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imagej-elphel
Commit e93c08dc authored by Andrey Filippov's avatar Andrey Filippov
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Cleaning up photometric equalization

parent 904ad2bc
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Showing with 126 additions and 47 deletions
src/main/java/com/elphel/imagej/tileprocessor/IntersceneMatchParameters.java
View file @ e93c08dc
......@@ -176,7 +176,6 @@ public class IntersceneMatchParameters {
public double centroid_radius = 4.0; //
public int n_recenter = 2; // when cosine window, re-center window this many times
// filtering motion vectors
public double min_ref_str = 0.22; // For orientations: use only tiles of the reference scene DSI_MAIN is stronger
// TD accumulation of the inter-scene correlations demonstrated artifacts (horizontally offset by 8 pixels
// false maximum that is sharper than the real one. Still not understood - maybe float precision related.
public double td_weight = 0.5; // mix correlations accumulated in TD with
......@@ -194,7 +193,18 @@ public class IntersceneMatchParameters {
public double half_disparity = 5.0; // Reduce weight twice for this disparity
public double half_avg_diff = 0.2; // when L2 of x,y difference from average of neibs - reduce twice
// Photometric calibration (move elsewhere)?
public boolean photo_en = false; // perform photogrammetric calibration to equalize pixel values
public int photo_num_full = 1; // Number of full recalibrations with re-processing of the images
public int photo_num_refines = 3; // Calibrate, remove outliers, recalibrate, ...
public double photo_min_strength = 0.0; // maybe add to filter out weak tiles
public double photo_max_diff = 40.0; // To filter mismatches. Normal (adjusted) have RMSE ~9
public boolean photo_debug = false; // Generate images and text
// Detect initial match
public double min_ref_str = 0.22; // For orientations: use only tiles of the reference scene DSI_MAIN is stronger
public int pix_step = 4; // Azimuth/tilt search step in pixels
public int search_rad = 10; // Search radius in steps
public double maybe_sum = 1.0; // minimal sum of strengths (will search for the best)
......@@ -593,9 +603,9 @@ public class IntersceneMatchParameters {
gd.addNumericField("Refine centroids", this.n_recenter, 0,5,"",
"Repeat centroids after moving the window center to the new centroid location this many times (0 - calculate once)");
gd.addMessage ("Filter tiles to use for scene poses");
gd.addNumericField("DSI_MAIN minimal strength", this.min_ref_str, 5,7,"",
"Match only tiles where DSI_MAIN is stronger than that (and has LMA).");
// gd.addMessage ("Filter tiles to use for scene poses");
// gd.addNumericField("DSI_MAIN minimal strength", this.min_ref_str, 5,7,"",
// "Match only tiles where DSI_MAIN is stronger than that (and has LMA).");
gd.addMessage ("Mixing TD and PD accumulation of 2d correlations");
......@@ -625,7 +635,25 @@ public class IntersceneMatchParameters {
gd.addNumericField("Difference from neighbors average ", this.half_avg_diff, 5,7,"",
"Reduce twice for high difference from neighbors average.");
gd.addMessage ("Photometric calibration (move elsewhere?)");
gd.addCheckbox ("Enable photometric calibration", this.photo_en,
"Equalize per- sensor gains and offsets. Requires disparity map. Save to reference scene and with current scene (to .corr-zml).");
gd.addNumericField("Full photometric (re)calibrations", this.photo_num_full, 0,3,"pix",
"Full recalibratrions include re-importing raw images with updated offsets/gains");
gd.addNumericField("Refines", this.photo_num_refines, 0,3,"pix",
"Calculate calibration, remove outliers (e.g. FG/BG) and repeat");
gd.addNumericField("Minimal DSI strength", this.photo_min_strength, 5,7,"",
"Do not use weak tiles.");
gd.addNumericField("Maximal channel mismatch", this.photo_max_diff, 5,7,"",
"Detect (and remove outliers). Adjusted images have RMSE ~9 counts.");
gd.addCheckbox ("Debug pphotometric calibration", this.photo_debug,
"Generate debug images an text output.");
gd.addMessage ("Initial search for the inter-scene match");
gd.addNumericField("DSI_MAIN minimal strength", this.min_ref_str, 5,7,"",
"Match only tiles where DSI_MAIN is stronger than that (and has LMA).");
gd.addNumericField("Azimuth/tilt step", this.pix_step, 0,3,"pix",
"Search in a spiral starting with no-shift with this step between probes, in approximate pixels");
gd.addNumericField("Search spiral radius", this.search_rad, 0,3,"steps",
......@@ -931,7 +959,7 @@ public class IntersceneMatchParameters {
this.centroid_radius = gd.getNextNumber();
this.n_recenter = (int) gd.getNextNumber();
this.min_ref_str = gd.getNextNumber();
// this.min_ref_str = gd.getNextNumber();
this.td_weight = gd.getNextNumber();
this.pd_weight = gd.getNextNumber();
......@@ -946,6 +974,15 @@ public class IntersceneMatchParameters {
this.weight_zero_neibs = gd.getNextNumber();
this.half_disparity = gd.getNextNumber();
this.half_avg_diff = gd.getNextNumber();
this.photo_en = gd.getNextBoolean();
this.photo_num_full = (int) gd.getNextNumber();
this.photo_num_refines = (int) gd.getNextNumber();
this.photo_min_strength = gd.getNextNumber();
this.photo_max_diff = gd.getNextNumber();
this.photo_debug = gd.getNextBoolean();
this.min_ref_str = gd.getNextNumber();
this.pix_step = (int) gd.getNextNumber();
this.search_rad = (int) gd.getNextNumber();
this.maybe_sum = gd.getNextNumber();
......@@ -1157,6 +1194,14 @@ public class IntersceneMatchParameters {
properties.setProperty(prefix+"weight_zero_neibs", this.weight_zero_neibs+""); // double
properties.setProperty(prefix+"half_disparity", this.half_disparity+""); // double
properties.setProperty(prefix+"half_avg_diff", this.half_avg_diff+""); // double
properties.setProperty(prefix+"photo_en", this.photo_en+""); // boolean
properties.setProperty(prefix+"photo_num_full", this.photo_num_full+""); // int
properties.setProperty(prefix+"photo_num_refines", this.photo_num_refines+""); // int
properties.setProperty(prefix+"photo_min_strength", this.photo_min_strength+""); // double
properties.setProperty(prefix+"photo_max_diff", this.photo_max_diff+""); // double
properties.setProperty(prefix+"photo_debug", this.photo_debug+""); // boolean
properties.setProperty(prefix+"pix_step", this.pix_step+""); // int
properties.setProperty(prefix+"search_rad", this.search_rad+""); // int
properties.setProperty(prefix+"maybe_sum", this.maybe_sum+""); // double
......@@ -1394,6 +1439,14 @@ public class IntersceneMatchParameters {
if (properties.getProperty(prefix+"weight_zero_neibs")!=null) this.weight_zero_neibs=Double.parseDouble(properties.getProperty(prefix+"weight_zero_neibs"));
if (properties.getProperty(prefix+"half_disparity")!=null) this.half_disparity=Double.parseDouble(properties.getProperty(prefix+"half_disparity"));
if (properties.getProperty(prefix+"half_avg_diff")!=null) this.half_avg_diff=Double.parseDouble(properties.getProperty(prefix+"half_avg_diff"));
if (properties.getProperty(prefix+"photo_en")!=null) this.photo_en=Boolean.parseBoolean(properties.getProperty(prefix+"photo_en"));
if (properties.getProperty(prefix+"photo_num_full")!=null) this.photo_num_full=Integer.parseInt(properties.getProperty(prefix+"photo_num_full"));
if (properties.getProperty(prefix+"photo_num_refines")!=null) this.photo_num_refines=Integer.parseInt(properties.getProperty(prefix+"photo_num_refines"));
if (properties.getProperty(prefix+"photo_min_strength")!=null) this.photo_min_strength=Double.parseDouble(properties.getProperty(prefix+"photo_min_strength"));
if (properties.getProperty(prefix+"photo_max_diff")!=null) this.photo_max_diff=Double.parseDouble(properties.getProperty(prefix+"photo_max_diff"));
if (properties.getProperty(prefix+"photo_debug")!=null) this.photo_debug=Boolean.parseBoolean(properties.getProperty(prefix+"photo_debug"));
if (properties.getProperty(prefix+"pix_step")!=null) this.pix_step=Integer.parseInt(properties.getProperty(prefix+"pix_step"));
if (properties.getProperty(prefix+"search_rad")!=null) this.search_rad=Integer.parseInt(properties.getProperty(prefix+"search_rad"));
if (properties.getProperty(prefix+"maybe_sum")!=null) this.maybe_sum=Double.parseDouble(properties.getProperty(prefix+"maybe_sum"));
......@@ -1590,6 +1643,14 @@ public class IntersceneMatchParameters {
imp.weight_zero_neibs = this.weight_zero_neibs;
imp.half_disparity = this.half_disparity;
imp.half_avg_diff = this.half_avg_diff;
imp.photo_en = this.photo_en;
imp.photo_num_full = this.photo_num_full;
imp.photo_num_refines = this.photo_num_refines;
imp.photo_min_strength = this.photo_min_strength;
imp.photo_max_diff = this.photo_max_diff;
imp.photo_debug = this.photo_debug;
imp.pix_step = this.pix_step;
imp.search_rad = this.search_rad;
imp.maybe_sum = this.maybe_sum;
......
src/main/java/com/elphel/imagej/tileprocessor/OpticalFlow.java
View file @ e93c08dc
......@@ -4045,7 +4045,14 @@ public class OpticalFlow {
boolean export_images = clt_parameters.imp.export_images;
boolean export_dsi_image = clt_parameters.imp.export_ranges;
boolean export_ml_files = clt_parameters.imp.export_ml_files;
boolean calibrate_photometric = true;
//boolean calibrate_photometric = true;
boolean photo_en = clt_parameters.imp.photo_en; // false; // perform photogrammetric calibration to equalize pixel values
int photo_num_full = clt_parameters.imp.photo_num_full; // 1; // Number of full recalibrations with re-processing of the images
int photo_num_refines = clt_parameters.imp.photo_num_refines; // 3; // Calibrate, remove outliers, recalibrate, ...
double photo_min_strength = clt_parameters.imp.photo_min_strength; // 0.0; // maybe add to filter out weak tiles
double photo_max_diff = clt_parameters.imp.photo_max_diff; // 40.0; // To filter mismatches. Normal (adjusted) have RMSE ~9
boolean photo_debug = clt_parameters.imp.photo_debug; // false; // Generate images and text
boolean show_dsi_image = clt_parameters.imp.show_ranges && !batch_mode;
boolean show_images = clt_parameters.imp.show_images && !batch_mode;
......@@ -4507,7 +4514,7 @@ public class OpticalFlow {
}
}
if (calibrate_photometric) {
if (photo_en && !reuse_video) {
if (combo_dsn_final == null) { // always re-read?
combo_dsn_final =quadCLTs[ref_index].readDoubleArrayFromModelDirectory( // always re-read?
"-INTER-INTRA-LMA", // String suffix,
......@@ -4521,45 +4528,46 @@ public class OpticalFlow {
combo_dsn_final, // double [][] combo_dsn_final, // dls,
quadCLTs[ref_index], // QuadCLT scene,
debugLevel); // int debugLevel);// > 0
QuadCLT.calibratePhotometric(
clt_parameters, // CLTParameters clt_parameters,
quadCLTs[ref_index], // final QuadCLT ref_scene, // now - may be null - for testing if scene is rotated ref
0.0, // final double min_strength,
100.0, // final double max_diff, // 30.0
2, // final int num_refines, // 2
combo_dsn_final_filtered, // final double [][] combo_dsn_final, // double [][] combo_dsn_final, // dls,
threadsMax, // int threadsMax,
true); //final boolean debug)
// copy offsets to the current to be saved with other properties. Is it correct/needed?
quadCLTs[ref_index].saveInterProperties( // save properties for interscene processing (extrinsics, ers, ...)
null, // String path, // full name with extension or w/o path to use x3d directory
debugLevel+1);
quadCLT_main.setLwirOffsets(quadCLTs[ref_index].getLwirOffsets());
quadCLT_main.setLwirScales(quadCLTs[ref_index].getLwirScales());
// Re-read reference and other scenes using new offsets
quadCLTs[ref_index] = (QuadCLT) quadCLT_main.spawnQuadCLT( // restores dsi from "DSI-MAIN"
set_channels[ref_index].set_name,
clt_parameters,
colorProcParameters, //
threadsMax,
debugLevel);
quadCLTs[ref_index].setDSRBG(
clt_parameters, // CLTParameters clt_parameters,
threadsMax, // int threadsMax, // maximal number of threads to launch
updateStatus, // boolean updateStatus,
debugLevel); // int debugLevel)
ers_reference = quadCLTs[ref_index].getErsCorrection();
if (!reuse_video) { // reuse_video only uses reference scene
for (int scene_index = ref_index - 1; scene_index >= earliest_scene ; scene_index--) {
// quadCLTs[scene_index] = (QuadCLT) quadCLT_main.spawnNoModelQuadCLT( // restores image data
// to include ref scene photometric calibration
quadCLTs[scene_index] = quadCLTs[ref_index].spawnNoModelQuadCLT( // restores image data
set_channels[scene_index].set_name,
clt_parameters,
colorProcParameters, //
threadsMax,
debugLevel-2);
}
for (int nrecalib = 0; nrecalib < photo_num_full; nrecalib++) {
QuadCLT.calibratePhotometric(
clt_parameters, // CLTParameters clt_parameters,
quadCLTs[ref_index], // final QuadCLT ref_scene, // now - may be null - for testing if scene is rotated ref
photo_min_strength, // final double min_strength,
photo_max_diff, // final double max_diff, // 30.0
photo_num_refines, // final int num_refines, // 2
combo_dsn_final_filtered, // final double [][] combo_dsn_final, // double [][] combo_dsn_final, // dls,
threadsMax, // int threadsMax,
photo_debug); //final boolean debug)
// copy offsets to the current to be saved with other properties. Is it correct/needed?
quadCLTs[ref_index].saveInterProperties( // save properties for interscene processing (extrinsics, ers, ...)
null, // String path, // full name with extension or w/o path to use x3d directory
debugLevel+1);
quadCLT_main.setLwirOffsets(quadCLTs[ref_index].getLwirOffsets());
quadCLT_main.setLwirScales(quadCLTs[ref_index].getLwirScales());
// Re-read reference and other scenes using new offsets
quadCLTs[ref_index] = (QuadCLT) quadCLT_main.spawnQuadCLT( // restores dsi from "DSI-MAIN"
set_channels[ref_index].set_name,
clt_parameters,
colorProcParameters, //
threadsMax,
debugLevel);
quadCLTs[ref_index].setDSRBG(
clt_parameters, // CLTParameters clt_parameters,
threadsMax, // int threadsMax, // maximal number of threads to launch
updateStatus, // boolean updateStatus,
debugLevel); // int debugLevel)
ers_reference = quadCLTs[ref_index].getErsCorrection();
}
// propagate to other scenes in this sequence
for (int scene_index = ref_index - 1; scene_index >= earliest_scene ; scene_index--) {
// quadCLTs[scene_index] = (QuadCLT) quadCLT_main.spawnNoModelQuadCLT( // restores image data
// to include ref scene photometric calibration
quadCLTs[scene_index] = quadCLTs[ref_index].spawnNoModelQuadCLT( // restores image data
set_channels[scene_index].set_name,
clt_parameters,
colorProcParameters, //
threadsMax,
debugLevel-2);
}
}
......
src/main/java/com/elphel/imagej/tileprocessor/QuadCLTCPU.java
View file @ e93c08dc
......@@ -152,6 +152,7 @@ public class QuadCLTCPU {
boolean is_aux = false;
double [] lwir_offsets = null; // per image subtracted values
double [] lwir_scales = null; // per image scales
@Deprecated
double lwir_offset = Double.NaN; // average of lwir_offsets[]
// hot and cold are calculated during autoranging (when generating 4 images for restored (added lwir_offset)
// absolute temperatures to be used instead of colorProcParameters lwir_low and lwir_high if autoranging
......@@ -1478,7 +1479,15 @@ public class QuadCLTCPU {
public boolean isLwir() {return geometryCorrection.isLwir();} // clt_kernels // USED in lwir
public boolean isMonochrome() {return geometryCorrection.isMonochrome();} // clt_kernels // USED in lwir
public double getLwirOffset() {return lwir_offset;} // USED in lwir
public double getLwirOffset() {
double s = 0;
if (lwir_offsets == null) {
throw new IllegalArgumentException ("Trying to use non-existing lwir_offsets!");
}
for (double offset:lwir_offsets) s+=offset;
lwir_offset = s/lwir_offsets.length;
return lwir_offset;
}
public boolean isLwirCalibrated() {
return lwir_offsets != null;
......@@ -5256,6 +5265,7 @@ public class QuadCLTCPU {
set_name, // just for debug messages == setNames.get(nSet)
threadsMax,
debugLevel));
// will actually is now calculated by setLwirOffsets()
int num_avg = 0;
this.lwir_offset = 0.0;
for (int srcChannel=0; srcChannel < channelFiles.length; srcChannel++){
......
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