Commit decd04ed authored by Andrey Filippov's avatar Andrey Filippov
Browse files

Making intersceneLma produce same results regardless of threads

parent f2cc84fd

pom.xml

+8 −0
Original line number Diff line number Diff line
@@ -155,6 +155,14 @@ 
			    <artifactId>ant-launcher</artifactId>

			    <version>1.10.10</version>

			</dependency>



			<!-- https://mvnrepository.com/artifact/javax.xml.bind/jaxb-api -->

			<dependency>

			    <groupId>javax.xml.bind</groupId>

			    <artifactId>jaxb-api</artifactId>

			    <version>2.3.1</version>

			</dependency>



		</dependencies>



	<build>

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

+9 −0
Original line number Diff line number Diff line
@@ -250,6 +250,15 @@ public class ErsCorrection extends GeometryCorrection { 
		this.ers_wxyz_center_dt = ers_xyz_dt;

		this.ers_watr_center_dt = ers_atr_dt;

	}

	public void setErsDt_test(

			double []    ers_xyz_dt,

			double []    ers_atr_dt) {

		double k = 1.0; // 0.5;

		this.ers_wxyz_center_dt = new double[] {-ers_xyz_dt[0],-ers_xyz_dt[1],-ers_xyz_dt[2]};

		this.ers_watr_center_dt = new double[] {k* ers_atr_dt[0],-k*ers_atr_dt[1],k*ers_atr_dt[2]};//ers_atr_dt;

	}

	

	

	public void setErsD2t(

			double []    ers_xyz_d2t,

			double []    ers_atr_d2t) {

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

+225 −37
Original line number Diff line number Diff line 
package com.elphel.imagej.tileprocessor;



import java.io.ByteArrayOutputStream;

import java.io.IOException;

import java.io.ObjectOutputStream;

import java.io.Serializable;

import java.security.MessageDigest;

import java.security.NoSuchAlgorithmException;

import java.util.ArrayList;

import java.util.concurrent.atomic.AtomicInteger;

import java.util.concurrent.atomic.DoubleAdder;



import javax.xml.bind.DatatypeConverter;



import Jama.Matrix;



public class IntersceneLma {
@@ -27,12 +35,17 @@ public class IntersceneLma { 
	private double  [][]      macrotile_centers = null;  // (will be used to pull for regularization)

	private double            infinity_disparity = 0.1;  // treat lower as infinity

	private int               num_samples = 0;

	private boolean           thread_invariant = true; // Do not use DoubleAdder, provide results not dependent on threads

	public IntersceneLma(

			OpticalFlow opticalFlow

			OpticalFlow opticalFlow,

			boolean thread_invariant

			) {

		this.thread_invariant = thread_invariant;

		this.opticalFlow = opticalFlow;

	}

	

	public double[] getLastRms() {

		return last_rms;

	}

	public double [] getSceneXYZ(boolean initial) {

		double [] full_vector = initial? backup_parameters_full: getFullVector(parameters_vector);

		return new double[] {
@@ -170,6 +183,9 @@ public class IntersceneLma { 
		setSamplesWeights(vector_XYS);  // not regularization yet !



		last_jt = new double [parameters_vector.length][];

		if (debug_level > 1) {

			System.out.println("prepareLMA() 1");

		}

		double [] fx = getFxDerivs(

				parameters_vector, // double []         vector,

				last_jt,           // final double [][] jt, // should be null or initialized with [vector.length][]
@@ -185,6 +201,10 @@ public class IntersceneLma { 
		}

		normalizeWeights(); // make full weight == 1.0; pure_weight <= 1.0;

		// remeasure fx - now with regularization terms.



		if (debug_level > 1) {

			System.out.println("prepareLMA() 2");

		}

		fx = getFxDerivs(

				parameters_vector, // double []         vector,

				last_jt,                // final double [][] jt, // should be null or initialized with [vector.length][]
@@ -292,6 +312,9 @@ public class IntersceneLma { 
		// maybe the following if() branch is not needed - already done in prepareLMA !

		if (this.last_rms == null) { //first time, need to calculate all (vector is valid)

			last_rms = new double[2];

			if (debug_level > 1) {

				System.out.println("lmaStep(): first step");

			}

			double [] fx = getFxDerivs(

					parameters_vector, // double []         vector,

					last_jt,           // final double [][] jt, // should be null or initialized with [vector.length][]
@@ -331,6 +354,19 @@ public class IntersceneLma { 
		Matrix wjtjlambda = new Matrix(getWJtJlambda(

				lambda, // *10, // temporary

				this.last_jt)); // double [][] jt)

		if (debug_level > 1) {

			try {

				System.out.println("getFxDerivs(): getChecksum(this.y_vector)="+      getChecksum(this.y_vector));

				System.out.println("getFxDerivs(): getChecksum(this.weights)="+       getChecksum(this.weights));

				System.out.println("getFxDerivs(): getChecksum(this.last_ymfx)="+     getChecksum(this.last_ymfx));

				System.out.println("getFxDerivs(): getChecksum(y_minus_fx_weighted)="+getChecksum(y_minus_fx_weighted));

				System.out.println("getFxDerivs(): getChecksum(wjtjlambda)=         "+getChecksum(wjtjlambda));

			} catch (NoSuchAlgorithmException | IOException e) {

				// TODO Auto-generated catch block

				e.printStackTrace();

			}

		}

		

		if (debug_level>2) {

			System.out.println("JtJ + lambda*diag(JtJ");

			wjtjlambda.print(18, 6);
@@ -356,6 +392,17 @@ public class IntersceneLma { 
			System.out.println("Jt * (y-fx)");

			jty.print(18, 6);

		}

		if (debug_level > 1) {

			try {

				System.out.println("getFxDerivs(): getChecksum(jtjl_inv)="+getChecksum(jtjl_inv));

				System.out.println("getFxDerivs(): getChecksum(jty)=     "+getChecksum(jty));

			} catch (NoSuchAlgorithmException | IOException e) {

				// TODO Auto-generated catch block

				e.printStackTrace();

			}

		}



		

		

		Matrix mdelta = jtjl_inv.times(jty);

		if (debug_level>2) {
@@ -369,6 +416,19 @@ public class IntersceneLma { 
		for (int i = 0; i < parameters_vector.length; i++) {

			new_vector[i] += scale * delta[i];

		}

		if (debug_level > 1) {

			try {

				System.out.println("getFxDerivs(): getChecksum(mdelta)=            "+getChecksum(mdelta));

				System.out.println("getFxDerivs(): getChecksum(delta)=             "+getChecksum(delta));

				System.out.println("getFxDerivs(): getChecksum(parameters_vector)= "+getChecksum(parameters_vector));

				System.out.println("getFxDerivs(): getChecksum(new_vector)=        "+getChecksum(new_vector));

			} catch (NoSuchAlgorithmException | IOException e) {

				// TODO Auto-generated catch block

				e.printStackTrace();

			}

		}

		

		

		double [] fx = getFxDerivs(

				new_vector, // double []         vector,

				last_jt,           // final double [][] jt, // should be null or initialized with [vector.length][]
@@ -444,6 +504,27 @@ public class IntersceneLma { 
		

		final Thread[] threads = ImageDtt.newThreadArray(opticalFlow.threadsMax);

		final AtomicInteger ai = new AtomicInteger(0);

		double sum_weights;

		if (thread_invariant) {

			final double [] sw_arr = new double [vector_XYS.length]; 

			for (int ithread = 0; ithread < threads.length; ithread++) {

				threads[ithread] = new Thread() {

					public void run() {

						for (int iMTile = ai.getAndIncrement(); iMTile < vector_XYS.length; iMTile = ai.getAndIncrement()) if (vector_XYS[iMTile] != null){

							double w = vector_XYS[iMTile][2];

							weights[2 * iMTile] = w;

//							asum_weight.add(w);

							sw_arr[iMTile] = w;

						}

					}

				};

			}		      

			ImageDtt.startAndJoin(threads);

			sum_weights = 0.0;

			for (double w:sw_arr) {

				sum_weights += w;

			}

		} else {

			final DoubleAdder asum_weight = new DoubleAdder(); 

			for (int ithread = 0; ithread < threads.length; ithread++) {

				threads[ithread] = new Thread() {
@@ -457,8 +538,12 @@ public class IntersceneLma { 
				};

			}		      

			ImageDtt.startAndJoin(threads);

			sum_weights = asum_weight.sum();

		}

		

		ai.set(0);

		final double s = 0.5/asum_weight.sum();

//		final double s = 0.5/asum_weight.sum();

		final double s = 0.5/sum_weights;

		for (int ithread = 0; ithread < threads.length; ithread++) {

			threads[ithread] = new Thread() {

				public void run() {
@@ -473,7 +558,9 @@ public class IntersceneLma { 
		pure_weight = 1.0;

	}



	private void normalizeWeights()

	

	@Deprecated

	private void normalizeWeights_old()

	{

//num_samples

		final Thread[] threads = ImageDtt.newThreadArray(opticalFlow.threadsMax);
@@ -514,6 +601,58 @@ public class IntersceneLma { 
		

	}



	private void normalizeWeights()

	{

		final Thread[] threads = ImageDtt.newThreadArray(opticalFlow.threadsMax);

		final AtomicInteger ai = new AtomicInteger(0);

		double full_weight, sum_weight_pure;

		if (thread_invariant) {

			sum_weight_pure = 0;

			for (int i = 0;  i < num_samples; i++) {

				sum_weight_pure += weights[i];

			}

			full_weight = sum_weight_pure;

			for (int i = 0; i < par_indices.length; i++) {

				int indx =  num_samples + i;

				full_weight += weights[indx];

			}

		} else {

			final DoubleAdder asum_weight = new DoubleAdder(); 

			for (int ithread = 0; ithread < threads.length; ithread++) {

				threads[ithread] = new Thread() {

					public void run() {

						for (int i = ai.getAndIncrement(); i < num_samples; i = ai.getAndIncrement()){

							asum_weight.add(weights[i]);

						}

					}

				};

			}		      

			ImageDtt.startAndJoin(threads);

			sum_weight_pure = asum_weight.sum();

			for (int i = 0; i < par_indices.length; i++) {

				int indx =  num_samples + i;

				asum_weight.add(weights[indx]);

			}

			full_weight = asum_weight.sum();

		}

		pure_weight = sum_weight_pure/full_weight;

		final double s = 1.0/full_weight;

		if (Double.isNaN(s)) {

			System.out.println("normalizeWeights(): s == NaN");

		}

		ai.set(0);

		for (int ithread = 0; ithread < threads.length; ithread++) {

			threads[ithread] = new Thread() {

				public void run() {

					for (int i = ai.getAndIncrement(); i < weights.length; i = ai.getAndIncrement()){

						weights[i] *= s;

					}

				}

			};

		}		      

		ImageDtt.startAndJoin(threads);

	}

	

	

	

	private double [] getFullVector(double [] vector) {
@@ -615,6 +754,17 @@ public class IntersceneLma { 
			fx [i + 2 * macrotile_centers.length] = vector[i]; // - parameters_initial[i]; // scale will be combined with weights

			jt[i][i + 2 * macrotile_centers.length] = 1.0; // scale will be combined with weights

		}

		if (debug_level > 1) {

			try {

				System.out.println    ("getFxDerivs(): getChecksum(fx)="+getChecksum(fx));

				if (jt != null) {

					System.out.println("getFxDerivs(): getChecksum(jt)="+getChecksum(jt));

				}

			} catch (NoSuchAlgorithmException | IOException e) {

				// TODO Auto-generated catch block

				e.printStackTrace();

			}

		}

		return fx;

	}
@@ -661,9 +811,30 @@ public class IntersceneLma { 
			) {

		final Thread[]      threads =     ImageDtt.newThreadArray(opticalFlow.threadsMax);

		final AtomicInteger ai =          new AtomicInteger(0);

		final DoubleAdder asum_weight = new DoubleAdder();

		final double []     wymfw =       new double [fx.length];

		

		double s_rms; 

		if (thread_invariant) {

			final double [] l2_arr = new double [num_samples]; 

			for (int ithread = 0; ithread < threads.length; ithread++) {

				threads[ithread] = new Thread() {

					public void run() {

						for (int i = ai.getAndIncrement(); i < num_samples; i = ai.getAndIncrement())  {

							double d = y_vector[i] - fx[i];

							double wd = d * weights[i];

							//double l2 = d * wd;

							l2_arr[i] = d * wd;

							wymfw[i] = wd;

						}

					}

				};

			}		      

			ImageDtt.startAndJoin(threads);

			s_rms = 0.0;

			for (double l2:l2_arr) {

				s_rms += l2;

			}

		} else {

			final DoubleAdder   asum_weight = new DoubleAdder();

			for (int ithread = 0; ithread < threads.length; ithread++) {

				threads[ithread] = new Thread() {

					public void run() {
@@ -678,11 +849,11 @@ public class IntersceneLma { 
				};

			}		      

			ImageDtt.startAndJoin(threads);

		double s_rms = asum_weight.sum();

			s_rms = asum_weight.sum();

		}

		double rms_pure = Math.sqrt(s_rms/pure_weight);

		for (int i = 0; i < par_indices.length; i++) {

			int indx = i + num_samples;

//			double d = parameters_initial[i] - fx[indx]; // fx[indx] == vector[i]

			double d = y_vector[indx] - fx[indx]; // fx[indx] == vector[i]

			double wd = d * weights[indx];

			s_rms += d * wd;
@@ -696,6 +867,23 @@ public class IntersceneLma { 
		return wymfw;

	}

	

	public static String getChecksum(Serializable object) throws IOException, NoSuchAlgorithmException {

	    ByteArrayOutputStream baos = null;

	    ObjectOutputStream oos = null;

	    try {

	        baos = new ByteArrayOutputStream();

	        oos = new ObjectOutputStream(baos);

	        oos.writeObject(object);

	        MessageDigest md = MessageDigest.getInstance("MD5");

	        byte[] thedigest = md.digest(baos.toByteArray());

	        return DatatypeConverter.printHexBinary(thedigest);

	    } finally {

	        oos.close();

	        baos.close();

	    }

	}

	

	

/*	

 * par_indices

		double [] rslt = {rms, rms_pure};

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

+32 −2
Original line number Diff line number Diff line
@@ -29,15 +29,19 @@ import java.util.Properties; 
import com.elphel.imagej.common.GenericJTabbedDialog;



public class IntersceneLmaParameters {

	public boolean    ilma_thread_invariant =  true; // Do not use DoubleAdder, provide results not dependent on threads

	public boolean [] ilma_lma_select =             new boolean [ErsCorrection.DP_NUM_PARS]; // first three will not be used

	public double  [] ilma_regularization_weights = new double  [ErsCorrection.DP_NUM_PARS]; // first three will not be used

	public boolean    ilma_ignore_ers =        false; // ignore linear and angular velocities, assume tham zeroes

	public boolean    ilma_ers_adj_lin =       false; // adjust linear ERS for scene-to-ref (LWIR does not work, check with high-speed)

	public boolean    ilma_ers_adj_ang =       false; // adjust angular ERS  for scene-to-ref (LWIR does not work, check with high-speed)

	public double     ilma_lambda =            0.1;

	public double     ilma_lambda_scale_good = 0.5;

	public double     ilma_lambda_scale_bad =  8.0;

	public double     ilma_lambda_max =      100;

	public double     ilma_rms_diff =          0.001;

	public int        ilma_num_iter =          20;

	public int        ilma_num_corr =          10; // maximal number of full correlatiobn+LMA cycles

	public int        ilma_num_corr =          10; // maximal number of full correlation+LMA cycles

	public int        ilma_debug_level =       1;



	public IntersceneLmaParameters() {
@@ -94,6 +98,8 @@ public class IntersceneLmaParameters { 
	

	public void dialogQuestions(GenericJTabbedDialog gd) {

		gd.addMessage("Interframe LMA parameters selection");

	    gd.addCheckbox    ("Thread-invariant execution",           this.ilma_thread_invariant,

	    		"Do not use DoubleAdder and provide results not dependent on threads" );

		for (int i = ErsCorrection.DP_DVAZ; i < ErsCorrection.DP_NUM_PARS; i++) {

		    gd.addCheckbox    (ErsCorrection.DP_DERIV_NAMES[i],           this.ilma_lma_select[i],

		    		"Adjust parameter "+ErsCorrection.DP_DERIV_NAMES[i]+" with interscene LMA" );
@@ -105,6 +111,14 @@ public class IntersceneLmaParameters { 
			" will cause error equal to all reprojection ones");

		}

		gd.addMessage("LMA other parameters");

		gd.addCheckbox    ("Ignore linear and angular velocities",        this.ilma_ignore_ers,

	    		"Ignore calculated linear and angular velocities when correlating scenes to the reference one" );

		

		gd.addCheckbox    ("Adjust linear ERS for scene-to-ref",          this.ilma_ers_adj_lin,

	    		"Adjust linear velocities during LMA for scene-to-reference matching. So far does not work for LWIR (not stable - effect is samll)" );

		gd.addCheckbox    ("Aadjust angular ERS for scene-to-ref",        this.ilma_ers_adj_ang,

	    		"Adjust angular velocities during LMA for scene-to-reference matching. So far does not work for LWIR (not stable - effect is samll)" );

		

		gd.addNumericField("LMA lambda",                                  this.ilma_lambda, 6,8,"",

				"Initial value of the LMA lambda");

		gd.addNumericField("Scale lambda after successful LMA iteration", this.ilma_lambda_scale_good, 3,5,"",
@@ -125,12 +139,16 @@ public class IntersceneLmaParameters { 
				"Debug level of interscene LMA operation.");

	}

	public void dialogAnswers(GenericJTabbedDialog gd) {

		this.ilma_thread_invariant =              gd.getNextBoolean();

		for (int i = ErsCorrection.DP_DVAZ; i < ErsCorrection.DP_NUM_PARS; i++) {

		    this.ilma_lma_select[i] =             gd.getNextBoolean();

		}

		for (int i = ErsCorrection.DP_DVAZ; i < ErsCorrection.DP_NUM_PARS; i++) {

			this.ilma_regularization_weights[i] = gd.getNextNumber();

		}

		this.ilma_ignore_ers =                    gd.getNextBoolean();

		this.ilma_ers_adj_lin =                   gd.getNextBoolean();

		this.ilma_ers_adj_ang =                   gd.getNextBoolean();

		this.ilma_lambda =                        gd.getNextNumber();

		this.ilma_lambda_scale_good =             gd.getNextNumber();

		this.ilma_lambda_scale_bad =              gd.getNextNumber();
@@ -141,10 +159,14 @@ public class IntersceneLmaParameters { 
		this.ilma_debug_level =             (int) gd.getNextNumber();

	}

	public void setProperties(String prefix,Properties properties){

		properties.setProperty(prefix+"ilma_thread_invariant",  this.ilma_thread_invariant+"");	

		for (int i = ErsCorrection.DP_DVAZ; i < ErsCorrection.DP_NUM_PARS; i++) {

			properties.setProperty(prefix+ErsCorrection.DP_DERIV_NAMES[i]+"_sel",           this.ilma_lma_select[i]+"");	

			properties.setProperty(prefix+ErsCorrection.DP_DERIV_NAMES[i]+"_regweight",     this.ilma_regularization_weights[i]+"");	

		}

		properties.setProperty(prefix+"ilma_ignore_ers",        this.ilma_ignore_ers+"");	

		properties.setProperty(prefix+"ilma_ers_adj_lin",       this.ilma_ers_adj_lin+"");	

		properties.setProperty(prefix+"ilma_ers_adj_ang",       this.ilma_ers_adj_ang+"");	

		properties.setProperty(prefix+"ilma_lambda",            this.ilma_lambda+"");	

		properties.setProperty(prefix+"ilma_lambda_scale_good", this.ilma_lambda_scale_good+"");	

		properties.setProperty(prefix+"ilma_lambda_scale_bad",  this.ilma_lambda_scale_bad+"");
@@ -155,6 +177,7 @@ public class IntersceneLmaParameters { 
		properties.setProperty(prefix+"ilma_debug_level",       this.ilma_debug_level+"");	

	}

	public void getProperties(String prefix,Properties properties){

		if (properties.getProperty(prefix+"ilma_thread_invariant")!=null)  this.ilma_thread_invariant=Boolean.parseBoolean(properties.getProperty(prefix+"ilma_thread_invariant"));

		for (int i = ErsCorrection.DP_DVAZ; i < ErsCorrection.DP_NUM_PARS; i++) {

			String pn_sel = prefix+ErsCorrection.DP_DERIV_NAMES[i]+"_sel";

			if (properties.getProperty(pn_sel)!=null) this.ilma_lma_select[i]=Boolean.parseBoolean(properties.getProperty(pn_sel));
@@ -162,6 +185,9 @@ public class IntersceneLmaParameters { 
			if (properties.getProperty(pn_sel)!=null) this.ilma_regularization_weights[i]=Double.parseDouble(properties.getProperty(pn_sel));

		}



		if (properties.getProperty(prefix+"ilma_ignore_ers")!=null)        this.ilma_ignore_ers=Boolean.parseBoolean(properties.getProperty(prefix+"ilma_ignore_ers"));

		if (properties.getProperty(prefix+"ilma_ers_adj_lin")!=null)       this.ilma_ers_adj_lin=Boolean.parseBoolean(properties.getProperty(prefix+"ilma_ers_adj_lin"));

		if (properties.getProperty(prefix+"ilma_ers_adj_ang")!=null)       this.ilma_ers_adj_ang=Boolean.parseBoolean(properties.getProperty(prefix+"ilma_ers_adj_ang"));

		if (properties.getProperty(prefix+"ilma_lambda")!=null)            this.ilma_lambda=Double.parseDouble(properties.getProperty(prefix+"ilma_lambda"));

		if (properties.getProperty(prefix+"ilma_lambda_scale_good")!=null) this.ilma_lambda_scale_good=Double.parseDouble(properties.getProperty(prefix+"ilma_lambda_scale_good"));

		if (properties.getProperty(prefix+"ilma_lambda_scale_bad")!=null)  this.ilma_lambda_scale_bad=Double.parseDouble(properties.getProperty(prefix+"ilma_lambda_scale_bad"));
@@ -175,8 +201,12 @@ public class IntersceneLmaParameters { 
	@Override

	public IntersceneLmaParameters clone() throws CloneNotSupportedException {

		IntersceneLmaParameters ilp =     new IntersceneLmaParameters();

		ilp.ilma_thread_invariant =  this.ilma_thread_invariant;

		System.arraycopy(this.ilma_lma_select,             0, ilp.ilma_lma_select,             0, ilma_lma_select.length);

		System.arraycopy(this.ilma_regularization_weights, 0, ilp.ilma_regularization_weights, 0, ilma_regularization_weights.length);

		ilp.ilma_ignore_ers =        this.ilma_ignore_ers;

		ilp.ilma_ers_adj_lin =       this.ilma_ers_adj_lin;

		ilp.ilma_ers_adj_ang =       this.ilma_ers_adj_ang;

		ilp.ilma_lambda =            this.ilma_lambda;

		ilp.ilma_lambda_scale_good = this.ilma_lambda_scale_good;

		ilp.ilma_lambda_scale_bad =  this.ilma_lambda_scale_bad;