just a working snapshot (bc9e1a60) · Commits · Elphel / imagej-elphel

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

+114 −1

Original line number	Original line	Diff line number	Diff line
	@@ -111,7 +111,6 @@ public class OrientationSceneLMA {
	return weights.length;		return weights.length;
	}		}


	private double [] getFxDerivs(		private double [] getFxDerivs(
	final double [] vector,		final double [] vector,
	final double [][] jt, // should be null or initialized with [vector.length][]		final double [][] jt, // should be null or initialized with [vector.length][]
	@@ -124,6 +123,117 @@ public class OrientationSceneLMA {
	}		}
	}		}

			final Thread[] threads = ImageDtt.newThreadArray();
			final AtomicInteger ai = new AtomicInteger(0);
			final AtomicInteger ati = new AtomicInteger(0);
			// first cycle - minimize per-pair errors (differences between singular values)
			for (int ithread = 0; ithread < threads.length; ithread++) {
			threads[ithread] = new Thread() {
			public void run() {
			double [] qscene1 = new double[4];
			double [] qscene2 = new double[4];
			double [][][] derivs = (jt!=null) ? (new double [2][][]): null;
			double [][][] qderivs = (jt != null) ? (new double [2][][]) : null;

			for (int npair = ai.getAndIncrement(); npair < num_pairs; npair = ai.getAndIncrement()) {
			int [] scene_ind = {4 * cpairs[npair][0], 4 * cpairs[npair][1]};
			System.arraycopy(vector, scene_ind[0], qscene1, 0, 4);
			System.arraycopy(vector, scene_ind[1], qscene2, 0, 4);
			double [] q2iq1q12;
			q2iq1q12 = getPairErrQuaternion( // qderivs here tested
			qscene1, // double [] qscene1,
			qscene2, // double [] qscene2,
			qpairs[npair], // double [] qpair12,
			qderivs); // double [][][] qderivs)


			double [] q2iq1q12_norm=QuatUtils.normalize(q2iq1q12); // use q1,q2,q3, maybe q1 and q2 (from DEM) lower weight than q3 (from images)
			double scale_diff = QuatUtils.norm(q2iq1q12)-1.0;
			double [] fx_frag = {scale_diff, q2iq1q12_norm[1], q2iq1q12_norm[2], q2iq1q12_norm[3]};

			System.arraycopy(
			fx_frag,
			0,
			fX,
			fx_frag.length*npair,
			fx_frag.length);
			if (jt!=null) {
			double [][] dq2iq1q12_norm = QuatUtils.dnormalize_dq(q2iq1q12);
			double [] dscale = QuatUtils.dscale_dq(q2iq1q12);
			dq2iq1q12_norm[0] = dscale; // replace first row (q_norm/dq) with dsca/e/dq
			derivs[0] = QuatUtils.matMult(dq2iq1q12_norm,qderivs[0]); // /dq1 (scene 1)
			derivs[1] = QuatUtils.matMult(dq2iq1q12_norm,qderivs[1]); // /dq2 (scene 2)

			for (int iscene = 0; iscene <2; iscene++) {
			for (int npar = 0; npar <4; npar++) {
			for (int i = 0; i < 4; i++) {
			jt[scene_ind[iscene]+npar][fx_frag.length*npair+i] = derivs[iscene][i][npar];
			}
			}
			}
			}
			}
			}
			};
			}
			ImageDtt.startAndJoin(threads);
			ai.set(0);
			// second cycle - regularization (average scale diffs, q1,q2,q3}
			double [][] pull_threads = new double [threads.length][4];
			final int pull_index = num_pairs*4; // start of pull sums in fx
			for (int ithread = 0; ithread < threads.length; ithread++) {
			threads[ithread] = new Thread() {
			public void run() {
			int nthread = ati.getAndIncrement();
			double [] qscene = new double[4];
			for (int nscene = ai.getAndIncrement(); nscene < num_scenes; nscene = ai.getAndIncrement()) {
			System.arraycopy(vector, nscene*4, qscene, 0, 4);
			double [] qscene_norm=QuatUtils.normalize(qscene); // use q1,q2,q3, maybe q1 and q2 (from DEM) lower weight than q3 (from images)
			double scale_diff = QuatUtils.norm(qscene)-1.0;
			qscene_norm[0] = scale_diff; // {scale_diff, qn1, qn2, qn3};
			for (int i = 0; i < 4; i++) {
			pull_threads[nthread][i] += qscene_norm[i];
			}
			if (jt != null) {
			double [][] dnq_dq = QuatUtils.dnormalize_dq(qscene);
			double [] dscale = QuatUtils.dscale_dq(qscene);
			dnq_dq[0] = dscale;
			for (int npar = 0; npar <4; npar++) {
			System.arraycopy(
			dnq_dq[npar],
			0 ,
			jt[nscene*4+npar],
			pull_index,
			4);
			}
			}
			}
			}
			};
			}
			ImageDtt.startAndJoin(threads);
			// sum partial sums from threads
			for (int nthread = 0; nthread < pull_threads.length; nthread++ ) {
			for (int i = 0; i < 4; i++) {
			fX[pull_index+i] += pull_threads[nthread][i];
			}
			}
			return fX;
			}


			public double [] getFxDerivs_debug(
			final double [] vector,
			final double [][] jt, // should be null or initialized with [vector.length][]
			final int debug_level)
			{
			double [] fX = new double [weights.length]; // num_pairs + vector.length];
			if (jt != null) {
			for (int i = 0; i < jt.length; i++) {
			jt[i] = new double [weights.length]; // weights.length];
			}
			}

	final Thread[] threads = ImageDtt.newThreadArray();		final Thread[] threads = ImageDtt.newThreadArray();
	final AtomicInteger ai = new AtomicInteger(0);		final AtomicInteger ai = new AtomicInteger(0);
	final AtomicInteger ati = new AtomicInteger(0);		final AtomicInteger ati = new AtomicInteger(0);
	@@ -265,6 +375,9 @@ public class OrientationSceneLMA {
	return fX;		return fX;
	}		}




	private double [][] getFxDerivsDelta(		private double [][] getFxDerivsDelta(
	double [] vector,		double [] vector,
	final double delta,		final double delta,

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

+1 −1

Original line number	Original line	Diff line number	Diff line
	@@ -79,7 +79,7 @@ public class OrthoAltitudeMatch {
	boolean do_not_save = true;		boolean do_not_save = true;

	// OrientationSceneLMA.testGetPairErrQuaternion ();		// OrientationSceneLMA.testGetPairErrQuaternion ();
	OrientationSceneLMA.testGetPairPairScaleDirError();		// OrientationSceneLMA.testGetPairPairScaleDirError();

	if (test_quat0) {		if (test_quat0) {
	QuatUtils.testQuatAff();		QuatUtils.testQuatAff();

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

+7 −0

Original line number	Original line	Diff line number	Diff line
	@@ -133,6 +133,7 @@ public class OrthoMap implements Comparable <OrthoMap>, Serializable{
	public transient int num_scenes = -1;; // number of scenes that made up this image		public transient int num_scenes = -1;; // number of scenes that made up this image
	public transient double sfm_gain = Double.NaN; // maximal SfM gain of this map		public transient double sfm_gain = Double.NaN; // maximal SfM gain of this map
	public transient double [] equalize = {1,0}; // rectified value = equalize[0]*source_value+equalize[1]		public transient double [] equalize = {1,0}; // rectified value = equalize[0]*source_value+equalize[1]
			public transient double [] qorient = null; // quternion representing orientation+scale of the scene
	private void writeObject(ObjectOutputStream oos) throws IOException {		private void writeObject(ObjectOutputStream oos) throws IOException {
	// temporary fix:		// temporary fix:
	// double [][] affine_clone = {affine[0].clone(), affine[1].clone()};		// double [][] affine_clone = {affine[0].clone(), affine[1].clone()};
	@@ -191,6 +192,12 @@ public class OrthoMap implements Comparable <OrthoMap>, Serializable{
	// pairwise_matches = new HashMap<Double, PairwiseOrthoMatch>();		// pairwise_matches = new HashMap<Double, PairwiseOrthoMatch>();
	}		}

			public double [] getQOrinet() {
			return qorient;
			}
			public void setQOrient(double [] q) {
			qorient = q;
			}
	public double [][] getERSAffine(){		public double [][] getERSAffine(){
	return ers_affine;		return ers_affine;
	}		}

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

+10 −0

Original line number	Original line	Diff line number	Diff line
	@@ -41,6 +41,7 @@ public class PairwiseOrthoMatch implements Serializable {
	public transient double [] alt_data = null;		public transient double [] alt_data = null;
	public transient double [] equalize1to0 = {1,0}; // value1 = equalize2to1[0]*value2+equalize2to1[1]		public transient double [] equalize1to0 = {1,0}; // value1 = equalize2to1[0]*value2+equalize2to1[1]
	public transient double [] quat = null; // relative orientation of the second scene (ERS affine removed). Will be eventually saved		public transient double [] quat = null; // relative orientation of the second scene (ERS affine removed). Will be eventually saved
			public transient double [][] qaffine = null; // affine relative to rotated scenes
	// below - not saved/restored		// below - not saved/restored
	public transient boolean ok = false; // not saved/restored		public transient boolean ok = false; // not saved/restored
	public transient int [] nxy = null; // not saved, just to communicate for logging		public transient int [] nxy = null; // not saved, just to communicate for logging
	@@ -52,6 +53,13 @@ public class PairwiseOrthoMatch implements Serializable {
	this.quat = quat;		this.quat = quat;
	}		}

			public double [][] getQAffine() {
			return qaffine;
			}
			public void setQAffine(double [][] qaffine) {
			this.qaffine = qaffine;
			}

	// public PairwiseOrthoMatch() {}		// public PairwiseOrthoMatch() {}
	public double getOverlap() {		public double getOverlap() {
	return overlap;		return overlap;
	@@ -120,6 +128,8 @@ public class PairwiseOrthoMatch implements Serializable {
	pom.equalize1to0 = this.equalize1to0.clone();		pom.equalize1to0 = this.equalize1to0.clone();
	pom.ok = this.ok;		pom.ok = this.ok;
	pom.alt_data = this.alt_data.clone();		pom.alt_data = this.alt_data.clone();
			pom.quat = (quat!=null)? quat.clone() : null;
			pom.qaffine = (qaffine!=null) ? (new double [][] {qaffine[0].clone(),qaffine[1].clone()}):null;
	return pom;		return pom;
	}		}
	/**		/**

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