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Commit c3fb4172 authored by Andrey Filippov's avatar Andrey Filippov
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Initial testing of LMA for fitting pairs of ortho images

parent 411beb9e
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src/main/java/com/elphel/imagej/orthomosaic/ComboMatch.java
View file @ c3fb4172
......@@ -52,16 +52,19 @@ public class ComboMatch {
double [][][] image_enuatr = {{{0,0,0},{0,0,0}},{{0,0,0},{0,0,0}}};
int gpu_width= clt_parameters.imp.rln_gpu_width; // 3008;
int gpu_height= clt_parameters.imp.rln_gpu_height; // 3008;
int zoom_lev = -4; // 0; // +1 - zoom in twice, -1 - zoom out twice
int zoom_lev = -3; // 0; // +1 - zoom in twice, -1 - zoom out twice
boolean use_alt = false;
boolean show_centers = true;
boolean use_saved_collection = false;
boolean use_saved_collection = true; // false;
boolean save_collection = true;
boolean process_correlation = true; // use false to save new version of data
GenericJTabbedDialog gd = new GenericJTabbedDialog("Set image pair",1200,800);
gd.addStringField ("Image list full path", files_list_path, 180, "Image list full path.");
gd.addStringField ("Maps collection save path", orthoMapsCollection_path, 180, "Save path for serialized map collection data.");
gd.addCheckbox ("Use saved maps collection", use_saved_collection, "If false - use files list.");
gd.addCheckbox ("Save maps collection", save_collection, "If false - use files list.");
gd.addCheckbox ("Save maps collection", save_collection, "Save maps collection to be able to restore.");
gd.addCheckbox ("Process correlations", process_correlation, "false to skip to just regenerate new save file.");
//
// for (int n = 0; n < image_paths_pre.length; n++) {
// gd.addStringField ("Image path "+n, image_paths_pre[n], 180, "Image "+n+" full path w/o ext");
// }
......@@ -92,6 +95,7 @@ public class ComboMatch {
orthoMapsCollection_path = gd.getNextString();
use_saved_collection = gd.getNextBoolean();
save_collection = gd.getNextBoolean();
process_correlation= gd.getNextBoolean();
for (int n = 0; n < image_enuatr.length; n++) {
image_enuatr[n][0][0] = gd.getNextNumber();
......@@ -142,40 +146,41 @@ public class ComboMatch {
origin); // int [] origin){
imp_alt.show();
}
System.out.println("Setting up GPU");
if (GPU_QUAD_AFFINE == null) {
try {
GPU_QUAD_AFFINE = new GpuQuad(//
GPU_TILE_PROCESSOR, // GPUTileProcessor gpuTileProcessor,
gpu_max_width, // final int max_width,
gpu_max_height, // final int max_height,
1, // final int num_colors, // normally 1?
clt_parameters.gpu_debug_level);
} catch (Exception e) {
System.out.println("Failed to initialize GpuQuad class");
// TODO Auto-generated catch block
e.printStackTrace();
return false;
} // final int debugLevel);
}
double [][] affine0 = {{1,0,0},{0,1,0}}; // will always stay the same
double [][] affine1 = {{1,0,0},{0,1,0}}; // will be variable // here in meters, relative to vertical point
double [][][] affines = {affine0,affine1};
double [][] corr_pair_rslt = maps_collection.correlateOrthoPair(
clt_parameters, // CLTParameters clt_parameters,
gpu_spair, // String [] gpu_spair,
affines, // double [][][] affines, // on top of GPS offsets
zoom_lev, // int zoom_lev,
debugLevel); // final int debugLevel)
if (process_correlation) {
System.out.println("Setting up GPU");
if (GPU_QUAD_AFFINE == null) {
try {
GPU_QUAD_AFFINE = new GpuQuad(//
GPU_TILE_PROCESSOR, // GPUTileProcessor gpuTileProcessor,
gpu_max_width, // final int max_width,
gpu_max_height, // final int max_height,
1, // final int num_colors, // normally 1?
clt_parameters.gpu_debug_level);
} catch (Exception e) {
System.out.println("Failed to initialize GpuQuad class");
// TODO Auto-generated catch block
e.printStackTrace();
return false;
} // final int debugLevel);
}
double [][] affine0 = {{1,0,0},{0,1,0}}; // will always stay the same
double [][] affine1 = {{1,0,0},{0,1,0}}; // will be variable // here in meters, relative to vertical point
double [][][] affines = {affine0,affine1};
double [][] corr_pair_rslt = maps_collection.correlateOrthoPair(
clt_parameters, // CLTParameters clt_parameters,
gpu_spair, // String [] gpu_spair,
affines, // double [][][] affines, // on top of GPS offsets
zoom_lev, // int zoom_lev,
debugLevel); // final int debugLevel)
}
if (save_collection) {
try {
maps_collection.writeOrthoMapsCollection(orthoMapsCollection_path);
} catch (IOException e) {
// TODO Auto-generated catch block
e.printStackTrace();
}
maps_collection.writeOrthoMapsCollection(orthoMapsCollection_path);
} catch (IOException e) {
// TODO Auto-generated catch block
e.printStackTrace();
}
}
......@@ -367,6 +372,7 @@ public class ComboMatch {
gpu_width, // final int img_width,
null, // Rectangle woi, // if null, use full GPU window
affine, // final double [][][] affine, // [2][2][3] affine coefficients to translate common to 2 images
null, // TpTask [][] tp_tasks_o,
false, // final boolean batch_mode,
debugLevel); // final int debugLevel);
// renderFromTD (
......@@ -395,6 +401,7 @@ public class ComboMatch {
final int img_width,
Rectangle woi, // if null, use full GPU window
final double [][][] affine, // [2][2][3] affine coefficients to translate common to 2 images
TpTask [][] tp_tasks_o,
final boolean batch_mode,
final int debugLevel) {
int [] wh = {img_width, fpixels[0].length/img_width};
......@@ -403,6 +410,9 @@ public class ComboMatch {
img_width, // final int img_width,
woi, // Rectangle woi,
affine); // final double [][][] affine // [2][2][3] affine coefficients to translate common to 2 images
if (tp_tasks_o != null) {
for (int i = 0; i < tp_tasks_o.length; i++) tp_tasks_o[i] = tp_tasks[i];
}
boolean is_aux = true;
boolean is_mono = true;
boolean is_lwir = true;
......
src/main/java/com/elphel/imagej/orthomosaic/OrthoMap.java
View file @ c3fb4172
......@@ -62,6 +62,8 @@ public class OrthoMap implements Comparable <OrthoMap>, Serializable{
public double [][] affine = new double[][] {{1,0,0},{0,1,0}}; // relative to vert_meters[]
public double orig_pix_meters;
public double [] vert_meters; // offset of the image vertical in meters (scale-invariant)
public int orig_width;
public int orig_height;
public transient FloatImageData orig_image;
public transient FloatImageData alt_image;
public int orig_zoom_level;
......@@ -79,6 +81,8 @@ public class OrthoMap implements Comparable <OrthoMap>, Serializable{
// affine is not transient
// orig_pix_meters is not transient
// vert_meters is not transient
// orig_width is not transient
// orig_height is not transient
// orig_image does not need to be saved
// alt_image does not need to be saved
// orig_zoom_level is not transient
......@@ -98,6 +102,8 @@ public class OrthoMap implements Comparable <OrthoMap>, Serializable{
// affine is not transient
// orig_pix_meters is not transient
// vert_meters is not transient
// orig_width is not transient
// orig_height is not transient
// orig_image was not saved
// alt_image was not saved
images = new HashMap <Integer, FloatImageData>(); // field images was not saved
......@@ -117,6 +123,12 @@ public class OrthoMap implements Comparable <OrthoMap>, Serializable{
gpu_height = height;
}
public int getWidth() {
return orig_width;
}
public int getHeight() {
return orig_height;
}
// Generate ALT image path from the GEO
public static String getAltPath(String path) {
int p1 = path.lastIndexOf(".");
......@@ -151,6 +163,8 @@ public class OrthoMap implements Comparable <OrthoMap>, Serializable{
double height_meters = height_pix * orig_pix_meters;
vert_meters[1] = height_meters-vert_meters[1];
}
orig_width = ElphelTiffReader.getWidth(imp_prop);
orig_height = ElphelTiffReader.getHeight(imp_prop);
orig_zoom_level = FloatImageData.getZoomLevel(orig_pix_meters);
orig_zoom_valid = FloatImageData.isZoomValid(orig_pix_meters);
......@@ -254,8 +268,8 @@ public class OrthoMap implements Comparable <OrthoMap>, Serializable{
String full_name = path.substring(path.lastIndexOf(Prefs.getFileSeparator()) + 1);
ImagePlus imp = ShowDoubleFloatArrays.makeArrays(
orig_image.data, // float[] pixels,
orig_image.width,
orig_image.height,
getWidth(),
getHeight(),
full_name);
if (show_markers) {
PointRoi roi = new PointRoi();
......@@ -296,8 +310,8 @@ public class OrthoMap implements Comparable <OrthoMap>, Serializable{
*/
public double [][] get4SourceCornersMeters(){
FloatImageData orig_image = getImageData();
double width_meters = orig_image.width * orig_pix_meters;
double height_meters = orig_image.height * orig_pix_meters;
double width_meters = getWidth() * orig_pix_meters;
double height_meters = getHeight() * orig_pix_meters;
return new double[][] { // CW from TL
{ - vert_meters[0], - vert_meters[1]},
{width_meters - vert_meters[0], - vert_meters[1]},
......@@ -440,8 +454,8 @@ public class OrthoMap implements Comparable <OrthoMap>, Serializable{
rscale *= 2;
}
final int frscale = rscale;
int swidth = orig_image.width;
int sheight = orig_image.height;
int swidth = getWidth();
int sheight = getHeight();
final float [] spix = orig_image.data;
final int width = (swidth+frscale-1)/frscale;
final int height = (sheight+frscale-1)/frscale;
......
src/main/java/com/elphel/imagej/orthomosaic/OrthoMapsCollection.java
View file @ c3fb4172
......@@ -20,6 +20,8 @@ import java.util.concurrent.atomic.AtomicInteger;
import com.elphel.imagej.cameras.CLTParameters;
import com.elphel.imagej.common.ShowDoubleFloatArrays;
import com.elphel.imagej.gpu.GPUTileProcessor;
import com.elphel.imagej.gpu.TpTask;
import com.elphel.imagej.tileprocessor.ImageDtt;
import com.elphel.imagej.tileprocessor.TDCorrTile;
......@@ -441,6 +443,8 @@ public class OrthoMapsCollection implements Serializable{
double [][][] affines, // here in meters, relative to vertical points
int zoom_lev,
final int debugLevel){
boolean show_gpu_img = true; // (debugLevel > 1);
boolean show_tile_centers = true; // (debugLevel > 1);
double [][] bounds_overlap_meters = getOverlapMeters(
gpu_pair[0], // int ref_index,
gpu_pair[1], // int other_index)
......@@ -469,9 +473,9 @@ public class OrthoMapsCollection implements Serializable{
tlo_rect_metric[0][0] = bounds_overlap_meters[0][0]; // relative to ref vert_meters
tlo_rect_metric[0][1] = bounds_overlap_meters[1][0]; // vert_meters
tlo_rect_metric[1][0] = bounds_overlap_meters[0][0] // relative to other vert_meters
- rd[0] + ortho_maps[gpu_pair[1]].vert_meters[0]- ortho_maps[gpu_pair[0]].vert_meters[0];
- rd[0]; // + ortho_maps[gpu_pair[1]].vert_meters[0]- ortho_maps[gpu_pair[0]].vert_meters[0];
tlo_rect_metric[1][1] = bounds_overlap_meters[1][0]
- rd[1] + ortho_maps[gpu_pair[1]].vert_meters[1]- ortho_maps[gpu_pair[0]].vert_meters[1];
- rd[1]; // + ortho_maps[gpu_pair[1]].vert_meters[1]- ortho_maps[gpu_pair[0]].vert_meters[1];
double [][] tlo_src_metric = new double[tlo_rect_metric.length][2]; // relative to it's own vert_meters
for (int n=0; n <tlo_src_metric.length; n++) {
......@@ -501,6 +505,17 @@ public class OrthoMapsCollection implements Serializable{
}
gpu_pair_img[n] = ortho_maps[gpu_pair[n]].getPaddedGPU (zoom_lev); // int zoom_level,
}
if (show_gpu_img) {
String [] dbg_titles = {ortho_maps[gpu_pair[0]].getName(),ortho_maps[gpu_pair[1]].getName()};
ShowDoubleFloatArrays.showArrays(
gpu_pair_img,
OrthoMap.gpu_width,
OrthoMap.gpu_height,
true,
"gpu_img",
dbg_titles);
}
Rectangle woi = new Rectangle(0, 0, overlap_wh_pixel[0], overlap_wh_pixel[1]);
if (woi.width > OrthoMap.gpu_width) {
if (debugLevel > -3) {
......@@ -517,6 +532,7 @@ public class OrthoMapsCollection implements Serializable{
final int gpu_width = OrthoMap.gpu_width; // static
// uses fixed_size gpu image size
// TDCorrTile [] td_corr_tiles =
TpTask [][] tp_tasks = new TpTask [2][];
double [][][] vector_field =
ComboMatch.rectilinearVectorField(//rectilinearCorrelate_TD( // scene0/scene1
clt_parameters, // final CLTParameters clt_parameters,
......@@ -524,9 +540,69 @@ public class OrthoMapsCollection implements Serializable{
gpu_width, // final int img_width,
woi, // Rectangle woi, // if null, use full GPU window
affines_gpu, // final double [][][] affine, // [2][2][3] affine coefficients to translate common to 2 images
tp_tasks, // TpTask [][] tp_tasks_o,
false, // final boolean batch_mode,
debugLevel); // final int debugLevel);
// may use tl_rect_metric to remap to the original image
double [][] tile_centers = new double [vector_field[0].length][];
int tilesX = gpu_width/GPUTileProcessor.DTT_SIZE;
for (TpTask task: tp_tasks[1]) {
int ti = task.getTileY() * tilesX + task.getTileX();
tile_centers[ti] = task.getDoubleCenterXY();
}
if (show_tile_centers){
double [][] dbg_img = new double [6][tile_centers.length];
String [] dbg_titles = {"cX","cY","px0","py0", "px1","py1"};
for (int i = 0; i< dbg_img.length;i++) Arrays.fill(dbg_img[i], Double.NaN);
for (int t = 0; t < tp_tasks[0].length; t++) {
TpTask task0 = tp_tasks[0][t];
TpTask task1 = tp_tasks[1][t];
int ti = task0.getTileY() * tilesX + task0.getTileX();
dbg_img[0][ti] = task0.getDoubleCenterXY()[0]; // same for task0, task1
dbg_img[1][ti] = task1.getDoubleCenterXY()[1];
dbg_img[2][ti] = task0.getXY()[0][0];
dbg_img[3][ti] = task0.getXY()[0][1];
dbg_img[4][ti] = task1.getXY()[0][0];
dbg_img[5][ti] = task1.getXY()[0][1];
} // getXY()
ShowDoubleFloatArrays.showArrays(
dbg_img,
tilesX,
tile_centers.length/tilesX,
true,
"tile_centers",
dbg_titles);
}
OrthoPairLMA orthoPairLMA = new OrthoPairLMA();
// vector_field[1] - neighbors
double lambda = 0.1;
double lambda_scale_good = 0.5;
double lambda_scale_bad = 8.0;
double lambda_max = 100;
double rms_diff = 0.001;
int num_iter = 20;
boolean last_run = false;
orthoPairLMA.prepareLMA(
// will always calculate relative affine, starting with unity
tilesX, // int width,
vector_field[1], // double [][] vector_XYS, // optical flow X,Y, confidence obtained from the correlate2DIterate()
tile_centers, // double [][] centers, // tile centers (in pixels)
null, // double [] weights_extra, // optional, may be null
true, // boolean first_run,
debugLevel); // final int debug_level)
int lma_rslt = orthoPairLMA.runLma( // <0 - failed, >=0 iteration number (1 - immediately)
lambda, // double lambda, // 0.1
lambda_scale_good, // double lambda_scale_good,// 0.5
lambda_scale_bad, // double lambda_scale_bad, // 8.0
lambda_max, // double lambda_max, // 100
rms_diff, // double rms_diff, // 0.001
num_iter, // int num_iter, // 20
last_run, // boolean last_run,
debugLevel); // int debug_level)
System.out.println("LMA result = "+lma_rslt);
// analyze result, re-run correlation
/*
if (show_vector_field) {
......
src/main/java/com/elphel/imagej/orthomosaic/OrthoPairLMA.java 0 → 100644
View file @ c3fb4172
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