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

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

+12 −0

Original line number	Original line	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);		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() {		public double getTiltAzPerPixel() {
	return 1.0/1000.0*geometryCorrection.focalLength/geometryCorrection.pixelSize;		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) {		public String toString(boolean short_out) {
	String s;		String s;
	double [] sym_vect = toSymArray(null);		double [] sym_vect = toSymArray(null);

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

+1 −1

Original line number	Original line	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		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 erase_clt,
	final int [] wh, // null (use sensor dimensions) or pair {width, height} in pixels		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		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	Original line	Diff line number	Diff line
	@@ -4803,6 +4803,16 @@ public class OpticalFlow {
	// consider copyJP4src for the lower half (now it is not needed)		// consider copyJP4src for the lower half (now it is not needed)
	}		}
	force_initial_orientations = true;		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 {		} else {
	@@ -4929,6 +4939,26 @@ public class OpticalFlow {
	int center_index =quadCLTs[last_index].getReferenceIndex(null);		int center_index =quadCLTs[last_index].getReferenceIndex(null);
	if (center_index == -1) {		if (center_index == -1) {
	force_initial_orientations = true;		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 {		} else {

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

+91 −0

Original line number	Original line	Diff line number	Diff line
	@@ -414,6 +414,97 @@ public class QuadCLTCPU {
	return z_avg;		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(		public double [][] getGround(
	CLTParameters clt_parameters,		CLTParameters clt_parameters,
	boolean use_lma,		boolean use_lma,