Better pixel offset estimation (defa789f) · Commits · Elphel / imagej-elphel

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

+12 −0

Original line number	Diff line number	Diff line
		@@ -626,10 +626,22 @@ public class CorrVector{ // TODO: Update to non-quad (extract to a file first)?
		return toString(false);
		}

		/**
		* Astimate azimuth/tilt angle for 1 pixel shift
		* @return Angle in radians to rotate image by 1 pixel by 1 pixel
		*/
		public double getTiltAzPerPixel() {
		return 1.0/1000.0*geometryCorrection.focalLength/geometryCorrection.pixelSize;
		}

		/**
		* Estimate roll angle for average pixel shift of 1 pixel
		* @return Angle in radians when pixels at 1/4 sensor width rotate by 1 pixel
		*/
		public double getRollPixel() {
		return 4.0/geometryCorrection.getSensorWH()[0];
		}

		public String toString(boolean short_out) {
		String s;
		double [] sym_vect = toSymArray(null);

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

+1 −1

Original line number	Diff line number	Diff line
		@@ -1280,7 +1280,7 @@ public class ImageDtt extends ImageDttCPU {
		gpuQuad.execConvertDirect(use_reference_buffer, wh, erase_clt); // put results into a "reference" buffer
		}

		public void setReferenceTDMotionBlur(
		public void setReferenceTDMotionBlur( // updates tasks
		final int erase_clt,
		final int [] wh, // null (use sensor dimensions) or pair {width, height} in pixels
		final ImageDttParameters imgdtt_params, // Now just extra correlation parameters, later will include, most others

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

+373 −113

File changed.

Preview size limit exceeded, changes collapsed.

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

+30 −0

Original line number	Diff line number	Diff line
		@@ -4803,6 +4803,16 @@ public class OpticalFlow {
		// consider copyJP4src for the lower half (now it is not needed)
		}
		force_initial_orientations = true;
		} else {
		try_ref_scene.restoreInterProperties( // restore properties for interscene processing (extrinsics, ers, ...) // get relative poses (98)
		null, // String path, // full name with extension or null to use x3d directory
		false, // boolean all_properties,// null, // Properties properties, // if null - will only save extrinsics)
		debugLevel);
		first_last_index = try_ref_scene.getFirstLastIndex(quadCLTs);
		if (first_last_index == null) {
		// if ((first_last_index == null) \|\|(first_last_index[0] < 0) \|\| (first_last_index[1] < 0)) {
		force_initial_orientations = true;
		}
		}
		}
		} else {
		@@ -4929,6 +4939,26 @@ public class OpticalFlow {
		int center_index =quadCLTs[last_index].getReferenceIndex(null);
		if (center_index == -1) {
		force_initial_orientations = true;
		} else {
		QuadCLT try_ref_scene = (QuadCLT) quadCLT_main.spawnNoModelQuadCLT( // will conditionImageSet
		quadCLTs[last_index].getReferenceTimestamp(), // set_channels[last_index].set_name,
		clt_parameters,
		colorProcParameters, //
		threadsMax,
		debugLevel-2);

		if (try_ref_scene == null) {
		force_initial_orientations = true;
		} else {
		try_ref_scene.restoreInterProperties( // restore properties for interscene processing (extrinsics, ers, ...) // get relative poses (98)
		null, // String path, // full name with extension or null to use x3d directory
		false, // boolean all_properties,// null, // Properties properties, // if null - will only save extrinsics)
		debugLevel);
		int [] first_last_index = try_ref_scene.getFirstLastIndex(quadCLTs);
		if ((first_last_index == null)) { // \|\|(first_last_index[0] < 0) \|\| (first_last_index[1] < 0)) {
		force_initial_orientations = true;
		}
		}
		}

		} else {

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

+91 −0

Original line number	Diff line number	Diff line
		@@ -414,6 +414,97 @@ public class QuadCLTCPU {
		return z_avg;
		}

		/**
		* Estimate average pixel offset between 2 scenes for avoiding FPN. This scene
		* should have DSI to estimate average distance
		* @param xyzatr0 - first scene [[x,y,z],[a,t,r]]
		* @param xyzatr1 - second scene [[x,y,z],[a,t,r]]
		* @param use_lma
		* @return
		*/
		public double estimatePixelShift(
		double [][] xyzatr0,
		double [][] xyzatr1,
		boolean use_lma
		) {
		return estimatePixelShift(
		xyzatr0,
		xyzatr1,
		use_lma,
		0);
		}
		public double estimatePixelShift(
		double [][] xyzatr0,
		double [][] xyzatr1,
		boolean use_lma,
		int mode
		) {
		boolean sign_x = (mode & 1) != 0;
		boolean sign_y = (mode & 2) != 0;
		double z = getAverageZ(use_lma);
		if (Double.isNaN(z)) {
		System.out.println("estimatePixelShift(): failed estimating distance - no DSI or too few DSI tiles.");
		return Double.NaN;
		}
		double aztl_pix_per_rad = 1.0/getErsCorrection().getCorrVector().getTiltAzPerPixel();
		double roll_pix_per_rad = 1.0/getErsCorrection().getCorrVector().getRollPixel();
		double [][] dxyzatr = new double [2][3];
		for (int i = 0; i<2;i++) for (int j=0; j < 3; j++) {
		dxyzatr[i][j] = xyzatr1[i][j]-xyzatr0[i][j];
		}
		double eff_az = dxyzatr[1][0] + (sign_x?-1:1) * dxyzatr[0][0] / z;
		double eff_tl = dxyzatr[1][1] + (sign_y?-1:1) * dxyzatr[0][1] / z;
		double pix_x = -eff_az*aztl_pix_per_rad;
		double pix_y = eff_tl*aztl_pix_per_rad;
		double pix_roll = dxyzatr[1][2] * roll_pix_per_rad;
		double pix_zoom = (0.25getErsCorrection().getSensorWH()[0]) dxyzatr[0][2]/z;
		double est_pix = Math.sqrt(pix_xpix_x + pix_ypix_y + pix_rollpix_roll + pix_zoompix_zoom);
		return est_pix;
		}

		public double estimateAverageShift(
		double [][] xyzatr0,
		double [][] xyzatr1,
		double average_z,
		boolean use_rot,
		boolean rectilinear
		) {
		ErsCorrection ers = getErsCorrection();
		double disp_avg = ers.getDisparityFromZ(average_z);
		int [] wh = ers.getSensorWH();
		double [][] xy_pairs = {{0.5wh[0], 0.5wh[1]}};
		if (use_rot) {
		xy_pairs = new double [][] {
		{0.25wh[0],0.25wh[1]},
		{0.75wh[0],0.25wh[1]},
		{0.25wh[0],0.75wh[1]},
		{0.75wh[0],0.75wh[1]}};
		}
		double s2 = 0.0;
		for (double [] xy:xy_pairs) {
		double [] pXpYD = ers.getImageCoordinatesERS(
		null, // QuadCLT cameraQuadCLT, // camera station that got image to be to be matched
		xy[0], // double px, // pixel coordinate X in the reference view
		xy[1], // double py, // pixel coordinate Y in the reference view
		disp_avg, // double disparity, // this reference disparity
		!rectilinear, // boolean distortedView, // This camera view is distorted (diff.rect), false - rectilinear
		xyzatr0[0], // double [] reference_xyz, // this view position in world coordinates (typically zero3)
		xyzatr0[1], // double [] reference_atr, // this view orientation relative to world frame (typically zero3)
		!rectilinear, // boolean distortedCamera, // camera view is distorted (false - rectilinear)
		xyzatr1[0], // double [] camera_xyz, // camera center in world coordinates
		xyzatr1[1], // double [] camera_atr, // camera orientation relative to world frame
		OpticalFlow.LINE_ERR); // double line_err); // threshold error in scan lines (1.0)
		double dx = pXpYD[0]-xy[0];
		double dy = pXpYD[1]-xy[1];
		s2 += dxdx+dydy;
		}
		double offs_avg = Math.sqrt(s2/xy_pairs.length);
		return offs_avg;
		}




		public double [][] getGround(
		CLTParameters clt_parameters,
		boolean use_lma,

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