Working snapshot,single-connected pairs (c3505d27) · Commits · Elphel / imagej-elphel

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

+2 −0

Original line number	Diff line number	Diff line
		@@ -1303,6 +1303,8 @@ public class ComboMatch {
		System.out.println("This can happen if files have different resolution for new run.");
		System.out.println("Verify path, then modify filenames[i], break at line above: 'maps_collection.ortho_maps[i].setFileName(filenames[i])'.");
		System.out.println("Reduce i by 1 and continue");
		} else {
		maps_collection.ortho_maps[i] = new OrthoMap(path);
		}
		}
		return true;

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

+23 −8

Original line number	Diff line number	Diff line
		@@ -913,6 +913,10 @@ public class OrthoMap implements Comparable <OrthoMap>, Serializable{
		int swidth = getWidth();
		int sheight = getHeight();
		final float [] spix = orig_image.data;
		if (swidth*sheight != spix.length) {
		System.out.println ("downScaleForGPU(): swidth="+ swidth+", sheight="+sheight+", swidthsheight="+(swidthsheight)+", spix.length="+spix.length);
		System.out.println ();
		}
		final int width = (swidth+frscale-1)/frscale;
		final int height = (sheight+frscale-1)/frscale;
		final int tiles = width * height;
		@@ -939,17 +943,28 @@ public class OrthoMap implements Comparable <OrthoMap>, Serializable{
		for (int py = 0; py < tileH; py++) {
		int ls = (tileYfrscale + py)swidth;
		for (int px = 0; px < tileW; px++) {
		double d = spix[ls + tileX*frscale+px];
		int indx = ls + tileX*frscale+px;
		if ((indx >=0) && (indx < spix.length)) {
		double d = spix[ls + tileX*frscale+px]; //java.lang.ArrayIndexOutOfBoundsException: Index 3892800 out of bounds for length 3892680
		if (!Double.isNaN(d)) {
		double w = wnd[py][px];
		sw += w;
		swd += w*d;
		}
		if (sw > 0) {
		opix[tileY * width + tileX] = (float) (swd/sw);
		} else {
		System.out.println("downScaleForGPU(): indx = "+indx+" ("+spix.length+"), tileX= "+
		tileX+", tileY="+tileY+", px="+px+", py="+py+", ls="+ls);
		}
		// if (sw > 0) {
		// opix[tileY * width + tileX] = (float) (swd/sw);
		// }
		}
		}
		if (sw > 0) {
		opix[tileY * width + tileX] = (float) (swd/sw);
		}


		}
		}
		};

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

+326 −465

File changed.

Preview size limit exceeded, changes collapsed.

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

+43 −9

Original line number	Diff line number	Diff line
		@@ -29,6 +29,8 @@ import java.awt.Point;
		import java.io.IOException;
		import java.util.ArrayList;
		import java.util.Arrays;
		import java.util.HashMap;
		import java.util.Set;
		import java.util.concurrent.atomic.AtomicInteger;

		import com.elphel.imagej.cameras.CLTParameters;
		@@ -218,6 +220,7 @@ public class OrthoMultiLMA {
		OrthoMapsCollection maps_collection,
		String orthoMapsCollection_path
		) {
		boolean all_pairs = true;
		boolean move_only = clt_parameters.imp.pmap_move_only; // false;
		boolean ignore_affines = clt_parameters.imp.pmap_ignore_affines; // false;
		boolean use_inv = clt_parameters.imp.pmap_use_inv; // false;
		@@ -232,22 +235,23 @@ public class OrthoMultiLMA {
		int debugLevel = clt_parameters.imp.pmap_debugLevel; // 2;

		GenericJTabbedDialog gd = new GenericJTabbedDialog("Pairwise Match Parameters",1200,400);
		gd.addCheckbox ("Use all available pairs", all_pairs, "Use all available pairs.");
		gd.addCheckbox ("Moves only", move_only, "Moves only, no affine transform.");
		gd.addCheckbox ("Ignore existing affines", ignore_affines, "Start from unity matrices, ignore saved affines.");
		gd.addCheckbox ("Use reversed pairs", use_inv, "Use reversed (late-early timestamps) pairs.");
		gd.addNumericField("Skew pull", skew_pull, 7,10,"", "Intention to have axes perpendicular.");
		gd.addNumericField("Tilt pull", tilt_pull, 7,10,"", "Intention to have axes same length.");
		gd.addNumericField("Scale pull", scale_pull, 7,10,"", "Intention to have average scale of images = 1.0.");
		gd.addNumericField("Position pull", position_pull,7,10,"", "Intension to match IMS (GNSS) coordinates.");
		gd.addNumericField("Skew pull", skew_pull, 7,11,"", "Intention to have axes perpendicular.");
		gd.addNumericField("Tilt pull", tilt_pull, 7,11,"", "Intention to have axes same length.");
		gd.addNumericField("Scale pull", scale_pull, 7,11,"", "Intention to have average scale of images = 1.0.");
		gd.addNumericField("Position pull", position_pull,7,11,"", "Intension to match IMS (GNSS) coordinates.");
		gd.addNumericField("Overlap inportance", overlap_pow, 3,7,"", "Raise overlap fraction (of the smaller image) to this power before using as weight.");
		gd.addNumericField("RMSE relative improvement",rms_diff, 8,10,"", "Relative RMSE improvement to exit LMA.");
		gd.addNumericField("RMSE relative improvement",rms_diff, 8,11,"", "Relative RMSE improvement to exit LMA.");
		gd.addNumericField("LMA iterations", num_iter, 0,3,"",".Maximal number of the LMA iterations.");
		gd.addCheckbox ("Show result image", show_result, ".");
		gd.addNumericField("Debug level for maps", debugLevel, 0,3,"","Debug building for LMA building maps.");

		gd.showDialog();
		if (gd.wasCanceled()) return -1;

		all_pairs = gd.getNextBoolean();
		move_only = gd.getNextBoolean();
		ignore_affines = gd.getNextBoolean();
		use_inv = gd.getNextBoolean();
		@@ -265,6 +269,7 @@ public class OrthoMultiLMA {
		clt_parameters, // CLTParameters clt_parameters,
		maps_collection, // OrthoMapsCollection maps_collection,
		orthoMapsCollection_path, // String orthoMapsCollection_path,
		all_pairs, // boolean all_pairs,
		move_only, // boolean move_only,
		ignore_affines, // boolean ignore_affines,
		use_inv, // boolean use_inv,
		@@ -282,6 +287,7 @@ public class OrthoMultiLMA {
		CLTParameters clt_parameters,
		OrthoMapsCollection maps_collection,
		String orthoMapsCollection_path,
		boolean all_pairs,
		boolean move_only,
		boolean ignore_affines,
		boolean use_inv,
		@@ -296,9 +302,37 @@ public class OrthoMultiLMA {
		int debugLevel) {
		double [] val_coord = null; // 1 - valid, 0 - invalid, minimize coordinates errors
		boolean corr_avg= (skew_pull > 0) \|\| (tilt_pull > 0) \|\| (scale_pull > 0);
		int [] indices = maps_collection.getScenesSelection(
		int [] indices = null;
		if (all_pairs) {
		boolean [] used_scenes = new boolean [maps_collection.ortho_maps.length];
		for (int scene0 = 0; scene0 < (used_scenes.length-1); scene0++) {
		Set<String> match_names = maps_collection.ortho_maps[scene0].pairwise_matches.keySet();
		for (String scene1_name:match_names) {
		PairwiseOrthoMatch match = maps_collection.ortho_maps[scene0].getMatch(scene1_name); // defined only
		if (match != null) {
		int scene1 = maps_collection.getIndex(scene1_name);
		used_scenes[scene0] = true;
		used_scenes[scene1] = true;
		}
		}
		}
		int num_scenes = 0;
		for (int i = 0; i < used_scenes.length; i++) if (used_scenes[i]){
		num_scenes++;
		}
		indices = new int [num_scenes];
		int indx = 0;
		for (int i = 0; i < used_scenes.length; i++) if (used_scenes[i]){
		indices[indx++] = i;
		}
		if (debugLevel > -1) {
		System.out.println("buildOrthoMap(): got "+indices.length+" scenes with pairs");
		}
		} else {
		indices = maps_collection.getScenesSelection(
		null, // boolean select_all,
		" to build a map"); // String purpose)
		" to build a map with LMA from pair-wise matches"); // String purpose)
		}
		OrthoMultiLMA oml = new OrthoMultiLMA(
		corr_avg,
		move_only);

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

+49 −17

Original line number	Diff line number	Diff line
		@@ -57,6 +57,8 @@ public class PairsGraph {
		public PairsGraph (
		OrthoMapsCollection orthoMapsCollection,
		int [] indices,
		double min_overlap_frac,
		double max_rmse_reuse,
		boolean multi,
		int debugLevel) {
		this.orthoMapsCollection = orthoMapsCollection;
		@@ -75,19 +77,30 @@ public class PairsGraph {
		}
		int num_defined = 0;
		int num_undefined = 0;

		int num_bad = 0;
		int num_low_overlap = 0;
		for (int i = 0; i < indices.length-1; i++) {
		for (int j = i+1; j < indices.length; j++){
		String name2 = ortho_maps[indices[j]].getName();
		PairwiseOrthoMatch match = ortho_maps[indices[i]].getMatch(name2,true);
		if (match != null) {
		if (match.getOverlap() < min_overlap_frac){
		num_low_overlap++;
		} else {
		if (match.isDefined()) {
		if ((match.getOverlap() < min_overlap_frac) \|\| ((max_rmse_reuse > 0) && !(match.getRMS() <= max_rmse_reuse))) {
		pair_state[i][j] = PAIR_UNDEFINED;
		num_undefined++;
		num_bad++;
		} else {
		pair_state[i][j] = PAIR_DEFINED;
		num_defined++;
		recordPair(
		new int [] {i,j}, // int [] pair,
		true, // boolean success,
		multi);
		}

		} else {
		pair_state[i][j] = PAIR_UNDEFINED;
		num_undefined++;
		@@ -96,19 +109,38 @@ public class PairsGraph {
		}
		}
		}
		HashSet<Integer> hs = new HashSet<Integer>();
		for (int i:groups) {
		hs.add(i);
		}
		pairs = multi? getPairsIndicesMulti():getPairsIndicesSingle();
		if (debugLevel > 0) {
		if (debugLevel > -1) {
		System.out.println("Number of scenes - "+indices.length);
		System.out.println("Number of defined pairs - "+num_defined);
		System.out.println("Number of undefined pairs - "+num_undefined);
		System.out.println("Number of disconnected groups - "+hs.size());
		System.out.println("Number of low overlap pairs ("+min_overlap_frac+") - "+num_low_overlap);
		System.out.println("Number of bad rms pairs ("+max_rmse_reuse+") - "+num_bad);
		System.out.println("Number of disconnected groups - "+getNumberOfGroups());
		}
		}

		public int getNumberOfGroups() {
		HashSet<Integer> hs = new HashSet<Integer>();
		for (int i:groups) {
		hs.add(i);
		}
		return hs.size();
		}

		public int [] getIndices() {
		return indices;
		}

		public boolean useMultiThreaded() {
		return multi;
		}

		public double getOverlap(
		int [] pair) {
		return overlaps[Math.min(pair[0],pair[1])][Math.max(pair[0],pair[1])];
		}
		public boolean dryRun(
		int heur,
		int debugLevel) {