Fixed dsi_main to inter-intra-lma difference with disparity offset - now (b4b58042) · Commits · Elphel / imagej-elphel

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

+7 −3

Original line number	Original line	Diff line number	Diff line
	@@ -1593,6 +1593,7 @@ public class Interscene {
	double [][] mb_vectors, // now [2][ntiles];		double [][] mb_vectors, // now [2][ntiles];
	int debug_level)		int debug_level)
	{		{
			boolean show_initial = true; // debug feature
	boolean use3D = clt_parameters.ilp.ilma_3d;		boolean use3D = clt_parameters.ilp.ilma_3d;
	boolean filter_by_ers = clt_parameters.ilp.ilma_ers_quads;		boolean filter_by_ers = clt_parameters.ilp.ilma_ers_quads;
	double gap_frac = clt_parameters.ilp.ilma_gap_frac ; // 0.25;		double gap_frac = clt_parameters.ilp.ilma_gap_frac ; // 0.25;
	@@ -1825,9 +1826,6 @@ public class Interscene {
	scene_QuadClt.getImageName()+"-"+reference_QuadClt.getImageName()+"-CORR-FPN",		scene_QuadClt.getImageName()+"-"+reference_QuadClt.getImageName()+"-CORR-FPN",
	fpn_dbg_titles);		fpn_dbg_titles);
	}		}



	if (clt_parameters.imp.debug_level > -2) {		if (clt_parameters.imp.debug_level > -2) {
	String [] lines1 = intersceneLma.printOldNew((clt_parameters.imp.debug_level > -1)); // false); // boolean allvectors)		String [] lines1 = intersceneLma.printOldNew((clt_parameters.imp.debug_level > -1)); // false); // boolean allvectors)
	System.out.println("Adjusted interscene, iteration="+nlma+		System.out.println("Adjusted interscene, iteration="+nlma+
	@@ -1837,6 +1835,12 @@ public class Interscene {
	for (String line : lines1) {		for (String line : lines1) {
	System.out.println(line);		System.out.println(line);
	}		}
			if (show_initial) {
			lines1 = intersceneLma.printOldNew(true, 1); // force "was"
			for (String line : lines1) {
			System.out.println(line);
			}
			}
	}		}
	if ((rms_out != null) && (intersceneLma.getLastRms() != null)) {		if ((rms_out != null) && (intersceneLma.getLastRms() != null)) {
	rms_out[0] = intersceneLma.getLastRms()[0];		rms_out[0] = intersceneLma.getLastRms()[0];

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

+54 −3

Original line number	Original line	Diff line number	Diff line
	@@ -100,10 +100,16 @@ public class IntersceneLma {
	}		}

	public String [] printOldNew(boolean allvectors) {		public String [] printOldNew(boolean allvectors) {
	return printOldNew(allvectors, 9, 6);		return printOldNew(allvectors, 0);
			}

			public String [] printOldNew(boolean allvectors, int mode) {
			return printOldNew(allvectors, mode, 9, 6);
	}		}

	public String [] printOldNew(boolean allvectors, int w, int d) {		public String [] printOldNew(boolean allvectors, int w, int d) {
			return printOldNew(allvectors, 0, w, d);
			/*
	String fmt1 = String.format("%%%d.%df", w+2,d+2); // more for the differences		String fmt1 = String.format("%%%d.%df", w+2,d+2); // more for the differences
	ArrayList<String> lines = new ArrayList<String>();		ArrayList<String> lines = new ArrayList<String>();
	for (int n = ErsCorrection.DP_DVAZ; n < ErsCorrection.DP_NUM_PARS; n+=3) {		for (int n = ErsCorrection.DP_DVAZ; n < ErsCorrection.DP_NUM_PARS; n+=3) {
	@@ -118,6 +124,26 @@ public class IntersceneLma {
	}		}
	}		}
	return lines.toArray(new String[lines.size()]);		return lines.toArray(new String[lines.size()]);
			*/
			}

			public String [] printOldNew(boolean allvectors, int mode, int w, int d) {
			// mode: 0 - auto, 1 - force "was", 2 force "pull"

			String fmt1 = String.format("%%%d.%df", w+2,d+2); // more for the differences
			ArrayList<String> lines = new ArrayList<String>();
			for (int n = ErsCorrection.DP_DVAZ; n < ErsCorrection.DP_NUM_PARS; n+=3) {
			boolean adj = false;
			for (int i = 0; i <3; i++) adj \|= par_mask[n+i];
			if (allvectors \|\| adj) {
			String line = printNameV3(n, false, mode, w,d)+" (" + getCompareType(mode)+
			" "+printNameV3(n, true, mode, w,d)+")";
			line += ", diff_last="+String.format(fmt1, getV3Diff(n)[0]);
			line += ", diff_first="+String.format(fmt1, getV3Diff(n)[1]);
			lines.add(line);
			}
			}
			return lines.toArray(new String[lines.size()]);
	}		}

	/**		/**
	@@ -142,11 +168,19 @@ public class IntersceneLma {
	}		}

	public String getCompareType() {		public String getCompareType() {
	return (parameters_pull != null)? "pull": "was";		return getCompareType(0);
			// return (parameters_pull != null)? "pull": "was";
			}

			public String getCompareType(int mode) {
			boolean is_pull = (mode == 0) ? (parameters_pull != null) : (mode > 1);
			// return (parameters_pull != null)? "pull": "was";
			return is_pull? "pull": "was";
	}		}

	public String printNameV3(int indx, boolean initial, int w, int d) {		public String printNameV3(int indx, boolean initial, int w, int d) {
	boolean use_pull = parameters_pull != null;		return printNameV3(indx, initial, 0, w, d);
			/*
	double [] full_vector = initial?		double [] full_vector = initial?
	(use_pull? getFullVector(parameters_pull) : backup_parameters_full):		(use_pull? getFullVector(parameters_pull) : backup_parameters_full):
	getFullVector(parameters_vector);		getFullVector(parameters_vector);
	@@ -156,8 +190,25 @@ public class IntersceneLma {
	}		}
	String name = ErsCorrection.DP_VECTORS_NAMES[indx];		String name = ErsCorrection.DP_VECTORS_NAMES[indx];
	return printNameV3(name, vector, w, d);		return printNameV3(name, vector, w, d);
			*/
	}		}

			public String printNameV3(int indx, boolean initial, int mode, int w, int d) {
			// mode: 0 - auto, 1 - was, 2 - pull
			boolean use_pull = (mode == 0) ? (parameters_pull != null) : (mode > 1);
			// boolean use_pull = parameters_pull != null;
			double [] full_vector = initial?
			(use_pull? getFullVector(parameters_pull) : backup_parameters_full):
			getFullVector(parameters_vector);
			double [] vector = new double[3];
			for (int i = 0; i <3; i++) {
			vector[i] = full_vector[indx + i];
			}
			String name = ErsCorrection.DP_VECTORS_NAMES[indx];
			return printNameV3(name, vector, w, d);
			}


	public static String printNameV3(String name, double[] vector) {		public static String printNameV3(String name, double[] vector) {
	return printNameV3(name, vector, 10, 6);		return printNameV3(name, vector, 10, 6);
	}		}

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

+8 −1

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

+6 −1

Original line number	Original line	Diff line number	Diff line
	@@ -14868,7 +14868,12 @@ public class QuadCLTCPU {
	if (clt_parameters.z_corr_map.containsKey(image_name)){ // not used in lwir		if (clt_parameters.z_corr_map.containsKey(image_name)){ // not used in lwir
	z_correction +=clt_parameters.z_corr_map.get(image_name);		z_correction +=clt_parameters.z_corr_map.get(image_name);
	}		}
	final double disparity_corr = (z_correction == 0) ? 0.00 : geometryCorrection.getDisparityFromZ(1.0/z_correction);		// currently it was 0.
			if (z_correction != 0) {
			System.out.println("CLTMeas(): z_correction="+z_correction+" != 0! ***********");
			}
			final double disparity_corr = (z_correction == 0) ? clt_parameters.imp.disparity_corr : geometryCorrection.getDisparityFromZ(1.0/z_correction);

	int mcorr_sel = save_corr ? Correlation2d.corrSelEncode(clt_parameters.img_dtt, getNumSensors()) : 0;		int mcorr_sel = save_corr ? Correlation2d.corrSelEncode(clt_parameters.img_dtt, getNumSensors()) : 0;
	TpTask[] tp_tasks = GpuQuad.setTasks( // null on geometryCorrection		TpTask[] tp_tasks = GpuQuad.setTasks( // null on geometryCorrection
	num_sensors, // final int num_cams,		num_sensors, // final int num_cams,

src/main/java/com/elphel/imagej/tileprocessor/sfm/StructureFromMotion.java

+25 −1

Original line number	Original line	Diff line number	Diff line
	@@ -515,6 +515,7 @@ public class StructureFromMotion {
	final boolean use_neibs = clt_parameters.imp.sfm_use_neibs; // true;		final boolean use_neibs = clt_parameters.imp.sfm_use_neibs; // true;
	final double min_neib_strength= clt_parameters.imp.sfm_neib_str; // 0.5; // update if no-individual and neibs correction strength exceeds		final double min_neib_strength= clt_parameters.imp.sfm_neib_str; // 0.5; // update if no-individual and neibs correction strength exceeds
	final double prev_sfm_frac = clt_parameters.imp.sfm_prev_frac; // 0.6; // update if new sfm gain > this fraction of the old one		final double prev_sfm_frac = clt_parameters.imp.sfm_prev_frac; // 0.6; // update if new sfm gain > this fraction of the old one
			final double same_weight = clt_parameters.imp.sfm_same_weight; // 0.8;
	final double range_disparity_offset = clt_parameters.imp.range_disparity_offset;		final double range_disparity_offset = clt_parameters.imp.range_disparity_offset;
	final double centroid_radius = clt_parameters.imp.centroid_radius; // final double centroid_radius, // 0 - use all tile, >0 - cosine window around local max		final double centroid_radius = clt_parameters.imp.centroid_radius; // final double centroid_radius, // 0 - use all tile, >0 - cosine window around local max
	final int n_recenter = clt_parameters.imp.n_recenter; // when cosine window, re-center window this many times		final int n_recenter = clt_parameters.imp.n_recenter; // when cosine window, re-center window this many times
	@@ -673,11 +674,32 @@ public class StructureFromMotion {
	// combine corrections		// combine corrections
	final Thread[] threads = ImageDtt.newThreadArray(QuadCLT.THREADS_MAX);		final Thread[] threads = ImageDtt.newThreadArray(QuadCLT.THREADS_MAX);
	final AtomicInteger ai = new AtomicInteger(0);		final AtomicInteger ai = new AtomicInteger(0);
			final double wscale = -0.5/Math.log(prev_sfm_frac);
	for (int ithread = 0; ithread < threads.length; ithread++) {		for (int ithread = 0; ithread < threads.length; ithread++) {
	threads[ithread] = new Thread() {		threads[ithread] = new Thread() {
	public void run() {		public void run() {
	for (int nTile = ai.getAndIncrement(); nTile < sfmCorr.length; nTile = ai.getAndIncrement())		for (int nTile = ai.getAndIncrement(); nTile < sfmCorr.length; nTile = ai.getAndIncrement())
	if (sfmCorr[nTile] != null){		if (sfmCorr[nTile] != null){
			if (sfmCorr[nTile].sfm_gain >= prev_sfm_frac*ref_sfm_gain[nTile]){
			double w = 1.0;
			if (ref_sfm_gain[nTile] > 0) {
			w = same_weight + wscale*Math.log(sfmCorr[nTile].sfm_gain/ref_sfm_gain[nTile]);
			}
			if (w < 0.0) w = 0;
			else if (w > 1.0) w = 1.0;
			// Update some strength too?
			if ((sfmCorr[nTile].corr_ind != null) && (sfmCorr[nTile].corr_ind[1] > min_strength)) {
			ref_disparity[nTile] += w *sfmCorr[nTile].corr_ind[0];
			// TODO: add same (as above) for strengths?
			ref_sfm_gain[nTile] = (1-w) ref_sfm_gain[nTile] + w sfmCorr[nTile].sfm_gain;
			} else if ((sfmCorr[nTile].corr_neib != null) && (sfmCorr[nTile].corr_neib[1] > min_neib_strength)) {
			ref_disparity[nTile] += w *sfmCorr[nTile].corr_neib[0];
			// TODO: add same (as above) for strengths?
			ref_sfm_gain[nTile] = (1-w) ref_sfm_gain[nTile] + w sfmCorr[nTile].sfm_gain;
			}
			}

			/*
	if (sfmCorr[nTile].sfm_gain >= prev_sfm_frac*ref_sfm_gain[nTile]){		if (sfmCorr[nTile].sfm_gain >= prev_sfm_frac*ref_sfm_gain[nTile]){
	if (prev_sfm_frac*sfmCorr[nTile].sfm_gain >= ref_sfm_gain[nTile]){ // copy 100%		if (prev_sfm_frac*sfmCorr[nTile].sfm_gain >= ref_sfm_gain[nTile]){ // copy 100%
	// Update some strength too?		// Update some strength too?
	@@ -691,6 +713,7 @@ public class StructureFromMotion {

	}		}
	}		}
			*/
	}		}
	}		}
	};		};
	@@ -749,6 +772,7 @@ public class StructureFromMotion {
	final boolean use_neibs = clt_parameters.imp.sfm_use_neibs; // true;		final boolean use_neibs = clt_parameters.imp.sfm_use_neibs; // true;
	final double min_neib_strength= clt_parameters.imp.sfm_neib_str; // 0.5; // update if no-individual and neibs correction strength exceeds		final double min_neib_strength= clt_parameters.imp.sfm_neib_str; // 0.5; // update if no-individual and neibs correction strength exceeds
	final double prev_sfm_frac = clt_parameters.imp.sfm_prev_frac; // 0.6; // update if new sfm gain > this fraction of the old one		final double prev_sfm_frac = clt_parameters.imp.sfm_prev_frac; // 0.6; // update if new sfm gain > this fraction of the old one
			final double same_weight = clt_parameters.imp.sfm_same_weight; // 0.8;
	final double range_disparity_offset = clt_parameters.imp.range_disparity_offset;		final double range_disparity_offset = clt_parameters.imp.range_disparity_offset;
	final double centroid_radius = clt_parameters.imp.centroid_radius; // final double centroid_radius, // 0 - use all tile, >0 - cosine window around local max		final double centroid_radius = clt_parameters.imp.centroid_radius; // final double centroid_radius, // 0 - use all tile, >0 - cosine window around local max
	final int n_recenter = clt_parameters.imp.n_recenter; // when cosine window, re-center window this many times		final int n_recenter = clt_parameters.imp.n_recenter; // when cosine window, re-center window this many times
	@@ -978,7 +1002,7 @@ public class StructureFromMotion {
	if (sfmCorrCombo[nTile].sfm_gain >= prev_sfm_frac*ref_sfm_gain[nTile]){		if (sfmCorrCombo[nTile].sfm_gain >= prev_sfm_frac*ref_sfm_gain[nTile]){
	double w = 1.0;		double w = 1.0;
	if (ref_sfm_gain[nTile] > 0) {		if (ref_sfm_gain[nTile] > 0) {
	w = 0.5 + wscale*Math.log(sfmCorrCombo[nTile].sfm_gain/ref_sfm_gain[nTile]);		w = same_weight + wscale*Math.log(sfmCorrCombo[nTile].sfm_gain/ref_sfm_gain[nTile]);
	}		}
	if (w < 0.0) w = 0;		if (w < 0.0) w = 0;
	else if (w > 1.0) w = 1.0;		else if (w > 1.0) w = 1.0;

Original line number	Original line	Diff line number	Diff line
	@@ -48,6 +48,7 @@ public class IntersceneMatchParameters {
	public double sfp_tolerance = 0.05; // average SfM pairs if their baselines differ less		public double sfp_tolerance = 0.05; // average SfM pairs if their baselines differ less
	public int sfm_readjust = 5; // number of SfM readjustment cycles		public int sfm_readjust = 5; // number of SfM readjustment cycles
	public double sfm_prev_frac = 0.6; // update if new sfm gain > this fraction of the old one		public double sfm_prev_frac = 0.6; // update if new sfm gain > this fraction of the old one
			public double sfm_same_weight = 0.8; // correction weight when new SfM gain is the same as the old one
	public int sfm_shrink = 2; // shrink sfm gain area before applying sfm_fade_sigma		public int sfm_shrink = 2; // shrink sfm gain area before applying sfm_fade_sigma
	public double sfm_fade_sigma = 3.0; // fade SfM gains at the edges		public double sfm_fade_sigma = 3.0; // fade SfM gains at the edges
	public double sfm_min_str = 0.4; // update if correction strength exceeds		public double sfm_min_str = 0.4; // update if correction strength exceeds
	@@ -462,6 +463,8 @@ public class IntersceneMatchParameters {
	"Number of SfM readjustment cycles.");		"Number of SfM readjustment cycles.");
	gd.addNumericField("Minimal SfM gain from previous", this.sfm_prev_frac, 5,8,"",		gd.addNumericField("Minimal SfM gain from previous", this.sfm_prev_frac, 5,8,"",
	"Update if new sfm gain > this fraction of the old one.");		"Update if new sfm gain > this fraction of the old one.");
			gd.addNumericField("Correction scale for equal gains", this.sfm_same_weight, 5,8,"",
			"Correction scale when new SfM gain is the same as the old one.");
	gd.addNumericField("Shrink SfM area", this.sfm_shrink, 0,3,"",		gd.addNumericField("Shrink SfM area", this.sfm_shrink, 0,3,"",
	"Shrink sfm gain area before applying sfm_fade_sigmas.");		"Shrink sfm gain area before applying sfm_fade_sigmas.");
	gd.addNumericField("Fade SfM area sigma", this.sfm_fade_sigma, 5,8,"",		gd.addNumericField("Fade SfM area sigma", this.sfm_fade_sigma, 5,8,"",
	@@ -1150,6 +1153,7 @@ public class IntersceneMatchParameters {
	this.sfp_tolerance = gd.getNextNumber();		this.sfp_tolerance = gd.getNextNumber();
	this.sfm_readjust = (int) gd.getNextNumber();		this.sfm_readjust = (int) gd.getNextNumber();
	this.sfm_prev_frac = gd.getNextNumber();		this.sfm_prev_frac = gd.getNextNumber();
			this.sfm_same_weight = gd.getNextNumber();
	this.sfm_shrink = (int) gd.getNextNumber();		this.sfm_shrink = (int) gd.getNextNumber();
	this.sfm_fade_sigma = gd.getNextNumber();		this.sfm_fade_sigma = gd.getNextNumber();
	this.sfm_min_str = gd.getNextNumber();		this.sfm_min_str = gd.getNextNumber();
	@@ -1515,6 +1519,7 @@ public class IntersceneMatchParameters {
	properties.setProperty(prefix+"sfp_tolerance", this.sfp_tolerance+""); // double		properties.setProperty(prefix+"sfp_tolerance", this.sfp_tolerance+""); // double
	properties.setProperty(prefix+"sfm_readjust", this.sfm_readjust+""); // int		properties.setProperty(prefix+"sfm_readjust", this.sfm_readjust+""); // int
	properties.setProperty(prefix+"sfm_prev_frac", this.sfm_prev_frac+""); // double		properties.setProperty(prefix+"sfm_prev_frac", this.sfm_prev_frac+""); // double
			properties.setProperty(prefix+"sfm_same_weight", this.sfm_same_weight+""); // double
	properties.setProperty(prefix+"sfm_shrink", this.sfm_shrink+""); // int		properties.setProperty(prefix+"sfm_shrink", this.sfm_shrink+""); // int
	properties.setProperty(prefix+"sfm_fade_sigma", this.sfm_fade_sigma+""); // double		properties.setProperty(prefix+"sfm_fade_sigma", this.sfm_fade_sigma+""); // double
	properties.setProperty(prefix+"sfm_min_str", this.sfm_min_str+""); // double		properties.setProperty(prefix+"sfm_min_str", this.sfm_min_str+""); // double
	@@ -1840,6 +1845,7 @@ public class IntersceneMatchParameters {
	if (properties.getProperty(prefix+"sfp_tolerance")!=null) this.sfp_tolerance=Double.parseDouble(properties.getProperty(prefix+"sfp_tolerance"));		if (properties.getProperty(prefix+"sfp_tolerance")!=null) this.sfp_tolerance=Double.parseDouble(properties.getProperty(prefix+"sfp_tolerance"));
	if (properties.getProperty(prefix+"sfm_readjust")!=null) this.sfm_readjust=Integer.parseInt(properties.getProperty(prefix+"sfm_readjust"));		if (properties.getProperty(prefix+"sfm_readjust")!=null) this.sfm_readjust=Integer.parseInt(properties.getProperty(prefix+"sfm_readjust"));
	if (properties.getProperty(prefix+"sfm_prev_frac")!=null) this.sfm_prev_frac=Double.parseDouble(properties.getProperty(prefix+"sfm_prev_frac"));		if (properties.getProperty(prefix+"sfm_prev_frac")!=null) this.sfm_prev_frac=Double.parseDouble(properties.getProperty(prefix+"sfm_prev_frac"));
			if (properties.getProperty(prefix+"sfm_same_weight")!=null) this.sfm_same_weight=Double.parseDouble(properties.getProperty(prefix+"sfm_same_weight"));
	if (properties.getProperty(prefix+"sfm_shrink")!=null) this.sfm_shrink=Integer.parseInt(properties.getProperty(prefix+"sfm_shrink"));		if (properties.getProperty(prefix+"sfm_shrink")!=null) this.sfm_shrink=Integer.parseInt(properties.getProperty(prefix+"sfm_shrink"));
	if (properties.getProperty(prefix+"sfm_fade_sigma")!=null) this.sfm_fade_sigma=Double.parseDouble(properties.getProperty(prefix+"sfm_fade_sigma"));		if (properties.getProperty(prefix+"sfm_fade_sigma")!=null) this.sfm_fade_sigma=Double.parseDouble(properties.getProperty(prefix+"sfm_fade_sigma"));

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