Commit b3e9f364 authored by Andrey Filippov's avatar Andrey Filippov
Browse files

tested LMA converging

parent c3fb4172

src/main/java/com/elphel/imagej/orthomosaic/OrthoMap.java

+17 −0
Original line number Diff line number Diff line
@@ -861,4 +861,21 @@ public class OrthoMap implements Comparable <OrthoMap>, Serializable{ 
		}

		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

+98 −69
Original line number Diff line number Diff line
@@ -533,6 +533,10 @@ public class OrthoMapsCollection implements Serializable{ 
		// uses fixed_size gpu image size

//		TDCorrTile [] td_corr_tiles =

		TpTask [][] tp_tasks = new TpTask [2][];

		int num_tries = 5;

		double prev_rms = Double.NaN;

		double rel_improve = 1E-3;

		for (int ntry = 0; ntry < num_tries; ntry++) {

			double [][][] vector_field = 

					ComboMatch.rectilinearVectorField(//rectilinearCorrelate_TD( // scene0/scene1

							clt_parameters, // final CLTParameters          clt_parameters,
@@ -601,7 +605,32 @@ public class OrthoMapsCollection implements Serializable{ 
					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++) {



		

// analyze result, re-run correlation

		

/*
@@ -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()};

			ShowDoubleFloatArrays.showArrays( 

					gpu_pair_img,

src/main/java/com/elphel/imagej/orthomosaic/OrthoPairLMA.java

+24 −0
Original line number Diff line number Diff line
@@ -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(

			final double [][] vector_XYS,

			final double []   weights_extra, // null or additional weights (such as elevation-based)