fixed LMA for offsets of the multi-tile clusters (d1ddd6b3) · Commits · Elphel / imagej-elphel

src/main/java/com/elphel/imagej/tileprocessor/Corr2dLMA.java

+468 −243

File changed.

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src/main/java/com/elphel/imagej/tileprocessor/Correlation2d.java

+14 −25

Original line number	Original line	Diff line number	Diff line
	@@ -1810,9 +1810,9 @@ public class Correlation2d {
	double [] corr_wnd_inv_limited, // correlation window, limited not to be smaller than threshold - used for finding max/convex areas (or null)		double [] corr_wnd_inv_limited, // correlation window, limited not to be smaller than threshold - used for finding max/convex areas (or null)
	double [][][] corrs, // per tile, per pair, 2 correlation in line-scan order		double [][][] corrs, // per tile, per pair, 2 correlation in line-scan order
	double [][][] disp_dist, // per tile, per camera disparity matrix as a 1d (linescan order)		double [][][] disp_dist, // per tile, per camera disparity matrix as a 1d (linescan order)
			double [][] rXY, // non-distorted X,Y offset per nominal pixel of disparity
	int pair_mask, // which pairs to process		int pair_mask, // which pairs to process
	boolean run_poly_instead, // true - run LMA, false - run 2d polynomial approximation		boolean run_poly_instead, // true - run LMA, false - run 2d polynomial approximation
	// double sigma, // low-pass sigma to find maximum (and convex too
	double[][] xcenter_str, // preliminary center x in pixels for largest baseline		double[][] xcenter_str, // preliminary center x in pixels for largest baseline
	double vasw_pwr, // value as weight to this power,		double vasw_pwr, // value as weight to this power,
	int debug_level,		int debug_level,
	@@ -1823,7 +1823,7 @@ public class Correlation2d {
	// corrs are organized as PAIRS, some are null if not used		// corrs are organized as PAIRS, some are null if not used
	// for each enabled and available pair find a maximum, filter convex and create sample list		// for each enabled and available pair find a maximum, filter convex and create sample list
	boolean debug_graphic = (debug_level > -1);		boolean debug_graphic = (debug_level > -1);
	boolean debug_second_all = false; // true;		boolean debug_second_all = false; // true; // alse; // true;
	int clust_height = corrs.length/clust_width;		int clust_height = corrs.length/clust_width;
	int ntiles = corrs.length;		int ntiles = corrs.length;
	DoubleGaussianBlur gb = null;		DoubleGaussianBlur gb = null;
	@@ -1834,6 +1834,7 @@ public class Correlation2d {
	corrs.length,		corrs.length,
	transform_size,		transform_size,
	corr_wnd,		corr_wnd,
			rXY, //double [][] rXY, // non-distorted X,Y offset per nominal pixel of disparity
	imgdtt_params.lma_gaussian//boolean gaussian_mode		imgdtt_params.lma_gaussian//boolean gaussian_mode
	);		);

	@@ -1995,7 +1996,7 @@ public class Correlation2d {
	imgdtt_params.lma_lambda_max, // double lambda_max, // 100		imgdtt_params.lma_lambda_max, // double lambda_max, // 100
	imgdtt_params.lma_rms_diff, // double rms_diff, // 0.001		imgdtt_params.lma_rms_diff, // double rms_diff, // 0.001
	imgdtt_params.lma_num_iter, // int num_iter, // 20		imgdtt_params.lma_num_iter, // int num_iter, // 20
	2); //4); // debug_level); // int debug_level) // > 3		imgdtt_params.lma_debug_level1); //4); // debug_level); // int debug_level) // > 3

	lma.updateFromVector();		lma.updateFromVector();
	double [] rms = lma.getRMS();		double [] rms = lma.getRMS();
	@@ -2124,15 +2125,15 @@ public class Correlation2d {
	return lmaSuccess? lma: null;		return lmaSuccess? lma: null;
	}		}

	public Corr2dLMA corrLMA2( // single tile		public Corr2dLMA corrLMA2( // single tile ************* Will be obsolete ????
	ImageDttParameters imgdtt_params,		ImageDttParameters imgdtt_params,
	double [][] corr_wnd, // correlation window to save on re-calculation of the window		double [][] corr_wnd, // correlation window to save on re-calculation of the window
	double [] corr_wnd_inv_limited, // correlation window, limited not to be smaller than threshold - used for finding max/convex areas (or null)		double [] corr_wnd_inv_limited, // correlation window, limited not to be smaller than threshold - used for finding max/convex areas (or null)
	double [][] corrs,		double [][] corrs,
	double [][] disp_dist, // per camera disparity matrix as a 1d (linescan order)		double [][] disp_dist, // per camera disparity matrix as a 1d (linescan order)
			double [][] rXY, // non-distorted X,Y offset per nominal pixel of disparity
	int pair_mask, // which pairs to process		int pair_mask, // which pairs to process
	boolean run_poly_instead, // true - run LMA, false - run 2d polynomial approximation		boolean run_poly_instead, // true - run LMA, false - run 2d polynomial approximation
	// double sigma, // low-pass sigma to find maximum (and convex too
	double xcenter, // preliminary center x in pixels for largest baseline		double xcenter, // preliminary center x in pixels for largest baseline
	double vasw_pwr, // value as weight to this power,		double vasw_pwr, // value as weight to this power,
	int debug_level,		int debug_level,
	@@ -2151,6 +2152,7 @@ public class Correlation2d {
	1,		1,
	transform_size,		transform_size,
	corr_wnd,		corr_wnd,
			rXY, //double [][] rXY, // non-distorted X,Y offset per nominal pixel of disparity
	imgdtt_params.lma_gaussian //boolean gaussian_mode		imgdtt_params.lma_gaussian //boolean gaussian_mode
	);		);

	@@ -2312,19 +2314,6 @@ public class Correlation2d {
	return lmaSuccess? lma: null;		return lmaSuccess? lma: null;
	}		}

	/*
	double [][] dbg_w = repackCluster(
	dbg_weights,
	clust_width);

	(new ShowDoubleFloatArrays()).showArrays(
	dbg_w,
	dbg_out_width,
	dbg_out_height,
	true,
	"corr_weights"+"_x"+tileX+"_y"+tileY);

	*/

	public Correlations2dLMA corrLMA( // USED in lwir		public Correlations2dLMA corrLMA( // USED in lwir
	ImageDttParameters imgdtt_params,		ImageDttParameters imgdtt_params,

src/main/java/com/elphel/imagej/tileprocessor/ImageDtt.java

+46 −9

Original line number	Original line	Diff line number	Diff line
	@@ -1577,12 +1577,13 @@ public class ImageDtt {
	final int globalDebugLevel)		final int globalDebugLevel)
	{		{
	final boolean debug_distort= true;		final boolean debug_distort= true;

	// final double [][] debug_offsets = null;		// final double [][] debug_offsets = null;
	final double [][] debug_offsets = imgdtt_params.lma_dbg_offset;		//lma_dbg_scale
	// final double [][] debug_offsets = {{ 0.5, 0.0},{ -0.5, 0.0},{-0.5, 0.0},{ 0.5, 0.0}}; // add to calculated CenterXY for evaluating new LMA		final double [][] debug_offsets = new double[imgdtt_params.lma_dbg_offset.length][2];
	// final double [][] debug_offsets = {{ 1.0, 0.0},{ -1.0, 0.0},{-1.0, 0.0},{ 1.0, 0.0}}; // add to calculated CenterXY for evaluating new LMA		for (int i = 0; i < debug_offsets.length; i++) for (int j = 0; j < debug_offsets[i].length; j++) {
	// final double [][] debug_offsets = {{ 0.0, 1.0},{ 0.0, -1.0},{ 0.0, -1.0},{ 0.0, 1.0}}; // add to calculated CenterXY for evaluating new LMA		debug_offsets[i][j] = imgdtt_params.lma_dbg_offset[i][j]*imgdtt_params.lma_dbg_scale;
			}

	final int quad = 4; // number of subcameras		final int quad = 4; // number of subcameras
	final int numcol = 3; // number of colors // keep the same, just do not use [0] and [1], [2] - green		final int numcol = 3; // number of colors // keep the same, just do not use [0] and [1], [2] - green

	@@ -1605,6 +1606,15 @@ public class ImageDtt {
	final double [] col_weights= new double [numcol]; // colors are RBG		final double [] col_weights= new double [numcol]; // colors are RBG
	final double [][] dbg_distort = debug_distort? (new double [4quad][tilesXtilesY]) : null;		final double [][] dbg_distort = debug_distort? (new double [4quad][tilesXtilesY]) : null;

			final double [][] corr_wnd = Corr2dLMA.getCorrWnd(transform_size);
			final double [] corr_wnd_inv_limited = (imgdtt_params.lma_min_wnd <= 1.0)? new double [corr_wnd.length * corr_wnd[0].length]: null;
			if (corr_wnd_inv_limited != null) {
			for (int i = imgdtt_params.lma_hard_marg; i < (corr_wnd.length - imgdtt_params.lma_hard_marg); i++) {
			for (int j = imgdtt_params.lma_hard_marg; j < (corr_wnd.length - imgdtt_params.lma_hard_marg); j++) {
			corr_wnd_inv_limited[i * (corr_wnd.length) + j] = 1.0/Math.max(Math.pow(corr_wnd[i][j],imgdtt_params.lma_wnd_pwr), imgdtt_params.lma_min_wnd);
			}
			}
			}

	// keep for now for mono, find out what do they mean for macro mode		// keep for now for mono, find out what do they mean for macro mode
	if (isMonochrome()) {		if (isMonochrome()) {
	@@ -1746,7 +1756,8 @@ public class ImageDtt {
	double centerX; // center of aberration-corrected (common model) tile, X		double centerX; // center of aberration-corrected (common model) tile, X
	double centerY; //		double centerY; //
	double [][] fract_shiftsXY = new double[quad][];		double [][] fract_shiftsXY = new double[quad][];
	double [][] corr_wnd = (new Corr2dLMA(1, transform_size, null,imgdtt_params.lma_gaussian)).getCorrWnd();		// double [][] corr_wnd = Corr2dLMA.getCorrWnd(transform_size);
			/*
	double [] corr_wnd_inv_limited = null;		double [] corr_wnd_inv_limited = null;
	if (imgdtt_params.lma_min_wnd <= 1.0) {		if (imgdtt_params.lma_min_wnd <= 1.0) {
	corr_wnd_inv_limited = new double [corr_wnd.length * corr_wnd[0].length];		corr_wnd_inv_limited = new double [corr_wnd.length * corr_wnd[0].length];
	@@ -1756,7 +1767,7 @@ public class ImageDtt {
	}		}
	}		}
	}		}
			*/
	Correlation2d corr2d = new Correlation2d(		Correlation2d corr2d = new Correlation2d(
	imgdtt_params, // ImageDttParameters imgdtt_params,		imgdtt_params, // ImageDttParameters imgdtt_params,
	transform_size, // int transform_size,		transform_size, // int transform_size,
	@@ -1768,6 +1779,13 @@ public class ImageDtt {
	imgdtt_params.getEnhOrthoScale(isAux()), //double getEnhOrthoScale(isAux()),		imgdtt_params.getEnhOrthoScale(isAux()), //double getEnhOrthoScale(isAux()),
	(imgdtt_params.lma_debug_level > 1)); // boolean debug);		(imgdtt_params.lma_debug_level > 1)); // boolean debug);

			double [][] rXY;
			if (use_main) {
			rXY = geometryCorrection.getRXY(true); // boolean use_rig_offsets,
			} else {
			rXY = geometryCorrection.getRXY(false); // boolean use_rig_offsets,
			}

	// for (int nTile = ai.getAndIncrement(); nTile < nTilesInChn; nTile = ai.getAndIncrement()) {		// for (int nTile = ai.getAndIncrement(); nTile < nTilesInChn; nTile = ai.getAndIncrement()) {
	for (int nCluster = ai.getAndIncrement(); nCluster < nClustersInChn; nCluster = ai.getAndIncrement()) {		for (int nCluster = ai.getAndIncrement(); nCluster < nClustersInChn; nCluster = ai.getAndIncrement()) {
	clustY = nCluster / clustersX;		clustY = nCluster / clustersX;
	@@ -2068,6 +2086,7 @@ public class ImageDtt {
	corr_wnd_inv_limited, // corr_wnd_inv_limited, // correlation window, limited not to be smaller than threshold - used for finding max/convex areas (or null)		corr_wnd_inv_limited, // corr_wnd_inv_limited, // correlation window, limited not to be smaller than threshold - used for finding max/convex areas (or null)
	corrs[cTile], // double [][] corrs,		corrs[cTile], // double [][] corrs,
	disp_dist[cTile],		disp_dist[cTile],
			rXY, // double [][] rXY, // non-distorted X,Y offset per nominal pixel of disparity
	imgdtt_params.dbg_pair_mask, // int pair_mask, // which pairs to process		imgdtt_params.dbg_pair_mask, // int pair_mask, // which pairs to process
	false, // boolean run_poly_instead, // true - run LMA, false - run 2d polynomial approximation		false, // boolean run_poly_instead, // true - run LMA, false - run 2d polynomial approximation
	corr_stat[cTile][0], // double xcenter, // preliminary center x in pixels for largest baseline		corr_stat[cTile][0], // double xcenter, // preliminary center x in pixels for largest baseline
	@@ -2096,6 +2115,7 @@ public class ImageDtt {
	corr_wnd_inv_limited, // corr_wnd_inv_limited, // correlation window, limited not to be smaller than threshold - used for finding max/convex areas (or null)		corr_wnd_inv_limited, // corr_wnd_inv_limited, // correlation window, limited not to be smaller than threshold - used for finding max/convex areas (or null)
	corrs, // [tIndex], // double [][] corrs,		corrs, // [tIndex], // double [][] corrs,
	disp_dist, // [tIndex],		disp_dist, // [tIndex],
			rXY, // double [][] rXY, // non-distorted X,Y offset per nominal pixel of disparity
	imgdtt_params.dbg_pair_mask, // int pair_mask, // which pairs to process		imgdtt_params.dbg_pair_mask, // int pair_mask, // which pairs to process
	false, // boolean run_poly_instead, // true - run LMA, false - run 2d polynomial approximation		false, // boolean run_poly_instead, // true - run LMA, false - run 2d polynomial approximation
	corr_stat, // double[][] xcenter_str, // preliminary center x in pixels for largest baseline		corr_stat, // double[][] xcenter_str, // preliminary center x in pixels for largest baseline
	@@ -2230,7 +2250,15 @@ public class ImageDtt {
	final AtomicInteger ai = new AtomicInteger(0);		final AtomicInteger ai = new AtomicInteger(0);
	final double [] col_weights= new double [numcol]; // colors are RBG		final double [] col_weights= new double [numcol]; // colors are RBG
	final double [][] dbg_distort = debug_distort? (new double [4quad][tilesXtilesY]) : null;		final double [][] dbg_distort = debug_distort? (new double [4quad][tilesXtilesY]) : null;
			final double [][] corr_wnd = Corr2dLMA.getCorrWnd(transform_size);
			final double [] corr_wnd_inv_limited = (imgdtt_params.lma_min_wnd <= 1.0)? new double [corr_wnd.length * corr_wnd[0].length]: null;
			if (corr_wnd_inv_limited != null) {
			for (int i = imgdtt_params.lma_hard_marg; i < (corr_wnd.length - imgdtt_params.lma_hard_marg); i++) {
			for (int j = imgdtt_params.lma_hard_marg; j < (corr_wnd.length - imgdtt_params.lma_hard_marg); j++) {
			corr_wnd_inv_limited[i * (corr_wnd.length) + j] = 1.0/Math.max(Math.pow(corr_wnd[i][j],imgdtt_params.lma_wnd_pwr), imgdtt_params.lma_min_wnd);
			}
			}
			}

	// keep for now for mono, find out what do they mean for macro mode		// keep for now for mono, find out what do they mean for macro mode
	if (macro_mode) { // all the same as they now mean different		if (macro_mode) { // all the same as they now mean different
	@@ -2431,7 +2459,8 @@ public class ImageDtt {
	double [][][] tcorr_partial = null; // [quad][numcol+1][15*15]		double [][][] tcorr_partial = null; // [quad][numcol+1][15*15]
	double [][][][] tcorr_tpartial = null; // [quad][numcol+1][4][8*8]		double [][][][] tcorr_tpartial = null; // [quad][numcol+1][4][8*8]
	double [] ports_rgb = null;		double [] ports_rgb = null;
	double [][] corr_wnd = (new Corr2dLMA(1, transform_size, null,imgdtt_params.lma_gaussian)).getCorrWnd();		// double [][] corr_wnd = Corr2dLMA.getCorrWnd(transform_size);
			/*
	double [] corr_wnd_inv_limited = null;		double [] corr_wnd_inv_limited = null;
	if (imgdtt_params.lma_min_wnd <= 1.0) {		if (imgdtt_params.lma_min_wnd <= 1.0) {
	corr_wnd_inv_limited = new double [corr_wnd.length * corr_wnd[0].length];		corr_wnd_inv_limited = new double [corr_wnd.length * corr_wnd[0].length];
	@@ -2441,7 +2470,14 @@ public class ImageDtt {
	}		}
	}		}
	}		}
			*/
			double [][] rXY;

			if (use_main) {
			rXY = geometryCorrection.getRXY(true); // boolean use_rig_offsets,
			} else {
			rXY = geometryCorrection.getRXY(false); // boolean use_rig_offsets,
			}
	Correlation2d corr2d = new Correlation2d(		Correlation2d corr2d = new Correlation2d(
	imgdtt_params, // ImageDttParameters imgdtt_params,		imgdtt_params, // ImageDttParameters imgdtt_params,
	transform_size, // int transform_size,		transform_size, // int transform_size,
	@@ -2978,6 +3014,7 @@ public class ImageDtt {
	corr_wnd_inv_limited, // corr_wnd_limited, // correlation window, limited not to be smaller than threshold - used for finding max/convex areas (or null)		corr_wnd_inv_limited, // corr_wnd_limited, // correlation window, limited not to be smaller than threshold - used for finding max/convex areas (or null)
	corrs, // double [][] corrs,		corrs, // double [][] corrs,
	disp_dist,		disp_dist,
			rXY, // double [][] rXY, // non-distorted X,Y offset per nominal pixel of disparity
	imgdtt_params.dbg_pair_mask, // int pair_mask, // which pairs to process		imgdtt_params.dbg_pair_mask, // int pair_mask, // which pairs to process
	false, // boolean run_poly_instead, // true - run LMA, false - run 2d polynomial approximation		false, // boolean run_poly_instead, // true - run LMA, false - run 2d polynomial approximation
	corr_stat[0], // double xcenter, // preliminary center x in pixels for largest baseline		corr_stat[0], // double xcenter, // preliminary center x in pixels for largest baseline

src/main/java/com/elphel/imagej/tileprocessor/ImageDttParameters.java

+21 −8

Original line number	Original line	Diff line number	Diff line
	@@ -128,9 +128,11 @@ public class ImageDttParameters {
	public double lma_rms_diff = 0.001; //		public double lma_rms_diff = 0.001; //
	public int lma_num_iter = 20; //		public int lma_num_iter = 20; //
	public int lma_debug_level = 3; //		public int lma_debug_level = 3; //
			public int lma_debug_level1 = 2; //
	public boolean corr_var_cam = true; // New correlation mode compatible with 8 subcameras		public boolean corr_var_cam = true; // New correlation mode compatible with 8 subcameras
	public double cm_max_normalization = 0.55; // fraction of correlation maximum radius, being squared multiplied by maximum to have the same total mass		public double cm_max_normalization = 0.55; // fraction of correlation maximum radius, being squared multiplied by maximum to have the same total mass
	public double [][] lma_dbg_offset = new double [4][2]; //{{ 1.0, 0.0},{ -1.0, 0.0},{-1.0, 0.0},{ 1.0, 0.0}}; // new double [4][2];		public double lma_dbg_scale = 0.0; // scale lma_dbg_offset
			public double [][] lma_dbg_offset = {{ 1.0, 0.0},{ -1.0, 0.0},{-1.0, 0.0},{ 1.0, 0.0}}; // new double [4][2];

	public int getEnhOrthoWidth(boolean aux) {		public int getEnhOrthoWidth(boolean aux) {
	return aux ? enhortho_width_aux : enhortho_width;		return aux ? enhortho_width_aux : enhortho_width;
	@@ -316,13 +318,16 @@ public class ImageDttParameters {
	"Limit LMA cycles, so it will exit after certain number of small improvements");		"Limit LMA cycles, so it will exit after certain number of small improvements");
	gd.addNumericField("LMA debug level", this.lma_debug_level, 0, 3, "",		gd.addNumericField("LMA debug level", this.lma_debug_level, 0, 3, "",
	"Debug/verbosity level for the LMA correaltion maximum fitting");		"Debug/verbosity level for the LMA correaltion maximum fitting");
			gd.addNumericField("LMA debug level1", this.lma_debug_level1, 0, 3, "",
			"Debug/verbosity level for the new LMA correaltion maximum fitting");
	gd.addCheckbox ("Use new correlation methods compatible with x8 camera", this.corr_var_cam,		gd.addCheckbox ("Use new correlation methods compatible with x8 camera", this.corr_var_cam,
	"Debug feature to compare old/new methods");		"Debug feature to compare old/new methods");

	gd.addNumericField("Normalization for the CM correlation strength", this.cm_max_normalization, 6, 8, "",		gd.addNumericField("Normalization for the CM correlation strength", this.cm_max_normalization, 6, 8, "",
	"Fraction of correlation maximum radius, being squared multiplied by maximum to have the same total mass. ~= 0.5, the lower the value, the higher strength reported by the CM");		"Fraction of correlation maximum radius, being squared multiplied by maximum to have the same total mass. ~= 0.5, the lower the value, the higher strength reported by the CM");
	gd.addMessage("Cameras offsets in the disparity direction and orthogonal to disparity (debugging LMA)");		gd.addMessage("Cameras offsets in the disparity direction and orthogonal to disparity (debugging LMA)");
			gd.addNumericField("LMA debug offsets scale", this.lma_dbg_scale, 6, 8, "",
			"Scale the following offsets by this value");
	gd.addNumericField("LMA debug offset: camera0, parallel", this.lma_dbg_offset[0][0], 6, 8, "pix",		gd.addNumericField("LMA debug offset: camera0, parallel", this.lma_dbg_offset[0][0], 6, 8, "pix",
	"Add camera offset in the direction of disparity (to/from center)");		"Add camera offset in the direction of disparity (to/from center)");
	gd.addNumericField("LMA debug offset: camera0, ortho", this.lma_dbg_offset[0][1], 6, 8, "pix",		gd.addNumericField("LMA debug offset: camera0, ortho", this.lma_dbg_offset[0][1], 6, 8, "pix",
	@@ -441,8 +446,10 @@ public class ImageDttParameters {

	this.lma_num_iter= (int) gd.getNextNumber();		this.lma_num_iter= (int) gd.getNextNumber();
	this.lma_debug_level= (int) gd.getNextNumber();		this.lma_debug_level= (int) gd.getNextNumber();
			this.lma_debug_level1= (int) gd.getNextNumber();
	this.corr_var_cam = gd.getNextBoolean();		this.corr_var_cam = gd.getNextBoolean();
	this.cm_max_normalization= gd.getNextNumber();		this.cm_max_normalization= gd.getNextNumber();
			this.lma_dbg_scale= gd.getNextNumber();

	for (int i = 0; i < 4; i++) for (int j=0; j < 2; j++) {		for (int i = 0; i < 4; i++) for (int j=0; j < 2; j++) {
	this.lma_dbg_offset[i][j]= gd.getNextNumber();		this.lma_dbg_offset[i][j]= gd.getNextNumber();

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