Developing dual-max LMA. Before simultaneous fitting (db3deeef) · Commits · Elphel / imagej-elphel

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

+23 −3

Original line number	Diff line number	Diff line
		@@ -547,7 +547,6 @@ public class Corr2dLMA {
		}
		}


		// apply corrections
		if (apply) {
		for (int ncam = 0; ncam <num_cams; ncam++) {
		@@ -1636,7 +1635,28 @@ public class Corr2dLMA {
		return xy_offsets;
		}


		/**
		* Calculate offsets for multiple disparities, for each defined pair x,y expected offset, assuming only disparity, not lazy eye
		* @param corrs - pairs 2D correlations (each in scanline order) - just to determine null/non-null
		* @param disparity_strengths - expected {disparity, strength} pairs (e.g. from CM)
		* @param disp_dist - per camera disparity matrix as a 1d (linescan order))
		* @return array of per-disparity, per pair x,y expected center offset in 2D correlations or nulls for undefined pairs (or null if already set)
		*/
		public double [][][] getPairsOffsets(
		double [][] corrs,
		boolean [] pair_mask,
		double [][] disparity_strengths,
		double [][] disp_dist){ //
		double [][][] pairs_offsets = new double [disparity_strengths.length][][];
		for (int i = 0; i < pairs_offsets.length; i++) {
		pairs_offsets[i] = getPairsOffsets(
		corrs, // double [][] corrs,
		pair_mask, // boolean [] pair_mask,
		disparity_strengths[i][0], // double disparity,
		disp_dist); // double [][] disp_dist)
		}
		return pairs_offsets;
		}

		public void printParams() { // not used in lwir
		// to make sure it is updated
		@@ -2062,7 +2082,7 @@ public class Corr2dLMA {
		double [][] maxmin_amp = getMaxMinAmpTile();
		double [][] abc = getABCTile();
		for (int tile = 0; tile < numTiles; tile++) {
		ds[tile][0] = Double.NaN;
		ds[tile][0] = Double.NaN + 0;
		if (Double.isNaN(maxmin_amp[tile][0])) {
		continue;
		}

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

+492 −325

File changed.

Preview size limit exceeded, changes collapsed.

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

+3 −3

Original line number	Diff line number	Diff line
		@@ -2631,7 +2631,8 @@ public class ImageDtt extends ImageDttCPU {
		if (debugTile1) {
		correlation2d.corrLMA2DualMax( // null pointer
		imgdtt_params, // ImageDttParameters imgdtt_params,
		imgdtt_params.lmas_LY_single, // false, // boolean adjust_ly, // adjust Lazy Eye
		1, // int combine_mode, // 0 - both, 1 - strongest, 2 - nearest to zero, 3 - FG, 4 - BG
		// imgdtt_params.lmas_LY_single, // false, // boolean adjust_ly, // adjust Lazy Eye
		corr_wnd, // double [][] corr_wnd, // correlation window to save on re-calculation of the window
		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, // corrs, // double [][] corrs,
		@@ -2644,7 +2645,6 @@ public class ImageDtt extends ImageDttCPU {
		imgdtt_params.ortho_vasw_pwr, // double vasw_pwr, // value as weight to this power,
		null, // debug_lma_tile, // double [] debug_lma_tile,
		(debugTile0 ? 1: -2), // int debug_level,
		// -2, //0, // tile_lma_debug_level, // +2, // int debug_level,
		tileX, // int tileX, // just for debug output
		tileY );

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

+54 −4

Original line number	Diff line number	Diff line
		@@ -77,6 +77,14 @@ public class ImageDttParameters {
		public int dbg_pair_mask = 0x3f; // which pairs to combine
		public int corr_strip_hight = 9; // number of rows to calculate

		//bimax_
		public double bimax_lpf_neib = 0.5; // if >0, add ortho neibs (corners - squared)
		public double bimax_notch_pwr = 4.0; // calculating notch filter to suppress input data of the weaker maximum
		public double bimax_adv_power = 2.0; // reduce weight from overlap with adversarial maximum
		public int bimax_rad_convex_search = 2; // how far from predicted to search for maximums
		public int bimax_min_num_samples = 4; // minimal number of samples per pair per maximum
		public int bimax_min_num_pairs = 8; // minimal number of used pairs

		//lmamask_
		public boolean lmamask_dbg = false; // show LMA images, exit after single BG
		public boolean lmamask_en = false; // Use disparity-based LMA samples filter
		@@ -450,6 +458,21 @@ public class ImageDttParameters {
		gd.addNumericField("Number of correlation rows to combine (strip height)", this.corr_strip_hight, 0, 3, "",
		"Number of rows to combine/interpolate correlation results. Rows are twice denser than pixels correponding to largest baseline disparity");

		gd.addMessage("LMA prefiltering for dual disparities in a tile");

		gd.addNumericField("LPF for combined maximums", this.bimax_lpf_neib, 6,8,"",
		"0 - no LPF, >0 - add 4 scaled ortho neighbors and 4 corners bscaled as square of this value");
		gd.addNumericField("Notch filter power", this.bimax_notch_pwr, 6,8,"",
		"Reduce offending (other) correlation maximum by multiplying. High power reduces all < 1.0 values");
		gd.addNumericField("Reduction of sample weight by the other maximum", this.bimax_adv_power, 6,8,"",
		"If X= (this strength /other strength), scale by X/(1+X) to theis power");
		gd.addNumericField("Convex max search around predicted disparity", this.bimax_rad_convex_search, 0, 3, "",
		"How far from predicted to search for maximums");
		gd.addNumericField("Minimal samples per pair per max", this.bimax_min_num_samples, 0, 3, "",
		"Minimal number of samples per pair per maximum to use this pair by LMA (each of the maximums used)");
		gd.addNumericField("Minimal number of used pairs", this.bimax_min_num_pairs, 0, 3, "",
		"Do not use LMA if total number of used pairs is lower");

		gd.addMessage("LMA samples filter based on estimated disparity");
		gd.addCheckbox ("Debug LMA", this.lmamask_dbg,
		"Generate debug images and exit after first clt_process_tl_correlations() while generating background image");
		@@ -859,6 +882,13 @@ public class ImageDttParameters {
		this.dbg_pair_mask= (int) gd.getNextNumber();
		this.corr_strip_hight= (int) gd.getNextNumber();

		this.bimax_lpf_neib = gd.getNextNumber();
		this.bimax_notch_pwr = gd.getNextNumber();
		this.bimax_adv_power = gd.getNextNumber();
		this.bimax_rad_convex_search= (int) gd.getNextNumber();
		this.bimax_min_num_samples= (int) gd.getNextNumber();
		this.bimax_min_num_pairs= (int) gd.getNextNumber();

		this.lmamask_dbg = gd.getNextBoolean();
		this.lmamask_en = gd.getNextBoolean();
		this.lmamask_magic = gd.getNextNumber();
		@@ -1078,6 +1108,13 @@ public class ImageDttParameters {
		properties.setProperty(prefix+"dbg_pair_mask", this.dbg_pair_mask +"");
		properties.setProperty(prefix+"corr_strip_hight", this.corr_strip_hight +"");

		properties.setProperty(prefix+"bimax_lpf_neib", this.bimax_lpf_neib +"");
		properties.setProperty(prefix+"bimax_notch_pwr", this.bimax_notch_pwr +"");
		properties.setProperty(prefix+"bimax_adv_power", this.bimax_adv_power +"");
		properties.setProperty(prefix+"bimax_rad_convex_search", this.bimax_rad_convex_search +"");
		properties.setProperty(prefix+"bimax_min_num_samples", this.bimax_min_num_samples +"");
		properties.setProperty(prefix+"bimax_min_num_pairs", this.bimax_min_num_pairs +"");

		properties.setProperty(prefix+"lmamask_dbg", this.lmamask_dbg +"");
		properties.setProperty(prefix+"lmamask_en", this.lmamask_en +"");
		properties.setProperty(prefix+"lmamask_magic", this.lmamask_magic +"");
		@@ -1301,6 +1338,12 @@ public class ImageDttParameters {
		if (properties.getProperty(prefix+"dbg_pair_mask")!=null) this.dbg_pair_mask=Integer.parseInt(properties.getProperty(prefix+"dbg_pair_mask"));
		if (properties.getProperty(prefix+"corr_strip_hight")!=null) this.corr_strip_hight=Integer.parseInt(properties.getProperty(prefix+"corr_strip_hight"));

		if (properties.getProperty(prefix+"bimax_lpf_neib")!=null) this.bimax_lpf_neib=Double.parseDouble(properties.getProperty(prefix+"bimax_lpf_neib"));
		if (properties.getProperty(prefix+"bimax_notch_pwr")!=null) this.bimax_notch_pwr=Double.parseDouble(properties.getProperty(prefix+"bimax_notch_pwr"));
		if (properties.getProperty(prefix+"bimax_adv_power")!=null) this.bimax_adv_power=Double.parseDouble(properties.getProperty(prefix+"bimax_adv_power"));
		if (properties.getProperty(prefix+"bimax_rad_convex_search")!=null) this.bimax_rad_convex_search=Integer.parseInt(properties.getProperty(prefix+"bimax_rad_convex_search"));
		if (properties.getProperty(prefix+"bimax_min_num_samples")!=null) this.bimax_min_num_samples=Integer.parseInt(properties.getProperty(prefix+"bimax_min_num_samples"));
		if (properties.getProperty(prefix+"bimax_min_num_pairs")!=null) this.bimax_min_num_pairs=Integer.parseInt(properties.getProperty(prefix+"bimax_min_num_pairs"));

		if (properties.getProperty(prefix+"lmamask_dbg")!=null) this.lmamask_dbg=Boolean.parseBoolean(properties.getProperty(prefix+"lmamask_dbg"));
		if (properties.getProperty(prefix+"lmamask_en")!=null) this.lmamask_en=Boolean.parseBoolean(properties.getProperty(prefix+"lmamask_en"));
		@@ -1542,6 +1585,13 @@ public class ImageDttParameters {
		idp.dbg_pair_mask= this.dbg_pair_mask;
		idp.corr_strip_hight= this.corr_strip_hight;

		idp.bimax_lpf_neib= this.bimax_lpf_neib;
		idp.bimax_notch_pwr= this.bimax_notch_pwr;
		idp.bimax_adv_power= this.bimax_adv_power;
		idp.bimax_rad_convex_search= this.bimax_rad_convex_search;
		idp.bimax_min_num_samples= this.bimax_min_num_samples;
		idp.bimax_min_num_pairs= this.bimax_min_num_pairs;

		idp.lmamask_dbg= this.lmamask_dbg;
		idp.lmamask_en= this.lmamask_en;
		idp.lmamask_magic= this.lmamask_magic;

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

+3 −1

Original line number	Diff line number	Diff line
		@@ -4361,7 +4361,9 @@ public class OpticalFlow {
		// Save pair selection and minimize them for scanning, then restore;
		int num_sensors =scenes[indx_ref].getNumSensors();
		int save_pairs_selection = clt_parameters.img_dtt.getMcorr(num_sensors);
		clt_parameters.img_dtt.setMcorr(num_sensors, 0 ); // remove all
		// FIXME: uncomment next
		System.out.println ("++++ Uncomment next line ++++");
		//// clt_parameters.img_dtt.setMcorr(num_sensors, 0 ); // remove all
		clt_parameters.img_dtt.setMcorrNeib(num_sensors,true);
		clt_parameters.img_dtt.setMcorrSq (num_sensors,true); // remove even more?
		clt_parameters.img_dtt.setMcorrDia (num_sensors,true); // remove even more?

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