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imagej-elphel
Commit c8d3d7d9 authored by Andrey Filippov's avatar Andrey Filippov
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cleaning up with eigen, adding debug image generation for LMA

parent 477343de
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Showing with 333 additions and 58 deletions
src/main/java/com/elphel/imagej/tileprocessor/ImageDtt.java
View file @ c8d3d7d9
......@@ -2351,6 +2351,7 @@ public class ImageDtt extends ImageDttCPU {
final boolean td_nopd_only, // only use TD accumulated data if no safe PD is available for the tile.
final boolean eig_use_neibs, // use correlation from 9 tiles with neibs, if single-tile fails
final boolean eig_remove_neibs, //remove weak (by-neibs) tiles if they have strong (by-single) neighbor
final boolean eig_filt_other, // apply other before-eigen filters
// final double min_str_nofpn, // = 0.25;
final double eig_str_sum_nofpn,// = 0.8; // 5;
final double eig_str_neib_nofpn,// = 0.8; // 5;
......@@ -2720,10 +2721,9 @@ public class ImageDtt extends ImageDttCPU {
}
startAndJoin(threads);
}
boolean old_filter = false; // true;
// Reduce weight if differs much from average of 8 neighbors, large disparity, remove too few neibs
final double scale_num_neib = ((weight_zero_neibs >= 0) && (weight_zero_neibs < 1.0)) ? (weight_zero_neibs * 8/(1.0 - weight_zero_neibs)): 0.0;
if (old_filter) {
if (eig_filt_other) {
ai.set(0);
for (int ithread = 0; ithread < threads.length; ithread++) {
threads[ithread] = new Thread() {
......
src/main/java/com/elphel/imagej/tileprocessor/Interscene.java
View file @ c8d3d7d9
......@@ -495,6 +495,7 @@ public class Interscene {
false );// boolean use_ERS_roll);
RMSEStats rmse_stats = new RMSEStats();
RMSEStats rmse_stats_metric = clt_parameters.imp.eig_use ? (new RMSEStats()):null;
double [][][] scenes_xyzatr = new double [last_index+1][][];
double [][][] dxyzatr_dt = new double [last_index+1][][];
for (int nscene = earliest_index; nscene <= ref_index; nscene++) {
......@@ -533,7 +534,7 @@ public class Interscene {
boolean use_lma_dsi = clt_parameters.imp.use_lma_dsi;
double [] reduced_strength = new double[1];
double avg_z = quadCLTs[ref_index].getAverageZ(true); // use lma
double [] lma_rms = new double[2];
double [] lma_rms = new double[clt_parameters.imp.eig_use? 4 : 2]; // [2];
// use combo if second pass?
if (min_ref_str > 0.0) {
reliable_ref = quadCLTs[ref_index].getReliableTiles( // will be null if does not exist.
......@@ -618,6 +619,7 @@ public class Interscene {
fail_reason[0]=FAIL_REASON_MIN;
} else {
// Trying new version with motion blur and single-setting of the reference frame
final double max_rms = clt_parameters.imp.eig_use? clt_parameters.imp.eig_max_rms: clt_parameters.imp.max_rms;
scenes_xyzatr[scene_index] = adjustDiffPairsLMAInterscene( // compare two scenes, first may be reference, use motion blur
clt_parameters, // CLTParameters clt_parameters,
use_lma_dsi, // clt_parameters.imp.use_lma_dsi,
......@@ -641,7 +643,7 @@ public class Interscene {
param_select, // clt_parameters.ilp.ilma_lma_select, // boolean[] param_select,
reg_weights, // double [] param_regweights,
lma_rms, // double [] rms_out, // null or double [2]
clt_parameters.imp.max_rms, // double max_rms,
max_rms, // double max_rms,
mb_en, // boolean mb_en,
mb_tau, // double mb_tau, // 0.008; // time constant, sec
mb_max_gain, // double mb_max_gain, // 5.0; // motion blur maximal gain (if more - move second point more than a pixel
......@@ -680,11 +682,21 @@ public class Interscene {
adjusted_xyzatr_dt[1] // ZERO3 // ers_scene.getErsATR_dt()
);
rmse_stats.add(lma_rms[0]);
if ((rmse_stats_metric != null) && (lma_rms.length >=4)) {
rmse_stats_metric.add(lma_rms[2]);
}
if (debugLevel > -3) {
System.out.println("invertInitialOrientation(): scene "+scene_index+" (of "+ quadCLTs.length+") "+
System.out.print("invertInitialOrientation(): scene "+scene_index+" (of "+ quadCLTs.length+") "+
quadCLTs[ref_index].getImageName() + "/" + quadCLTs[scene_index].getImageName()+
" Done. RMS="+lma_rms[0]+
", maximal so far was "+rmse_stats.getMax()+", average was "+rmse_stats.getAverage());
if ((rmse_stats_metric != null) && (lma_rms.length >=4)) {
System.out.print(". RMS="+lma_rms[2]+
"pix, maximal so far was "+rmse_stats_metric.getMax()+
"pix, average was "+rmse_stats_metric.getAverage()+"pix.");
}
System.out.println();
}
} // for (int scene_index = ref_index; scene_index <= last_index; scene_index++) {
......@@ -720,6 +732,7 @@ public class Interscene {
", using scene "+fpn_pairs[ipair][1]+" as a reference");
}
TpTask[][] tp_tasks_rel_ref = new TpTask[2][];
final double max_rms = clt_parameters.imp.eig_use? clt_parameters.imp.eig_max_rms: clt_parameters.imp.max_rms;
double [][] rel_xyzatr = adjustDiffPairsLMAInterscene( // compare two scenes, first may be reference, use motion blur
clt_parameters, // CLTParameters clt_parameters,
use_lma_dsi, // clt_parameters.imp.use_lma_dsi,
......@@ -743,7 +756,7 @@ public class Interscene {
param_select, // clt_parameters.ilp.ilma_lma_select, // boolean[] param_select,
reg_weights, // double [] param_regweights,
lma_rms, // double [] rms_out, // null or double [2]
2*clt_parameters.imp.max_rms, // double max_rms,
2*max_rms, // double max_rms,
mb_en, // boolean mb_en,
mb_tau, // double mb_tau, // 0.008; // time constant, sec
mb_max_gain, // double mb_max_gain, // 5.0; // motion blur maximal gain (if more - move second point more than a pixel
......@@ -769,11 +782,20 @@ public class Interscene {
adjusted_xyzatr_dt[0], // ZERO3, // ers_scene.getErsXYZ_dt(),
adjusted_xyzatr_dt[1]); // ZERO3 // ers_scene.getErsATR_dt()
rmse_stats.add(lma_rms[0]);
if ((rmse_stats_metric != null) && (lma_rms.length >=4)) {
rmse_stats_metric.add(lma_rms[2]);
}
if (debugLevel > -3) {
System.out.println("Pass multi scene "+fpn_pairs[ipair][0]+" (of "+ quadCLTs.length+") "+
System.out.print("Pass multi scene "+fpn_pairs[ipair][0]+" (of "+ quadCLTs.length+") "+
quadCLTs[fpn_pairs[ipair][1]].getImageName() + "/" + quadCLTs[fpn_pairs[ipair][0]].getImageName()+
" Done. RMS="+lma_rms[0]+
", maximal so far was "+rmse_stats.getMax()+", average was "+rmse_stats.getAverage());
if ((rmse_stats_metric != null) && (lma_rms.length >=4)) {
System.out.print(". RMS="+lma_rms[2]+
"pix, maximal so far was "+rmse_stats_metric.getMax()+
"pix, average was "+rmse_stats_metric.getAverage()+"pix.");
}
System.out.println();
}
}
}
......@@ -790,6 +812,10 @@ public class Interscene {
sb.append("old_ref_index= "+ref_old+"\n");
sb.append("Maximal RMSE= "+rmse_stats.getMax()+"\n");
sb.append("Average RMSE= "+rmse_stats.getAverage()+"\n");
if (rmse_stats_metric != null) {
sb.append("Maximal RMSE= "+rmse_stats_metric.getMax()+"pix\n");
sb.append("Average RMSE= "+rmse_stats_metric.getAverage()+"pix\n");
}
sb.append("------------------------\n\n");
quadCLTs[ref_index].saveStringInModelDirectory(sb.toString(), QuadCLT.ORIENTATION_LOGS_SUFFIX); // String suffix)
}
......@@ -812,6 +838,7 @@ public class Interscene {
final boolean updateStatus,
final int debugLevel) {
RMSEStats rmse_stats = new RMSEStats();
RMSEStats rmse_stats_metric = clt_parameters.imp.eig_use ? (new RMSEStats()):null;
double min_ref_str = clt_parameters.imp.min_ref_str;
boolean ref_need_lma = clt_parameters.imp.ref_need_lma;
double min_ref_frac= clt_parameters.imp.min_ref_frac;
......@@ -839,7 +866,7 @@ public class Interscene {
System.out.println("*** setInitialOrientationsIms(): clt_parameters.ilp.ilma_3d is TRUE. You may want to disable it when using IMS");
}
double [] lma_rms = new double[2];
double [] lma_rms = new double[clt_parameters.imp.eig_use? 4 : 2]; // [2];
int tilesX = quadCLTs[ref_index].getTileProcessor().getTilesX();
int tilesY = quadCLTs[ref_index].getTileProcessor().getTilesY();
......@@ -989,6 +1016,7 @@ public class Interscene {
ArrayList<Integer> fpn_list = new ArrayList<Integer>();
double [] reg_weights = clt_parameters.ilp.ilma_regularization_weights;
// min_max[1] = max_offset;
final double max_rms = clt_parameters.imp.eig_use? clt_parameters.imp.eig_max_rms: clt_parameters.imp.max_rms;
for (int scene_index = ref_index - 1; scene_index >= earliest_scene ; scene_index--) {
if ((ref_index - scene_index) >= max_num_scenes){
earliest_scene = scene_index + 1;
......@@ -1067,7 +1095,7 @@ public class Interscene {
boolean adjust_OK = false;
if (est_shift < min_max[0]) {
fail_reason[0]=FAIL_REASON_MIN;
} else {
} else {
scenes_xyzatr[scene_index] = adjustDiffPairsLMAInterscene( // compare two scenes, first may be reference, use motion blur
clt_parameters, // CLTParameters clt_parameters,
use_lma_dsi, // clt_parameters.imp.use_lma_dsi,
......@@ -1088,10 +1116,10 @@ public class Interscene {
initial_pose, // double [][] scene1_xyzatr,
Double.NaN, // double average_z,
initial_pose, // double [] scene1_xyzatr_pull, // if both are not null, specify target values to pull to
param_select, // clt_parameters.ilp.ilma_lma_select, // boolean[] param_select,
param_select, // clt_parameters.ilp.ilma_lma_select, // boolean[] param_select,
reg_weights, // double [] param_regweights,
lma_rms, // double [] rms_out, // null or double [2]
clt_parameters.imp.max_rms, // double max_rms,
max_rms, // double max_rms,
mb_en, // boolean mb_en,
mb_tau, // double mb_tau, // 0.008; // time constant, sec
mb_max_gain, // double mb_max_gain, // 5.0; // motion blur maximal gain (if more - move second point more than a pixel
......@@ -1173,14 +1201,21 @@ public class Interscene {
adjusted_xyzatr_dt[1] // ZERO3 // ers_scene.getErsATR_dt()
);
rmse_stats.add(lma_rms[0]);
if ((rmse_stats_metric != null) && (lma_rms.length >=4)) {
rmse_stats_metric.add(lma_rms[2]);
}
if (debugLevel > -3) {
System.out.println("Pass multi scene "+scene_index+" (of "+ quadCLTs.length+") "+
System.out.print("Pass multi scene "+scene_index+" (of "+ quadCLTs.length+") "+
quadCLTs[ref_index].getImageName() + "/" + scene_QuadClt.getImageName()+
" Done. RMS="+lma_rms[0]+
", maximal so far was "+rmse_stats.getMax()+", average was "+rmse_stats.getAverage());
if ((rmse_stats_metric != null) && (lma_rms.length >=4)) {
System.out.print(". RMS="+lma_rms[2]+
"pix, maximal so far was "+rmse_stats_metric.getMax()+
"pix, average was "+rmse_stats_metric.getAverage()+"pix.");
}
System.out.println();
}
} // for (int scene_index = ref_index - 1; scene_index >= 0 ; scene_index--)
if ((ref_index - earliest_scene + 1) < min_num_scenes) {
System.out.println("Total number of useful scenes = "+(ref_index - earliest_scene + 1)+
......@@ -1248,7 +1283,7 @@ public class Interscene {
param_select, // clt_parameters.ilp.ilma_lma_select, // boolean[] param_select,
reg_weights, // double [] param_regweights,
lma_rms, // double [] rms_out, // null or double [2]
clt_parameters.imp.max_rms, // double max_rms,
max_rms, // double max_rms,
mb_en, // boolean mb_en,
mb_tau, // double mb_tau, // 0.008; // time constant, sec
mb_max_gain, // double mb_max_gain, // 5.0; // motion blur maximal gain (if more - move second point more than a pixel
......@@ -1274,22 +1309,44 @@ public class Interscene {
adjusted_xyzatr_dt[0], // ZERO3, // ers_scene.getErsXYZ_dt(),
adjusted_xyzatr_dt[1]); // ZERO3 // ers_scene.getErsATR_dt()
rmse_stats.add(lma_rms[0]);
if ((rmse_stats_metric != null) && (lma_rms.length >=4)) {
rmse_stats_metric.add(lma_rms[2]);
}
if (debugLevel > -3) {
System.out.println("Pass multi scene "+fpn_pairs[ipair][0]+" (of "+ quadCLTs.length+") "+
System.out.print("Pass multi scene "+fpn_pairs[ipair][0]+" (of "+ quadCLTs.length+") "+
quadCLTs[fpn_pairs[ipair][1]].getImageName() + "/" + quadCLTs[fpn_pairs[ipair][0]].getImageName()+
" Done. RMS="+lma_rms[0]+
", maximal so far was "+rmse_stats.getMax()+", average was "+rmse_stats.getAverage());
if ((rmse_stats_metric != null) && (lma_rms.length >=4)) {
System.out.print(". RMS="+lma_rms[2]+
"pix, maximal so far was "+rmse_stats_metric.getMax()+
"pix, average was "+rmse_stats_metric.getAverage()+"pix.");
}
System.out.println();
}
}
}
}
if (earliest_scene > 0) {
System.out.println("setInitialOrientationsIms(): Not all scenes matched, earliest useful scene = "+earliest_scene+
System.out.print("setInitialOrientationsIms(): Not all scenes matched, earliest useful scene = "+earliest_scene+
" (total number of scenes = "+(ref_index - earliest_scene + 1)+
"). Maximal RMSE was "+rmse_stats.getMax()+", average was "+rmse_stats.getAverage());
if ((rmse_stats_metric != null) && (lma_rms.length >=4)) {
System.out.print(". Maximal metric so far was "+rmse_stats_metric.getMax()+
"pix, average was "+rmse_stats_metric.getAverage()+"pix.");
}
System.out.println();
} else if (debugLevel > -4) {
System.out.println("All multi scene passes are Done. Maximal RMSE was "+rmse_stats.getMax()+", average was "+rmse_stats.getAverage());
System.out.print("All multi scene passes are Done. Maximal RMSE was "+rmse_stats.getMax()+
", average was "+rmse_stats.getAverage());
if ((rmse_stats_metric != null) && (lma_rms.length >=4)) {
System.out.print(". Maximal metric so far was "+rmse_stats_metric.getMax()+
"pix, average was "+rmse_stats_metric.getAverage()+"pix.");
}
System.out.println();
}
quadCLTs[ref_index].set_orient(1); // first orientation
quadCLTs[ref_index].set_accum(0); // reset accumulations ("build_interscene") number
......@@ -1306,6 +1363,10 @@ public class Interscene {
sb.append("ref_index= "+ref_index+"\n");
sb.append("Maximal RMSE= "+rmse_stats.getMax()+"\n");
sb.append("Average RMSE= "+rmse_stats.getAverage()+"\n");
if (rmse_stats_metric != null) {
sb.append("Maximal RMSE= "+rmse_stats_metric.getMax()+"pix\n");
sb.append("Average RMSE= "+rmse_stats_metric.getAverage()+"pix\n");
}
sb.append("------------------------\n\n");
quadCLTs[ref_index].saveStringInModelDirectory(sb.toString(), QuadCLT.ORIENTATION_LOGS_SUFFIX); // String suffix)
return earliest_scene;
......@@ -1446,6 +1507,7 @@ public class Interscene {
double scale_extrap_xyz = clt_parameters.imp.scale_extrap_xyz;
int avg_len = clt_parameters.imp.avg_len;
RMSEStats rmse_stats = new RMSEStats();
RMSEStats rmse_stats_metric = clt_parameters.imp.eig_use ? (new RMSEStats()):null;
double min_ref_str = clt_parameters.imp.min_ref_str;
boolean ref_need_lma = clt_parameters.imp.ref_need_lma;
double min_ref_frac= clt_parameters.imp.min_ref_frac;
......@@ -1764,11 +1826,20 @@ public class Interscene {
ZERO3 // ers_scene.getErsATR_dt()
);
rmse_stats.add(lma_rms[0]);
if ((rmse_stats_metric != null) && (lma_rms.length >=4)) {
rmse_stats_metric.add(lma_rms[2]);
}
if (debugLevel > -3) {
System.out.println("Pass multi scene "+scene_index+" (of "+ quadCLTs.length+") "+
System.out.print("Pass multi scene "+scene_index+" (of "+ quadCLTs.length+") "+
quadCLTs[ref_index].getImageName() + "/" + scene_QuadClt.getImageName()+
" Done. RMS="+lma_rms[0]+
", maximal so far was "+rmse_stats.getMax()+", average was "+rmse_stats.getAverage());
if ((rmse_stats_metric != null) && (lma_rms.length >=4)) {
System.out.print(". RMS="+lma_rms[2]+
"pix, maximal so far was "+rmse_stats_metric.getMax()+
"pix, average was "+rmse_stats_metric.getAverage()+"pix.");
}
System.out.println();
}
} // for (int scene_index = ref_index - 1; scene_index >= 0 ; scene_index--)
if ((ref_index - earliest_scene + 1) < min_num_scenes) {
......@@ -1780,11 +1851,22 @@ public class Interscene {
return -1;
}
if (earliest_scene > 0) {
System.out.println("setInitialOrientations(): Not all scenes matched, earliest useful scene = "+earliest_scene+
System.out.print("setInitialOrientations(): Not all scenes matched, earliest useful scene = "+earliest_scene+
" (total number of scenes = "+(ref_index - earliest_scene + 1)+
").Maximal RMSE was "+rmse_stats.getMax()+", average was "+rmse_stats.getAverage());
if ((rmse_stats_metric != null) && (lma_rms.length >=4)) {
System.out.print(". Maximal metric so far was "+rmse_stats_metric.getMax()+
"pix, average was "+rmse_stats_metric.getAverage()+"pix.");
}
System.out.println();
} else if (debugLevel > -4) {
System.out.println("All multi scene passes are Done. Maximal RMSE was "+rmse_stats.getMax()+", average was "+rmse_stats.getAverage());
System.out.print("All multi scene passes are Done. Maximal RMSE was "+rmse_stats.getMax()+
", average was "+rmse_stats.getAverage());
if ((rmse_stats_metric != null) && (lma_rms.length >=4)) {
System.out.print(". Maximal metric so far was "+rmse_stats_metric.getMax()+
"pix, average was "+rmse_stats_metric.getAverage()+"pix.");
}
System.out.println();
}
quadCLTs[ref_index].set_orient(1); // first orientation
quadCLTs[ref_index].set_accum(0); // reset accumulations ("build_interscene") number
......@@ -2083,6 +2165,7 @@ public class Interscene {
// should have at least next or previous non-null
int debug_scene = 69; // -68; // -8;
RMSEStats rmse_stats = new RMSEStats();
RMSEStats rmse_stats_metric = clt_parameters.imp.eig_use ? (new RMSEStats()):null;
if (debug_ers) {
System.out.println("ERS velocities scale mode = '"+dbg_ers_string+"'");
}
......@@ -2273,13 +2356,13 @@ public class Interscene {
double [][] pXpYD_ref = new double [tilesX*tilesY][];
ArrayList<Integer> fpn_list = new ArrayList<Integer>();
boolean fpn_disable = false; // estimate they are too close
final double max_rms = clt_parameters.imp.max_rms;
final double max_rms = clt_parameters.imp.eig_use? clt_parameters.imp.eig_max_rms: clt_parameters.imp.max_rms;
//add test
boolean test_adjust = debugLevel > 1000;
while (test_adjust) {
int [] test_pair = {ref_index, 0};
double [] test_lma_rms = new double[2];
double [] test_lma_rms = new double[clt_parameters.imp.eig_use? 4 : 2]; // [2];
TpTask[][] tp_tasks_test_rel_ref = new TpTask[2][];
double [][] test_xyzatr = adjustDiffPairsLMAInterscene( // compare two scenes, first may be reference, use motion blur
clt_parameters, //CLTParameters clt_parameters,
......@@ -2385,7 +2468,7 @@ public class Interscene {
dxyzatr_dt[nscene]
);
} else { // if (nscene == ref_index)
double [] lma_rms = new double[2];
double [] lma_rms = new double[clt_parameters.imp.eig_use? 4 : 2]; // [2];
double [][] initial_pose = scenes_xyzatr[nscene].clone();
boolean adjust_OK = false;
if (est_shift < min_max[0]) {
......@@ -2521,11 +2604,20 @@ public class Interscene {
);
rmse_stats.add(lma_rms[0]);
if ((rmse_stats_metric != null) && (lma_rms.length >=4)) {
rmse_stats_metric.add(lma_rms[2]);
}
if (debugLevel > -3) {
System.out.println("reAdjustPairsLMAInterscene "+nscene+" (of "+ quadCLTs.length+") "+
System.out.print("reAdjustPairsLMAInterscene "+nscene+" (of "+ quadCLTs.length+") "+
quadCLTs[ref_index].getImageName() + "/" + ts+
" Done. RMS="+lma_rms[0]+
", maximal so far was "+rmse_stats.getMax()+", average was "+rmse_stats.getAverage());
if ((rmse_stats_metric != null) && (lma_rms.length >=4)) {
System.out.print(". RMS="+lma_rms[2]+
"pix, maximal so far was "+rmse_stats_metric.getMax()+
"pix, average was "+rmse_stats_metric.getAverage()+"pix.");
}
System.out.println();
}
} // if (nscene == ref_index) else
} // for (int nscene = ref_index; nscene > earliest_scene; nscene--) {
......@@ -2582,7 +2674,7 @@ public class Interscene {
" being too close to reference "+ref_index+
", using scene "+fpn_pairs[ipair][1]+" as a reference");
}
double [] lma_rms = new double[2];
double [] lma_rms = new double[clt_parameters.imp.eig_use? 4 : 2]; // [2];
TpTask[][] tp_tasks_rel_ref = new TpTask[2][];
double [][] rel_xyzatr = adjustDiffPairsLMAInterscene( // compare two scenes, first may be reference, use motion blur
clt_parameters, //CLTParameters clt_parameters,
......@@ -2633,11 +2725,20 @@ public class Interscene {
adjusted_xyzatr_dt[0],
adjusted_xyzatr_dt[1]);
rmse_stats.add(lma_rms[0]);
if ((rmse_stats_metric != null) && (lma_rms.length >=4)) {
rmse_stats_metric.add(lma_rms[2]);
}
if (debugLevel > -3) {
System.out.println("reAdjustPairsLMAInterscene "+fpn_pairs[ipair][0]+" (of "+ quadCLTs.length+") "+
System.out.print("reAdjustPairsLMAInterscene "+fpn_pairs[ipair][0]+" (of "+ quadCLTs.length+") "+
quadCLTs[fpn_pairs[ipair][1]].getImageName() + "/" + quadCLTs[fpn_pairs[ipair][0]].getImageName()+
" Done. RMS="+lma_rms[0]+
", maximal so far was "+rmse_stats.getMax()+", average was "+rmse_stats.getAverage());
if ((rmse_stats_metric != null) && (lma_rms.length >=4)) {
System.out.print(". RMS="+lma_rms[2]+
"pix, maximal so far was "+rmse_stats_metric.getMax()+
"pix, average was "+rmse_stats_metric.getAverage()+"pix.");
}
System.out.println();
}
}
}
......@@ -2647,7 +2748,7 @@ public class Interscene {
if (test_adjust1) {
int [] test_pair = {0, ref_index};
while (test_adjust1) {
double [] test_lma_rms = new double[2];
double [] test_lma_rms = new double[clt_parameters.imp.eig_use? 4 : 2]; // [2];
TpTask[][] tp_tasks_test_rel_ref = new TpTask[2][];
System.out.println("test_adjust scene = "+test_pair[0]+", reference="+test_pair[1]);
double [][] test_xyzatr = adjustDiffPairsLMAInterscene( // compare two scenes, first may be reference, use motion blur
......@@ -2681,9 +2782,10 @@ public class Interscene {
clt_parameters.imp.debug_level); // int debugLevel)
boolean adjust_OK_test = test_xyzatr != null;
System.out.println("adjust_OK_test = "+adjust_OK_test);
System.out.println("reAdjustPairsLMAInterscene "+test_pair[0]+
System.out.print("reAdjustPairsLMAInterscene "+test_pair[0]+
quadCLTs[test_pair[1]].getImageName() + "/" + quadCLTs[test_pair[0]].getImageName()+
" Done. RMS="+test_lma_rms[0]);
// if
System.out.println("test_adjust = "+test_adjust1);
}
}
......@@ -2703,7 +2805,13 @@ public class Interscene {
}
if (debugLevel > -4) {
System.out.println("All multi scene passes are Done. Maximal RMSE was "+rmse_stats.getMax()+", average was "+rmse_stats.getAverage());
System.out.print("All multi scene passes are Done. Maximal RMSE was "+rmse_stats.getMax()+
", average was "+rmse_stats.getAverage());
if (rmse_stats_metric != null) {
System.out.print(". Maximal metric so far was "+rmse_stats_metric.getMax()+
"pix, average was "+rmse_stats_metric.getAverage()+"pix.");
}
System.out.println();
}
quadCLTs[ref_index].saveInterProperties( // save properties for interscene processing (extrinsics, ers, ...)
......@@ -2721,6 +2829,10 @@ public class Interscene {
sb.append("last_index= "+range[1]+"\n");
sb.append("Maximal RMSE= "+rmse_stats.getMax()+"\n");
sb.append("Average RMSE= "+rmse_stats.getAverage()+"\n");
if (rmse_stats_metric != null) {
sb.append("Maximal RMSE= "+rmse_stats_metric.getMax()+"pix\n");
sb.append("Average RMSE= "+rmse_stats_metric.getAverage()+"pix\n");
}
sb.append("lpf_xy= "+lpf_xy+"\n");
sb.append("readjust_xy_ims="+readjust_xy_ims+"\n");
sb.append("lma_xyzatr= "+lma_xyzatr+"\n");
......@@ -3120,7 +3232,7 @@ public class Interscene {
double [][] ref_xyzatr, //
boolean[] param_select,
double [] param_regweights,
double [] rms_out, // null or double [2]
double [] rms_out, // null or double [2] or double[4]
double max_rms,
// motion blur compensation
double mb_tau, // 0.008; // time constant, sec
......@@ -3128,6 +3240,7 @@ public class Interscene {
double [][] mb_vectors, // now [2][ntiles];
int debug_level)
{
boolean dbg_images = false; // show images at each LMA step
boolean show_initial = true; // debug feature
// boolean debug_corr_fpn = false;
boolean use3D = clt_parameters.ilp.ilma_3d;
......@@ -3235,6 +3348,8 @@ public class Interscene {
double [][] eigen = (coord_motion.length < 3)? null: coord_motion[2];
double eig_max_sqrt=clt_parameters.imp.eig_max_sqrt;
double eig_min_sqrt=clt_parameters.imp.eig_min_sqrt;
// boolean dbg_images = false;
String dbg_prefix = dbg_images? (first_QuadClt.getImageName()+"-"+scene_QuadClt.getImageName()+"-NLMA_"+nlma) : null;
intersceneLma.prepareLMA(
scene_xyzatr0, // final double [] scene_xyzatr0, // camera center in world coordinates (or null to use instance)
scene_xyzatr_pull, // final double [] scene_xyz_pull, // if both are not null, specify target values to pull to
......@@ -3250,6 +3365,7 @@ public class Interscene {
coord_motion[1], // final double [][] vector_XYS, // optical flow X,Y, confidence obtained from the correlate2DIterate()
coord_motion[0], // final double [][] centers, // macrotile centers (in pixels and average disparities
(nlma == 0), // boolean first_run,
dbg_prefix, // String dbg_prefix, // null or image name prefix
clt_parameters.imp.debug_level); // final int debug_level)
lmaResult = intersceneLma.runLma(
clt_parameters.ilp.ilma_lambda, // double lambda, // 0.1
......@@ -3272,8 +3388,13 @@ public class Interscene {
return null;
}
if (debug_level > -3){
System.out.println ("iter="+lmaResult+", RMS="+intersceneLma.getLastRms()[0]+
System.out.print ("iter="+lmaResult+", RMS="+intersceneLma.getLastRms()[0]+
" (Pure RMS="+intersceneLma.getLastRms()[1]+")");
if (intersceneLma.isEigenNormalized()) {
double [] rms_metric = intersceneLma.calcRMS(true);
System.out.print (", RMS="+rms_metric[0]+"pix (Pure RMS="+rms_metric[0]+"pix )");
}
System.out.println();
}
scene_xyzatr0 = intersceneLma.getSceneXYZATR(false); // true for initial values
double [] diffs_atr = intersceneLma.getV3Diff(ErsCorrection.DP_DSAZ);
......@@ -3397,10 +3518,15 @@ public class Interscene {
}
if (clt_parameters.imp.debug_level > -2) {
String [] lines1 = intersceneLma.printOldNew((clt_parameters.imp.debug_level > -1)); // false); // boolean allvectors)
System.out.println("Adjusted interscene, iteration="+nlma+
System.out.print("Adjusted interscene, iteration="+nlma+
", last RMS = "+intersceneLma.getLastRms()[0]+
" (pure RMS = "+intersceneLma.getLastRms()[1]+")"+
", results:");
" (pure RMS = "+intersceneLma.getLastRms()[1]+")");
if (intersceneLma.isEigenNormalized()) {
double [] rms_metric = intersceneLma.calcRMS(true);
System.out.print(" RMS="+rms_metric[0]+"pix (Pure RMS="+rms_metric[0]+"pix )");
}
System.out.println(", results:");
for (String line : lines1) {
System.out.println(line);
}
......@@ -3414,6 +3540,18 @@ public class Interscene {
if ((rms_out != null) && (intersceneLma.getLastRms() != null)) {
rms_out[0] = intersceneLma.getLastRms()[0];
rms_out[1] = intersceneLma.getLastRms()[1];
if (rms_out.length >=4) {
if (intersceneLma.isEigenNormalized()) {
double [] rms_metric = intersceneLma.calcRMS(true);
rms_out[2] = rms_metric[0];
rms_out[3] = rms_metric[1];
} else {
rms_out[2] = Double.NaN;
rms_out[3] = Double.NaN;
}
}
//if (lmaResult < 0) { last_rms[0]
}
if (max_rms > 0.0) {
......@@ -4181,6 +4319,7 @@ public class Interscene {
clt_parameters.imp.td_nopd_only, // final boolean td_nopd_only , // only use TD accumulated data if no safe PD is available for the tile.
clt_parameters.imp.eig_use_neibs, // final boolean eig_use_neibs, // use correlation from 9 tiles with neibs, if single-tile fails
clt_parameters.imp.eig_remove_neibs,//final boolean eig_remove_neibs, //remove weak (by-neibs) tiles if they have strong (by-single) neighbor
clt_parameters.imp.eig_filt_other, // final boolean eig_filt_other, // apply other before-eigen filters
// min_str, // final double min_str_nofpn, // = 0.25;
eig_str_sum, // final double eig_str_sum_nofpn, // = 0.8; // 5;
eig_str_neib, // final double eig_str_neib_nofpn,
......
src/main/java/com/elphel/imagej/tileprocessor/IntersceneLma.java
View file @ c8d3d7d9
......@@ -31,11 +31,14 @@ import java.io.Serializable;
import java.security.MessageDigest;
import java.security.NoSuchAlgorithmException;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.concurrent.atomic.AtomicInteger;
import java.util.concurrent.atomic.DoubleAdder;
import javax.xml.bind.DatatypeConverter;
import com.elphel.imagej.common.ShowDoubleFloatArrays;
import Jama.Matrix;
public class IntersceneLma {
......@@ -44,6 +47,7 @@ public class IntersceneLma {
private double [] good_or_bad_rms = null; // just for diagnostics, to read last (failed) rms
private double [] initial_rms = null; // {rms, rms_pure}, first-calcualted rms
private double [] y_vector = null; // sum of fx(initial parameters) and correlation offsets
private double [] s_vector = null; // strength component - just for debug images
private double [] last_ymfx = null;
private double [][] last_jt = null;
private double [] weights; // normalized so sum is 1.0 for all - samples and extra regularization
......@@ -69,7 +73,9 @@ public class IntersceneLma {
private double disparity_weight = 1.0; // relative weight of disparity errors
private double [][][] eig_trans = null;
private int tilesX = -1;
private String dbg_prefix = null;
public IntersceneLma(
boolean thread_invariant,
double disparity_weight
......@@ -259,20 +265,21 @@ public class IntersceneLma {
// now includes optional Disparity as the last element (for num_components==3)
final double [][] vector_XYSDS,// optical flow X,Y, confidence obtained from the correlate2DIterate()
final double [][] centers, // macrotile centers (in pixels and average disparities
boolean first_run,
String dbg_prefix, // null or image name prefix
final int debug_level) {
// befolre getFxDerivs
// before getFxDerivs
eig_trans = setEigenTransform(
eig_max_sqrt, // final double eig_max_sqrt,
eig_min_sqrt, // final double eig_min_sqrt,
eigen); // final double [][] eigen); // [tilesX*tilesY]{lamb0_x,lamb0_y, lamb0, lamb1} eigenvector0[x,y],lam0,lam1
tilesX = reference_QuadClt.getTileProcessor().getTilesX(); // just for debug images
scenesCLT = new QuadCLT [] {reference_QuadClt, scene_QuadClt};
par_mask = param_select;
macrotile_centers = centers;
num_samples = num_components * centers.length;
this.dbg_prefix = dbg_prefix;
s_vector = (this.dbg_prefix != null) ? (new double[centers.length]): null; // original strength
ErsCorrection ers_ref = reference_QuadClt.getErsCorrection();
ErsCorrection ers_scene = scene_QuadClt.getErsCorrection();
final double [] scene_xyz = (scene_xyzatr0 != null) ? scene_xyzatr0[0] : ers_scene.camera_xyz;
......@@ -366,8 +373,11 @@ public class IntersceneLma {
if (vector_XYSDS[i] != null){
y_vector[num_components * i + 0] += vector_XYSDS[i][0];
y_vector[num_components * i + 1] += vector_XYSDS[i][1];
if (num_components > 2) {
y_vector[num_components * i + 2] += vector_XYSDS[i][2];
if (num_components > 2) { // ****************************** [3] - disparity? Was BUG: [2] !
y_vector[num_components * i + 2] += vector_XYSDS[i][3]; // vector_XYSDS[i][2];
}
if (s_vector != null) {
s_vector[i] = vector_XYSDS[i][2];
}
}
}
......@@ -562,6 +572,10 @@ public class IntersceneLma {
break; // not used in lwir
}
}
if (dbg_prefix != null) {
showDebugImage(dbg_prefix+"-"+iter+(rslt[0]?"-GOOD":"-BAD"));
}
}
if (rslt[0]) { // better
if (iter >= num_iter) { // better, but num tries exceeded
......@@ -578,6 +592,9 @@ public class IntersceneLma {
if (debug_level > 1) System.out.println("Step "+iter+": Failed to converge");
}
}
if (dbg_prefix != null) {
showDebugImage(dbg_prefix+"-FINAL");
}
boolean show_intermediate = true;
if (show_intermediate && (debug_level > 0)) {
System.out.println("LMA: full RMS="+last_rms[0]+" ("+initial_rms[0]+"), pure RMS="+last_rms[1]+" ("+initial_rms[1]+") + lambda="+lambda);
......@@ -657,6 +674,9 @@ public class IntersceneLma {
true); //boolean graphic)
*/
}
if (dbg_prefix != null) {
showDebugImage(dbg_prefix+"-INIT");
}
}
Matrix y_minus_fx_weighted = new Matrix(this.last_ymfx, this.last_ymfx.length);
......@@ -829,7 +849,7 @@ public class IntersceneLma {
w = vector_XYSDS[iMTile][4] * disparity_weight;
if (Double.isNaN(w) || Double.isNaN(vector_XYSDS[iMTile][3])) {
w = 0;
vector_XYSDS[iMTile][3] = 0.0;
vector_XYSDS[iMTile][3] = 0.0; // disparity
}
weights[num_components * iMTile + 2] = w;
sw_arr[thread_num] += w;
......@@ -1036,9 +1056,11 @@ public class IntersceneLma {
}
}
} else if (mb_mode) {
for (int i = 0; i < par_indices.length; i++) {
jt[i][2 * iMTile + 0] = Double.NaN; // pX
jt[i][2 * iMTile + 1] = Double.NaN; // ; // pY (disparity is not used)
if (jt != null) {
for (int i = 0; i < par_indices.length; i++) {
jt[i][2 * iMTile + 0] = Double.NaN; // pX
jt[i][2 * iMTile + 1] = Double.NaN; // ; // pY (disparity is not used)
}
}
}
}
......@@ -1053,7 +1075,9 @@ public class IntersceneLma {
// pull to the initial parameter values
for (int i = 0; i < par_indices.length; i++) {
fx [i + num_samples] = vector[i]; // - parameters_initial[i]; // scale will be combined with weights
jt[i][i + num_samples] = 1.0; // scale will be combined with weights
if (jt != null) {
jt[i][i + num_samples] = 1.0; // scale will be combined with weights
}
}
/// if (parameters_pull != null){
/// for (int i = 0; i < par_indices.length; i++) {
......@@ -1101,16 +1125,114 @@ public class IntersceneLma {
ImageDtt.startAndJoin(threads);
return wjtjl;
}
public void showDebugImage( String dbg_title ) { // includes "_iteration_number" or "_final"
if (s_vector == null) {
return;
}
int tilesY = s_vector.length / tilesX;
String [] titles = {"dx","dy","dr", "str", "e0", "e1", "e"};
double [][] dbg_img = new double [titles.length][tilesX*tilesY];
for (int l = 0; l < dbg_img.length; l++) {
Arrays.fill(dbg_img[l], Double.NaN);
}
double [] fx = getFxDerivs(
parameters_vector, // double [] vector,
null, // final double [][] jt, // should be null or initialized with [vector.length][]
scenesCLT[1], // final QuadCLT scene_QuadClt,
scenesCLT[0], // final QuadCLT reference_QuadClt,
-1); // debug_level); // final int debug_level)
double [] ymfxw_m = getYminusFxWeighted(
fx, // final double [] fx,
null, // final double [] rms_fp // null or [2]
true);//final boolean force_metric // when true, ignore transform with eig_trans and use linear dx, dy in pixels
double [] ymfxw_e = null;
if (eig_trans != null) {
ymfxw_e = getYminusFxWeighted(
fx, // final double [] fx,
null, // final double [] rms_fp // null or [2]
false);//final boolean force_metric // when true, ignore transform with eig_trans and use linear dx, dy in pixels
}
for (int nTile = 0; nTile < s_vector.length; nTile++) {
int indx = num_components * nTile;
double w = weights[num_components * nTile];
if ((weights[indx] > 0) && (weights[indx+1] > 0)) {
for (int i = 0; i < 2; i++) {
ymfxw_m[indx + i] /= weights[indx + i];
if (ymfxw_e != null) {
ymfxw_e[indx + i] /= weights[indx + i];
}
}
double dx = ymfxw_m[indx + 0];
double dy = ymfxw_m[indx + 1];
dbg_img[0][nTile] = dx;
dbg_img[1][nTile] = dy;
dbg_img[2][nTile] = Math.sqrt(dx*dx+dy*dy);
dbg_img[3][nTile] = s_vector[nTile];
if (ymfxw_e != null) {
double d0 = ymfxw_e[indx + 0];
double d1 = ymfxw_e[indx + 1];
dbg_img[4][nTile] = d0;
dbg_img[5][nTile] = d1;
dbg_img[6][nTile] = Math.sqrt(d0*d0+d1*d1);
}
}
}
if (ymfxw_e == null) {
dbg_img[4]=null;
dbg_img[5]=null;
dbg_img[6]=null;
}
ShowDoubleFloatArrays.showArrays( // out of boundary 15
dbg_img,
tilesX,
tilesY,
true,
dbg_title,
titles);
}
public boolean isEigenNormalized() {
return (eig_trans != null);
}
public double [] calcRMS (boolean metric) {
double [] rms_fp = new double [2];
double [] fx = getFxDerivs(
parameters_vector, // double [] vector,
null, // final double [][] jt, // should be null or initialized with [vector.length][]
scenesCLT[1], // final QuadCLT scene_QuadClt,
scenesCLT[0], // final QuadCLT reference_QuadClt,
-1); // debug_level); // final int debug_level)
last_ymfx = getYminusFxWeighted(
fx, // final double [] fx,
rms_fp, // final double [] rms_fp // null or [2]
metric);//final boolean force_metric // when true, ignore transform with eig_trans and use linear dx, dy in pixels
return rms_fp;
}
private double [] getYminusFxWeighted(
final double [] fx,
final double [] rms_fp) { // null or [2]
return getYminusFxWeighted(
fx, // final double [] fx,
rms_fp, // final double [] rms_fp, // null or [2]
false); // final boolean force_metric)
}
private double [] getYminusFxWeighted(
final double [] fx,
final double [] rms_fp // null or [2]
final double [] rms_fp, // null or [2]
final boolean force_metric // when true, ignore transform with eig_trans and use linear dx, dy in pixels
) {
double [] ymfxw;
if (thread_invariant) {
ymfxw = getYminusFxWeightedInvariant(fx,rms_fp); // null or [2]
ymfxw = getYminusFxWeightedInvariant(fx,rms_fp, force_metric); // null or [2]
} else {
ymfxw = getYminusFxWeightedFast (fx,rms_fp); // null or [2]
ymfxw = getYminusFxWeightedFast (fx,rms_fp, force_metric); // null or [2]
}
return ymfxw;
}
......@@ -1120,14 +1242,15 @@ public class IntersceneLma {
private double [] getYminusFxWeightedInvariant(
final double [] fx,
final double [] rms_fp // null or [2]
final double [] rms_fp, // null or [2]
final boolean force_metric // when true, ignore transform with eig_trans and use linear dx, dy in pixels
) {
final Thread[] threads = ImageDtt.newThreadArray(QuadCLT.THREADS_MAX);
final AtomicInteger ai = new AtomicInteger(0);
final double [] wymfw = new double [fx.length];
double s_rms;
final double [] l2_arr = new double [num_samples];
if (eig_trans != null) {
if (!force_metric && (eig_trans != null)) {
for (int ithread = 0; ithread < threads.length; ithread++) {
threads[ithread] = new Thread() {
public void run() {
......@@ -1213,14 +1336,15 @@ public class IntersceneLma {
private double [] getYminusFxWeightedFast( // problems. at least with eigen?
final double [] fx,
final double [] rms_fp // null or [2]
final double [] rms_fp, // null or [2]
final boolean force_metric // when true, ignore transform with eig_trans and use linear dx, dy in pixels
) {
final Thread[] threads = ImageDtt.newThreadArray(QuadCLT.THREADS_MAX);
final AtomicInteger ai = new AtomicInteger(0);
final double [] wymfw = new double [fx.length];
final AtomicInteger ati = new AtomicInteger(0);
final double [] l2_arr = new double [threads.length];
if (eig_trans != null) {
if (!force_metric && (eig_trans != null)) {
for (int ithread = 0; ithread < threads.length; ithread++) {
threads[ithread] = new Thread() {
public void run() {
......
src/main/java/com/elphel/imagej/tileprocessor/IntersceneMatchParameters.java
View file @ c8d3d7d9
......@@ -451,6 +451,9 @@ public class IntersceneMatchParameters {
public double eig_min_sqrt = 1.0; // for sqrt(lambda) - limit minimal sqrt(lambda) - can be sharp for very small max
public boolean eig_use_neibs = true; // use correlation from 9 tiles with neibs, if single-tile fails
public boolean eig_remove_neibs = true; // remove weak (by-neibs) tiles if they have strong (by-single) neighbor
public boolean eig_filt_other = false; // apply other before-eigen filters
public double eig_max_rms = 2.0; // eigen-normalized maximal RMS to consider adjustment to be a failure
/*
min_str_sum_nofpn 0.22
......@@ -1358,8 +1361,10 @@ min_str_neib_fpn 0.35
"Use correlation from 9 tiles with neibs, if single-tile fails");
gd.addCheckbox ("Remove weak by strong neighbors", this.eig_remove_neibs,
"Remove weak (by-neibs) tiles if they have strong (by-single) neighbor");
gd.addCheckbox ("Apply other filters", this.eig_filt_other,
"Apply other (before-eigen) filters");
gd.addNumericField("Maximal eigen-normalized RMS", this.eig_max_rms, 5,7,"",
"Maximal eigen-normalized RMSE for LMA adjustment. Replaces \"Maximal RMS to fail\" setting below.");
gd.addMessage ("Filtering tiles for interscene matching");
......@@ -2048,7 +2053,8 @@ min_str_neib_fpn 0.35
this.eig_min_sqrt = gd.getNextNumber();
this.eig_use_neibs = gd.getNextBoolean();
this.eig_remove_neibs = gd.getNextBoolean();
this.eig_filt_other = gd.getNextBoolean();
this.eig_max_rms = gd.getNextNumber();
this.use_combo_reliable = gd.getNextBoolean();
this.ref_need_lma = gd.getNextBoolean();
this.ref_need_lma_combo = gd.getNextBoolean();
......@@ -2603,6 +2609,8 @@ min_str_neib_fpn 0.35
properties.setProperty(prefix+"eig_min_sqrt", this.eig_min_sqrt+""); // double
properties.setProperty(prefix+"eig_use_neibs", this.eig_use_neibs+""); // boolean
properties.setProperty(prefix+"eig_remove_neibs", this.eig_remove_neibs+""); // boolean
properties.setProperty(prefix+"eig_filt_other", this.eig_filt_other+""); // boolean
properties.setProperty(prefix+"eig_max_rms", this.eig_max_rms+""); // double
properties.setProperty(prefix+"use_combo_reliable", this.use_combo_reliable+""); // boolean
properties.setProperty(prefix+"ref_need_lma", this.ref_need_lma+""); // boolean
......@@ -3120,7 +3128,9 @@ min_str_neib_fpn 0.35
if (properties.getProperty(prefix+"eig_min_sqrt")!=null) this.eig_min_sqrt=Double.parseDouble(properties.getProperty(prefix+"eig_min_sqrt"));
if (properties.getProperty(prefix+"eig_use_neibs")!=null) this.eig_use_neibs=Boolean.parseBoolean(properties.getProperty(prefix+"eig_use_neibs"));
if (properties.getProperty(prefix+"eig_remove_neibs")!=null) this.eig_remove_neibs=Boolean.parseBoolean(properties.getProperty(prefix+"eig_remove_neibs"));
if (properties.getProperty(prefix+"eig_filt_other")!=null) this.eig_filt_other=Boolean.parseBoolean(properties.getProperty(prefix+"eig_filt_other"));
if (properties.getProperty(prefix+"eig_max_rms")!=null) this.eig_max_rms=Double.parseDouble(properties.getProperty(prefix+"eig_max_rms"));
if (properties.getProperty(prefix+"use_combo_reliable")!=null) this.use_combo_reliable=Boolean.parseBoolean(properties.getProperty(prefix+"use_combo_reliable"));
else if (properties.getProperty(prefix+"use_combo_relaible")!=null) this.use_combo_reliable=Boolean.parseBoolean(properties.getProperty(prefix+"use_combo_relaible"));
if (properties.getProperty(prefix+"ref_need_lma")!=null) this.ref_need_lma=Boolean.parseBoolean(properties.getProperty(prefix+"ref_need_lma"));
......@@ -3645,6 +3655,8 @@ min_str_neib_fpn 0.35
imp.eig_min_sqrt = this.eig_min_sqrt;
imp.eig_use_neibs = this.eig_use_neibs;
imp.eig_remove_neibs = this.eig_remove_neibs;
imp.eig_filt_other = this.eig_filt_other;
imp.eig_max_rms = this.eig_max_rms;
imp.use_combo_reliable = this.use_combo_reliable;
imp.ref_need_lma = this.ref_need_lma;
......
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