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imagej-elphel
Commit ba487fc2 authored by Andrey Filippov's avatar Andrey Filippov
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finished small steps to "pull" without regularization

parent d87f98cc
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Showing with 90 additions and 2 deletions
src/main/java/com/elphel/imagej/tileprocessor/Interscene.java
View file @ ba487fc2
......@@ -578,6 +578,7 @@ public class Interscene {
reliable_ref, //boolean [] reliable_ref, // null or bitmask of reliable reference tiles
scenes_xyzatr[ref_index], // double [][] scene0_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
clt_parameters.ilp.ilma_lma_select, // boolean[] param_select,
reg_weights, // double [] param_regweights,
......@@ -739,6 +740,7 @@ public class Interscene {
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][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
clt_parameters.ilp.ilma_lma_select, // boolean[] param_select,
reg_weights, // double [] param_regweights,
......@@ -1388,8 +1390,8 @@ public class Interscene {
int debugLevel)
{
System.out.println("reAdjustPairsLMAInterscene(): using mb_max_gain="+mb_max_gain);
boolean freeze_xy_pull = false; // true; // debugging freezing xy to xy_pull
boolean copy_pull_current = true;
boolean freeze_xy_pull = true; // false; // true; // debugging freezing xy to xy_pull
boolean copy_pull_current = false; // true;
final boolean[] param_select = configured_lma? clt_parameters.ilp.ilma_lma_select :
ErsCorrection.getParamSelect(
!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
scenes_xyzatr[ref_index],// double [][] scene0_xyzatr,
scenes_xyzatr[nscene], // double [][] scene1_xyzatr,
avg_z, // double average_z,
scenes_xyzatr_pull[nscene], // double [][] scene1_xyzatr_pull,
param_select, // boolean[] param_select,
param_regweights, // double [] param_regweights,
......@@ -1846,6 +1849,7 @@ public class Interscene {
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][0]], // double [][] scene1_xyzatr,
avg_z, // double average_z,
scenes_xyzatr_pull [fpn_pairs[ipair][0]], // double [][] scene1_xyzatr_pull,
param_select, // boolean[] param_select,
param_regweights, // double [] param_regweights,
......@@ -1933,6 +1937,7 @@ public class Interscene {
boolean [] reliable_ref, // null or bitmask of reliable reference tiles
double [][] scene0_xyzatr,
double [][] scene1_xyzatr,
double average_z,
double [][] scene1_xyzatr_pull,
boolean[] param_select,
double [] param_regweights,
......@@ -2022,6 +2027,82 @@ public class Interscene {
0, // int shrink_gaps, // will gaps, but not more that grow by this
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
clt_parameters, // CLTParameters clt_parameters,
......
src/main/java/com/elphel/imagej/tileprocessor/IntersceneMatchParameters.java
View file @ ba487fc2
......@@ -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 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_roll_deg = 5.0; // maximal interscene roll to consider matching
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.addNumericField("Minimal inter-scene offset", this.min_offset, 6,7,"pix",
"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",
"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",
......@@ -1495,6 +1498,7 @@ public class IntersceneMatchParameters {
this.fpn_ignore_border = gd.getNextBoolean();
this.min_offset = gd.getNextNumber();
this.max_pull_jump = gd.getNextNumber();
this.max_rel_offset = gd.getNextNumber();
this.max_roll_deg = 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+"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_roll_deg", this.max_roll_deg+""); // 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+"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_roll_deg")!=null) this.max_roll_deg=Double.parseDouble(properties.getProperty(prefix+"max_roll_deg"));
if (properties.getProperty(prefix+"max_zoom_diff")!=null) this.max_zoom_diff=Double.parseDouble(properties.getProperty(prefix+"max_zoom_diff"));
......@@ -2641,6 +2647,7 @@ public class IntersceneMatchParameters {
imp.fpn_ignore_border = this.fpn_ignore_border;
imp.min_offset = this.min_offset;
imp.max_pull_jump = this.max_pull_jump;
imp.max_rel_offset = this.max_rel_offset;
imp.max_roll_deg = this.max_roll_deg;
imp.max_zoom_diff = this.max_zoom_diff;
......
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