Skip to content

I
imagej-elphel
Commit b3e9f364 authored by Andrey Filippov's avatar Andrey Filippov
Browse files
Options

tested LMA converging

parent c3fb4172
Hide whitespace changes
Inline Side-by-side
Showing with 139 additions and 69 deletions
src/main/java/com/elphel/imagej/orthomosaic/OrthoMap.java
View file @ b3e9f364
...@@ -861,4 +861,21 @@ public class OrthoMap implements Comparable <OrthoMap>, Serializable{ ...@@ -861,4 +861,21 @@ public class OrthoMap implements Comparable <OrthoMap>, Serializable{
} }
return true; return true;
} }
public static double [][] combineAffine(
double [][] ref_affine,
double [][] other_affine){
Matrix m_ref = new Matrix(ref_affine);
Matrix m_other = new Matrix(other_affine);
Matrix A1 = m_ref.getMatrix(0,1,0,1);
Matrix A2 =m_other.getMatrix(0,1,0,1);
Matrix B1 = m_ref.getMatrix(0,1,2,2);
Matrix B2 =m_other.getMatrix(0,1,2,2);
Matrix A = A2.times(A1);
Matrix B = A2.times(B1).plus(B2);
double [][] affine = {
{A.get(0,0),A.get(0,1),B.get(0,0)},
{A.get(1,0),A.get(1,1),B.get(1,0)}};
return affine;
}
} }
src/main/java/com/elphel/imagej/orthomosaic/OrthoMapsCollection.java
View file @ b3e9f364
...@@ -533,75 +533,104 @@ public class OrthoMapsCollection implements Serializable{ ...@@ -533,75 +533,104 @@ public class OrthoMapsCollection implements Serializable{
// uses fixed_size gpu image size // uses fixed_size gpu image size
// TDCorrTile [] td_corr_tiles = // TDCorrTile [] td_corr_tiles =
TpTask [][] tp_tasks = new TpTask [2][]; TpTask [][] tp_tasks = new TpTask [2][];
double [][][] vector_field = int num_tries = 5;
ComboMatch.rectilinearVectorField(//rectilinearCorrelate_TD( // scene0/scene1 double prev_rms = Double.NaN;
clt_parameters, // final CLTParameters clt_parameters, double rel_improve = 1E-3;
gpu_pair_img, // final float [][] fpixels, // to check for empty for (int ntry = 0; ntry < num_tries; ntry++) {
gpu_width, // final int img_width, double [][][] vector_field =
woi, // Rectangle woi, // if null, use full GPU window ComboMatch.rectilinearVectorField(//rectilinearCorrelate_TD( // scene0/scene1
affines_gpu, // final double [][][] affine, // [2][2][3] affine coefficients to translate common to 2 images clt_parameters, // final CLTParameters clt_parameters,
tp_tasks, // TpTask [][] tp_tasks_o, gpu_pair_img, // final float [][] fpixels, // to check for empty
false, // final boolean batch_mode, gpu_width, // final int img_width,
debugLevel); // final int debugLevel); woi, // Rectangle woi, // if null, use full GPU window
// may use tl_rect_metric to remap to the original image affines_gpu, // final double [][][] affine, // [2][2][3] affine coefficients to translate common to 2 images
double [][] tile_centers = new double [vector_field[0].length][]; tp_tasks, // TpTask [][] tp_tasks_o,
int tilesX = gpu_width/GPUTileProcessor.DTT_SIZE; false, // final boolean batch_mode,
for (TpTask task: tp_tasks[1]) { debugLevel); // final int debugLevel);
int ti = task.getTileY() * tilesX + task.getTileX(); // may use tl_rect_metric to remap to the original image
tile_centers[ti] = task.getDoubleCenterXY(); double [][] tile_centers = new double [vector_field[0].length][];
} int tilesX = gpu_width/GPUTileProcessor.DTT_SIZE;
if (show_tile_centers){ for (TpTask task: tp_tasks[1]) {
double [][] dbg_img = new double [6][tile_centers.length]; int ti = task.getTileY() * tilesX + task.getTileX();
String [] dbg_titles = {"cX","cY","px0","py0", "px1","py1"}; tile_centers[ti] = task.getDoubleCenterXY();
for (int i = 0; i< dbg_img.length;i++) Arrays.fill(dbg_img[i], Double.NaN); }
for (int t = 0; t < tp_tasks[0].length; t++) { if (show_tile_centers){
TpTask task0 = tp_tasks[0][t]; double [][] dbg_img = new double [6][tile_centers.length];
TpTask task1 = tp_tasks[1][t]; String [] dbg_titles = {"cX","cY","px0","py0", "px1","py1"};
int ti = task0.getTileY() * tilesX + task0.getTileX(); for (int i = 0; i< dbg_img.length;i++) Arrays.fill(dbg_img[i], Double.NaN);
dbg_img[0][ti] = task0.getDoubleCenterXY()[0]; // same for task0, task1 for (int t = 0; t < tp_tasks[0].length; t++) {
dbg_img[1][ti] = task1.getDoubleCenterXY()[1]; TpTask task0 = tp_tasks[0][t];
dbg_img[2][ti] = task0.getXY()[0][0]; TpTask task1 = tp_tasks[1][t];
dbg_img[3][ti] = task0.getXY()[0][1]; int ti = task0.getTileY() * tilesX + task0.getTileX();
dbg_img[4][ti] = task1.getXY()[0][0]; dbg_img[0][ti] = task0.getDoubleCenterXY()[0]; // same for task0, task1
dbg_img[5][ti] = task1.getXY()[0][1]; dbg_img[1][ti] = task1.getDoubleCenterXY()[1];
} // getXY() dbg_img[2][ti] = task0.getXY()[0][0];
ShowDoubleFloatArrays.showArrays( dbg_img[3][ti] = task0.getXY()[0][1];
dbg_img, dbg_img[4][ti] = task1.getXY()[0][0];
tilesX, dbg_img[5][ti] = task1.getXY()[0][1];
tile_centers.length/tilesX, } // getXY()
true, ShowDoubleFloatArrays.showArrays(
"tile_centers", dbg_img,
dbg_titles); tilesX,
} tile_centers.length/tilesX,
true,
"tile_centers",
dbg_titles);
}
OrthoPairLMA orthoPairLMA = new OrthoPairLMA();
// vector_field[1] - neighbors
double lambda = 0.1;
double lambda_scale_good = 0.5;
double lambda_scale_bad = 8.0;
double lambda_max = 100;
double rms_diff = 0.001;
int num_iter = 20;
boolean last_run = false;
orthoPairLMA.prepareLMA(
// will always calculate relative affine, starting with unity
tilesX, // int width,
vector_field[1], // double [][] vector_XYS, // optical flow X,Y, confidence obtained from the correlate2DIterate()
tile_centers, // double [][] centers, // tile centers (in pixels)
null, // double [] weights_extra, // optional, may be null
true, // boolean first_run,
debugLevel); // final int debug_level)
int lma_rslt = orthoPairLMA.runLma( // <0 - failed, >=0 iteration number (1 - immediately)
lambda, // double lambda, // 0.1
lambda_scale_good, // double lambda_scale_good,// 0.5
lambda_scale_bad, // double lambda_scale_bad, // 8.0
lambda_max, // double lambda_max, // 100
rms_diff, // double rms_diff, // 0.001
num_iter, // int num_iter, // 20
last_run, // boolean last_run,
debugLevel); // int debug_level)
if (debugLevel > -1) {
System.out.println("LMA result = "+lma_rslt);
}
if (lma_rslt < 0) {
System.out.println("LMA failed, result="+lma_rslt);
return null;
}
double rms = orthoPairLMA.getRms();
if (rms > prev_rms) {
if (debugLevel > -3) {
System.out.println("LMA RMSE worsened: new"+rms+" ("+ orthoPairLMA.getInitialRms()+"), prev="+prev_rms);
}
break;
}
affines_gpu[1]=OrthoMap.combineAffine(affines_gpu[1], orthoPairLMA.getAffine());
double [][] jtj = orthoPairLMA.getLastJtJ();
if ((prev_rms - rms)/prev_rms < rel_improve) {
if (debugLevel > -2) {
System.out.println("LMA relative RMSE improvement = "+((prev_rms - rms)/prev_rms)+" < "+rel_improve+", exiting.");
}
break;
}
prev_rms=rms;
} // for (int ntry = 0; ntry < num_tries; ntry++) {
OrthoPairLMA orthoPairLMA = new OrthoPairLMA();
// vector_field[1] - neighbors
double lambda = 0.1;
double lambda_scale_good = 0.5;
double lambda_scale_bad = 8.0;
double lambda_max = 100;
double rms_diff = 0.001;
int num_iter = 20;
boolean last_run = false;
orthoPairLMA.prepareLMA(
// will always calculate relative affine, starting with unity
tilesX, // int width,
vector_field[1], // double [][] vector_XYS, // optical flow X,Y, confidence obtained from the correlate2DIterate()
tile_centers, // double [][] centers, // tile centers (in pixels)
null, // double [] weights_extra, // optional, may be null
true, // boolean first_run,
debugLevel); // final int debug_level)
int lma_rslt = orthoPairLMA.runLma( // <0 - failed, >=0 iteration number (1 - immediately)
lambda, // double lambda, // 0.1
lambda_scale_good, // double lambda_scale_good,// 0.5
lambda_scale_bad, // double lambda_scale_bad, // 8.0
lambda_max, // double lambda_max, // 100
rms_diff, // double rms_diff, // 0.001
num_iter, // int num_iter, // 20
last_run, // boolean last_run,
debugLevel); // int debug_level)
System.out.println("LMA result = "+lma_rslt);
// analyze result, re-run correlation // analyze result, re-run correlation
/* /*
...@@ -637,7 +666,7 @@ public class OrthoMapsCollection implements Serializable{ ...@@ -637,7 +666,7 @@ public class OrthoMapsCollection implements Serializable{
} }
*/ */
if (debugLevel > 1) { if (debugLevel > 1) {// show result here
String [] map_names = {ortho_maps[gpu_pair[0]].getName(),ortho_maps[gpu_pair[1]].getName()}; String [] map_names = {ortho_maps[gpu_pair[0]].getName(),ortho_maps[gpu_pair[1]].getName()};
ShowDoubleFloatArrays.showArrays( ShowDoubleFloatArrays.showArrays(
gpu_pair_img, gpu_pair_img,
......
src/main/java/com/elphel/imagej/orthomosaic/OrthoPairLMA.java
View file @ b3e9f364
...@@ -99,6 +99,30 @@ public class OrthoPairLMA { ...@@ -99,6 +99,30 @@ public class OrthoPairLMA {
} }
public double [][] getAffine(){
return new double [][] {
{parameters_vector[0],parameters_vector[1],parameters_vector[4]},
{parameters_vector[2],parameters_vector[3],parameters_vector[5]}};
}
public double getRms() {
return last_rms[0];
}
public double getInitialRms() {
return initial_rms[0];
}
public double getWeight() {
return weight;
}
public double [][] getLastJtJ(){
return getWJtJlambda(
0.0, // lambda, // *10, // temporary
this.last_jt);
}
//getWJtJlambda(
// lambda, // *10, // temporary
// this.last_jt)
private void setSamplesWeightsYCenters( private void setSamplesWeightsYCenters(
final double [][] vector_XYS, final double [][] vector_XYS,
final double [] weights_extra, // null or additional weights (such as elevation-based) final double [] weights_extra, // null or additional weights (such as elevation-based)
......
Markdown is supported
0% or
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment