Added neibs_nofpn_init - separate averaging control for initial pose (aec8ae98) · Commits · Elphel / imagej-elphel

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

+19 −3

Original line number	Diff line number	Diff line
		@@ -228,7 +228,8 @@ public class IntersceneMatchParameters {

		// averaging with neighbors for interscene matching
		public boolean use_neibs = true; // false; // true;
		public boolean neibs_nofpn_only = false; // consolidate neighbors fot non-fpn tiles only!
		public boolean neibs_nofpn_only = false; // consolidate neighbors for non-fpn tiles only!
		public boolean neibs_nofpn_init = true; // Non-fpn only for initial adjustment
		public boolean redo_both = true; // use average of neighbors for both pd,td if any of the center tile tests (td, pd) fails
		public int min_num_neibs = 4; // plus center, total number >= (min_num_neibs+1)
		public double scale_neibs_pd = 0.5; // scale threshold for the pixel-domain average maximums
		@@ -247,6 +248,7 @@ public class IntersceneMatchParameters {
		public double half_avg_diff = 0.2; // when L2 of x,y difference from average of neibs - reduce twice

		// Detect initial match
		public boolean use_combo_relaible = true; // use combo dsi if available for relaib;le tiles
		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 int pix_step = 4; // Azimuth/tilt search step in pixels
		@@ -753,8 +755,10 @@ public class IntersceneMatchParameters {
		gd.addCheckbox ("Use averaging neighbors", this.use_neibs,
		"Average tile 2D correlation with 8 immediate neighbors if single-tile correlation is not strong enough.");
		// TODO: Consider/Implement pure TD averaging
		gd.addCheckbox ("No-FPN averaging only", this.neibs_nofpn_only,
		"Use averaging with neighbors only if tile offset is large enough not to have FPN interference.");
		gd.addCheckbox ("No-FPN averaging only (all passes)", this.neibs_nofpn_only,
		"Use averaging with neighbors only if tile offset is large enough not to have FPN interference (for all passes).");
		gd.addCheckbox ("No-FPN averaging only during init", this.neibs_nofpn_init,
		"Additionally disable FPN-prone tiles during initial scene pose adjustment.");
		gd.addCheckbox ("Use averaging for both PD and TD", this.redo_both,
		"Recalculate tile average for both TD and PD if at least one of them is not strong enough.");
		gd.addNumericField("Minimal neighbors to average", this.min_num_neibs, 0,3,"",
		@@ -786,6 +790,10 @@ public class IntersceneMatchParameters {
		"Reduce twice for high difference from neighbors average.");

		gd.addMessage ("Initial search for the inter-scene match");

		gd.addCheckbox ("Use combo DSI (if available) for reliable", this.use_combo_relaible,
		"Use interscene DSI if available (instead of the single-scene) for selecting reliable tiles");

		gd.addNumericField("DSI_MAIN minimal strength", this.min_ref_str, 5,7,"",
		"Match only tiles where DSI_MAIN is stronger than that (and has LMA).");
		gd.addNumericField("DSI_MAIN minimal fraction", this.min_ref_frac, 5,7,"",
		@@ -1196,6 +1204,7 @@ public class IntersceneMatchParameters {

		this.use_neibs = gd.getNextBoolean();
		this.neibs_nofpn_only = gd.getNextBoolean();
		this.neibs_nofpn_init = gd.getNextBoolean();
		this.redo_both = gd.getNextBoolean();
		this.min_num_neibs = (int) gd.getNextNumber();
		this.scale_neibs_pd = gd.getNextNumber();
		@@ -1210,6 +1219,7 @@ public class IntersceneMatchParameters {
		this.weight_zero_neibs = gd.getNextNumber();
		this.half_disparity = gd.getNextNumber();
		this.half_avg_diff = gd.getNextNumber();
		this.use_combo_relaible = gd.getNextBoolean();
		this.min_ref_str = gd.getNextNumber();
		this.min_ref_frac = gd.getNextNumber();
		this.pix_step = (int) gd.getNextNumber();
		@@ -1544,6 +1554,7 @@ public class IntersceneMatchParameters {

		properties.setProperty(prefix+"use_neibs", this.use_neibs+""); // boolean
		properties.setProperty(prefix+"neibs_nofpn_only", this.neibs_nofpn_only+""); // boolean
		properties.setProperty(prefix+"neibs_nofpn_init", this.neibs_nofpn_init+""); // boolean
		properties.setProperty(prefix+"redo_both", this.redo_both+""); // boolean
		properties.setProperty(prefix+"min_num_neibs", this.min_num_neibs+""); // int
		properties.setProperty(prefix+"scale_neibs_pd", this.scale_neibs_pd+""); // double
		@@ -1558,6 +1569,7 @@ public class IntersceneMatchParameters {
		properties.setProperty(prefix+"weight_zero_neibs", this.weight_zero_neibs+""); // double
		properties.setProperty(prefix+"half_disparity", this.half_disparity+""); // 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+"pix_step", this.pix_step+""); // int
		properties.setProperty(prefix+"search_rad", this.search_rad+""); // int
		properties.setProperty(prefix+"maybe_sum", this.maybe_sum+""); // double
		@@ -1847,6 +1859,7 @@ public class IntersceneMatchParameters {

		if (properties.getProperty(prefix+"use_neibs")!=null) this.use_neibs=Boolean.parseBoolean(properties.getProperty(prefix+ "use_neibs"));
		if (properties.getProperty(prefix+"neibs_nofpn_only")!=null) this.neibs_nofpn_only=Boolean.parseBoolean(properties.getProperty(prefix+"neibs_nofpn_only"));
		if (properties.getProperty(prefix+"neibs_nofpn_init")!=null) this.neibs_nofpn_init=Boolean.parseBoolean(properties.getProperty(prefix+"neibs_nofpn_init"));
		if (properties.getProperty(prefix+"redo_both")!=null) this.redo_both=Boolean.parseBoolean(properties.getProperty(prefix+ "redo_both"));
		if (properties.getProperty(prefix+"min_num_neibs")!=null) this.min_num_neibs=Integer.parseInt(properties.getProperty(prefix+ "min_num_neibs"));
		if (properties.getProperty(prefix+"scale_neibs_pd")!=null) this.scale_neibs_pd=Double.parseDouble(properties.getProperty(prefix+ "scale_neibs_pd"));
		@@ -1861,6 +1874,7 @@ 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+"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+"use_combo_relaible")!=null) this.use_combo_relaible=Boolean.parseBoolean(properties.getProperty(prefix+"use_combo_relaible"));
		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+"maybe_sum")!=null) this.maybe_sum=Double.parseDouble(properties.getProperty(prefix+"maybe_sum"));
		@@ -2161,6 +2175,7 @@ public class IntersceneMatchParameters {

		imp.use_neibs = this.use_neibs;
		imp.neibs_nofpn_only = this.neibs_nofpn_only;
		imp.neibs_nofpn_init = this.neibs_nofpn_init;
		imp.redo_both = this.redo_both;
		imp.min_num_neibs = this.min_num_neibs;
		imp.scale_neibs_pd = this.scale_neibs_pd;
		@@ -2175,6 +2190,7 @@ public class IntersceneMatchParameters {
		imp.weight_zero_neibs = this.weight_zero_neibs;
		imp.half_disparity = this.half_disparity;
		imp.half_avg_diff = this.half_avg_diff;
		imp.use_combo_relaible = this.use_combo_relaible;
		imp.pix_step = this.pix_step;
		imp.search_rad = this.search_rad;
		imp.maybe_sum = this.maybe_sum;

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

+20 −7

Original line number	Diff line number	Diff line
		@@ -4574,6 +4574,7 @@ public class OpticalFlow {
		double [] reduced_strength = new double[1];
		if (min_ref_str > 0.0) {
		reliable_ref = quadCLTs[ref_index].getReliableTiles( // will be null if does not exist.
		false, // boolean use_combo,
		min_ref_str, // double min_strength,
		min_ref_frac, // double min_ref_frac,
		true, // boolean needs_lma);
		@@ -4996,6 +4997,7 @@ public class OpticalFlow {
		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
		test_ers &= (test_ers0 >= 0) && (test_ers1 >= 0);
		boolean use_combo_relaible = clt_parameters.imp.use_combo_relaible;
		double min_ref_str = clt_parameters.imp.min_ref_str;
		double min_ref_frac= clt_parameters.imp.min_ref_frac;
		double [] ref_blue_sky = null; // turn off "lma" in the ML output
		@@ -5235,6 +5237,7 @@ public class OpticalFlow {
		boolean [] reliable_ref = null;
		if (min_ref_str > 0.0) {
		reliable_ref = quadCLTs[ref_index].getReliableTiles( // will be null if does not exist.
		use_combo_relaible, // boolean use_combo,
		min_ref_str, // double min_strength,
		min_ref_frac, // double min_ref_frac,
		true, // boolean needs_lma);
		@@ -7244,6 +7247,7 @@ public class OpticalFlow {
		null, // final float [][][] dbg_corr_fpn,
		false, // boolean near_important, // do not reduce weight of the near tiles
		treat_serch_fpn, // true, // boolean all_fpn, // do not lower thresholds for non-fpn (used during search)
		true, // boolean initial_adjust,
		null, // double [][] mb_vectors, // now [2][ntiles];
		clt_parameters.imp.debug_level, // int imp_debug_level,
		clt_parameters.imp.debug_level); // 1); // -1); // int debug_level);
		@@ -12714,6 +12718,7 @@ public class OpticalFlow {
		final float [][] dbg_corr_fpn,
		boolean near_important, // do not reduce weight of the near tiles
		boolean all_fpn, // do not lower thresholds for non-fpn (used during search)
		boolean initial_adjust,
		// motion blur compensation
		double [][] mb_vectors, // now [2][ntiles];
		int imp_debug_level, // MANUALLY change to 2 for debug!
		@@ -13144,7 +13149,9 @@ public class OpticalFlow {
		}

		boolean use_neibs = clt_parameters.imp.use_neibs; // false; // true;
		boolean neibs_nofpn_only = clt_parameters.imp.neibs_nofpn_only; // consolidate neighbors fot non-fpn tiles only!

		boolean neibs_nofpn_only = clt_parameters.imp.neibs_nofpn_only \|
		(initial_adjust && clt_parameters.imp.neibs_nofpn_init); // consolidate neighbors fot non-fpn tiles only!
		boolean redo_both = clt_parameters.imp.redo_both; // use average of neighbors for both pd,td if any of the center tile tests (td, pd) fails
		int min_num_neibs = clt_parameters.imp.min_num_neibs; // plus center, total number >= (min_num_neibs+1)
		double scale_neibs_pd = use_neibs? clt_parameters.imp.scale_neibs_pd : 0; // scale threshold for the pixel-domain average maximums
		@@ -14656,6 +14663,7 @@ public class OpticalFlow {
		double [] lma_rms = new double[2];
		scenes_xyzatr[nscene] = adjustPairsLMAInterscene(
		clt_parameters, // CLTParameters clt_parameters,
		false, // boolean initial_adjust,
		fpn_disable, // boolean fpn_disable, // disable fpn filter if images are known to be too close
		min_max, // double [] min_max, // null or pair of minimal and maximal offsets
		fail_reason, // int [] fail_reason, // null or int[1]: 0 - OK, 1 - LMA, 2 - min, 3 - max
		@@ -15053,6 +15061,7 @@ public class OpticalFlow {
		debug_level); // int debug_level)
		return adjustPairsLMAInterscene( // assumes reference GPU data is already set - once for multiple scenes
		clt_parameters, // CLTParameters clt_parameters,
		true, // boolean initial_adjust,
		false, // boolean fpn_disable, // disable fpn filter if images are known to be too close
		min_max, // double [] min_max, // null or pair of minimal and maximal offsets
		fail_reason, // int [] fail_reason, // null or int[1]: 0 - OK, 1 - LMA, 2 - min, 3 - max
		@@ -15080,6 +15089,7 @@ public class OpticalFlow {

		public static double[][] adjustPairsLMAInterscene( // assumes reference scene already set in GPU.
		CLTParameters clt_parameters,
		boolean initial_adjust,
		boolean fpn_disable, // disable fpn filter if images are known to be too close
		double [] min_max, // null or pair of minimal and maximal offsets
		int [] fail_reason, // null or int[1]: 0 - OK, 1 - LMA, 2 - min, 3 - max
		@@ -15150,6 +15160,7 @@ public class OpticalFlow {
		null, // final float [][] dbg_corr_fpn,
		near_important, // boolean near_important, // do not reduce weight of the near tiles
		false, // boolean all_fpn, // do not lower thresholds for non-fpn (used during search)
		initial_adjust, // boolean initial_adjust,
		mb_vectors, // double [][] mb_vectors, // now [2][ntiles];
		clt_parameters.imp.debug_level, // int imp_debug_level,
		debug_level); // 1); // -1); // int debug_level);
		@@ -15270,6 +15281,7 @@ public class OpticalFlow {
		dbg_corr_fpn, // final float [][] dbg_corr_fpn,
		true, // boolean near_important, // do not reduce weight of the near tiles
		false, // boolean all_fpn, // do not lower thresholds for non-fpn (used during search)
		initial_adjust, // boolean initial_adjust,
		mb_vectors, // double [][] mb_vectors, // now [2][ntiles];
		2, // int imp_debug_level,
		debug_level); // 1); // -1); // int debug_level);
		@@ -15320,6 +15332,7 @@ public class OpticalFlow {
		dbg_corr_fpn, // final float [][] dbg_corr_fpn,
		true, // boolean near_important, // do not reduce weight of the near tiles
		false, // boolean all_fpn, // do not lower thresholds for non-fpn (used during search)
		initial_adjust, // boolean initial_adjust,
		mb_vectors, // double [][] mb_vectors, // now [2][ntiles];
		2, // int imp_debug_level,
		debug_level); // 1); // -1); // int debug_level);

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

+3 −1

Original line number	Diff line number	Diff line
		@@ -1594,13 +1594,15 @@ public class QuadCLTCPU {
		}
		//min_ref_frac
		public boolean [] getReliableTiles(
		boolean use_combo,
		double min_strength,
		double min_ref_frac,
		boolean needs_lma,
		double [] reduced_strength // if not null will return >0 if had to reduce strength (no change if did not reduce)
		) {
		int NUM_BINS = 1024;
		double [][] main_dsi = readDsiMain();
		boolean silent = false;
		double [][] main_dsi = use_combo? readComboDSI (silent): readDsiMain();
		if (main_dsi == null) {
		return null;
		}

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