finished small steps to "pull" without regularization (ba487fc2) · Commits · Elphel / imagej-elphel

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

+83 −2

Original line number	Original line	Diff line number	Diff line
	@@ -578,6 +578,7 @@ public class Interscene {
	reliable_ref, //boolean [] reliable_ref, // null or bitmask of reliable reference tiles		reliable_ref, //boolean [] reliable_ref, // null or bitmask of reliable reference tiles
	scenes_xyzatr[ref_index], // double [][] scene0_xyzatr,,		scenes_xyzatr[ref_index], // double [][] scene0_xyzatr,,
	initial_pose, // double [][] scene1_xyzatr,		initial_pose, // double [][] scene1_xyzatr,
			Double.NaN, // double average_z,
	initial_pose, // double [] scene1_xyzatr_pull, // if both are not null, specify target values to pull to		initial_pose, // double [] scene1_xyzatr_pull, // if both are not null, specify target values to pull to
	clt_parameters.ilp.ilma_lma_select, // boolean[] param_select,		clt_parameters.ilp.ilma_lma_select, // boolean[] param_select,
	reg_weights, // double [] param_regweights,		reg_weights, // double [] param_regweights,
	@@ -739,6 +740,7 @@ public class Interscene {
	reliable_ref, //boolean [] reliable_ref, // null or bitmask of reliable reference tiles		reliable_ref, //boolean [] reliable_ref, // null or bitmask of reliable reference tiles
	scenes_xyzatr[fpn_pairs[ipair][1]], // double [][] scene0_xyzatr,,		scenes_xyzatr[fpn_pairs[ipair][1]], // double [][] scene0_xyzatr,,
	scenes_xyzatr[fpn_pairs[ipair][0]], // initial_pose, // double [][] scene1_xyzatr,		scenes_xyzatr[fpn_pairs[ipair][0]], // initial_pose, // double [][] scene1_xyzatr,
			Double.NaN, // double average_z,
	scenes_xyzatr[fpn_pairs[ipair][0]], // initial_pose, // double [] scene1_xyzatr_pull, // if both are not null, specify target values to pull to		scenes_xyzatr[fpn_pairs[ipair][0]], // initial_pose, // double [] scene1_xyzatr_pull, // if both are not null, specify target values to pull to
	clt_parameters.ilp.ilma_lma_select, // boolean[] param_select,		clt_parameters.ilp.ilma_lma_select, // boolean[] param_select,
	reg_weights, // double [] param_regweights,		reg_weights, // double [] param_regweights,
	@@ -1388,8 +1390,8 @@ public class Interscene {
	int debugLevel)		int debugLevel)
	{		{
	System.out.println("reAdjustPairsLMAInterscene(): using mb_max_gain="+mb_max_gain);		System.out.println("reAdjustPairsLMAInterscene(): using mb_max_gain="+mb_max_gain);
	boolean freeze_xy_pull = false; // true; // debugging freezing xy to xy_pull		boolean freeze_xy_pull = true; // false; // true; // debugging freezing xy to xy_pull
	boolean copy_pull_current = true;		boolean copy_pull_current = false; // true;
	final boolean[] param_select = configured_lma? clt_parameters.ilp.ilma_lma_select :		final boolean[] param_select = configured_lma? clt_parameters.ilp.ilma_lma_select :
	ErsCorrection.getParamSelect(		ErsCorrection.getParamSelect(
	!freeze_xy_pull && (!readjust_xy_ims \|\| (reg_weight_xy != 0)), // false only in mode c): freeze X,Y// boolean use_XY		!freeze_xy_pull && (!readjust_xy_ims \|\| (reg_weight_xy != 0)), // false only in mode c): freeze X,Y// boolean use_XY
	@@ -1721,6 +1723,7 @@ public class Interscene {
	reliable_ref, // boolean [] reliable_ref, // null or bitmask of reliable reference tiles		reliable_ref, // boolean [] reliable_ref, // null or bitmask of reliable reference tiles
	scenes_xyzatr[ref_index],// double [][] scene0_xyzatr,		scenes_xyzatr[ref_index],// double [][] scene0_xyzatr,
	scenes_xyzatr[nscene], // double [][] scene1_xyzatr,		scenes_xyzatr[nscene], // double [][] scene1_xyzatr,
			avg_z, // double average_z,
	scenes_xyzatr_pull[nscene], // double [][] scene1_xyzatr_pull,		scenes_xyzatr_pull[nscene], // double [][] scene1_xyzatr_pull,
	param_select, // boolean[] param_select,		param_select, // boolean[] param_select,
	param_regweights, // double [] param_regweights,		param_regweights, // double [] param_regweights,
	@@ -1846,6 +1849,7 @@ public class Interscene {
	reliable_ref, // boolean [] reliable_ref, // null or bitmask of reliable reference tiles		reliable_ref, // boolean [] reliable_ref, // null or bitmask of reliable reference tiles
	scenes_xyzatr[fpn_pairs[ipair][1]],// double [][] scene0_xyzatr,		scenes_xyzatr[fpn_pairs[ipair][1]],// double [][] scene0_xyzatr,
	scenes_xyzatr[fpn_pairs[ipair][0]], // double [][] scene1_xyzatr,		scenes_xyzatr[fpn_pairs[ipair][0]], // double [][] scene1_xyzatr,
			avg_z, // double average_z,
	scenes_xyzatr_pull [fpn_pairs[ipair][0]], // double [][] scene1_xyzatr_pull,		scenes_xyzatr_pull [fpn_pairs[ipair][0]], // double [][] scene1_xyzatr_pull,
	param_select, // boolean[] param_select,		param_select, // boolean[] param_select,
	param_regweights, // double [] param_regweights,		param_regweights, // double [] param_regweights,
	@@ -1933,6 +1937,7 @@ public class Interscene {
	boolean [] reliable_ref, // null or bitmask of reliable reference tiles		boolean [] reliable_ref, // null or bitmask of reliable reference tiles
	double [][] scene0_xyzatr,		double [][] scene0_xyzatr,
	double [][] scene1_xyzatr,		double [][] scene1_xyzatr,
			double average_z,
	double [][] scene1_xyzatr_pull,		double [][] scene1_xyzatr_pull,
	boolean[] param_select,		boolean[] param_select,
	double [] param_regweights,		double [] param_regweights,
	@@ -2022,6 +2027,82 @@ public class Interscene {
	0, // int shrink_gaps, // will gaps, but not more that grow by this		0, // int shrink_gaps, // will gaps, but not more that grow by this
	debugLevel); // int debug_level)		debugLevel); // int debug_level)
	}		}
			// avg_z
			double pull_offset = 0;
			if (!Double.isNaN(average_z) && (scene1_xyzatr_pull != null) && (scene1_xyzatr_pull[0] != null) && (scene1_xyzatr_pull[1] != null)){
			pull_offset = quadCLTs[ref_index].estimateAverageShift(
			scene1_xyzatr, // double [][] xyzatr0,
			scene1_xyzatr_pull, // double [][] xyzatr1,
			average_z, // double average_z,
			false, // boolean use_rot,
			true); // boolean rectilinear)
			if (debugLevel > -3) {
			System.out.println("adjustDiffPairsLMAInterscene(): pull_offset="+pull_offset);
			}
			while (pull_offset > clt_parameters.imp.max_pull_jump) {
			// so far assuming only X and Y to be modified. Z - won't harm, angles are not used now,
			// but if yes - quaternions are needed. Note, that angles are updated and will not now match pull
			// here updtae all parameters that are NOT adjusted. For angles use individual angles, just avoid
			// crossing 2pi
			for (int i = 0; i < 2; i++) {
			scene1_xyzatr[0][i] += (scene1_xyzatr_pull[0][i] - scene1_xyzatr[0][i]) * clt_parameters.imp.max_pull_jump / pull_offset;
			}
			// apply small scene1_xyzatr jump towards scene1_xyzatr_pull, run adjustPairsLMAInterscene, return if failed
			double [][] new_xyzatr = 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
			disable_ers, // boolean disable_ers,
			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
			quadCLTs[nscene0], // QuadCLT reference_QuadClt,
			ref_disparity, // double [] ref_disparity, // null or alternative reference disparity
			pXpYD_ref, // double [][] pXpYD_ref, // pXpYD for the reference scene
			reliable_ref, // boolean [] reliable_ref, // null or bitmask of reliable reference tiles
			tp_tasks_ref[0], // TpTask[] tp_tasks_ref, // only (main if MB correction) tasks for FPN correction
			quadCLTs[nscene1], // QuadCLT scene_QuadClt,
			scene1_xyzatr[0], // double [] camera_xyz,
			scene1_xyzatr[1], // double [] camera_atr,
			scene1_xyzatr_pull[0], // double [] scene_xyz_pull, // if both are not null, specify target values to pull to
			scene1_xyzatr_pull[1], // double [] scene_atr_pull,
			param_select, // boolean[] param_select,
			param_regweights, // double [] param_regweights,
			rms_out, // double [] rms_out, // null or double [2]
			max_rms, // double max_rms,
			// motion blur compensation
			mb_tau, // double mb_tau, // 0.008; // time constant, sec
			mb_max_gain, // double mb_max_gain, // 5.0; // motion blur maximal gain (if more - move second point more than a pixel
			mb_vectors_scene1, // double [][] mb_vectors, // now [2][ntiles];
			debugLevel); // int debug_level)
			if (new_xyzatr == null ) {
			return null; // failed
			}
			double new_pull_offset = quadCLTs[ref_index].estimateAverageShift(
			new_xyzatr, // double [][] xyzatr0,
			scene1_xyzatr_pull, // double [][] xyzatr1,
			average_z, // double average_z,
			false, // boolean use_rot,
			true); // boolean rectilinear)
			if (new_pull_offset < pull_offset) {
			scene1_xyzatr = new_xyzatr;
			// later - watch which parameters are updated by LMA, update those
			scene1_xyzatr_pull[1] = new_xyzatr[1]; // update adjusted orientation
			scene1_xyzatr_pull[0][2] = new_xyzatr[0][2];// update Z
			pull_offset = new_pull_offset;
			if (debugLevel > -3) {
			System.out.println("adjustDiffPairsLMAInterscene(): new pull_offset="+pull_offset);
			}
			} else {
			System.out.println("adjustDiffPairsLMAInterscene(): new pull_offset worsened = "+pull_offset+", using old one");
			break;
			}
			}
			scene1_xyzatr[0] = scene1_xyzatr_pull[0].clone(); // maybe no-cloning?
			scene1_xyzatr[1] = scene1_xyzatr_pull[1].clone();

			}



	return adjustPairsLMAInterscene( // assumes reference GPU data is already set - once for multiple scenes		return adjustPairsLMAInterscene( // assumes reference GPU data is already set - once for multiple scenes
	clt_parameters, // CLTParameters clt_parameters,		clt_parameters, // CLTParameters clt_parameters,

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

+7 −0

Original line number	Original line	Diff line number	Diff line
	@@ -348,6 +348,7 @@ public class IntersceneMatchParameters {
	public boolean fpn_ignore_border = false; // only if fpn_mask != null - ignore tile if maximum touches fpn_mask		public boolean fpn_ignore_border = false; // only if fpn_mask != null - ignore tile if maximum touches fpn_mask

	public double min_offset = 1.5; // pixels - minimal average pixel offset between images to consider interscene matching		public double min_offset = 1.5; // pixels - minimal average pixel offset between images to consider interscene matching
			public double max_pull_jump = 3.0; // pixels - maximal offset from the current pose to "pull" pose.
	public double max_rel_offset = 0.5; // maximal interscene offset as a fraction of image width		public double max_rel_offset = 0.5; // maximal interscene offset as a fraction of image width
	public double max_roll_deg = 5.0; // maximal interscene roll to consider matching		public double max_roll_deg = 5.0; // maximal interscene roll to consider matching
	public double max_zoom_diff = 0; // for down-views when changing altitude (0 - ignore)		public double max_zoom_diff = 0; // for down-views when changing altitude (0 - ignore)
	@@ -1041,6 +1042,8 @@ public class IntersceneMatchParameters {
	gd.addMessage ("Limit series, handle FPN-related problems");		gd.addMessage ("Limit series, handle FPN-related problems");
	gd.addNumericField("Minimal inter-scene offset", this.min_offset, 6,7,"pix",		gd.addNumericField("Minimal inter-scene offset", this.min_offset, 6,7,"pix",
	"Minimal average pixel offset between images to consider interscene matching");		"Minimal average pixel offset between images to consider interscene matching");
			gd.addNumericField("Maximal \"pull\" jump", this.max_pull_jump, 6,7,"pix",
			"Maximal offset from the current pose to the \"pull\" pose.");
	gd.addNumericField("Maximal interscene offset fraction of width", this.max_rel_offset, 6,7,"x width",		gd.addNumericField("Maximal interscene offset fraction of width", this.max_rel_offset, 6,7,"x width",
	"Maximal interscene offset as a fraction of image width to handle low overlap");		"Maximal interscene offset as a fraction of image width to handle low overlap");
	gd.addNumericField("Maximal interscene roll", this.max_roll_deg, 6,7,"degrees",		gd.addNumericField("Maximal interscene roll", this.max_roll_deg, 6,7,"degrees",
	@@ -1495,6 +1498,7 @@ public class IntersceneMatchParameters {
	this.fpn_ignore_border = gd.getNextBoolean();		this.fpn_ignore_border = gd.getNextBoolean();

	this.min_offset = gd.getNextNumber();		this.min_offset = gd.getNextNumber();
			this.max_pull_jump = gd.getNextNumber();
	this.max_rel_offset = gd.getNextNumber();		this.max_rel_offset = gd.getNextNumber();
	this.max_roll_deg = gd.getNextNumber();		this.max_roll_deg = gd.getNextNumber();
	this.max_zoom_diff = gd.getNextNumber();		this.max_zoom_diff = gd.getNextNumber();
	@@ -1901,6 +1905,7 @@ public class IntersceneMatchParameters {
	properties.setProperty(prefix+"fpn_ignore_border", this.fpn_ignore_border+""); // boolean		properties.setProperty(prefix+"fpn_ignore_border", this.fpn_ignore_border+""); // boolean

	properties.setProperty(prefix+"min_offset", this.min_offset+""); // double		properties.setProperty(prefix+"min_offset", this.min_offset+""); // double
			properties.setProperty(prefix+"max_pull_jump", this.max_pull_jump+""); // double
	properties.setProperty(prefix+"max_rel_offset", this.max_rel_offset+""); // double		properties.setProperty(prefix+"max_rel_offset", this.max_rel_offset+""); // double
	properties.setProperty(prefix+"max_roll_deg", this.max_roll_deg+""); // double		properties.setProperty(prefix+"max_roll_deg", this.max_roll_deg+""); // double
	properties.setProperty(prefix+"max_zoom_diff", this.max_zoom_diff+""); // double		properties.setProperty(prefix+"max_zoom_diff", this.max_zoom_diff+""); // double
	@@ -2265,6 +2270,7 @@ public class IntersceneMatchParameters {
	if (properties.getProperty(prefix+"fpn_ignore_border")!=null) this.fpn_ignore_border=Boolean.parseBoolean(properties.getProperty(prefix+"fpn_ignore_border"));		if (properties.getProperty(prefix+"fpn_ignore_border")!=null) this.fpn_ignore_border=Boolean.parseBoolean(properties.getProperty(prefix+"fpn_ignore_border"));

	if (properties.getProperty(prefix+"min_offset")!=null) this.min_offset=Double.parseDouble(properties.getProperty(prefix+"min_offset"));		if (properties.getProperty(prefix+"min_offset")!=null) this.min_offset=Double.parseDouble(properties.getProperty(prefix+"min_offset"));
			if (properties.getProperty(prefix+"max_pull_jump")!=null) this.max_pull_jump=Double.parseDouble(properties.getProperty(prefix+"max_pull_jump"));
	if (properties.getProperty(prefix+"max_rel_offset")!=null) this.max_rel_offset=Double.parseDouble(properties.getProperty(prefix+"max_rel_offset"));		if (properties.getProperty(prefix+"max_rel_offset")!=null) this.max_rel_offset=Double.parseDouble(properties.getProperty(prefix+"max_rel_offset"));
	if (properties.getProperty(prefix+"max_roll_deg")!=null) this.max_roll_deg=Double.parseDouble(properties.getProperty(prefix+"max_roll_deg"));		if (properties.getProperty(prefix+"max_roll_deg")!=null) this.max_roll_deg=Double.parseDouble(properties.getProperty(prefix+"max_roll_deg"));

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