Commit ef473c40 authored by Andrey Filippov's avatar Andrey Filippov
Browse files

matched interscene pair

parent 468688b4

src/main/java/com/elphel/imagej/cameras/CLTParameters.java

+10 −2
Original line number Diff line number Diff line
@@ -13,6 +13,7 @@ import com.elphel.imagej.lwir.LwirReaderParameters; 
import com.elphel.imagej.tileprocessor.BiQuadParameters;

import com.elphel.imagej.tileprocessor.ImageDtt;

import com.elphel.imagej.tileprocessor.ImageDttParameters;

import com.elphel.imagej.tileprocessor.IntersceneLmaParameters;

import com.elphel.imagej.tileprocessor.MeasuredLayersFilterParameters;

import com.elphel.imagej.tileprocessor.OpticalFlowParameters;

import com.elphel.imagej.tileprocessor.PoleProcessorParameters;
@@ -871,6 +872,7 @@ public class CLTParameters { 
	public MeasuredLayersFilterParameters mlfp =    new MeasuredLayersFilterParameters();

	public LwirReaderParameters           lwir =    new LwirReaderParameters();

	public OpticalFlowParameters          ofp =     new OpticalFlowParameters();

	public IntersceneLmaParameters        ilp =     new IntersceneLmaParameters();





	public HashMap<String,Double> z_corr_map = new HashMap<String,Double>(); //old one
@@ -1718,6 +1720,7 @@ public class CLTParameters { 
		poles.setProperties   (prefix+"_poles",   properties);

		lwir.setProperties    (prefix+"_lwir",    properties);

		ofp.setProperties     (prefix+"_ofp_",    properties);

		ilp.setProperties     (prefix+"_ilp_",    properties);



	}
@@ -2540,6 +2543,7 @@ public class CLTParameters { 
		poles.getProperties   (prefix+"_poles",   properties);

		lwir.getProperties    (prefix+"_lwir",    properties);

		ofp.getProperties     (prefix+"_ofp_",    properties);

		ilp.getProperties     (prefix+"_ilp_",    properties);

	}



	public boolean showJDialog() {
@@ -3508,6 +3512,9 @@ public class CLTParameters { 
		gd.addTab         ("O-Flow", "parameters for the interscene Optical FLow calculations");

		this.ofp.dialogQuestions(gd);



		gd.addTab         ("Intra-LMA", "parameters for the interscene LMA fitting");

		this.ilp.dialogQuestions(gd);

		

		

		gd.addTab         ("Debug", "Other debug images");

		gd.addMessage     ("--- Other debug images ---");
@@ -4304,6 +4311,7 @@ public class CLTParameters { 
		

		this.lwir.dialogAnswers(gd);

		this.ofp.dialogAnswers(gd);

		this.ilp.dialogAnswers(gd);



		this.debug_initial_discriminate= gd.getNextBoolean();

		this.dbg_migrate=                gd.getNextBoolean();

src/main/java/com/elphel/imagej/correction/Eyesis_Correction.java

+78 −1
Original line number Diff line number Diff line
@@ -700,6 +700,7 @@ private Panel panel1, 
			addButton("DSI histogram",              panelClt5, color_report);

			addButton("ML recalc",                  panelClt5, color_process);

			addButton("Inter Test",                 panelClt5, color_stop);

			addButton("Inter LMA",                  panelClt5, color_stop);

			plugInFrame.add(panelClt5);

		}
@@ -5107,6 +5108,13 @@ private Panel panel1, 
        CLT_PARAMETERS.batch_run = true;

        testInterScene();

    	return;

/* ======================================================================== */

    } else if (label.equals("Inter LMA")) {

        DEBUG_LEVEL=MASTER_DEBUG_LEVEL;

    	EYESIS_CORRECTIONS.setDebug(DEBUG_LEVEL);

        CLT_PARAMETERS.batch_run = true;

        testInterLMA();

    	return;

    	

/* ======================================================================== */

    } else if (label.equals("CLT rig edit")) {
@@ -6475,6 +6483,75 @@ private Panel panel1, 
	}



	

	public boolean testInterLMA() {

		long startTime=System.nanoTime();

		// load needed sensor and kernels files

		if (!prepareRigImages()) return false;

		String configPath=getSaveCongigPath();

		if (configPath.equals("ABORT")) return false;

		setAllProperties(PROPERTIES); // batchRig may save properties with the model. Extrinsics will be updated, others should be set here

		if (DEBUG_LEVEL > -2){

			System.out.println("++++++++++++++ Testing Interscene processing ++++++++++++++");

		}

		

		if (CLT_PARAMETERS.useGPU()) { // only init GPU instances if it is used

			if (GPU_TILE_PROCESSOR == null) {

				try {

					GPU_TILE_PROCESSOR = new GPUTileProcessor(CORRECTION_PARAMETERS.tile_processor_gpu);

				} catch (Exception e) {

					System.out.println("Failed to initialize GPU class");

					// TODO Auto-generated catch block

					e.printStackTrace();

					return false;

				} //final int        debugLevel);

			}

			if (CLT_PARAMETERS.useGPU(false) && (QUAD_CLT != null) && (GPU_QUAD == null)) { // if GPU main is needed

				try {

					GPU_QUAD = GPU_TILE_PROCESSOR.new GpuQuad(

							QUAD_CLT,

							4,

							3);

				} catch (Exception e) {

					System.out.println("Failed to initialize GpuQuad class");

					// TODO Auto-generated catch block

					e.printStackTrace();

					return false;

				} //final int        debugLevel);

				QUAD_CLT.setGPU(GPU_QUAD);

			}

		}

		

		try {

			TWO_QUAD_CLT.TestInterLMA(

					QUAD_CLT, // QuadCLT quadCLT_main,

//					QUAD_CLT_AUX, // QuadCLT quadCLT_aux,

					CLT_PARAMETERS,  // EyesisCorrectionParameters.DCTParameters           dct_parameters,

					DEBAYER_PARAMETERS, //EyesisCorrectionParameters.DebayerParameters     debayerParameters,

					COLOR_PROC_PARAMETERS, //EyesisCorrectionParameters.ColorProcParameters colorProcParameters,

					COLOR_PROC_PARAMETERS_AUX, //EyesisCorrectionParameters.ColorProcParameters colorProcParameters_aux,

					CHANNEL_GAINS_PARAMETERS, //CorrectionColorProc.ColorGainsParameters     channelGainParameters,

					RGB_PARAMETERS, //EyesisCorrectionParameters.RGBParameters             rgbParameters,

					EQUIRECTANGULAR_PARAMETERS, // EyesisCorrectionParameters.EquirectangularParameters equirectangularParameters,

					PROPERTIES,  // Properties                                           properties,

					THREADS_MAX, //final int          threadsMax,  // maximal number of threads to launch

					UPDATE_STATUS, //final boolean    updateStatus,

					DEBUG_LEVEL);

		} catch (Exception e) {

			// TODO Auto-generated catch block

			e.printStackTrace();

		} //final int        debugLevel);

		if (configPath!=null) {

			saveTimestampedProperties( // save config again

					configPath,      // full path or null

					null, // use as default directory if path==null

					true,

					PROPERTIES);

		}

		System.out.println("batchRig(): Processing finished at "+

				IJ.d2s(0.000000001*(System.nanoTime()-startTime),3)+" sec, --- Free memory="+

				Runtime.getRuntime().freeMemory()+" (of "+Runtime.getRuntime().totalMemory()+")");

		return true;

	}

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

+31 −30
Original line number Diff line number Diff line
@@ -92,33 +92,33 @@ public class ErsCorrection extends GeometryCorrection { 
	static final int DW_DZ =  14; // dw_dz};  (m)



	static final String [] DP_DERIV_NAMES = {

			"dp_dpX",   // (pix)     0

			"dp_dpY",   // (pix)     1

			"dp_dd",    // (pix)     2

			"dp_dvaz",  // (rad/sec) 3

			"dp_dvtl",  // (rad/sec) 4

			"dp_dvrl",  // (rad/sec) 5

			"dp_dvx",   // (m/s)     6

			"dp_dvy",   // (m/s)     7

			"dp_dvz",   // (m/s)     8

			"dp_daz",   // (rad)     9

			"dp_dtl",   // (rad)    10

			"dp_drl",   // (rad)    11

			"dp_dx",    // (m)      12

			"dp_dy",    // (m)	    13

			"dp_dz",    // (m)      14

			"dp_dsvaz", // (rad/sec)15

			"dp_dsvtl", // (rad/sec)16

			"dp_dsvrl", // (rad/sec)17

			"dp_dsvx",  // (m/s)    18

			"dp_dsvy",  // (m/s)    19

			"dp_dsvz",  // (m/s)    20

			"dp_dsaz",  // (rad)    21

			"dp_dstl",  // (rad)    22

			"dp_dsrl",  // (rad)    23

			"dp_dsx",   // (m)      24

			"dp_dsy",   // (m)	    25

			"dp_dsz"};  // (m)      26

			"pX",            // (pix)     0

			"pY",            // (pix)     1

			"disp",          // (pix)     2

			"ers_vaz_ref",   // (rad/sec) 3

			"ers_vtl_ref",   // (rad/sec) 4

			"ers_vrl_ref",   // (rad/sec) 5

			"ers_dvx_ref",   // (m/s)     6

			"ers_dvy_ref",   // (m/s)     7

			"ers_dvz_ref",   // (m/s)     8

			"azimuth_ref",   // (rad)     9

			"tilt_ref",      // (rad)    10

			"roll_ref",      // (rad)    11

			"X_ref",         // (m)      12

			"Y_ref",         // (m)	    13

			"Z_ref",         // (m)      14

			"ers_vaz_scene", // (rad/sec)15

			"ers_vtl_scene", // (rad/sec)16

			"ers_vrl_scene", // (rad/sec)17

			"ers_dvx_scene", // (m/s)    18

			"ers_dvy_scene", // (m/s)    19

			"ers_dvz_scene", // (m/s)    20

			"azimuth_scene", // (rad)    21

			"tilt_scene",    // (rad)    22

			"Roll_scene",    // (rad)    23

			"X_scene",       // (m)      24

			"Y_scene",       // (m)	     25

			"Z_scene"};      // (m)      26

	

	// returned arrays have the zero element with coordinates, not derivatives

	// Reference parameters
@@ -150,6 +150,7 @@ public class ErsCorrection extends GeometryCorrection { 
	static final int DP_DSX =  24; // dw_dx,   (m)

	static final int DP_DSY =  25; // dw_dy,   (m)

	static final int DP_DSZ =  26; // dw_dz};  (m)

	static final int DP_NUM_PARS = DP_DSZ+1; 

	

	static final RotationConvention ROT_CONV = RotationConvention.FRAME_TRANSFORM;

	static final double THRESHOLD = 1E-10;
@@ -922,7 +923,7 @@ public class ErsCorrection extends GeometryCorrection { 
				0.002}; // dw_dz};  (m)      14 was 0.1

		double scale_delta = 1.0; // 0.1; // 1.0; // 0.1; // 0.5;

//		double [] deltas = deltas0.clone();

		double [] deltas = new double [DP_DSZ + 1];

		double [] deltas = new double [DP_NUM_PARS];

		System.arraycopy(deltas0, 0, deltas, 0,              deltas0.length);

		System.arraycopy(deltas0, 3, deltas, deltas0.length, deltas0.length - 3);

		for (int i = 0; i < deltas.length; i++) deltas[i] *= scale_delta;
@@ -2010,7 +2011,7 @@ public class ErsCorrection extends GeometryCorrection { 
		

		Matrix dpscene_dxyz = dx_dpscene.inverse();

		Matrix dpscene_dxyz_minus = dpscene_dxyz.times(-1.0); // negated to calculate /d{pX,pY,D) for the scene parameters

		double[][] derivatives = new double[DP_DSZ+2][]; // includes [0] - pXpYD vector

		double[][] derivatives = new double[DP_NUM_PARS+1][]; // includes [0] - pXpYD vector

		// scene pX, pY, Disparity

		derivatives[0] = pXpYD_scene;

		// derivatives by the reference parameters, starting with /dpX, /dpY, /dd
@@ -2026,7 +2027,7 @@ public class ErsCorrection extends GeometryCorrection { 
				derivatives[vindx] = matrixTimesVector(dpscene_dxyz, reference_vectors[vindx]).toArray();

			}

		}

		for (int indx = DP_DSVAZ; indx <= DP_DSZ; indx++) { // 15,16, ...

		for (int indx = DP_DSVAZ; indx < DP_NUM_PARS; indx++) { // 15,16, ...

			int indx_out = indx+1; // 16, 17,

			int indx_in =  indx_out - DP_DSVAZ + DW_DVAZ; // 4, 5, ...

			if (is_infinity) {

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

+1 −67
Original line number Diff line number Diff line
@@ -535,46 +535,6 @@ public class ExtrinsicAdjustment { 
	}









/*

	private double [] getYminusFx(

			GeometryCorrection.CorrVector corr_vector)

	{

		int clusters = clustersX * clustersY;

		Matrix []   corr_rots =  corr_vector.getRotMatrices(); // get array of per-sensor rotation matrices

		Matrix [][] deriv_rots = corr_vector.getRotDeriveMatrices();

		double [] y_minus_fx = new double  [clusters * POINTS_SAMPLE];

		double [] imu = corr_vector.getIMU(); // i)

		for (int cluster = 0; cluster < clusters;  cluster++) if (measured_dsxy[cluster] != null){

			double [] ddnd = geometryCorrection.getPortsDDNDAndDerivatives( // USED in lwir

					geometryCorrection,     // GeometryCorrection gc_main,

					use_rig_offsets,        // boolean     use_rig_offsets,

					corr_rots,              // Matrix []   rots,

					deriv_rots,             // Matrix [][] deriv_rots,

					null,                   // double [][] DDNDderiv,     // if not null, should be double[8][]

					dy_ddisparity[cluster], // double []   dy_ddisparity,   // double [][] disp_dist, //disp_dist[i][2] or null

					imu,                    // double []   imu,

					x0y0[cluster],          // double []   pXYND0,        // per-port non-distorted coordinates corresponding to the correlation measurements

					world_xyz[cluster],     // double []   xyz, // world XYZ for ERS correction

					measured_dsxy[cluster][ExtrinsicAdjustment.INDX_PX + 0],  // double      px,

					measured_dsxy[cluster][ExtrinsicAdjustment.INDX_PX + 1],  // double      py,

					measured_dsxy[cluster][ExtrinsicAdjustment.INDX_TARGET]); // double      disparity);

			//arraycopy(Object src, int srcPos, Object dest, int destPos, int length)

			ddnd[0] = -ddnd[0];

			if ((force_disparity != null) && force_disparity[cluster]) {

				ddnd[0] -= measured_dsxy[cluster][ExtrinsicAdjustment.INDX_DIFF];

			}

///			ddnd[0] = -measured_dsxy[cluster][ExtrinsicAdjustment.INDX_DIFF] - ddnd[0];

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

				ddnd[i + 1] = -measured_dsxy[cluster][ExtrinsicAdjustment.INDX_DD0 + i] - ddnd[i + 1];

				ddnd[i + 5] = -measured_dsxy[cluster][ExtrinsicAdjustment.INDX_ND0 + i] - ddnd[i + 5];

			}

			System.arraycopy(ddnd, 0, y_minus_fx, cluster * POINTS_SAMPLE, POINTS_SAMPLE);

		}

		return y_minus_fx;

	}

*/

	private double [] getWYmFxRms( // USED in lwir

			double []   fx) {

		int clusters = clustersX * clustersY;
@@ -1125,7 +1085,7 @@ public class ExtrinsicAdjustment { 
		}

		return clouds;

	}



	@Deprecated

	private double [] getWeights(

			double  [][] measured_dsxy,

			boolean [] force_disparity,   // same dimension as dsdn, true if disparity should be controlled
@@ -1395,13 +1355,7 @@ public class ExtrinsicAdjustment { 
		double [] imu = corr_vector.getIMU(); // i)

		double [] y_minus_fx = new double  [clusters * POINTS_SAMPLE];

		for (int cluster = 0; cluster < clusters;  cluster++) {

//			if ((cluster == 1892) || (cluster == 1894) ||(cluster == 3205)) {

//				System.out.println("getFx() cluster="+cluster);

//			}

			if (measured_dsxy[cluster] != null){

//				if ((cluster == 1735 ) || (cluster==1736)){

//					System.out.print("");

//				}

				double [] ddnd = geometryCorrection.getPortsDDNDAndDerivativesNew( // USED in lwir

						geometryCorrection,     // GeometryCorrection gc_main,

						use_rig_offsets,        // boolean     use_rig_offsets,
@@ -2220,13 +2174,8 @@ public class ExtrinsicAdjustment { 
			double lambda,

			double rms_diff,

			int debug_level) {

//		int num_points = this.weights.length; // includes 2 extra for regularization

//		int num_pars = getNumPars();

		boolean [] rslt = {false,false};

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

//			this.last_ymfx = getFxJt(

//					this.vector, // double []   vector,

//					this.last_jt); // double [][] jt) { // should be either [vector.length][samples.size()] or null - then only fx is calculated

			this.last_jt =  getJacobianTransposed(corr_vector); // new double [num_pars][num_points];

			this.last_ymfx = getFx(corr_vector);

			if (debug_level > -1) { // temporary
@@ -2304,19 +2253,10 @@ public class ExtrinsicAdjustment { 
		double []  delta = mdelta.getColumnPackedCopy();

		GeometryCorrection.CorrVector corr_delta = geometryCorrection.getCorrVector(delta, par_mask);



///		double [] new_vector = this.vector.clone();

		GeometryCorrection.CorrVector new_vector = this.corr_vector.clone();

		double scale = 1.0;

//		boolean ok =

		new_vector.incrementVector(corr_delta, scale); // ok = false if there are nay NaN-s



///		for (int i = 0; i < num_pars; i++) new_vector[i]+= delta[i];

		// being optimistic, modify jt and last_ymfx in place, restore if failed





///		this.last_ymfx = getFxJt(

///				new_vector, // double []   vector,

///				this.last_jt); // double [][] jt) { // should be either [vector.length][samples.size()] or null - then only fx is calculated

		this.last_jt =  getJacobianTransposed(new_vector); // new double [num_pars][num_points];

		this.last_ymfx = getFx(new_vector);

		if (debug_level > 2) {
@@ -2339,18 +2279,12 @@ public class ExtrinsicAdjustment { 
			if (debug_level > 2) {

				System.out.print("delta: "+corr_delta.toString()+"\n");

				System.out.print("New vector: "+new_vector.toString()+"\n");

///				for (int np = 0; np < vector.length; np++) {

///					System.out.print(this.vector[np]+" ");

///				}

				System.out.println();

			}

		} else { // worsened

			rslt[0] = false;

			rslt[1] = false; // do not know, caller will decide

			// restore state

///			this.last_ymfx = getFxJt( // recalculate fx

///					this.vector, // double []   vector,

///					this.last_jt); // double [][] jt) { // should be either [vector.length][samples.size()] or null - then only fx is calculated

			this.last_jt =  getJacobianTransposed(corr_vector); // new double [num_pars][num_points];

			this.last_ymfx = getFx(corr_vector);