Initial testing of LMA for fitting pairs of ortho images (c3fb4172) · Commits · Elphel / imagej-elphel

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

+45 −35

Original line number	Diff line number	Diff line
		@@ -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();
		@@ -142,7 +146,7 @@ public class ComboMatch {
		origin); // int [] origin){
		imp_alt.show();
		}

		if (process_correlation) {
		System.out.println("Setting up GPU");
		if (GPU_QUAD_AFFINE == null) {
		try {
		@@ -169,6 +173,7 @@ public class ComboMatch {
		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);
		@@ -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

+20 −6

Original line number	Diff line number	Diff line
		@@ -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

+78 −2

Original line number	Diff line number	Diff line
		@@ -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

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+568 −0

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