuas_noisemax", this.cuas_noisemax+""); // double
		properties.setProperty(prefix+"cuas_noisemax8", this.cuas_noisemax8+""); // double

		properties.setProperty(prefix+"cuas_fail_mismatch", this.cuas_fail_mismatch+""); // boolean
		properties.setProperty(prefix+"cuas_ignore_mismatch", this.cuas_ignore_mismatch+"");// boolean
		@@ -7004,7 +7021,9 @@ min_str_neib_fpn 0.35
		if (properties.getProperty(prefix+"cuas_lma_rms")!=null) this.cuas_lma_rms=Double.parseDouble(properties.getProperty(prefix+"cuas_lma_rms"));
		if (properties.getProperty(prefix+"cuas_lma_arms")!=null) this.cuas_lma_arms=Double.parseDouble(properties.getProperty(prefix+"cuas_lma_arms"));
		if (properties.getProperty(prefix+"cuas_lma_rrms")!=null) this.cuas_lma_rrms=Double.parseDouble(properties.getProperty(prefix+"cuas_lma_rrms"));
		if (properties.getProperty(prefix+"cuas_lma_rrms2")!=null) this.cuas_lma_rrms2=Double.parseDouble(properties.getProperty(prefix+"cuas_lma_rrms2"));
		if (properties.getProperty(prefix+"cuas_lma_mina")!=null) this.cuas_lma_mina=Double.parseDouble(properties.getProperty(prefix+"cuas_lma_mina"));
		if (properties.getProperty(prefix+"cuas_lma_mina2")!=null) this.cuas_lma_mina2=Double.parseDouble(properties.getProperty(prefix+"cuas_lma_mina2"));
		if (properties.getProperty(prefix+"cuas_lma_pre_mina")!=null) this.cuas_lma_pre_mina=Double.parseDouble(properties.getProperty(prefix+"cuas_lma_pre_mina"));
		if (properties.getProperty(prefix+"cuas_min_keep")!=null) this.cuas_min_keep=Integer.parseInt(properties.getProperty(prefix+ "cuas_min_keep"));

		@@ -7039,6 +7058,7 @@ min_str_neib_fpn 0.35
		if (properties.getProperty(prefix+"cuas_offcenter")!=null) this.cuas_offcenter=Double.parseDouble(properties.getProperty(prefix+"cuas_offcenter"));
		if (properties.getProperty(prefix+"cuas_scale_wnd")!=null) this.cuas_scale_wnd=Double.parseDouble(properties.getProperty(prefix+"cuas_scale_wnd"));
		if (properties.getProperty(prefix+"cuas_noisemax")!=null) this.cuas_noisemax=Double.parseDouble(properties.getProperty(prefix+"cuas_noisemax"));
		if (properties.getProperty(prefix+"cuas_noisemax8")!=null) this.cuas_noisemax8=Double.parseDouble(properties.getProperty(prefix+"cuas_noisemax8"));

		if (properties.getProperty(prefix+"cuas_fail_mismatch")!=null) this.cuas_fail_mismatch=Boolean.parseBoolean(properties.getProperty(prefix+"cuas_fail_mismatch"));
		if (properties.getProperty(prefix+"cuas_ignore_mismatch")!=null) this.cuas_ignore_mismatch=Boolean.parseBoolean(properties.getProperty(prefix+"cuas_ignore_mismatch"));
		@@ -8265,7 +8285,9 @@ min_str_neib_fpn 0.35
		imp.cuas_lma_rms = this.cuas_lma_rms;
		imp.cuas_lma_arms = this.cuas_lma_arms;
		imp.cuas_lma_rrms = this.cuas_lma_rrms;
		imp.cuas_lma_rrms2 = this.cuas_lma_rrms2;
		imp.cuas_lma_mina = this.cuas_lma_mina;
		imp.cuas_lma_mina2 = this.cuas_lma_mina2;
		imp.cuas_lma_pre_mina = this.cuas_lma_pre_mina;
		imp.cuas_min_keep = this.cuas_min_keep;

		@@ -8300,6 +8322,7 @@ min_str_neib_fpn 0.35
		imp.cuas_offcenter = this.cuas_offcenter;
		imp.cuas_scale_wnd = this.cuas_scale_wnd;
		imp.cuas_noisemax = this.cuas_noisemax;
		imp.cuas_noisemax8 = this.cuas_noisemax8;

		imp.cuas_fail_mismatch = this.cuas_fail_mismatch;
		imp.cuas_ignore_mismatch = this.cuas_ignore_mismatch;

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