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imagej-elphel
Commit c430b2f4 authored by Andrey Filippov's avatar Andrey Filippov
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more cleanup

parent 95647831
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Showing with 585 additions and 88 deletions
src/main/java/com/elphel/imagej/cameras/EyesisCorrectionParameters.java
View file @ c430b2f4
......@@ -138,6 +138,9 @@ public class EyesisCorrectionParameters {
public String x3dSubdirSuffix= "";
// CLT 3d batch parameters
public boolean process_main_sources = false;
public boolean process_aux_sources = true;
public int rig_batch_adjust_main = 0;
public int rig_batch_adjust_aux = 0;
public int rig_batch_adjust_rig = 0;
......@@ -298,6 +301,10 @@ public class EyesisCorrectionParameters {
cp.x3dModelVersion= this.x3dModelVersion;
cp.jp4SubDir= this.jp4SubDir;
cp.process_main_sources= this.process_main_sources;
cp.process_aux_sources= this.process_aux_sources;
cp.rig_batch_adjust_main= this.rig_batch_adjust_main;
cp.rig_batch_adjust_aux= this.rig_batch_adjust_aux;
cp.rig_batch_adjust_rig= this.rig_batch_adjust_rig;
......@@ -498,6 +505,9 @@ public class EyesisCorrectionParameters {
properties.setProperty(prefix+"mlDirectory", this.mlDirectory);
properties.setProperty(prefix+"process_main_sources", this.process_main_sources+"");
properties.setProperty(prefix+"process_aux_sources", this.process_aux_sources+"");
properties.setProperty(prefix+"rig_batch_adjust_main", this.rig_batch_adjust_main+"");
properties.setProperty(prefix+"rig_batch_adjust_aux", this.rig_batch_adjust_aux+"");
properties.setProperty(prefix+"rig_batch_adjust_rig", this.rig_batch_adjust_rig+"");
......@@ -680,6 +690,9 @@ public class EyesisCorrectionParameters {
if (properties.getProperty(prefix+"mlDirectory")!= null) this.mlDirectory=properties.getProperty(prefix+"mlDirectory");
if (properties.getProperty(prefix+"process_main_sources")!= null) this.process_main_sources=Boolean.parseBoolean(properties.getProperty(prefix+"process_main_sources"));
if (properties.getProperty(prefix+"process_aux_sources")!= null) this.process_aux_sources=Boolean.parseBoolean(properties.getProperty(prefix+"process_aux_sources"));
if (properties.getProperty(prefix+"rig_batch_adjust_main")!=null) this.rig_batch_adjust_main=Integer.parseInt(properties.getProperty(prefix+"rig_batch_adjust_main"));
if (properties.getProperty(prefix+"rig_batch_adjust_aux")!=null) this.rig_batch_adjust_aux=Integer.parseInt(properties.getProperty(prefix+"rig_batch_adjust_aux"));
if (properties.getProperty(prefix+"rig_batch_adjust_rig")!=null) this.rig_batch_adjust_rig=Integer.parseInt(properties.getProperty(prefix+"rig_batch_adjust_rig"));
......@@ -1069,9 +1082,10 @@ public class EyesisCorrectionParameters {
gd.addStringField ("Aux x3d subdirectory suffix", this.aux_camera.x3dSubdirSuffix, 10, // 20ba
"When using timestamp as a subdirectory, add this suffix");
gd.addTab ("Batch", "Select Batch parameters");
gd.addCheckbox ("Process main camera source images (false - ignore)", this.process_main_sources); // 20c
gd.addCheckbox ("Process AUX camera source images (false - ignore)", this.process_aux_sources); // 20d
gd.addNumericField("Repeat main camera field adjustment (early, before rig)", this.rig_batch_adjust_main, 0);
gd.addNumericField("Repeat aux camera field adjustment (early, before rig)", this.rig_batch_adjust_aux, 0);
gd.addNumericField("Repeat 2-quad camera rig field adjustment (early, before late main/aux)", this.rig_batch_adjust_rig, 0);
......@@ -1209,6 +1223,9 @@ public class EyesisCorrectionParameters {
this.aux_camera.cltSuffix= gd.getNextString(); // 20b
this.aux_camera.x3dSubdirSuffix= gd.getNextString(); // 20ba
this.process_main_sources= gd.getNextBoolean(); // 20c
this.process_aux_sources= gd.getNextBoolean(); // 20d
this.rig_batch_adjust_main = (int) gd.getNextNumber();
this.rig_batch_adjust_aux = (int) gd.getNextNumber();
this.rig_batch_adjust_rig = (int) gd.getNextNumber();
......
src/main/java/com/elphel/imagej/tileprocessor/CLTPass3d.java
View file @ c430b2f4
......@@ -767,8 +767,10 @@ public class CLTPass3d{
double [] strength) {
this.calc_disparity = disparity;
this.strength = strength;
if (calc_disparity_combo != null) {
calc_disparity_combo = calc_disparity.clone();
}
}
/**
* Replaces current combo disparity for tiles that are weak and do not have any neighbor within disparity range from this one
......
src/main/java/com/elphel/imagej/tileprocessor/IntersceneMatchParameters.java
View file @ c430b2f4
......@@ -30,6 +30,18 @@ import com.elphel.imagej.common.GenericJTabbedDialog;
public class IntersceneMatchParameters {
// Maybe add parameters to make sure there is enough data? Enough in each zone? Enough spread?
public boolean force_ref_dsi = false; // true;
public boolean force_orientations = false;
public boolean force_interscene = false; // true;
public boolean export_images = true; // 16-slice images (same disparity, COMBO_DSN_INDX_DISP_FG and COMBO_DSN_INDX_DISP_BG_ALL,
public boolean show_images = false;
public boolean show_ranges = true;
public double range_disparity_offset = -0.08;
public double range_min_strength = 0.5;
public double range_max = 5000.0;
// Some "AGC" to adjust how much to discard
public int margin = 1; // do not use tiles if their centers are closer to the image edge
public int sensor_mask_inter = -1; // bitmask of the sensors to use (-1 - all)
......@@ -85,6 +97,28 @@ public class IntersceneMatchParameters {
public void dialogQuestions(GenericJTabbedDialog gd) {
// gd.addMessage ("Scene parameters selection");
gd.addMessage ("Build series options");
gd.addCheckbox ("Force reference scene DSI calculation", this.force_ref_dsi,
"Calculate reference scene DSI even if the file exists.");
gd.addCheckbox ("Force egomotion calculation", this.force_orientations,
"Calculate relative poses of each scene camera relative to the reference scene even if the data exists.");
gd.addCheckbox ("Force interscene DSI accumulation", this.force_interscene,
"Force interscene calculation (+ML export) even if it was performed before.");
gd.addCheckbox ("Export all-sensor images", this.export_images,
"Export multi-slice images: with constant disparity, with foreground disparity, and with background disparity");
gd.addCheckbox ("Show exported images", this.show_images,
"Display generated/saved images");
gd.addCheckbox ("Show distances in meters", this.show_ranges,
"Calculate strength, distance, X, and Y in meters");
gd.addNumericField("Disparity at infinity", this.range_disparity_offset, 5,7,"pix",
"Disparity at infinity - subtract from measured disparity when converting to ranges.");
gd.addNumericField("Minimal strength for range calculation", this.range_min_strength, 5,7,"",
"Disregard weaker results when measuring range.");
gd.addNumericField("Maximal displayed range", this.range_max, 5,7,"m",
"Do not display extremely far objects.");
gd.addMessage ("Interscene match parameters");
gd.addNumericField("Image margin", this.margin, 0,5,"pix",
"Do not use tiles if their centers are closer to the virtual image edge");
gd.addNumericField("Used sensors mask", this.sensor_mask_inter, 0,5,"",
......@@ -112,7 +146,7 @@ public class IntersceneMatchParameters {
gd.addNumericField("Difference from neighbors average ", this.half_avg_diff, 5,7,"",
"Reduce twice for high difference from neighbors average.");
gd.addMessage ("Initial search for the intre-scene match");
gd.addMessage ("Initial search for the inter-scene match");
gd.addNumericField("Azimuth/tilt step", this.pix_step, 0,3,"pix",
"Search in a spiral starting with no-shift with this step between probes, in approximate pixels");
gd.addNumericField("Search spiral radius", this.search_rad, 0,3,"steps",
......@@ -173,6 +207,16 @@ public class IntersceneMatchParameters {
}
public void dialogAnswers(GenericJTabbedDialog gd) {
this.force_ref_dsi = gd.getNextBoolean();
this.force_orientations = gd.getNextBoolean();
this.force_interscene = gd.getNextBoolean();
this.export_images = gd.getNextBoolean();
this.show_images = gd.getNextBoolean();
this.show_ranges = gd.getNextBoolean();
this.range_disparity_offset = gd.getNextNumber();
this.range_min_strength = gd.getNextNumber();
this.range_max = gd.getNextNumber();
this.margin = (int) gd.getNextNumber();
this.sensor_mask_inter= (int) gd.getNextNumber();
this.use_partial = gd.getNextBoolean();
......@@ -214,6 +258,17 @@ public class IntersceneMatchParameters {
}
public void setProperties(String prefix,Properties properties){
properties.setProperty(prefix+"force_ref_dsi", this.force_ref_dsi + ""); // boolean
properties.setProperty(prefix+"force_orientations", this.force_orientations + "");// boolean
properties.setProperty(prefix+"force_interscene", this.force_interscene + ""); // boolean
properties.setProperty(prefix+"export_images", this.export_images + ""); // boolean
properties.setProperty(prefix+"show_images", this.show_images + ""); // boolean
properties.setProperty(prefix+"show_ranges", this.show_ranges + ""); // boolean
properties.setProperty(prefix+"range_disparity_offset",this.range_disparity_offset+""); // double
properties.setProperty(prefix+"range_min_strength", this.range_min_strength+""); // double
properties.setProperty(prefix+"range_max", this.range_max+""); // double
properties.setProperty(prefix+"margin", this.margin+""); // int
properties.setProperty(prefix+"sensor_mask_inter", this.sensor_mask_inter+""); // int
properties.setProperty(prefix+"use_partial", this.use_partial+""); // boolean
......@@ -253,12 +308,21 @@ public class IntersceneMatchParameters {
}
public void getProperties(String prefix,Properties properties){
if (properties.getProperty(prefix+"force_ref_dsi")!=null) this.force_ref_dsi=Boolean.parseBoolean(properties.getProperty(prefix+"force_ref_dsi"));
if (properties.getProperty(prefix+"force_orientations")!=null) this.force_orientations=Boolean.parseBoolean(properties.getProperty(prefix+"force_orientations"));
if (properties.getProperty(prefix+"force_interscene")!=null) this.force_interscene=Boolean.parseBoolean(properties.getProperty(prefix+"force_interscene"));
if (properties.getProperty(prefix+"export_images")!=null) this.export_images=Boolean.parseBoolean(properties.getProperty(prefix+"export_images"));
if (properties.getProperty(prefix+"show_images")!=null) this.show_images=Boolean.parseBoolean(properties.getProperty(prefix+"show_images"));
if (properties.getProperty(prefix+"show_ranges")!=null) this.show_images=Boolean.parseBoolean(properties.getProperty(prefix+"show_ranges"));
if (properties.getProperty(prefix+"range_disparity_offset")!=null) this.range_disparity_offset=Double.parseDouble(properties.getProperty(prefix+"range_disparity_offset"));
if (properties.getProperty(prefix+"range_min_strength")!=null) this.range_min_strength=Double.parseDouble(properties.getProperty(prefix+"range_min_strength"));
if (properties.getProperty(prefix+"range_max")!=null) this.range_max=Double.parseDouble(properties.getProperty(prefix+"range_max"));
if (properties.getProperty(prefix+"margin")!=null) this.margin=Integer.parseInt(properties.getProperty(prefix+"margin"));
if (properties.getProperty(prefix+"sensor_mask_inter")!=null) this.sensor_mask_inter=Integer.parseInt(properties.getProperty(prefix+"sensor_mask_inter"));
if (properties.getProperty(prefix+"use_partial")!=null) this.use_partial=Boolean.parseBoolean(properties.getProperty(prefix+"use_partial"));
if (properties.getProperty(prefix+"run_poly")!=null) this.run_poly=Boolean.parseBoolean(properties.getProperty(prefix+"run_poly"));
if (properties.getProperty(prefix+"centroid_radius")!=null) this.centroid_radius=Double.parseDouble(properties.getProperty(prefix+"centroid_radius"));
if (properties.getProperty(prefix+"margin")!=null) this.margin=Integer.parseInt(properties.getProperty(prefix+"margin"));
if (properties.getProperty(prefix+"n_recenter")!=null) this.n_recenter=Integer.parseInt(properties.getProperty(prefix+"n_recenter"));
if (properties.getProperty(prefix+"min_str")!=null) this.min_str=Double.parseDouble(properties.getProperty(prefix+"min_str"));
if (properties.getProperty(prefix+"min_str_sum")!=null) this.min_str_sum=Double.parseDouble(properties.getProperty(prefix+"min_str_sum"));
if (properties.getProperty(prefix+"min_neibs")!=null) this.min_neibs=Integer.parseInt(properties.getProperty(prefix+"min_neibs"));
......@@ -294,6 +358,15 @@ public class IntersceneMatchParameters {
@Override
public IntersceneMatchParameters clone() throws CloneNotSupportedException {
IntersceneMatchParameters imp = new IntersceneMatchParameters();
imp.force_ref_dsi = this.force_ref_dsi;
imp.force_orientations = this.force_orientations;
imp.force_interscene = this.force_interscene;
imp.export_images = this.export_images;
imp.show_images = this.show_images;
imp.show_ranges = this.show_ranges;
imp.range_disparity_offset = this.range_disparity_offset;
imp.range_min_strength = this.range_min_strength;
imp.range_max = this.range_max;
imp.margin = this.margin;
imp.sensor_mask_inter = this.sensor_mask_inter;
imp.use_partial = this.use_partial;
......
src/main/java/com/elphel/imagej/tileprocessor/OpticalFlow.java
View file @ c430b2f4
......@@ -2665,6 +2665,54 @@ public class OpticalFlow {
return disparity_strength;
}
/**
* Transform disparity to world XYZ to test distance in meters
* @param disparity_ref [tilesX * tilesY] per-tile disparity
* @param quadClt scene
* @param threadsMax
* @return per tile array (with possible nulls) of X,Y,Z triplets in meters (left, up, negative distance)
*/
public static double [][] transformToWorldXYZ(
final double [] disparity_ref, // invalid tiles - NaN in disparity
final QuadCLT quadClt, // now - may be null - for testing if scene is rotated ref
int threadsMax)
{
TileProcessor tp = quadClt.getTileProcessor();
final int tilesX = tp.getTilesX();
final int tilesY = tp.getTilesY();
final int tiles = tilesX*tilesY;
final int transform_size = tp.getTileSize();
final double [][] world_xyz= new double [tiles][];
final ErsCorrection ersCorrection = quadClt.getErsCorrection();
ersCorrection.setupERS();
final Thread[] threads = ImageDtt.newThreadArray(threadsMax);
final AtomicInteger ai = new AtomicInteger(0);
for (int ithread = 0; ithread < threads.length; ithread++) {
threads[ithread] = new Thread() {
public void run() {
for (int nTile = ai.getAndIncrement(); nTile < tiles; nTile = ai.getAndIncrement()) if (!Double.isNaN(disparity_ref[nTile])) {
double disparity = disparity_ref[nTile];
int tileY = nTile / tilesX;
int tileX = nTile % tilesX;
double centerX = tileX * transform_size + transform_size/2; // - shiftX;
double centerY = tileY * transform_size + transform_size/2; // - shiftY;
world_xyz[nTile] = ersCorrection.getWorldCoordinatesERS( // ersCorrection - reference
centerX, // double px, // pixel coordinate X in the reference view
centerY, // double py, // pixel coordinate Y in the reference view
disparity, // double disparity, // reference disparity
true, // boolean distortedView, // This camera view is distorted (diff.rect), false - rectilinear
ZERO3, // double [] reference_xyz, // this view position in world coordinates (typically ZERO3)
ZERO3); // double [] reference_atr, // this view orientation relative to world frame (typically ZERO3)
}
}
};
}
ImageDtt.startAndJoin(threads);
return world_xyz;
}
public double [][] transformToScenePxPyD(
final double [] disparity_ref, // invalid tiles - NaN in disparity
final double [] scene_xyz, // camera center in world coordinates
......@@ -3801,11 +3849,18 @@ public class OpticalFlow {
final boolean updateStatus,
final int debugLevel) throws Exception
{
boolean build_ref_dsi = false; // true;
boolean build_orientations = false;
boolean build_interscene = false; // true;
boolean export_images = true; // 16-slice images (same disparity, COMBO_DSN_INDX_DISP_FG and COMBO_DSN_INDX_DISP_BG_ALL,
boolean show_images = true;
boolean build_ref_dsi = clt_parameters.imp.force_ref_dsi;
boolean build_orientations = clt_parameters.imp.force_orientations ;
boolean build_interscene = clt_parameters.imp.force_interscene;
boolean export_images = clt_parameters.imp.export_images;
boolean export_dsi_image = clt_parameters.imp.show_ranges;
boolean show_images = clt_parameters.imp.show_images;
double range_disparity_offset = clt_parameters.imp.range_disparity_offset ; // -0.08;
double range_min_strength = clt_parameters.imp.range_min_strength ; // 0.5;
double range_max = clt_parameters.imp.range_max ; // 5000.0;
final int debugLevelInner=clt_parameters.batch_run? -2: debugLevel; // copied from TQ
if ((quadCLT_main != null) && (quadCLT_main.getGPU() != null)) {
......@@ -3822,11 +3877,27 @@ public class OpticalFlow {
}
QuadCLT.SetChannels [] set_channels=quadCLT_main.setChannels(debugLevel);
QuadCLT [] quadCLTs = new QuadCLT [set_channels.length];
if (ref_index <0) {
if (ref_index < 0) {
ref_index += quadCLTs.length;
}
double [][][] scenes_xyzatr = new double [quadCLTs.length][][]; // previous scene relative to the next one
scenes_xyzatr[ref_index] = new double[2][3]; // all zeros
// See if build_ref_dsi is needed
if (!build_ref_dsi) {
quadCLTs[ref_index] = (QuadCLT) quadCLT_main.spawnNoModelQuadCLT( // will conditionImageSet
set_channels[ref_index].set_name,
clt_parameters,
colorProcParameters, //
threadsMax,
debugLevel-2);
if ((quadCLTs[ref_index] == null) || !quadCLTs[ref_index].dsiExists()) {
if (debugLevel >-2) {
System.out.println("DSI data for scene "+set_channels[ref_index].set_name+" does not exist, forcing its calculation.");
}
build_ref_dsi = true;
}
}
if (build_ref_dsi) {
TwoQuadCLT.copyJP4src( // actually there is no sense to process multiple image sets. Combine with other
......@@ -3917,9 +3988,19 @@ public class OpticalFlow {
threadsMax, // int threadsMax, // maximal number of threads to launch
updateStatus, // boolean updateStatus,
debugLevel); // int debugLevel)
QuadCLT reference_QuadClt = quadCLTs[ref_index];
ErsCorrection ers_reference = reference_QuadClt.getErsCorrection();
// QuadCLT reference_QuadClt = quadCLTs[ref_index];
ErsCorrection ers_reference = quadCLTs[ref_index].getErsCorrection();
if (!build_orientations) {
if (!quadCLTs[ref_index].propertiesContainString (".scenes_")){
if (debugLevel >-2) {
System.out.println("Egomotion data for scene "+set_channels[ref_index].set_name+" does not exist, forcing its calculation.");
}
build_orientations = true;
}
}
if (build_orientations) {
double maximal_series_rms = 0.0;
double [] lma_rms = new double[2];
double [] use_atr = null;
for (int scene_index = ref_index - 1; scene_index >= 0 ; scene_index--) {
......@@ -3937,7 +4018,7 @@ public class OpticalFlow {
if (scene_index == ref_index - 1) { // search around for the best fit
use_atr = spiralSearchATR(
clt_parameters, // CLTParameters clt_parameters,
reference_QuadClt, // QuadCLT reference_QuadClt,
quadCLTs[ref_index], // QuadCLT reference_QuadClt,
scene_QuadClt, // QuadCLT scene_QuadClt,
debugLevel);
if (use_atr == null) {
......@@ -3955,7 +4036,7 @@ public class OpticalFlow {
// Refine with LMA
scenes_xyzatr[scene_index] = adjustPairsLMAInterscene(
clt_parameters, // CLTParameters clt_parameters,
reference_QuadClt, // QuadCLT reference_QuadCLT,
quadCLTs[ref_index], // QuadCLT reference_QuadCLT,
scene_QuadClt, // QuadCLT scene_QuadCLT,
scenes_xyzatr[scene_index][0], // xyz
scenes_xyzatr[scene_index][1], // atr
......@@ -3971,10 +4052,14 @@ public class OpticalFlow {
ZERO3, // ers_scene.getErsXYZ_dt(),
ZERO3 // ers_scene.getErsATR_dt()
);
if (lma_rms[0] > maximal_series_rms) {
maximal_series_rms = lma_rms[0];
}
if (debugLevel > -3) {
System.out.println("Pass multi scene "+scene_index+" (of "+ quadCLTs.length+") "+
reference_QuadClt.getImageName() + "/" + scene_QuadClt.getImageName()+" Done.");
quadCLTs[ref_index].getImageName() + "/" + scene_QuadClt.getImageName()+
" Done. RMS="+lma_rms[0]+", maximal so far was "+maximal_series_rms);
}
/*
if (delete_scene_asap) {
......@@ -3982,11 +4067,24 @@ public class OpticalFlow {
}
*/
}
reference_QuadClt.saveInterProperties( // save properties for interscene processing (extrinsics, ers, ...)
if (debugLevel > -4) {
System.out.println("All multi scene passes are Done. Maximal RMSE was "+maximal_series_rms);
}
quadCLTs[ref_index].saveInterProperties( // save properties for interscene processing (extrinsics, ers, ...)
null, // String path, // full name with extension or w/o path to use x3d directory
debugLevel+1);
} // if (build_orientations) {
double [][] combo_dsn_final = null;
if (!build_interscene) {
if (!quadCLTs[ref_index].interDsiExists()) {
if (debugLevel >-2) {
System.out.println("Interscene DSI data for scene "+set_channels[ref_index].set_name+" does not exist, forcing its calculation.");
}
build_interscene = true;
}
}
if (build_interscene) {
if (!build_orientations) {
for (int scene_index = ref_index - 1; scene_index >= 0 ; scene_index--) {
......@@ -4006,6 +4104,7 @@ public class OpticalFlow {
colorProcParameters, // ColorProcParameters colorProcParameters,
debugLevel); // int debug_level
}
if (export_images) {
if (combo_dsn_final == null) {
combo_dsn_final = quadCLTs[ref_index].readDoubleArrayFromModelDirectory(
......@@ -4013,8 +4112,55 @@ public class OpticalFlow {
0, // int num_slices, // (0 - all)
null); // int [] wh);
}
double [] fg_disparity = combo_dsn_final[COMBO_DSN_INDX_DISP_FG];
double [] bg_disparity = combo_dsn_final[COMBO_DSN_INDX_DISP_BG_ALL];
// re-load
/*
quadCLTs[ref_index] = (QuadCLT) quadCLT_main.spawnQuadCLT( // restores dsi from "DSI-MAIN"
set_channels[ref_index].set_name,
clt_parameters,
colorProcParameters, //
threadsMax,
debugLevel);
*/
double [][] dls = {
combo_dsn_final[COMBO_DSN_INDX_DISP],
combo_dsn_final[COMBO_DSN_INDX_LMA],
combo_dsn_final[COMBO_DSN_INDX_STRENGTH]
};
double [][] ds = conditionInitialDS(
clt_parameters, // CLTParameters clt_parameters,
dls, // double [][] dls
quadCLTs[ref_index], // QuadCLT scene,
debugLevel);
double [] fg_disparity = ds[0]; // combo_dsn_final[COMBO_DSN_INDX_DISP_FG];
double [] bg_lma = combo_dsn_final[COMBO_DSN_INDX_DISP_BG_ALL].clone();
double [] bg_str = combo_dsn_final[COMBO_DSN_INDX_STRENGTH].clone();
for (int i = 0; i < bg_lma.length; i++) {
if (Double.isNaN(combo_dsn_final[COMBO_DSN_INDX_LMA][i])){
bg_lma[i] = Double.NaN;
}
if (!Double.isNaN(combo_dsn_final[COMBO_DSN_INDX_DISP_BG][i])){
bg_lma[i] = combo_dsn_final[COMBO_DSN_INDX_LMA_BG][i];
}
if (!Double.isNaN(combo_dsn_final[COMBO_DSN_INDX_STRENGTH_BG][i])){
bg_str[i] = combo_dsn_final[COMBO_DSN_INDX_STRENGTH_BG][i];
}
}
double [][] dls_bg = {
combo_dsn_final[COMBO_DSN_INDX_DISP_BG_ALL],
bg_lma,
bg_str
};
double [][] ds_bg = conditionInitialDS(
clt_parameters, // CLTParameters clt_parameters,
dls_bg, // double [][] dls
quadCLTs[ref_index], // QuadCLT scene,
debugLevel);
double [] bg_disparity = ds_bg[0]; // combo_dsn_final[COMBO_DSN_INDX_DISP_FG];
double [] constant_disparity = new double [fg_disparity.length];
Arrays.fill(constant_disparity,clt_parameters.disparity);
ImagePlus imp_constant = QuadCLT.renderGPUFromDSI(
......@@ -4064,12 +4210,94 @@ public class OpticalFlow {
imp_bg.show();
}
}
if (export_dsi_image) {
if (combo_dsn_final == null) {
combo_dsn_final =quadCLTs[ref_index].readDoubleArrayFromModelDirectory(
"-INTER-INTRA-LMA", // String suffix,
0, // int num_slices, // (0 - all)
null); // int [] wh);
}
// re-load , should create quadCLTs[ref_index].dsi
/*
quadCLTs[ref_index] = (QuadCLT) quadCLT_main.spawnQuadCLT( // restores dsi from "DSI-MAIN"
set_channels[ref_index].set_name,
clt_parameters,
colorProcParameters, //
threadsMax,
debugLevel);
*/
// TODO:********************
// double [] disparity = combo_dsn_final[COMBO_DSN_INDX_DISP].clone();
// double [] strength = combo_dsn_final[COMBO_DSN_INDX_STRENGTH];
double [][] dls = {
combo_dsn_final[COMBO_DSN_INDX_DISP],
combo_dsn_final[COMBO_DSN_INDX_LMA],
combo_dsn_final[COMBO_DSN_INDX_STRENGTH]
};
double [][] ds = conditionInitialDS(
clt_parameters, // CLTParameters clt_parameters,
dls, // double [][] dls
quadCLTs[ref_index], // QuadCLT scene,
debugLevel); // int debug_level)
double [] disparity = ds[0];
double [] strength = ds[1];
double [][]szxy = getSceneSZXY(
quadCLTs[ref_index], // QuadCLT scene,
range_disparity_offset, // double disparity_offset,
range_min_strength, // double min_strength,
range_max, // double max_range,
disparity, // double [] disparity,
strength); // double [] strength)
String [] szxy_titles = {"strength", "Z(m)", "X(m)", "Y(m)"};
TileProcessor tp = quadCLTs[ref_index].getTileProcessor();
int tilesX = tp.getTilesX();
int tilesY = tp.getTilesY();
(new ShowDoubleFloatArrays()).showArrays(
szxy,
tilesX,
tilesY,
true,
quadCLTs[ref_index].getImageName()+"_SZXY",
szxy_titles);
}
// Add 16-images:
//disparity = 0, FG, BG
System.out.println("buildSeries(): DONE"); //
return true;
}
public double [][] getSceneSZXY(
QuadCLT scene,
double disparity_offset,
double min_strength,
double max_range,
double [] disparity0,
double [] strength){ // may be null
double [] disparity = disparity0.clone();
for (int i = 0; i < disparity.length; i++) {
disparity[i] -= disparity_offset;
}
double [][] xyz = transformToWorldXYZ(
disparity, // [final double [] disparity_ref, // invalid tiles - NaN in disparity
scene, // final QuadCLT quadClt, // now - may be null - for testing if scene is rotated ref
threadsMax); // int threadsMax);
double [][] szxy = new double [4][disparity.length];
szxy[0] = strength;
for (int i = 1; i < szxy.length; i++) {
Arrays.fill(szxy[i], Double.NaN);
}
for (int nTile = 0; nTile < xyz.length; nTile++) if (xyz[nTile] != null) {
if ((xyz[nTile][2] < 0) && (xyz[nTile][2] > -max_range) && ((strength == null) ||(strength[nTile] >= min_strength))) {
szxy[1][nTile] = -xyz[nTile][2];
szxy[2][nTile] = xyz[nTile][0];
szxy[3][nTile] = xyz[nTile][1];
}
}
return szxy;
}
public double [] spiralSearchATR(
......@@ -4311,6 +4539,8 @@ public class OpticalFlow {
Arrays.fill(dbg_rms_pre, Double.NaN);
// process scenes before reference
int dbg_ref_index = 10; // wait for ref_index <= dbg_ref_index and print (manually update dbg_ref_index
double maximal_series_rms = 0.0;
double maximal_series_rms1 = 0.0;
if (ref_index > 1) {
for (int i = ref_index - 2; i >= 0 ; i--) {
QuadCLT scene_QuadClt = scenes[i];
......@@ -4381,6 +4611,9 @@ public class OpticalFlow {
}
}
}
if (lma_rms[0] > maximal_series_rms) {
maximal_series_rms = lma_rms[0];
}
dbg_rms_pre[i] = lma_rms[0];
ers_reference.addScene(scene_QuadClt.getImageName(),
scenes_xyzatr[i][0],
......@@ -4396,7 +4629,8 @@ public class OpticalFlow {
ers_scene.setupERS();
if (debug_level > -1) {
System.out.println("Pass multi scene "+i+" (of "+ scenes.length+") "+
reference_QuadClt.getImageName() + "/" + scene_QuadClt.getImageName()+" Done.");
reference_QuadClt.getImageName() + "/" + scene_QuadClt.getImageName()+
" Done. RMS="+lma_rms[0]+", maximal so far was "+maximal_series_rms);
}
if (delete_scene_asap) {
scenes[i+1] = null;
......@@ -4471,6 +4705,9 @@ public class OpticalFlow {
0.0, // double max_rms,
debug_level); // int debug_level)
}
if (lma_rms[0] > maximal_series_rms) {
maximal_series_rms = lma_rms[0];
}
dbg_rms_pre[i] = lma_rms[0];
ers_reference.addScene(scene_QuadClt.getImageName(),
scenes_xyzatr[i][0],
......@@ -4486,13 +4723,18 @@ public class OpticalFlow {
ers_scene.setupERS();
if (debug_level > -1) {
System.out.println("Pass multi scene "+i+" (of "+ scenes.length+") "+
reference_QuadClt.getImageName() + "/" + scene_QuadClt.getImageName()+" Done.");
reference_QuadClt.getImageName() + "/" + scene_QuadClt.getImageName()+
" Done. RMS="+lma_rms[0]+", maximal so far was "+maximal_series_rms);
}
if (delete_scene_asap) {
scenes[i-1] = null;
}
}
}
if (debug_level > -3) {
System.out.println("All multi scene passes are Done. Maximal RMSE was "+maximal_series_rms);
}
// boolean show_results = true;
if (show_results) {
int dbg_w = scenes_xyzatr.length;
......@@ -4601,6 +4843,9 @@ public class OpticalFlow {
0.0, // double max_rms,
debug_level); // int debug_level)
}
if (lma_rms[0] > maximal_series_rms1) {
maximal_series_rms1 = lma_rms[0];
}
dbg_rms[i] = lma_rms[0];
ers_reference.addScene(
scene_ts,
......@@ -4619,7 +4864,8 @@ public class OpticalFlow {
*/
if (debug_level > -1) {
System.out.println("Pass 2 multi scene "+i+" (of "+ scenes.length+") "+
reference_QuadClt.getImageName() + "/" + scene_ts+" Done.");
reference_QuadClt.getImageName() + "/" + scene_ts+
" Done. RMS="+lma_rms[0]+", maximal so far was "+maximal_series_rms);
}
if (delete_scene_asap) {
scenes[i-1] = null;
......@@ -4638,8 +4884,9 @@ public class OpticalFlow {
}
rms_pre_mean /= rms_pre_num;
rms_mean /= rms_num;
if (debug_level > -1) {
System.out.println("adjustSeries() rms_pre_mean="+rms_pre_mean+", rms_mean="+rms_mean);
if (debug_level > -3) {
System.out.println("adjustSeries() rms_pre_mean="+rms_pre_mean+", rms_mean="+
rms_mean+", maximal RMSE="+maximal_series_rms1);
}
if (show_results) {
......@@ -4798,8 +5045,9 @@ public class OpticalFlow {
scenes, // QuadCLT [] scenes,
8); // int iscale) // 8
}
if (debug_level > -1) {
System.out.println("adjustSeries() Done.");
if (debug_level > -3) {
System.out.println("adjustSeries() Done. Maximal RMSE in pass1 was "+maximal_series_rms+
", in pass2 - "+maximal_series_rms1);
}
}
......@@ -9092,8 +9340,26 @@ public double[][] correlateIntersceneDebug( // only uses GPU and quad
}
// what does it do?
private double [][] conditionInitialDS(
CLTParameters clt_parameters,
QuadCLT scene,
int debug_level){
double [][] dls = scene.getDLS();
if (dls == null) {
return null;
}
return conditionInitialDS(
clt_parameters,
dls,
scene,
debug_level);
}
private double [][] conditionInitialDS(
CLTParameters clt_parameters,
double [][] dls,
QuadCLT scene,
int debug_level)
{
......@@ -9125,7 +9391,7 @@ public double[][] correlateIntersceneDebug( // only uses GPU and quad
final double outliers_max_strength = 0.1; /// 0.25;
final double outliers_from_lma_max_strength = 0.5;
final double outliers_from_lma_max_strength = 0.8;
final double diff_from_lma_pos = 100.0;
final double diff_from_lma_neg = 2.0;
final int outliers_lma_nth_fromextrem = 1;
......@@ -9136,11 +9402,12 @@ public double[][] correlateIntersceneDebug( // only uses GPU and quad
// if (dsrbg == null) {
// return null;
// }
/*
double [][] dls = scene.getDLS();
if (dls == null) {
return null;
}
*/
String [] dbg_titles = {"str", "lma", "disp","-lma","by-lma","-nonlma", "old-disp","old-sngl","weak","filled"};
double [][] dbg_img = new double [dbg_titles.length][];
//Remove crazy LMA high-disparity tiles
......@@ -9172,7 +9439,7 @@ public double[][] correlateIntersceneDebug( // only uses GPU and quad
// mostly filter infinity, clouds, sky
disp_outliers = QuadCLT.removeDisparityLMAOutliers( // filter non-lma tiles
true, // final boolean non_ma,
dls, //final double [][] dls,
new double[][] {disp_outliers, dls[1], dls[2]}, //final double [][] dls,
outliers_lma_max_strength, // final double max_strength, // do not touch stronger
outliers_lma_nth_fromextrem, // final int nth_fromextrem, // 0 - compare to max/min. 1 - second max/min, ...
outliers_tolerance_absolute, // final double tolerance_absolute,
......
src/main/java/com/elphel/imagej/tileprocessor/QuadCLT.java
View file @ c430b2f4
......@@ -238,7 +238,7 @@ public class QuadCLT extends QuadCLTCPU {
final Thread[] threads = ImageDtt.newThreadArray(threadsMax);
final AtomicInteger ai = new AtomicInteger(0);
final AtomicInteger anum_updated = new AtomicInteger(0);
final int dbg_tile = 1066;
final int dbg_tile = 1235;
anum_updated.set(0);
for (int ithread = 0; ithread < threads.length; ithread++) {
threads[ithread] = new Thread() {
......@@ -5847,7 +5847,7 @@ if (debugLevel < -100) {
{
QuadCLT quadCLT = new QuadCLT(this, set_name); //null
quadCLT.restoreNoModel(
return (QuadCLT) quadCLT.restoreNoModel(
clt_parameters,
colorProcParameters,
null, // double [] noise_sigma_level,
......@@ -5855,8 +5855,7 @@ if (debugLevel < -100) {
null, // final QuadCLTCPU ref_scene, // may be null if scale_fpn <= 0
threadsMax,
debugLevel);
return quadCLT;
// return quadCLT;
}
......
src/main/java/com/elphel/imagej/tileprocessor/QuadCLTCPU.java
View file @ c430b2f4
......@@ -88,6 +88,10 @@ import loci.formats.FormatException;
public class QuadCLTCPU {
public static final String [] DSI_SUFFIXES = {"-INTER-INTRA-LMA","-INTER-INTRA","-DSI_MAIN"};
public static int INDEX_INTER = 0;
public static int INDEX_INTER_LMA = 1;
public static int INDEX_DSI_MAIN = 2;
public static final String [] FGBG_TITLES_ADJ = {"disparity","strength"};
// public static final String [] FGBG_TITLES = {"disparity","strength", "rms","rms-split","fg-disp","fg-str","bg-disp","bg-str"};
public static final String [] FGBG_TITLES_AUX = {"disparity","strength", "rms","rms-split","fg-disp","fg-str","bg-disp","bg-str","aux-disp","aux-str"};
......@@ -355,6 +359,45 @@ public class QuadCLTCPU {
return x3d_path;
}
public void setDSI(
double [][] dsi) {
this.dsi = dsi;
}
public void setDSIFromCombo(
double [][] combo_dsi) {
this.dsi = new double [TwoQuadCLT.DSI_SLICES.length][];
this.dsi[is_aux?TwoQuadCLT.DSI_DISPARITY_AUX:TwoQuadCLT.DSI_DISPARITY_MAIN] =
combo_dsi[OpticalFlow.COMBO_DSN_INDX_DISP_FG];
this.dsi[is_aux?TwoQuadCLT.DSI_STRENGTH_AUX:TwoQuadCLT.DSI_STRENGTH_MAIN] =
combo_dsi[OpticalFlow.COMBO_DSN_INDX_STRENGTH];
this.dsi[is_aux?TwoQuadCLT.DSI_DISPARITY_AUX_LMA:TwoQuadCLT.DSI_DISPARITY_MAIN_LMA] =
combo_dsi[OpticalFlow.COMBO_DSN_INDX_LMA];
}
public boolean dsiExists() {
int num_slices = restoreDSI(
DSI_SUFFIXES[INDEX_DSI_MAIN], // String suffix, // "-DSI_COMBO", "-DSI_MAIN" (DSI_COMBO_SUFFIX, DSI_MAIN_SUFFIX)
null, // double [][] dsi, // if null - just check file exists
true); // boolean silent);
return num_slices >= 0;
}
public boolean interDsiExists() {
int num_slices = restoreDSI(
DSI_SUFFIXES[INDEX_INTER_LMA], // String suffix, // "-DSI_COMBO", "-DSI_MAIN" (DSI_COMBO_SUFFIX, DSI_MAIN_SUFFIX)
null, // double [][] dsi, // if null - just check file exists
true); // boolean silent);
if (num_slices >= 0) {
return true;
}
num_slices = restoreDSI(
DSI_SUFFIXES[INDEX_INTER], // String suffix, // "-DSI_COMBO", "-DSI_MAIN" (DSI_COMBO_SUFFIX, DSI_MAIN_SUFFIX)
null, // double [][] dsi, // if null - just check file exists
true); // boolean silent);
return num_slices >= 0;
}
public int restoreDSI(
String suffix,
......@@ -395,10 +438,15 @@ public class QuadCLTCPU {
}
return -1;
}
if (dsi == null) {
return 0; // just check file exists
}
int num_slices_read = 0;
ImageStack dsi_stack = imp.getStack();
for (int nl = 0; nl < imp.getStackSize(); nl++) {
for (int n = 0; n < TwoQuadCLT.DSI_SLICES.length; n++)
multiformat:
{
for (int n = 0; n < TwoQuadCLT.DSI_SLICES.length; n++) {
if (TwoQuadCLT.DSI_SLICES[n].equals(dsi_stack.getSliceLabel(nl + 1))) {
float [] fpixels = (float[]) dsi_stack.getPixels(nl + 1);
dsi[n] = new double [fpixels.length];
......@@ -406,7 +454,21 @@ public class QuadCLTCPU {
dsi[n][i] = fpixels[i];
}
num_slices_read ++;
break;
break multiformat;
}
}
for (int n = 0; n < OpticalFlow.COMBO_DSN_TITLES.length; n++) {
if (OpticalFlow.COMBO_DSN_TITLES[n].equals(dsi_stack.getSliceLabel(nl + 1))) {
float [] fpixels = (float[]) dsi_stack.getPixels(nl + 1);
dsi[n] = new double [fpixels.length];
for (int i = 0; i < fpixels.length; i++) {
dsi[n][i] = fpixels[i];
}
num_slices_read ++;
break multiformat;
}
}
}
}
return num_slices_read;
......@@ -476,6 +538,7 @@ public class QuadCLTCPU {
public Properties restoreInterProperties( // restore properties for interscene processing (extrinsics, ers, ...)
String path, // full name with extension or null to use x3d directory
boolean all_properties,
int debugLevel)
{
if (path == null) {
......@@ -505,8 +568,30 @@ public class QuadCLTCPU {
ers.getPropertiesLineTime(prefix, properties); // will set old value if not in the file
System.out.println("Restored interframe properties from :"+path);
return properties;
}
public boolean propertiesContainString (
String needle) {
return propertiesContainString (
needle,
this.properties);
}
public static boolean propertiesContainString (
String needle,
Properties properties) {
Set<String> set_keys = properties.stringPropertyNames();
boolean found = false;
for (String haystack:set_keys) {
if (haystack.indexOf(needle) >= 0) {
found = true;
break;
}
}
return found;
}
// Moving here form QC:
public double [][] getDSRBG (){
......@@ -524,7 +609,13 @@ public class QuadCLTCPU {
boolean updateStatus,
int debugLevel)
{
setDSRBG(
if (this.dsi == null) {
if (debugLevel > -4) {
System.out.println ("--- No DSI available for "+this.getImageName());
}
return;
}
setDSRBG( // will likely not be used at all. Use getDLS() instead
this.dsi[is_aux?TwoQuadCLT.DSI_DISPARITY_AUX:TwoQuadCLT.DSI_DISPARITY_MAIN],
this.dsi[is_aux?TwoQuadCLT.DSI_STRENGTH_AUX:TwoQuadCLT.DSI_STRENGTH_MAIN],
this.dsi[is_aux?TwoQuadCLT.DSI_DISPARITY_AUX_LMA:TwoQuadCLT.DSI_DISPARITY_MAIN_LMA],
......@@ -533,6 +624,7 @@ public class QuadCLTCPU {
updateStatus,
debugLevel);
}
public void setDSRBG(
double [] disparity,
double [] strength,
......@@ -561,17 +653,24 @@ public class QuadCLTCPU {
threadsMax, // maximal number of threads to launch
updateStatus,
debugLevel);
if (rbg == null) { // will likely not be used at all. Use getDLS() instead
this.dsrbg = new double[][] {
disparity,
strength,
disparity_lma};
} else {
if (isMonochrome()) { // only [2] is non-zero
this.dsrbg = new double[][] {
disparity,
strength,
// disparity_lma,
// disparity_lma,
((rbg.length>2)?rbg[2]:rbg[0])}; // [2] - for old compatibility, [0] - new (2021)
} else {
this.dsrbg = new double[][] {
disparity,
strength,
// disparity_lma,
// disparity_lma,
rbg[0],rbg[1],rbg[2]};
}
if (debugLevel > 1) { // -2) {
......@@ -585,9 +684,7 @@ public class QuadCLTCPU {
title,
titles);
}
}
}
public double[][] getTileRBG(
......@@ -670,6 +767,12 @@ public class QuadCLTCPU {
true, // smart,
true); //newAllowed, // save
String [] sourceFiles = correctionsParameters.selectSourceFileInSet(jp4_copy_path, debugLevel);
if (sourceFiles.length < getNumSensors()) {
if (sourceFiles.length > 0) {
System.out.println("not enough source files ("+sourceFiles.length+") in "+jp4_copy_path);
}
return null;
}
SetChannels [] set_channels=setChannels(
null, // single set name
sourceFiles,
......@@ -705,19 +808,32 @@ public class QuadCLTCPU {
1); // debugLevel); // final int debug_level)
}
// try to restore DSI generated from interscene if available, if not use single-scene -DSI_MAIN
if (restoreDSI(
"-DSI_INTER",
true // silent
) < 0) {
restoreDSI(
"-DSI_MAIN", // "-DSI_COMBO", "-DSI_MAIN" (DSI_COMBO_SUFFIX, DSI_MAIN_SUFFIX)
false); // silent
int dsi_result = -1;
double [][] dsi_tmp = new double [11][];
for (int i = 0; i <DSI_SUFFIXES.length; i++) {
dsi_result =restoreDSI(
DSI_SUFFIXES[i],
dsi_tmp, //double [][] dsi,
(i < (DSI_SUFFIXES.length -1))); // silent
if (dsi_result >= 0) {
System.out.println ("Using "+getX3dDirectory()+ Prefs.getFileSeparator() + image_name + DSI_SUFFIXES[i] + ".tiff");
if (i < 2) { // DSI format for COMBO_DSN_INDX_* is different,
setDSIFromCombo(dsi_tmp); // reformat
} else {
setDSI(dsi_tmp); // as is
}
break;
}
}
if (dsi_result < 0) {
System.out.println("No DSI data for the scene "+this.getImageName()+", setting this.dsi=null");
setDSI(null);
} else {
restoreInterProperties( // restore properties for interscene processing (extrinsics, ers, ...) // get relative poses (98)
null, // String path, // full name with extension or null to use x3d directory
false, // boolean all_properties,// null, // Properties properties, // if null - will only save extrinsics)
debugLevel);
// showDSIMain();
}
return this; // can only be QuadCLT instance
}
......@@ -738,6 +854,12 @@ public class QuadCLTCPU {
true, // smart,
true); //newAllowed, // save
String [] sourceFiles = correctionsParameters.selectSourceFileInSet(jp4_copy_path, debugLevel);
if (sourceFiles.length < getNumSensors()) {
if (sourceFiles.length > 0) {
System.out.println("not enough source files ("+sourceFiles.length+") in "+jp4_copy_path);
}
return null;
}
SetChannels [] set_channels=setChannels(
null, // single set name
sourceFiles,
......
src/main/java/com/elphel/imagej/tileprocessor/TwoQuadCLT.java
View file @ c430b2f4
......@@ -11311,7 +11311,7 @@ if (debugLevel > -100) return true; // temporarily !
// QuadCLT last_scene = quadCLTs[last_scene_index];
QuadCLT ref_scene = quadCLTs[ref_scene_index];
String composite_suffix = "-INTER-INTRA-LMA";
String composite_suffix = "-INTER-INTRA-LMA"; // is already read if available!
String num_corr_max_suffix = "-NUM-CORR-MAX";
int [] wh = new int[2];
double [][] composite_ds = ref_scene.readDoubleArrayFromModelDirectory(
......@@ -11337,7 +11337,7 @@ if (debugLevel > -100) return true; // temporarily !
// int [] num_tiles = new int [clusters]; // may be null;; // null;
// boolean [] inf_cluster = new boolean [clusters]; // null;
boolean debug = debugLevel > -2;
boolean debug = debugLevel > -3;
if (proc_infinity) {
double [] inf_avg = new double[1];
......@@ -11666,6 +11666,8 @@ if (debugLevel > -100) return true; // temporarily !
final boolean updateStatus,
final int debugLevel) throws Exception
{
if ((quadCLT_main != null) && (quadCLT_main.getGPU() != null)) {
quadCLT_main.setQuadClt(); // ignore previous result,
}
......@@ -11673,6 +11675,7 @@ if (debugLevel > -100) return true; // temporarily !
quadCLT_aux.setQuadClt();
}
//quadCLT_main.correctionsParameters.rig_batch_adjust_main_gt
// final boolean batch_mode = clt_parameters.batch_run;
// Reset dsi data (only 2 slices will be used)
......@@ -11684,8 +11687,22 @@ if (debugLevel > -100) return true; // temporarily !
this.startTime=System.nanoTime();
String [] sourceFiles=quadCLT_main.correctionsParameters.getSourcePaths();
QuadCLT.SetChannels [] set_channels_main = quadCLT_main.setChannels(debugLevel);
QuadCLT.SetChannels [] set_channels_aux = quadCLT_aux.setChannels(debugLevel);
boolean process_main_sources = false;
boolean process_aux_sources = false;
// TODO: clean up - are there duplicates
if (quadCLT_main != null) {
process_main_sources |= quadCLT_main.correctionsParameters.process_main_sources;
process_aux_sources |= quadCLT_main.correctionsParameters.process_aux_sources;
}
if (quadCLT_aux != null) {
process_aux_sources |= quadCLT_aux.correctionsParameters.process_main_sources;
process_aux_sources |= quadCLT_aux.correctionsParameters.process_aux_sources;
}
//quadCLT_main.correctionsParameters.rig_batch_adjust_main_gt
QuadCLT.SetChannels [] set_channels_main = process_main_sources? quadCLT_main.setChannels(debugLevel):null;
QuadCLT.SetChannels [] set_channels_aux = process_aux_sources? quadCLT_aux.setChannels(debugLevel):null;
QuadCLT.SetChannels [] set_channels = set_channels_main;
if ((set_channels == null) || ((set_channels_aux != null) && (set_channels_aux.length > set_channels.length))) {
set_channels = set_channels_aux;
......
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