Skip to content
Projects
Groups
Snippets
Help
Loading...
Help
Submit feedback
Contribute to GitLab
Sign in
Toggle navigation
I
imagej-elphel
Project
Project
Details
Activity
Releases
Cycle Analytics
Repository
Repository
Files
Commits
Branches
Tags
Contributors
Graph
Compare
Charts
Issues
3
Issues
3
List
Board
Labels
Milestones
Wiki
Wiki
Members
Members
Collapse sidebar
Close sidebar
Activity
Graph
Charts
Create a new issue
Commits
Issue Boards
Open sidebar
Elphel
imagej-elphel
Commits
b5dc98c9
Commit
b5dc98c9
authored
Sep 06, 2021
by
Andrey Filippov
Browse files
Options
Browse Files
Download
Email Patches
Plain Diff
Tested LMA2+LY for one tile
parent
1a329010
Changes
3
Expand all
Hide whitespace changes
Inline
Side-by-side
Showing
3 changed files
with
85 additions
and
256 deletions
+85
-256
Corr2dLMA.java
src/main/java/com/elphel/imagej/tileprocessor/Corr2dLMA.java
+72
-30
Correlation2d.java
...n/java/com/elphel/imagej/tileprocessor/Correlation2d.java
+13
-10
ImageDttCPU.java
...ain/java/com/elphel/imagej/tileprocessor/ImageDttCPU.java
+0
-216
No files found.
src/main/java/com/elphel/imagej/tileprocessor/Corr2dLMA.java
View file @
b5dc98c9
...
...
@@ -64,6 +64,7 @@ Fx=A(i)*W(x,y)*(pa*(x-x0j)^2+2*pb*(x-x0j)*(y-y0j)+pc*(y-y0j)^2)
*
*/
import
java.util.ArrayList
;
import
java.util.Arrays
;
import
com.elphel.imagej.common.DoubleGaussianBlur
;
import
com.elphel.imagej.common.PolynomialApproximation
;
...
...
@@ -119,7 +120,9 @@ public class Corr2dLMA {
private
final
int
[]
used_cams_map
;
// = new int[NUM_CAMS]; // for each camera index return used index ???
private
int
[]
used_cams_rmap
;
// variable-length list of used cameras numbers
private
int
[][][]
used_pairs_map
;
// for each camera index return used index ??
// private int [][][] used_pairs_map; // for each camera index return used index ??
private
int
[][]
used_pairs_map
;
// [tile][pair] -1 for unused pairs, >=0 for used ones
private
boolean
[]
used_tiles
;
private
final
int
transform_size
;
...
...
@@ -334,13 +337,12 @@ public class Corr2dLMA {
}
public
double
[][][]
dbgGetSamples
(
double
[][]
ds
,
int
mode
){
int
[][]
comb_map
=
getCombMap
();
int
numPairs
=
comb_map
[
0
][
0
];
comb_map
[
0
][
0
]
=
-
1
;
//
int [][] comb_map = getCombMap();
//
int numPairs = comb_map[0][0];
//
comb_map[0][0] = -1;
int
numPairs
=
getNumAllTilesUsedPairs
();
int
size
=
2
*
transform_size
-
1
;
int
size2
=
size
*
size
;
double
[][][]
rslt
=
new
double
[
numTiles
][
numPairs
][
size2
];
for
(
int
nTile
=
0
;
nTile
<
numTiles
;
nTile
++)
{
for
(
int
np
=
0
;
np
<
numPairs
;
np
++)
{
...
...
@@ -364,27 +366,29 @@ public class Corr2dLMA {
else
if
(
mode
==
1
)
d
=
s
.
w
;
else
if
(
mode
==
2
)
d
=
fx
[
ns
];
// int np = comb_map[s.fcam][s.scam]; ////////////////////
int
np
=
s
.
pair
;
////////////////////
rslt
[
s
.
tile
][
np
][
s
.
iy
*
size
+
s
.
ix
]
=
d
;
// int np = s.pair; ////////////////////
int
inp
=
used_pairs_map
[
s
.
tile
][
s
.
pair
];
rslt
[
s
.
tile
][
inp
][
s
.
iy
*
size
+
s
.
ix
]
=
d
;
}
return
rslt
;
}
@Deprecated
public
String
[]
dbgGetSliceTiles
()
{
int
[][]
comb_map
=
getCombMap
();
int
np
=
comb_map
[
0
][
0
];
comb_map
[
0
][
0
]
=
-
1
;
public
String
[]
dbgGetSliceTitles
()
{
int
[]
comb_map
=
getCombMap
();
int
np
=
getNumAllTilesUsedPairs
();
// comb_map[0][0];
// comb_map[0][0] = -1;
String
[]
srslt
=
new
String
[
np
];
for
(
int
f
=
0
;
f
<
num_cams
;
f
++)
for
(
int
s
=
0
;
s
<
num_cams
;
s
++)
{
if
(
comb_map
[
f
][
s
]
>=
0
)
{
srslt
[
comb_map
[
f
][
s
]]
=
""
+
f
+
"->"
+
s
;
for
(
int
npair
=
0
;
npair
<
comb_map
.
length
;
npair
++)
{
if
(
comb_map
[
npair
]
>=
0
)
{
int
[]
fs
=
correlation2d
.
getPair
(
npair
);
srslt
[
comb_map
[
npair
]]
=
""
+
fs
[
0
]+
"->"
+
fs
[
1
];
}
}
return
srslt
;
}
/*
@Deprecated
public int [][] getCombMap(){
boolean [][] comb_pairs = new boolean[num_cams][num_cams];
...
...
@@ -404,8 +408,36 @@ public class Corr2dLMA {
return comb_map;
}
*/
public
int
[]
getCombMap
(){
int
[]
comb_map
=
new
int
[
num_pairs
];
Arrays
.
fill
(
comb_map
,
-
1
);
int
np
=
0
;
for
(
int
npair
=
0
;
npair
<
num_pairs
;
npair
++)
{
for
(
int
t
=
0
;
t
<
numTiles
;
t
++)
{
if
(
used_pairs_map
[
t
][
npair
]
>=
0
)
{
comb_map
[
npair
]
=
np
++;
break
;
}
}
}
return
comb_map
;
}
public
int
getNumAllTilesUsedPairs
()
{
int
np
=
0
;
for
(
int
npair
=
0
;
npair
<
num_pairs
;
npair
++)
{
for
(
int
t
=
0
;
t
<
numTiles
;
t
++)
{
if
(
used_pairs_map
[
t
][
npair
]
>=
0
)
{
np
++;
break
;
}
}
}
return
np
;
}
@Deprecated
public
int
getPairIndex
(
int
f
,
int
s
)
{
if
(
f
>
s
)
{
...
...
@@ -497,14 +529,18 @@ public class Corr2dLMA {
adjust_lazyeye_ortho
=
adjust_lazyeye_par
;
// simplify relations for the calculated/dependent parameters
lazy_eye
=
adjust_lazyeye_par
|
adjust_lazyeye_ortho
;
bad_tile
=
-
1
;
used_pairs_map
=
new
int
[
numTiles
][
num_cams
][
num_cams
];
//
used_pairs_map = new int [numTiles][num_cams][num_cams];
used_cameras
=
new
boolean
[
num_cams
];
boolean
[][]
used_pairs
=
new
boolean
[
numTiles
][
num_pairs
];
// 0-weight values and NaN-s should be filtered on input!
for
(
int
t
=
0
;
t
<
numTiles
;
t
++)
for
(
int
f
=
0
;
f
<
num_cams
;
f
++)
for
(
int
s
=
0
;
s
<
num_cams
;
s
++)
{
used_pairs_map
[
t
][
f
][
s
]
=
-
1
;
// for (int t = 0; t < numTiles; t++) for (int f = 0; f < num_cams; f++) for (int s = 0; s < num_cams; s++) {
// used_pairs_map[t][f][s] = -1;
// }
used_pairs_map
=
new
int
[
numTiles
][
num_pairs
];
for
(
int
t
=
0
;
t
<
numTiles
;
t
++)
{
Arrays
.
fill
(
used_pairs_map
[
t
],
-
1
);
}
boolean
[][][]
used_pairs_dir
=
new
boolean
[
numTiles
][
num_cams
][
num_cams
];
//
boolean [][][] used_pairs_dir = new boolean [numTiles][num_cams][num_cams];
used_tiles
=
new
boolean
[
numTiles
];
for
(
Sample
s:
samples
)
{
// ignore zero-weight samples
int
pair
=
s
.
pair
;
...
...
@@ -514,7 +550,7 @@ public class Corr2dLMA {
used_tiles
[
s
.
tile
]
=
true
;
used_pairs
[
s
.
tile
][
pair
]=
true
;
// throws < 0 - wrong pair, f==s
// used_pairs_dir[s.tile][s.fcam][s.scam] = true;
used_pairs_dir
[
s
.
tile
][
fscam
[
0
]][
fscam
[
1
]]
=
true
;
//
used_pairs_dir[s.tile][fscam[0]][fscam[1]] = true;
}
ncam_used
=
0
;
npairs
=
new
int
[
numTiles
];
// pairs in each tile
...
...
@@ -556,9 +592,12 @@ public class Corr2dLMA {
*/
for
(
int
pair
=
0
;
pair
<
num_pairs
;
pair
++)
{
int
npair
=
upmam
[
pair
];
int
[]
fs
=
correlation2d
.
getPair
(
pair
);
if
(
used_pairs_dir
[
nTile
][
fs
[
0
]][
fs
[
1
]])
used_pairs_map
[
nTile
][
fs
[
0
]][
fs
[
1
]]
=
npair
;
// either or, can not be f,s and s,f pairs
else
if
(
used_pairs_dir
[
nTile
][
fs
[
1
]][
fs
[
0
]])
used_pairs_map
[
nTile
][
fs
[
1
]][
fs
[
0
]]
=
npair
;
// int [] fs = correlation2d.getPair(pair);
// if (used_pairs_dir[nTile][fs[0]][fs[1]]) used_pairs_map[nTile][fs[0]][fs[1]] = npair; // either or, can not be f,s and s,f pairs
// else if (used_pairs_dir[nTile][fs[1]][fs[0]]) used_pairs_map[nTile][fs[1]][fs[0]] = npair;
// if (used_pairs_dir[nTile][fs[0]][fs[1]]) used_pairs_map[nTile][pair] = npair; // either or, can not be f,s and s,f pairs
// else if (used_pairs_dir[nTile][fs[1]][fs[0]]) used_pairs_map[nTile][pair] = npair;
if
(
used_pairs
[
nTile
][
pair
])
used_pairs_map
[
nTile
][
pair
]
=
npair
;
}
}
...
...
@@ -657,7 +696,8 @@ public class Corr2dLMA {
for
(
int
nTile
=
0
;
nTile
<
used_pairs_map
.
length
;
nTile
++)
if
(
used_tiles
[
nTile
]){
for
(
int
npair
=
0
;
npair
<
num_pairs
;
npair
++)
{
int
[]
fs
=
correlation2d
.
getPair
(
npair
);
// TODO: change used_pairs_map?
if
(
used_pairs_map
[
nTile
][
fs
[
0
]][
fs
[
1
]]
>=
0
)
{
// if (used_pairs_map[nTile][fs[0]][fs[1]] >= 0) {
if
(
used_pairs_map
[
nTile
][
npair
]
>=
0
)
{
m_pairs
[
nTile
][
npair
]
=
m_disp
[
nTile
][
fs
[
0
]].
minus
(
m_disp
[
nTile
][
fs
[
1
]]);
m_pairs_inv
[
nTile
][
npair
]
=
m_pairs
[
nTile
][
npair
].
inverse
();
}
...
...
@@ -673,7 +713,8 @@ public class Corr2dLMA {
for
(
int
nTile
=
0
;
nTile
<
used_pairs_map
.
length
;
nTile
++)
if
(
used_tiles
[
nTile
]){
for
(
int
npair
=
0
;
npair
<
num_pairs
;
npair
++)
{
int
[]
fs
=
correlation2d
.
getPair
(
npair
);
// TODO: change used_pairs_map?
if
(
used_pairs_map
[
nTile
][
fs
[
0
]][
fs
[
1
]]
>=
0
)
{
// if (used_pairs_map[nTile][fs[0]][fs[1]] >= 0) {
if
(
used_pairs_map
[
nTile
][
npair
]
>=
0
)
{
m_pairs_inv
[
nTile
][
npair
]
=
m_pairs
[
nTile
][
npair
].
inverse
();
}
}
...
...
@@ -1445,9 +1486,10 @@ public class Corr2dLMA {
int
npair0
=
-
1
;
for
(
int
i
=
0
;
i
<
num_points
;
i
++)
{
if
(
i
<
samples
.
size
())
{
int
[]
fs
=
correlation2d
.
getPair
(
samples
.
get
(
i
).
pair
);
//
int [] fs = correlation2d.getPair(samples.get(i).pair);
// int npair = used_pairs_map[samples.get(i).tile][samples.get(i).fcam][samples.get(i).scam];
int
npair
=
used_pairs_map
[
samples
.
get
(
i
).
tile
][
fs
[
0
]][
fs
[
1
]];
// int npair = used_pairs_map[samples.get(i).tile][fs[0]][fs[1]];
int
npair
=
used_pairs_map
[
samples
.
get
(
i
).
tile
][
samples
.
get
(
i
).
pair
];
if
(
npair
!=
npair0
)
{
if
(
npair0
>=
0
)
System
.
out
.
println
();
npair0
=
npair
;
...
...
src/main/java/com/elphel/imagej/tileprocessor/Correlation2d.java
View file @
b5dc98c9
...
...
@@ -3496,10 +3496,10 @@ public class Correlation2d {
}
}
// ds[tile]{disparity, strength}
if
(
debug_graphic
&&
lmaSuccess
)
{
String
[]
sliceTitles
=
lma
.
dbgGetSliceTiles
();
String
[]
sliceTitles
=
lma
.
dbgGetSliceTi
t
les
();
if
(
corrs
.
length
==
1
)
{
(
new
ShowDoubleFloatArrays
()).
showArrays
(
lma
.
dbgGetSamples
(
ds
,
0
)[
0
],
...
...
@@ -3550,7 +3550,7 @@ public class Correlation2d {
dbg_out_width
,
dbg_out_height
,
true
,
"weights"
+
"_x"
+
tileX
+
"_y"
+
tileY
,
sliceTitles
);
"weights
_late
"
+
"_x"
+
tileX
+
"_y"
+
tileY
,
sliceTitles
);
}
}
...
...
@@ -3605,7 +3605,8 @@ public class Correlation2d {
corr_size
,
corr_size
,
true
,
"corr_pairs"
+
"_x"
+
tileX
+
"_y"
+
tileY
);
"corr_pairs"
+
"_x"
+
tileX
+
"_y"
+
tileY
,
getCorrTitles
());
}
...
...
@@ -3678,14 +3679,16 @@ public class Correlation2d {
corr_size
,
corr_size
,
true
,
"corr_blurred"
+
"_x"
+
tileX
+
"_y"
+
tileY
);
"corr_blurred"
+
"_x"
+
tileX
+
"_y"
+
tileY
,
getCorrTitles
());
(
new
ShowDoubleFloatArrays
()).
showArrays
(
dbg_weights
,
corr_size
,
corr_size
,
true
,
"corr_weights"
+
"_x"
+
tileX
+
"_y"
+
tileY
);
"corr_weights"
+
"_x"
+
tileX
+
"_y"
+
tileY
,
getCorrTitles
());
}
// double [][] disp_str = {{xcenter, 1.0}}; // temporary
...
...
@@ -3813,8 +3816,8 @@ public class Correlation2d {
}
// double [][] ds = null;
if
(
debug_graphic
&&
lmaSuccess
)
{
String
[]
sliceTitles
=
lma
.
dbgGetSliceTiles
();
if
(
corrs
.
length
==
1
)
{
// only for single-tile cluster
String
[]
sliceTitles
=
lma
.
dbgGetSliceTi
t
les
();
// if (corrs.length == 1) { // only for single-tile cluster (here it is always single, and corrs is double [][], not double [][][]
(
new
ShowDoubleFloatArrays
()).
showArrays
(
lma
.
dbgGetSamples
(
null
,
0
)[
0
],
corr_size
,
...
...
@@ -3832,8 +3835,8 @@ public class Correlation2d {
corr_size
,
corr_size
,
true
,
"corr_weights"
+
"_x"
+
tileX
+
"_y"
+
tileY
,
sliceTitles
);
}
"corr_weights
_late
"
+
"_x"
+
tileX
+
"_y"
+
tileY
,
sliceTitles
);
//
}
}
}
...
...
src/main/java/com/elphel/imagej/tileprocessor/ImageDttCPU.java
View file @
b5dc98c9
This diff is collapsed.
Click to expand it.
Write
Preview
Markdown
is supported
0%
Try again
or
attach a new file
Attach a file
Cancel
You are about to add
0
people
to the discussion. Proceed with caution.
Finish editing this message first!
Cancel
Please
register
or
sign in
to comment