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Commit f18a76e7 authored by Andrey Filippov's avatar Andrey Filippov
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Fixing ranging, working version with debug

parent e1f8ed4a
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Showing with 397 additions and 110 deletions
src/main/java/com/elphel/imagej/cuas/CuasMotion.java
View file @ f18a76e7
...@@ -157,18 +157,22 @@ public class CuasMotion { ...@@ -157,18 +157,22 @@ public class CuasMotion {
* @return window[2*half_range + 1], sum values = 1.0; * @return window[2*half_range + 1], sum values = 1.0;
*/ */
public double [] getSegmentWindow( public double [] getSegmentWindow(
boolean smooth) { boolean smooth,
boolean normalize) {
final int half_range = getSeqLength()/2; final int half_range = getSeqLength()/2;
final double [] window_full = new double [2*half_range + 1]; final double [] window_full = new double [2*half_range + 1];
double s0 = 1.0; double s0 = 1.0;
window_full[half_range] = 1.0; window_full[half_range] = 1.0;
double k = Math.PI/2/(half_range +0.5); double k = Math.PI/2/(half_range +0.5);
for (int i = 1; i <= half_range; i ++) { for (int i = 1; i <= half_range; i ++) {
window_full[half_range+i] = smooth ? (Math.cos(i*k)):1.0; window_full[half_range + i] = smooth ? (Math.cos(i*k)):1.0;
window_full[half_range - i] = smooth ? (Math.cos(i*k)):1.0;
s0+= 2 * window_full[half_range+i]; s0+= 2 * window_full[half_range+i];
} }
for (int i = 0; i < window_full.length; i ++) { if (normalize) {
window_full[i] /= s0; for (int i = 0; i < window_full.length; i ++) {
window_full[i] /= s0;
}
} }
return window_full; return window_full;
...@@ -2688,6 +2692,45 @@ public class CuasMotion { ...@@ -2688,6 +2692,45 @@ public class CuasMotion {
return pXpYDs; return pXpYDs;
} }
public ImagePlus showPxPyDs(
double [][][] pXpYDs,
int nseq, // center
String title,
boolean show) {
int num_scenes = pXpYDs.length;
int frame_center= getFrameCenter(nseq);
int start_scene = frame_center - (num_scenes + 1)/2;
int num_tiles = pXpYDs[0].length;
String [] titles_slices = {"pX","pY","Disparity"};
String [] titles_scenes = new String[num_scenes];
for (int i = 0; i < num_scenes; i++) {
titles_scenes[i] = getSceneTitles()[i+start_scene];
}
double [][][] data_img = new double [titles_slices.length][num_scenes][num_tiles];
for (int nslice = 0; nslice < data_img.length; nslice++) {
for (int nscene = 0; nscene < num_scenes; nscene++) {
Arrays.fill(data_img[nslice][nscene], Double.NaN);
}
}
for (int nscene = 0; nscene < num_scenes; nscene++) {
for (int ntile = 0; ntile < num_tiles; ntile++) if (pXpYDs[nscene][ntile] != null){
for (int nslice = 0; nslice < data_img.length; nslice++) {
data_img[nslice][nscene][ntile] = pXpYDs[nscene][ntile][nslice];
}
}
}
ImagePlus imp = ShowDoubleFloatArrays.showArraysHyperstack(
data_img, // double[][][] pixels,
tilesX, // int width,
title, // String title, "time_derivs-rt"+diff_time_rt+"-rxy"+diff_time_rxy,
titles_scenes, // String [] titles, // all slices*frames titles or just slice titles or null
titles_slices, // CuasMotionLMA.LMA_TITLES, // String [] frame_titles, // frame titles or null
show); // show); // boolean show)
return imp;
}
/** /**
......
src/main/java/com/elphel/imagej/cuas/CuasRanging.java
View file @ f18a76e7
...@@ -61,6 +61,7 @@ public class CuasRanging { ...@@ -61,6 +61,7 @@ public class CuasRanging {
boolean reset_disparity = clt_parameters.imp.cuas_reset_disparity; boolean reset_disparity = clt_parameters.imp.cuas_reset_disparity;
boolean smooth_omegas = clt_parameters.imp.cuas_smooth_omegas; boolean smooth_omegas = clt_parameters.imp.cuas_smooth_omegas;
boolean log_ranging = clt_parameters.imp.cuas_log_ranging; // true; // Log ranging iterations boolean log_ranging = clt_parameters.imp.cuas_log_ranging; // true; // Log ranging iterations
/// int rng_combine = clt_parameters.imp.cuas_rng_combine; // // combine multiple scenes before intrascene correlation
double [][]combo_dsi = center_CLT.comboFromMain(); double [][]combo_dsi = center_CLT.comboFromMain();
double [][] dls = { double [][] dls = {
...@@ -248,6 +249,7 @@ public class CuasRanging { ...@@ -248,6 +249,7 @@ public class CuasRanging {
rangeTargets( rangeTargets(
targets, //final double [][][] targets, // centers targets, //final double [][][] targets, // centers
// rng_combine, // final int rng_combine,
log_ranging, // final boolean log_ranging, log_ranging, // final boolean log_ranging,
rng_vfy, // final boolean rng_vfy, // Generate/save ranging verification images (per-sensor and combined rendering from the same data) rng_vfy, // final boolean rng_vfy, // Generate/save ranging verification images (per-sensor and combined rendering from the same data)
debugLevel); // final int debugLevel) debugLevel); // final int debugLevel)
...@@ -335,9 +337,9 @@ public class CuasRanging { ...@@ -335,9 +337,9 @@ public class CuasRanging {
final int half_accum_range = cuasMotion.getSeqLength()/2; final int half_accum_range = cuasMotion.getSeqLength()/2;
// final boolean unsharped // final boolean unsharped
final double [] window_full= cuasMotion.getSegmentWindow( final double [] window_full= cuasMotion.getSegmentWindow(
true); // boolean smooth) clt_parameters.imp.cuas_rng_coswnd, // boolean smooth)
true); // boolean normalize)
//radius_blur //radius_blur
final int start_scene = frame_center - half_accum_range; final int start_scene = frame_center - half_accum_range;
final int num_scenes = 2*half_accum_range + 1; final int num_scenes = 2*half_accum_range + 1;
...@@ -509,11 +511,13 @@ public class CuasRanging { ...@@ -509,11 +511,13 @@ public class CuasRanging {
public void rangeTargets( public void rangeTargets(
final double [][][] targets, // centers final double [][][] targets, // centers
// final int rng_combine,
final boolean log_ranging, final boolean log_ranging,
final boolean rng_vfy, // Generate/save ranging verification images (per-sensor and combined rendering from the same data) final boolean rng_vfy, // Generate/save ranging verification images (per-sensor and combined rendering from the same data)
final int debugLevel) { final int debugLevel) {
int show_mode = 7; // 0; // 4; // 0; //3; +1 - disparity, +2 - corr int show_mode = 2; // 7; // 0; // 4; // 0; //3; +1 - disparity, +2 - corr
int num_seq = cuasMotion.getNumCorrSamples(); int num_seq = cuasMotion.getNumCorrSamples();
int rng_combine = clt_parameters.imp.cuas_rng_combine; // // combine multiple scenes before intrascene correlation
float [][][] accum_2d_corr = null; float [][][] accum_2d_corr = null;
int nseq_first = 0; int nseq_first = 0;
int nseq_last = num_seq-1; int nseq_last = num_seq-1;
...@@ -521,7 +525,11 @@ public class CuasRanging { ...@@ -521,7 +525,11 @@ public class CuasRanging {
// for rng_vfy debugging // for rng_vfy debugging
final int half_accum_range = cuasMotion.getSeqLength()/2; final int half_accum_range = cuasMotion.getSeqLength()/2;
final int num_sens = center_CLT.getNumSensors(); final int num_sens = center_CLT.getNumSensors();
final double [][][] ranging_verify = (rng_vfy) ? (new double [2*half_accum_range+1+1][num_sens+1][]) : null; final int num_scenes = 2*half_accum_range+1;
final int num_scene_grp = (num_scenes + (rng_combine - 1)) / rng_combine;
// final double [][][] ranging_verify = (rng_vfy) ? (new double [num_scenes + 1][num_sens+1][]) : null;
final double [][][] ranging_verify = (rng_vfy) ? (new double [num_scene_grp + 1][num_sens + 1][]) : null;
if (log_ranging) { if (log_ranging) {
String log_head = getRangingLogParameters(); String log_head = getRangingLogParameters();
center_CLT.appendStringInModelDirectory(log_head, TARGET_RANGING_LOGS_SUFFIX); center_CLT.appendStringInModelDirectory(log_head, TARGET_RANGING_LOGS_SUFFIX);
...@@ -539,9 +547,6 @@ public class CuasRanging { ...@@ -539,9 +547,6 @@ public class CuasRanging {
show_mode1, // final int show_mode, //+1 - disparity, +2 - correlations show_mode1, // final int show_mode, //+1 - disparity, +2 - correlations
ranging_verify_use, // final double [][][] ranging_verify, ranging_verify_use, // final double [][][] ranging_verify,
debugLevel); // final int debugLevel) debugLevel); // final int debugLevel)
if (ranging_verify_use != null) {
}
} }
return; return;
} }
...@@ -556,11 +561,14 @@ public class CuasRanging { ...@@ -556,11 +561,14 @@ public class CuasRanging {
sb.append("cuas_rng_um_sigma = " + clt_parameters.imp.cuas_rng_um_sigma + "\n"); // unsharp mask sigma for ranging images sb.append("cuas_rng_um_sigma = " + clt_parameters.imp.cuas_rng_um_sigma + "\n"); // unsharp mask sigma for ranging images
sb.append("cuas_rng_um2 = " + clt_parameters.imp.cuas_rng_um2 + "\n"); // apply UM to images twice sb.append("cuas_rng_um2 = " + clt_parameters.imp.cuas_rng_um2 + "\n"); // apply UM to images twice
sb.append("cuas_rng_um_weight = " + clt_parameters.imp.cuas_rng_um_weight + "\n"); // unsharp mask weight for ranging images sb.append("cuas_rng_um_weight = " + clt_parameters.imp.cuas_rng_um_weight + "\n"); // unsharp mask weight for ranging images
sb.append("cuas_rng_coswnd = " + clt_parameters.imp.cuas_rng_coswnd + "\n"); // Use cosine scenes window (false - rectangular)
sb.append("cuas_rng_combine = " + clt_parameters.imp.cuas_rng_combine + "\n"); // combine multiple scenes before intrascene correlation
sb.append("cuas_rng_radius0 = " + clt_parameters.imp.cuas_rng_radius0 + "\n"); // mask out data outside peripheral areas, keep 0.5 at the radius - first iteration sb.append("cuas_rng_radius0 = " + clt_parameters.imp.cuas_rng_radius0 + "\n"); // mask out data outside peripheral areas, keep 0.5 at the radius - first iteration
sb.append("cuas_rng_radius = " + clt_parameters.imp.cuas_rng_radius + "\n"); // mask out data outside peripheral areas, keep 0.5 at the radius - next iteration sb.append("cuas_rng_radius = " + clt_parameters.imp.cuas_rng_radius + "\n"); // mask out data outside peripheral areas, keep 0.5 at the radius - next iteration
sb.append("cuas_rng_blur = " + clt_parameters.imp.cuas_rng_blur + "\n"); // relative transition radius range (for 0.5 the mask inside (1-0.5) radius will be 1.0, outside (1+0.5) radius will be 0 sb.append("cuas_rng_blur = " + clt_parameters.imp.cuas_rng_blur + "\n"); // relative transition radius range (for 0.5 the mask inside (1-0.5) radius will be 1.0, outside (1+0.5) radius will be 0
sb.append("cuas_rng_fz = " + clt_parameters.imp.cuas_rng_fz + "\n"); // Fat zero in target ranging mode sb.append("cuas_rng_fz = " + clt_parameters.imp.cuas_rng_fz + "\n"); // Fat zero in target ranging mode
sb.append("cuas_rng_scale = " + clt_parameters.imp.cuas_rng_scale + "\n"); // Scale alt_data to use same strength as for normal ranging because targets sb.append("cuas_rng_scale = " + clt_parameters.imp.cuas_rng_scale + "\n"); // Scale alt_data to use same strength as for normal ranging because targets
sb.append("cuas_lma_bypass = " + clt_parameters.imp.cuas_lma_bypass + "\n"); // Bypass solution tests, OK weak
sb.append("cuas_mcorr_sel = " + clt_parameters.imp.cuas_mcorr_sel + "\n"); // all pairs and diagonals (as was for non-cuas ranging) sb.append("cuas_mcorr_sel = " + clt_parameters.imp.cuas_mcorr_sel + "\n"); // all pairs and diagonals (as was for non-cuas ranging)
sb.append("cuas_mcorr_sel_lma = " + clt_parameters.imp.cuas_mcorr_sel_lma + "\n"); // all pairs (will use all selected by cuas_mcorr_sel) sb.append("cuas_mcorr_sel_lma = " + clt_parameters.imp.cuas_mcorr_sel_lma + "\n"); // all pairs (will use all selected by cuas_mcorr_sel)
sb.append("cuas_max_rel_rms = " + clt_parameters.imp.cuas_max_rel_rms + "\n"); // maximal relative (to average max/min amplitude LMA RMS) // May be up to 0.3) sb.append("cuas_max_rel_rms = " + clt_parameters.imp.cuas_max_rel_rms + "\n"); // maximal relative (to average max/min amplitude LMA RMS) // May be up to 0.3)
...@@ -570,7 +578,11 @@ public class CuasRanging { ...@@ -570,7 +578,11 @@ public class CuasRanging {
sb.append("cuas_min_min_ac = " + clt_parameters.imp.cuas_min_min_ac + "\n"); // LWIR16: 0.007 minimal of a and C coefficients minimum (measures sharpest point) sb.append("cuas_min_min_ac = " + clt_parameters.imp.cuas_min_min_ac + "\n"); // LWIR16: 0.007 minimal of a and C coefficients minimum (measures sharpest point)
sb.append("cuas_reset_disparity = " + clt_parameters.imp.cuas_reset_disparity + "\n"); // reset target disparities from infinity sb.append("cuas_reset_disparity = " + clt_parameters.imp.cuas_reset_disparity + "\n"); // reset target disparities from infinity
sb.append("cuas_infinity = " + clt_parameters.imp.cuas_infinity + "\n"); // disparity at infinity for targets sb.append("cuas_infinity = " + clt_parameters.imp.cuas_infinity + "\n"); // disparity at infinity for targets
sb.append("nseq\tframe_center\tnrefine\ttileX\ttileY\ttile\tdisparity\tdisp_diff\tstrength\tlast_str\tmax_diff\n"); sb.append("cuas_rng_niterate = " + clt_parameters.imp.cuas_rng_niterate + "\n"); // number of disparity iterations
sb.append("cuas_rng_diff = " + clt_parameters.imp.cuas_rng_diff + "\n"); // exit when disparity difference is smaller
sb.append("nseq\tframe_center\tnrefine\ttileX\ttileY\ttile\tdisparity\tdisp_diff\tstrength\tlast_str\tmax_diff\n");
return sb.toString(); return sb.toString();
} }
...@@ -595,7 +607,9 @@ public class CuasRanging { ...@@ -595,7 +607,9 @@ public class CuasRanging {
final int tilesY = center_CLT.getTilesY(); final int tilesY = center_CLT.getTilesY();
final int frame_center = cuasMotion.getFrameCenter(nseq); // for debug only final int frame_center = cuasMotion.getFrameCenter(nseq); // for debug only
final boolean use_non_lma = false; final boolean use_non_lma = false;
final double worsen_str = 0.9; // do not update if new strength is below worsen_str * old_str
// TODO: move to parameters!
final double worsen_str = 0.3; // 9; // do not update if new strength is below worsen_str * old_str
// Show disparity_map; // Show disparity_map;
StringBuffer sb = null; StringBuffer sb = null;
StringBuffer sb_full = null; StringBuffer sb_full = null;
...@@ -606,15 +620,38 @@ public class CuasRanging { ...@@ -606,15 +620,38 @@ public class CuasRanging {
} }
int refine_vfy = 0; // on which refine step to generate verify images int refine_vfy = 0; // on which refine step to generate verify images
// debugging // debugging
final boolean center_only = debugLevel < 1000; // > 1000; // < 1000;
boolean show_dbg = false; // true;
for (int nrefine = 0; nrefine < rng_niterate; nrefine++) { for (int nrefine = 0; nrefine < rng_niterate; nrefine++) {
boolean vfy_now = (nrefine == refine_vfy); boolean reset_disp = debugLevel > 1000;
if (reset_disp) {
for (int dbg_nseq = 0; dbg_nseq < targets.length; dbg_nseq++) {
for (int dbg_ntile = 0; dbg_ntile < targets[nseq].length; dbg_ntile++) if (targets[dbg_nseq][dbg_ntile] != null) {
targets[dbg_nseq][dbg_ntile][CuasMotionLMA.RSLT_DISPARITY] = 0;
targets[dbg_nseq][dbg_ntile][CuasMotionLMA.RSLT_DISP_STR] = 0;
}
}
String dbg_title = center_CLT.getImageName()+
"TARGETS-RESET-CB"+clt_parameters.imp.cuas_rng_combine+(clt_parameters.imp.cuas_rng_coswnd?"-WC":"-WR")+"-UM"+(clt_parameters.imp.cuas_rng_um2?"D":"") +clt_parameters.imp.cuas_rng_um_sigma +
"-R"+clt_parameters.imp.cuas_rng_radius0+":"+clt_parameters.imp.cuas_rng_radius+
"-F"+ (cuasMotion.getFrameCenter(nseq))+":"+nrefine+"-M"+clt_parameters.imp.cuas_mcorr_sel+
"-"+clt_parameters.imp.cuas_mcorr_sel_lma;
CuasMotion.showTargetSequence(
targets, // double [][][] vector_fields_sequence,
cuasMotion.getSliceTitles(), // String [] titles, // all slices*frames titles or just slice titles or null
dbg_title,// String title,
true, // boolean show,
cuasMotion.getTilesX()); // int tilesX) {
}
boolean vfy_now = true; // (nrefine == refine_vfy);
double [][][] ranging_verify_this = (vfy_now? ranging_verify : null); double [][][] ranging_verify_this = (vfy_now? ranging_verify : null);
// double [][][] extended_targets = null; // double [][][] extended_targets = null;
double [][][] var_targets = targets; double [][][] var_targets = targets;
if (ranging_verify_this != null) { if (!center_only && (ranging_verify_this != null)) {
var_targets = CuasMotion.extendMotionScan( var_targets = CuasMotion.extendMotionScan(
targets, // final double [][][] motion_scan, targets, // final double [][][] motion_scan,
null, // filter5, // final boolean [][] filtered, // centers, should be non-overlapped null, // filter5, // final boolean [][] filtered, // centers, should be non-overlapped
...@@ -622,9 +659,23 @@ public class CuasRanging { ...@@ -622,9 +659,23 @@ public class CuasRanging {
2, // final int range, // 1 or 2 2, // final int range, // 1 or 2
null); // remain); // final int [] remain) null); // remain); // final int [] remain)
} }
if (show_dbg) {
String dbg_title = center_CLT.getImageName()+
"VAR_TARGETS-CB"+clt_parameters.imp.cuas_rng_combine+(clt_parameters.imp.cuas_rng_coswnd?"-WC":"-WR")+"-UM"+(clt_parameters.imp.cuas_rng_um2?"D":"") +clt_parameters.imp.cuas_rng_um_sigma +
"-R"+clt_parameters.imp.cuas_rng_radius0+":"+clt_parameters.imp.cuas_rng_radius+
"-F"+ (cuasMotion.getFrameCenter(nseq))+":"+nrefine+"-M"+clt_parameters.imp.cuas_mcorr_sel+
"-"+clt_parameters.imp.cuas_mcorr_sel_lma;
CuasMotion.showTargetSequence(
var_targets, // double [][][] vector_fields_sequence,
cuasMotion.getSliceTitles(), // String [] titles, // all slices*frames titles or just slice titles or null
dbg_title,// String title,
true, // boolean show,
cuasMotion.getTilesX()); // int tilesX) {
}
double [][] disparity_map = refineTargetDisparity( // returns disparity_map double [][] disparity_map = refineTargetDisparity( // returns disparity_map
var_targets, // targets, // final double [][][] targets, // centers var_targets, // targets, // final double [][][] targets, // centers
accum_2d_corr, //final float [][][] accum_2d_corr, // if [1][][] - return accumulated 2d correlations (all pairs) accum_2d_corr, //final float [][][] accum_2d_corr, // if [1][][] - return accumulated 2d correlations (all pairs)
ranging_verify_this, // final double [][][] ranging_verify, ranging_verify_this, // final double [][][] ranging_verify,
nseq, // final int nseq, nseq, // final int nseq,
...@@ -649,7 +700,7 @@ public class CuasRanging { ...@@ -649,7 +700,7 @@ public class CuasRanging {
tilesY, tilesY,
true, true,
center_CLT.getImageName()+ center_CLT.getImageName()+
"-UM"+(clt_parameters.imp.cuas_rng_um2?"D":"") +clt_parameters.imp.cuas_rng_um_sigma + "-CB"+clt_parameters.imp.cuas_rng_combine+(clt_parameters.imp.cuas_rng_coswnd?"-WC":"-WR")+"-UM"+(clt_parameters.imp.cuas_rng_um2?"D":"") +clt_parameters.imp.cuas_rng_um_sigma +
"-accumulated_disparity_map_R"+clt_parameters.imp.cuas_rng_radius0+":"+clt_parameters.imp.cuas_rng_radius+ "-accumulated_disparity_map_R"+clt_parameters.imp.cuas_rng_radius0+":"+clt_parameters.imp.cuas_rng_radius+
"-F"+ (cuasMotion.getFrameCenter(nseq))+":"+nrefine+"-M"+clt_parameters.imp.cuas_mcorr_sel+ "-F"+ (cuasMotion.getFrameCenter(nseq))+":"+nrefine+"-M"+clt_parameters.imp.cuas_mcorr_sel+
"-"+clt_parameters.imp.cuas_mcorr_sel_lma, "-"+clt_parameters.imp.cuas_mcorr_sel_lma,
...@@ -729,21 +780,27 @@ public class CuasRanging { ...@@ -729,21 +780,27 @@ public class CuasRanging {
} }
public ImagePlus renderRangingVerify( public ImagePlus renderRangingVerify(
final double [][][] ranging_verify, final double [][][] ranging_verify, // normalized, each scene group value is divided by number of averaged scenes
final int nscene0, final int nscene0,
final int nrefine, final int nrefine,
final boolean show) { final boolean show) {
if (ranging_verify == null) { if (ranging_verify == null) {
return null; return null;
} }
final int num_scenes = ranging_verify.length-1;
final int half_accum_range = cuasMotion.getSeqLength()/2;
final int num_scenes = 2*half_accum_range+1;
int rng_combine = clt_parameters.imp.cuas_rng_combine; // // combine multiple scenes before intrascene correlation
final int num_scene_grp = (num_scenes + (rng_combine - 1)) / rng_combine; //==ranging_verify.length - 1;
// final int num_scenes = ranging_verify.length-1;
final int num_sens = ranging_verify[0].length-1; final int num_sens = ranging_verify[0].length-1;
final int num_pix = ranging_verify[0][0].length; final int num_pix = ranging_verify[0][0].length;
final int half_accum_range = (num_scenes-1)/2; // final int half_accum_range = (num_scenes-1)/2;
String [] titles_scenes = new String [num_scenes+1]; String [] titles_scenes = new String [num_scene_grp + 1];
for (int i = 0; i < (titles_scenes.length-1); i++) { for (int igrp = 0; igrp < (titles_scenes.length-1); igrp++) {
titles_scenes[i] = cuasMotion.getSceneTitles()[nscene0+i]; titles_scenes[igrp] = cuasMotion.getSceneTitles()[nscene0+igrp * rng_combine];
} }
titles_scenes[titles_scenes.length-1]="COMBO"; titles_scenes[titles_scenes.length-1]="COMBO";
String [] titles_sensors = new String [num_sens+1]; String [] titles_sensors = new String [num_sens+1];
...@@ -757,14 +814,16 @@ public class CuasRanging { ...@@ -757,14 +814,16 @@ public class CuasRanging {
for (int ithread = 0; ithread < threads.length; ithread++) { for (int ithread = 0; ithread < threads.length; ithread++) {
threads[ithread] = new Thread() { threads[ithread] = new Thread() {
public void run() { public void run() {
for (int nScene = ai.getAndIncrement(); nScene < num_scenes; nScene = ai.getAndIncrement()) { for (int nSceneGrp = ai.getAndIncrement(); nSceneGrp < num_scene_grp; nSceneGrp = ai.getAndIncrement()) {
ranging_verify[nScene][num_sens] = new double [num_pix]; // int iscene = nSceneGrp * rng_combine;
// int grp_len = Math.min(rng_combine, num_scenes-iscene);
ranging_verify[nSceneGrp][num_sens] = new double [num_pix];
for (int npix = 0; npix < num_pix; npix++) { for (int npix = 0; npix < num_pix; npix++) {
double d = 0; double d = 0;
for (int nsens = 0; nsens < num_sens; nsens++) { for (int nsens = 0; nsens < num_sens; nsens++) {
d += ranging_verify[nScene][nsens][npix]; d += ranging_verify[nSceneGrp][nsens][npix];
} }
ranging_verify[nScene][num_sens][npix] = d/num_sens; ranging_verify[nSceneGrp][num_sens][npix] = d/num_sens;
} }
} }
} }
...@@ -774,18 +833,29 @@ public class CuasRanging { ...@@ -774,18 +833,29 @@ public class CuasRanging {
ai.set(0); ai.set(0);
// calculate averages: per senSors (including "all") // calculate averages: per senSors (including "all")
final double [] window_full= cuasMotion.getSegmentWindow( // normalized, sum == 1.0 final double [] window_full= cuasMotion.getSegmentWindow( // normalized, sum == 1.0
true); // boolean smooth) clt_parameters.imp.cuas_rng_coswnd, // boolean smooth)
false); // boolean normalize)
final double [] window_grp = new double [num_scene_grp];
double sw = 0;
for (int nscene = 0; nscene < num_scenes; nscene++) {
double w = window_full[nscene];
window_grp[nscene / rng_combine] += w;
sw += w;
}
final double sum_window = sw;
for (int ithread = 0; ithread < threads.length; ithread++) { for (int ithread = 0; ithread < threads.length; ithread++) {
threads[ithread] = new Thread() { threads[ithread] = new Thread() {
public void run() { public void run() {
for (int nSens = ai.getAndIncrement(); nSens < (num_sens+1); nSens = ai.getAndIncrement()) { for (int nSens = ai.getAndIncrement(); nSens < (num_sens+1); nSens = ai.getAndIncrement()) {
ranging_verify[num_scenes][nSens] = new double [num_pix]; ranging_verify[num_scene_grp][nSens] = new double [num_pix];
for (int npix = 0; npix < num_pix; npix++) { for (int npix = 0; npix < num_pix; npix++) {
double d = 0; double d = 0;
for (int nscene = 0; nscene < num_scenes; nscene++) { for (int nscene_grp = 0; nscene_grp < num_scene_grp; nscene_grp++) {
d += window_full[nscene] * ranging_verify[nscene][nSens][npix]; d += ranging_verify[nscene_grp][nSens][npix]; // sum before normalizing
ranging_verify[nscene_grp][nSens][npix] /= window_grp[nscene_grp]; // normalize each group image
} }
ranging_verify[num_scenes][nSens][npix] = d; ranging_verify[num_scene_grp][nSens][npix] = d / sum_window;
} }
} }
} }
...@@ -797,7 +867,7 @@ public class CuasRanging { ...@@ -797,7 +867,7 @@ public class CuasRanging {
ranging_verify, // double[][][] pixels, ranging_verify, // double[][][] pixels,
center_CLT.getWidth(), // int width, center_CLT.getWidth(), // int width,
center_CLT.getImageName()+"-RANGING_VERIFY-R"+ center_CLT.getImageName()+"-RANGING_VERIFY-R"+
"-UM"+(clt_parameters.imp.cuas_rng_um2?"D":"") +clt_parameters.imp.cuas_rng_um_sigma + "-CB"+clt_parameters.imp.cuas_rng_combine+(clt_parameters.imp.cuas_rng_coswnd?"-WC":"-WR")+"-UM"+(clt_parameters.imp.cuas_rng_um2?"D":"") +clt_parameters.imp.cuas_rng_um_sigma +
"-R"+clt_parameters.imp.cuas_rng_radius0+":"+clt_parameters.imp.cuas_rng_radius+ "-R"+clt_parameters.imp.cuas_rng_radius0+":"+clt_parameters.imp.cuas_rng_radius+
"-F"+ (nscene0 + half_accum_range)+":"+nrefine+"-M"+clt_parameters.imp.cuas_mcorr_sel+ "-F"+ (nscene0 + half_accum_range)+":"+nrefine+"-M"+clt_parameters.imp.cuas_mcorr_sel+
"-"+clt_parameters.imp.cuas_mcorr_sel_lma, "-"+clt_parameters.imp.cuas_mcorr_sel_lma,
...@@ -812,7 +882,7 @@ public class CuasRanging { ...@@ -812,7 +882,7 @@ public class CuasRanging {
public double [][] refineTargetDisparity( // returns disparity_map public double [][] refineTargetDisparity( // returns disparity_map
final double [][][] targets, // centers final double [][][] targets, // centers
final float [][][] accum_2d_corr, // if [1][][] - return accumulated 2d correlations (all pairs) final float [][][] accum_2d_corr, // if [1][][] - return accumulated 2d correlations (all pairs)
final double [][][] ranging_verify, // [2*half_accum_range +1 +1][num_sens+1][] // [num_pix] final double [][][] ranging_verify, // Now per group (rng_combine) [2*half_accum_range +1 +1][num_sens+1][] // [num_pix]
final int nseq, final int nseq,
final int nrefine, // number of the refine to select radius (larger first time) final int nrefine, // number of the refine to select radius (larger first time)
final boolean show_corr, final boolean show_corr,
...@@ -840,8 +910,9 @@ public class CuasRanging { ...@@ -840,8 +910,9 @@ public class CuasRanging {
final int half_accum_range = cuasMotion.getSeqLength()/2; final int half_accum_range = cuasMotion.getSeqLength()/2;
// final boolean unsharped // final boolean unsharped
final double [] window_full= cuasMotion.getSegmentWindow( // final double [] window_full= cuasMotion.getSegmentWindow(
true); // boolean smooth) // true, // boolean smooth)
// true); // boolean normalize)
//radius_blur //radius_blur
final int start_scene = frame_center - half_accum_range; final int start_scene = frame_center - half_accum_range;
final int num_scenes = 2*half_accum_range + 1; final int num_scenes = 2*half_accum_range + 1;
...@@ -880,6 +951,19 @@ public class CuasRanging { ...@@ -880,6 +951,19 @@ public class CuasRanging {
boolean show_um = show_debug_single; // (show_corr & 4) != 0; // true; // false; // true; boolean show_um = show_debug_single; // (show_corr & 4) != 0; // true; // false; // true;
if (show_um) { if (show_um) {
/*
String title_pXpYDs = center_CLT.getImageName()+
"-pXpYDs-CB"+clt_parameters.imp.cuas_rng_combine+(clt_parameters.imp.cuas_rng_coswnd?"-WC":"-WR")+"-UM"+(clt_parameters.imp.cuas_rng_um2?"D":"") +clt_parameters.imp.cuas_rng_um_sigma +
"-R"+clt_parameters.imp.cuas_rng_radius0+":"+clt_parameters.imp.cuas_rng_radius+
"-F"+ (cuasMotion.getFrameCenter(nseq))+":"+nrefine+"-M"+clt_parameters.imp.cuas_mcorr_sel+
"-"+clt_parameters.imp.cuas_mcorr_sel_lma;
cuasMotion.showPxPyDs(
pXpYDs, // double [][][] pXpYDs,
nseq, // int nseq, // center
title_pXpYDs, // String title,
true); // boolean show)
*/
String [] titles_sensors = new String[img_um_seq[0].length]; String [] titles_sensors = new String[img_um_seq[0].length];
String [] titles_scenes = new String[num_scenes]; String [] titles_scenes = new String[num_scenes];
for (int i = 0; i < titles_sensors.length; i++) { for (int i = 0; i < titles_sensors.length; i++) {
...@@ -931,15 +1015,31 @@ public class CuasRanging { ...@@ -931,15 +1015,31 @@ public class CuasRanging {
center_CLT.getGPU()); center_CLT.getGPU());
image_dtt.getCorrelation2d(); // initiate image_dtt.correlation2d, needed if disparity_map != null image_dtt.getCorrelation2d(); // initiate image_dtt.correlation2d, needed if disparity_map != null
final double[][] disparity_map = no_map ? null : new double [image_dtt.getDisparityTitles().length][]; final double[][] disparity_map = no_map ? null : new double [image_dtt.getDisparityTitles().length][];
/// final double disparity_corr = clt_parameters.imp.disparity_corr; // 04/07/2023 // 0.00; // (z_correction == 0) ? 0.0 : geometryCorrection.getDisparityFromZ(1.0/z_correction);
TpTask[][] tp_tasks = null; // will contain last tp_tasks TpTask[][] tp_tasks = null; // will contain last tp_tasks
TpTask[][] tp_tasks_ref = null; TpTask[][] tp_tasks_ref = null;
final double [] window_nnorm= cuasMotion.getSegmentWindow( // normalized, sum == 1.0
clt_parameters.imp.cuas_rng_coswnd, // boolean smooth)
false); // boolean normalize) // not normalized, values up to 1.0
final int num_scene_grp = (num_scenes + rng_combine - 1) / rng_combine;
final double [] window_grp = new double [num_scene_grp];
double sw = 0;
for (int nscene = 0; nscene < num_scenes; nscene++) {
double w = window_nnorm[nscene];
window_grp[nscene / rng_combine] += w;
sw += w;
}
// final double sum_window = sw;
for (int dseq = -half_accum_range; dseq <= half_accum_range; dseq++) { for (int dseq = -half_accum_range; dseq <= half_accum_range; dseq++) {
/// final double [][] ref_pXpYD5x5 = pXpYD5x5s[dseq + half_accum_range];
final double [][] ref_pXpYD = pXpYDs[dseq + half_accum_range]; // center target final double [][] ref_pXpYD = pXpYDs[dseq + half_accum_range]; // center target
final int nscene = frame_center + dseq; final int nscene = frame_center + dseq;
final int iscene = dseq + half_accum_range; // 0, 1,..., 2* half_accum_range. final int iscene = dseq + half_accum_range; // 0, 1,..., 2* half_accum_range.
final int iscene_grp = iscene / rng_combine;
final boolean first_in_grp = (iscene % rng_combine) == 0;
final boolean last_in_grp = (((iscene + 1) % rng_combine) == 0) || (dseq == half_accum_range);
final int sm = -1; // merge_all? -1: sensor_mask; final int sm = -1; // merge_all? -1: sensor_mask;
final double [][] dxyzatr_dt = (mb_en ? new double[][] { // for all, including ref final double [][] dxyzatr_dt = (mb_en ? new double[][] { // for all, including ref
scenes[nscene].getErsCorrection().getErsXYZ_dt(), scenes[nscene].getErsCorrection().getErsXYZ_dt(),
...@@ -969,7 +1069,6 @@ public class CuasRanging { ...@@ -969,7 +1069,6 @@ public class CuasRanging {
double [][] motion_blur = OpticalFlow.getMotionBlur( double [][] motion_blur = OpticalFlow.getMotionBlur(
center_CLT, // quadCLTs[ref_index], // QuadCLT ref_scene, center_CLT, // quadCLTs[ref_index], // QuadCLT ref_scene,
scenes[nscene], // QuadCLT scene, // can be the same as ref_scene scenes[nscene], // QuadCLT scene, // can be the same as ref_scene
/// ref_pXpYD5x5, // double [][] ref_pXpYD, // here it is scene, not reference!
ref_pXpYD, // double [][] ref_pXpYD, // here it is scene, not reference! ref_pXpYD, // double [][] ref_pXpYD, // here it is scene, not reference!
scene_xyz, // double [] camera_xyz, scene_xyz, // double [] camera_xyz,
scene_atr, // double [] camera_atr, scene_atr, // double [] camera_atr,
...@@ -980,6 +1079,8 @@ public class CuasRanging { ...@@ -980,6 +1079,8 @@ public class CuasRanging {
// TODO: Add target movement (recalculate velocities) // TODO: Add target movement (recalculate velocities)
QuadCLT.preRenderGPUFromDSI( QuadCLT.preRenderGPUFromDSI(
!first_in_grp, // final boolean accumulate,
window_nnorm[iscene],// final double global_scale, // <=1.0
sm, // final int sensor_mask, sm, // final int sensor_mask,
false, // final boolean merge_channels, false, // final boolean merge_channels,
0, // final int discard_border, 0, // final int discard_border,
...@@ -1005,6 +1106,8 @@ public class CuasRanging { ...@@ -1005,6 +1106,8 @@ public class CuasRanging {
debugLevel); // final int debugLevel) debugLevel); // final int debugLevel)
} else { } else {
QuadCLT.preRenderGPUFromDSI( QuadCLT.preRenderGPUFromDSI(
!first_in_grp, // final boolean accumulate,
window_nnorm[iscene], // final double global_scale, // <=1.0
sm, // final int sensor_mask, sm, // final int sensor_mask,
false, // final boolean merge_channels, false, // final boolean merge_channels,
0, // final int discard_border, 0, // final int discard_border,
...@@ -1028,55 +1131,82 @@ public class CuasRanging { ...@@ -1028,55 +1131,82 @@ public class CuasRanging {
ImageDtt.THREADS_MAX, // threadsMax, // int threadsMax, ImageDtt.THREADS_MAX, // threadsMax, // int threadsMax,
debugLevel); // final int debugLevel) debugLevel); // final int debugLevel)
} }
// copy center tasks to the reference
if (ranging_verify != null) { // [2*half_accum_range +1 +1][num_sens+1][] // [num_pix])
double [][] scene_render = center_CLT.renderDoubleFromTDMono ( // [sensor][pixel]
-1, // int sensor_mask,
null, // int [] wh, // may be null, or {width, height}
false); // boolean use_reference
for (int nsens = 0; nsens < scene_render.length; nsens++) {
ranging_verify[iscene][nsens] = scene_render[nsens];
}
}
if (dseq==0) { if (dseq==0) {
tp_tasks_ref = tp_tasks; // for the middle frame tp_tasks_ref = tp_tasks; // for the middle frame
for (int i = 0; i < tp_tasks.length; i++) { for (int i = 0; i < tp_tasks.length; i++) {
tp_tasks_ref[i] = tp_tasks[i].clone(); tp_tasks_ref[i] = tp_tasks[i].clone();
} }
} }
float [][][][] fcorr_td = new float[tilesY][tilesX][][]; // correlate only after the last in group, others - just accumulate in TD
image_dtt.quadCorrTD( if (last_in_grp) {
imgdtt_params, // clt_parameters.img_dtt, // final ImageDttParameters imgdtt_params, // Now just extra correlation parameters, later will include, most others if (ranging_verify != null) { // [2*half_accum_range +1 +1][num_sens+1][] // [num_pix])
tp_tasks[0], // *** will be updated inside from GPU-calculated geometry double [][] scene_render = center_CLT.renderDoubleFromTDMono ( // [sensor][pixel]
fcorr_td, // fcorrs_td[nscene], // [tilesY][tilesX][pair][4*64] transform domain representation of 6 corr pairs -1, // int sensor_mask,
clt_parameters.gpu_sigma_r, // 0.9, 1.1 null, // int [] wh, // may be null, or {width, height}
clt_parameters.gpu_sigma_b, // 0.9, 1.1 false); // boolean use_reference
clt_parameters.gpu_sigma_g, // 0.6, 0.7 for (int nsens = 0; nsens < scene_render.length; nsens++) {
clt_parameters.gpu_sigma_m, // = 0.4; // 0.7; ranging_verify[iscene_grp][nsens] = scene_render[nsens];
gpu_sigma_rb_corr, // final double gpu_sigma_rb_corr, // = 0.5; // apply LPF after accumulating R and B correlation before G, monochrome ? 1.0 : gpu_sigma_rb_corr; }
gpu_sigma_corr, // = 0.9;gpu_sigma_corr_m }
gpu_sigma_log_corr, // final double gpu_sigma_log_corr, // hpf to reduce dynamic range for correlations
clt_parameters.corr_red, // +used float [][][][] fcorr_td = new float[tilesY][tilesX][][];
clt_parameters.corr_blue, // +used image_dtt.quadCorrTD(
mcorr_sel, // final int mcorr_sel, // Which pairs to correlate // +1 - all, +2 - dia, +4 - sq, +8 - neibs, +16 - hor + 32 - vert imgdtt_params, // clt_parameters.img_dtt, // final ImageDttParameters imgdtt_params, // Now just extra correlation parameters, later will include, most others
ImageDtt.THREADS_MAX, // maximal number of threads to launch tp_tasks[0], // *** will be updated inside from GPU-calculated geometry
debugLevel); fcorr_td, // fcorrs_td[nscene], // [tilesY][tilesX][pair][4*64] transform domain representation of 6 corr pairs
if (image_dtt.getGPU().getGpu_debug_level() > -1) { clt_parameters.gpu_sigma_r, // 0.9, 1.1
System.out.println("==ooo=after image_dtt.quadCorrTD()"); clt_parameters.gpu_sigma_b, // 0.9, 1.1
} clt_parameters.gpu_sigma_g, // 0.6, 0.7
// Verify tasks are now updated clt_parameters.gpu_sigma_m, // = 0.4; // 0.7;
OpticalFlow.accumulateCorrelations( gpu_sigma_rb_corr, // final double gpu_sigma_rb_corr, // = 0.5; // apply LPF after accumulating R and B correlation before G, monochrome ? 1.0 : gpu_sigma_rb_corr;
window_full[iscene] * (2 * half_accum_range + 1), // final double weight, // keep same sum as before gpu_sigma_corr, // = 0.9;gpu_sigma_corr_m
accum_weights, // final int [][][] num_acc, // number of accumulated tiles [tilesY][tilesX][pair] gpu_sigma_log_corr, // final double gpu_sigma_log_corr, // hpf to reduce dynamic range for correlations
fcorr_td, // final float [][][][] fcorr_td, // [tilesY][tilesX][pair][256] sparse transform domain representation of corr pairs clt_parameters.corr_red, // +used
fcorr_td_acc); // final float [][][][] fcorr_td_acc // [tilesY][tilesX][pair][256] sparse transform domain representation of corr pairs clt_parameters.corr_blue, // +used
if (image_dtt.getGPU().getGpu_debug_level() > -1) { mcorr_sel, // final int mcorr_sel, // Which pairs to correlate // +1 - all, +2 - dia, +4 - sq, +8 - neibs, +16 - hor + 32 - vert
System.out.println("==ooo=accumulateCorrelations()"); ImageDtt.THREADS_MAX, // maximal number of threads to launch
} debugLevel);
if (image_dtt.getGPU().getGpu_debug_level() > -1) {
System.out.println("==ooo=after image_dtt.quadCorrTD()");
}
// Verify tasks are now updated
OpticalFlow.accumulateCorrelations(
// window_full[iscene] * (2 * half_accum_range + 1), // final double weight, // keep same sum as before
window_grp[iscene_grp], // final double weight, // keep same sum as before
accum_weights, // final int [][][] num_acc, // number of accumulated tiles [tilesY][tilesX][pair]
fcorr_td, // final float [][][][] fcorr_td, // [tilesY][tilesX][pair][256] sparse transform domain representation of corr pairs
fcorr_td_acc); // final float [][][][] fcorr_td_acc // [tilesY][tilesX][pair][256] sparse transform domain representation of corr pairs
if (image_dtt.getGPU().getGpu_debug_level() > -1) {
System.out.println("==ooo=accumulateCorrelations()");
}
}
} // for (int dseq = half_accum_range; dseq <= half_accum_range; dseq++) { } // for (int dseq = half_accum_range; dseq <= half_accum_range; dseq++) {
//boolean show_um=true; //boolean show_um=true;
if (show_um) { if (show_um) {
// show again - is it different?
/*
{
String [] titles_sensors = new String[img_um_seq[0].length];
String [] titles_scenes = new String[num_scenes];
for (int i = 0; i < titles_sensors.length; i++) {
titles_sensors[i] = "SENS-"+i;
}
for (int i = 0; i < num_scenes; i++) {
titles_scenes[i] = cuasMotion.getSceneTitles()[i+start_scene];
}
ShowDoubleFloatArrays.showArraysHyperstack(
img_um_seq, // double[][][] pixels,
center_CLT.getWidth(), // int width,
center_CLT.getImageName()+"-img_um_seq-AFTER-UM"+(clt_parameters.imp.cuas_rng_um2?"D":"") +um_sigma, // String title, "time_derivs-rt"+diff_time_rt+"-rxy"+diff_time_rxy,
titles_sensors, // String [] titles, // all slices*frames titles or just slice titles or null
titles_scenes, // CuasMotionLMA.LMA_TITLES, // String [] frame_titles, // frame titles or null
true); // show); // boolean show)
}
*/
double [][][] alt_images = new double [2*half_accum_range+1][num_sens][]; double [][][] alt_images = new double [2*half_accum_range+1][num_sens][];
double [][][] orig_images = new double [2*half_accum_range+1][num_sens][]; double [][][] orig_images = new double [2*half_accum_range+1][num_sens][];
for (int i = 0; i < alt_images.length; i++) { for (int i = 0; i < alt_images.length; i++) {
...@@ -1189,7 +1319,7 @@ public class CuasRanging { ...@@ -1189,7 +1319,7 @@ public class CuasRanging {
tilesY*(2*image_dtt.transform_size), tilesY*(2*image_dtt.transform_size),
true, true,
center_CLT.getImageName()+ center_CLT.getImageName()+
"-UM"+(clt_parameters.imp.cuas_rng_um2?"D":"") +clt_parameters.imp.cuas_rng_um_sigma + "-CB"+clt_parameters.imp.cuas_rng_combine+(clt_parameters.imp.cuas_rng_coswnd?"-WC":"-WR")+"-UM"+(clt_parameters.imp.cuas_rng_um2?"D":"") +clt_parameters.imp.cuas_rng_um_sigma +
"-CORR-ACCUM_R"+clt_parameters.imp.cuas_rng_radius+ "-CORR-ACCUM_R"+clt_parameters.imp.cuas_rng_radius+
"-F"+frame_center+":"+nrefine+"-M"+mcorr_sel+"-"+clt_parameters.imp.cuas_mcorr_sel_lma, "-F"+frame_center+":"+nrefine+"-M"+mcorr_sel+"-"+clt_parameters.imp.cuas_mcorr_sel_lma,
titles); // image_dtt.getCorrelation2d().getCorrTitles()); //CORR_TITLES); titles); // image_dtt.getCorrelation2d().getCorrTitles()); //CORR_TITLES);
......
src/main/java/com/elphel/imagej/gpu/GpuQuad.java
View file @ f18a76e7
...@@ -4440,6 +4440,7 @@ public class GpuQuad{ // quad camera description ...@@ -4440,6 +4440,7 @@ public class GpuQuad{ // quad camera description
{ {
return setInterTasks( return setInterTasks(
false, // final boolean accumulate, false, // final boolean accumulate,
1.0, // final double global_scale, // <=1.0
num_cams, // final int num_cams, num_cams, // final int num_cams,
img_width, // final int img_width, // should match pXpYD img_width, // final int img_width, // should match pXpYD
calcPortsCoordinatesAndDerivatives,// final boolean calcPortsCoordinatesAndDerivatives, // GPU can calculate them centreXY calcPortsCoordinatesAndDerivatives,// final boolean calcPortsCoordinatesAndDerivatives, // GPU can calculate them centreXY
...@@ -4455,6 +4456,7 @@ public class GpuQuad{ // quad camera description ...@@ -4455,6 +4456,7 @@ public class GpuQuad{ // quad camera description
public static TpTask[] setInterTasks( public static TpTask[] setInterTasks(
final boolean accumulate, final boolean accumulate,
final double global_scale, // <=1.0
final int num_cams, final int num_cams,
final int img_width, // should match pXpYD final int img_width, // should match pXpYD
final boolean calcPortsCoordinatesAndDerivatives, // GPU can calculate them centreXY final boolean calcPortsCoordinatesAndDerivatives, // GPU can calculate them centreXY
...@@ -4521,7 +4523,7 @@ public class GpuQuad{ // quad camera description ...@@ -4521,7 +4523,7 @@ public class GpuQuad{ // quad camera description
disparity); // + disparity_corr); disparity); // + disparity_corr);
tp_task.setDispDist(disp_dist); tp_task.setDispDist(disp_dist);
tp_task.xy = new float [centersXY_main.length][2]; tp_task.xy = new float [centersXY_main.length][2];
tp_task.setScale(1.0, accumulate); tp_task.setScale(global_scale, accumulate);
for (int i = 0; i < centersXY_main.length; i++) { for (int i = 0; i < centersXY_main.length; i++) {
if ( (centersXY_main[i][0] < min_px) || (centersXY_main[i][0] > max_px) || if ( (centersXY_main[i][0] < min_px) || (centersXY_main[i][0] > max_px) ||
(centersXY_main[i][1] < min_py[i]) || (centersXY_main[i][1] > max_py[i])) { (centersXY_main[i][1] < min_py[i]) || (centersXY_main[i][1] > max_py[i])) {
...@@ -4574,6 +4576,7 @@ public class GpuQuad{ // quad camera description ...@@ -4574,6 +4576,7 @@ public class GpuQuad{ // quad camera description
final int threadsMax){ // maximal number of threads to launch final int threadsMax){ // maximal number of threads to launch
return setInterTasksMotionBlur( return setInterTasksMotionBlur(
false, // final boolean accumulate, false, // final boolean accumulate,
1.0, // final double global_scale, // <=1.0
num_cams, // final int num_cams, num_cams, // final int num_cams,
img_width, // final int img_width, // should match pXpYD img_width, // final int img_width, // should match pXpYD
calcPortsCoordinatesAndDerivatives, // final boolean calcPortsCoordinatesAndDerivatives, // GPU can calculate them centreXY calcPortsCoordinatesAndDerivatives, // final boolean calcPortsCoordinatesAndDerivatives, // GPU can calculate them centreXY
...@@ -4593,6 +4596,7 @@ public class GpuQuad{ // quad camera description ...@@ -4593,6 +4596,7 @@ public class GpuQuad{ // quad camera description
public static TpTask[][] setInterTasksMotionBlur( public static TpTask[][] setInterTasksMotionBlur(
final boolean accumulate, final boolean accumulate,
final double global_scale, // <=1.0
final int num_cams, final int num_cams,
final int img_width, // should match pXpYD final int img_width, // should match pXpYD
final boolean calcPortsCoordinatesAndDerivatives, // GPU can calculate them centreXY final boolean calcPortsCoordinatesAndDerivatives, // GPU can calculate them centreXY
...@@ -4665,9 +4669,9 @@ public class GpuQuad{ // quad camera description ...@@ -4665,9 +4669,9 @@ public class GpuQuad{ // quad camera description
double mb_len = Math.sqrt(dx*dx+dy*dy); // in pixels/s -> 0 double mb_len = Math.sqrt(dx*dx+dy*dy); // in pixels/s -> 0
double [] centerXY_sub = centerXY; double [] centerXY_sub = centerXY;
if (mb_len < min_len) { // No MB correction if (mb_len < min_len) { // No MB correction
tp_task.setScale(1.0, accumulate); tp_task.setScale(global_scale, accumulate);
tp_task_sub.task = 0; // disable tp_task_sub.task = 0; // disable
tp_task_sub.setScale(-min_sub); tp_task_sub.setScale(-min_sub * global_scale);
tp_task_sub.setCenterXY(centerXY); tp_task_sub.setCenterXY(centerXY);
} else { } else {
dx /= mb_len; // unit vector dx /= mb_len; // unit vector
...@@ -4696,8 +4700,8 @@ public class GpuQuad{ // quad camera description ...@@ -4696,8 +4700,8 @@ public class GpuQuad{ // quad camera description
if (gain_sub > -min_sub) { if (gain_sub > -min_sub) {
gain_sub = -min_sub; gain_sub = -min_sub;
} }
tp_task.setScale(gain, accumulate); tp_task.setScale(gain * global_scale, accumulate);
tp_task_sub.setScale(gain_sub); tp_task_sub.setScale(gain_sub * global_scale);
} }
boolean bad_margins = false; boolean bad_margins = false;
if (calcPortsCoordinatesAndDerivatives) { // for non-GPU? if (calcPortsCoordinatesAndDerivatives) { // for non-GPU?
......
src/main/java/com/elphel/imagej/tileprocessor/Corr2dLMA.java
View file @ f18a76e7
...@@ -95,7 +95,9 @@ public class Corr2dLMA { ...@@ -95,7 +95,9 @@ public class Corr2dLMA {
final int num_pairs; final int num_pairs;
final int tile_params; final int tile_params;
double [] all_pars; double [] all_pars;
double [] all_pars_saved;
private boolean [] par_mask; private boolean [] par_mask;
private boolean [] par_or_mask; // if was enabled at least on one pass
private int [] par_map; private int [] par_map;
private double [] vector; private double [] vector;
private ArrayList<Sample> samples = new ArrayList<Sample>(); private ArrayList<Sample> samples = new ArrayList<Sample>();
...@@ -883,6 +885,7 @@ public class Corr2dLMA { ...@@ -883,6 +885,7 @@ public class Corr2dLMA {
return true; return true;
} }
/** /**
* Set/modify parameters mask. May be called after preparePars () or after updateFromVector() if LMA was ran * Set/modify parameters mask. May be called after preparePars () or after updateFromVector() if LMA was ran
* @param adjust_disparities null to adjust all (1 or 2) disparities or a boolean array of per maximum * @param adjust_disparities null to adjust all (1 or 2) disparities or a boolean array of per maximum
...@@ -1008,6 +1011,14 @@ public class Corr2dLMA { ...@@ -1008,6 +1011,14 @@ public class Corr2dLMA {
} }
} }
toVector(); toVector();
if (par_or_mask == null) { // if was enabled at least on one pass
par_or_mask = par_mask.clone();
} else {
for (int i = 0; i < par_mask.length; i++) {
par_or_mask[i] |= par_mask[i];
}
}
return true; return true;
} }
...@@ -2396,6 +2407,16 @@ public class Corr2dLMA { ...@@ -2396,6 +2407,16 @@ public class Corr2dLMA {
return rslt; return rslt;
} }
public void saveSolution() {
all_pars_saved = all_pars.clone();
}
public void restoreSolution() {
all_pars = all_pars_saved.clone();
}
public void toVector() { // USED in lwir public void toVector() { // USED in lwir
int np = 0; int np = 0;
for (int i = 0; i < par_mask.length; i++) if (par_mask[i]) np++; for (int i = 0; i < par_mask.length; i++) if (par_mask[i]) np++;
...@@ -2969,6 +2990,7 @@ public class Corr2dLMA { ...@@ -2969,6 +2990,7 @@ public class Corr2dLMA {
public double [][] getMaxMinAmpTile(){ public double [][] getMaxMinAmpTile(){
return getMaxMinAmpTile(0); return getMaxMinAmpTile(0);
} }
public double [][] getMaxMinAmpTile(int nmax){ public double [][] getMaxMinAmpTile(int nmax){
double [][] maxmins = new double[numTiles][2]; double [][] maxmins = new double[numTiles][2];
for (int tile = 0; tile < numTiles; tile++) { for (int tile = 0; tile < numTiles; tile++) {
...@@ -2976,7 +2998,8 @@ public class Corr2dLMA { ...@@ -2976,7 +2998,8 @@ public class Corr2dLMA {
maxmins[tile][0] = Double.NaN; maxmins[tile][0] = Double.NaN;
maxmins[tile][1] = Double.NaN; maxmins[tile][1] = Double.NaN;
for (int i = 0; i <num_pairs; i++) { for (int i = 0; i <num_pairs; i++) {
if (par_mask[G0_INDEX + i + offs]) { /// if (par_mask[G0_INDEX + i + offs]) {
if (par_or_mask[G0_INDEX + i + offs]) { // if some where disabled on a second pass 09/2025
if (!(all_pars[G0_INDEX + i + offs] <= maxmins[tile][0])) { // NaN will trigger true if (!(all_pars[G0_INDEX + i + offs] <= maxmins[tile][0])) { // NaN will trigger true
maxmins[tile][0] = all_pars[G0_INDEX + i + offs]; maxmins[tile][0] = all_pars[G0_INDEX + i + offs];
} }
......
src/main/java/com/elphel/imagej/tileprocessor/Correlation2d.java
View file @ f18a76e7
...@@ -5541,21 +5541,25 @@ public class Correlation2d { ...@@ -5541,21 +5541,25 @@ public class Correlation2d {
if (npass > 0) { if (npass > 0) {
adjust_disparities = null; adjust_disparities = null;
} }
boolean en_shape = (npass == 0) || ! imgdtt_params.bimax_disp_only2;
lma.setParMask( lma.setParMask(
adjust_disparities, // null, // boolean [] adjust_disparities, // null - adjust all, otherwise - per maximum adjust_disparities, // null, // boolean [] adjust_disparities, // null - adjust all, otherwise - per maximum
common_scale, //boolean [] common_scale, // per-maximum, if true - common scale for all pairs common_scale, //boolean [] common_scale, // per-maximum, if true - common scale for all pairs
imgdtt_params.lmas_adjust_wm, // boolean adjust_width, // adjust width of the maximum - lma_adjust_wm en_shape && imgdtt_params.lmas_adjust_wm, // boolean adjust_width, // adjust width of the maximum - lma_adjust_wm
imgdtt_params.lmas_adjust_ag, // boolean adjust_scales, // adjust 2D correlation scales - lma_adjust_ag en_shape && imgdtt_params.lmas_adjust_ag, // boolean adjust_scales, // adjust 2D correlation scales - lma_adjust_ag
imgdtt_params.lmas_adjust_wy, // boolean adjust_ellipse, // allow non-circular correlation maximums lma_adjust_wy en_shape && imgdtt_params.lmas_adjust_wy, // boolean adjust_ellipse, // allow non-circular correlation maximums lma_adjust_wy
false, // (adjust_ly ? imgdtt_params.lma_adjust_wxy : false), //imgdtt_params.lma_adjust_wxy, // boolean adjust_lazyeye_par, // adjust disparity corrections parallel to disparities lma_adjust_wxy false, // (adjust_ly ? imgdtt_params.lma_adjust_wxy : false), //imgdtt_params.lma_adjust_wxy, // boolean adjust_lazyeye_par, // adjust disparity corrections parallel to disparities lma_adjust_wxy
false, // (adjust_ly ? imgdtt_params.lma_adjust_ly1: false), // imgdtt_params.lma_adjust_ly1, // boolean adjust_lazyeye_ortho, // adjust disparity corrections orthogonal to disparities lma_adjust_ly1 false, // (adjust_ly ? imgdtt_params.lma_adjust_ly1: false), // imgdtt_params.lma_adjust_ly1, // boolean adjust_lazyeye_ortho, // adjust disparity corrections orthogonal to disparities lma_adjust_ly1
0.0, // (adjust_ly ? imgdtt_params.lma_cost_wy : 0.0), // imgdtt_params.lma_cost_wy, // double cost_lazyeye_par, // cost for each of the non-zero disparity corrections lma_cost_wy 0.0, // (adjust_ly ? imgdtt_params.lma_cost_wy : 0.0), // imgdtt_params.lma_cost_wy, // double cost_lazyeye_par, // cost for each of the non-zero disparity corrections lma_cost_wy
0.0); // (adjust_ly ? imgdtt_params.lma_cost_wxy : 0.0) //imgdtt_params.lma_cost_wxy // double cost_lazyeye_odtho // cost for each of the non-zero ortho disparity corrections lma_cost_wxy 0.0); // (adjust_ly ? imgdtt_params.lma_cost_wxy : 0.0) //imgdtt_params.lma_cost_wxy // double cost_lazyeye_odtho // cost for each of the non-zero ortho disparity corrections lma_cost_wxy
if (debug_level > 1) { // 1) { if (debug_level > 2) { // 1) {
System.out.println("Input data:"); System.out.println("Input data:");
lma.printInputDataFx(false); lma.printInputDataFx(false);
lma.printParams(); lma.printParams();
} }
if (npass > 0) {
lma.saveSolution();
}
lmaSuccess = lma.runLma( lmaSuccess = lma.runLma(
imgdtt_params.lmas_lambda_initial, // double lambda, // 0.1 imgdtt_params.lmas_lambda_initial, // double lambda, // 0.1
imgdtt_params.lma_lambda_scale_good, // double lambda_scale_good,// 0.5 imgdtt_params.lma_lambda_scale_good, // double lambda_scale_good,// 0.5
...@@ -5569,13 +5573,42 @@ public class Correlation2d { ...@@ -5569,13 +5573,42 @@ public class Correlation2d {
System.out.println("Found bad tile/pair during single (probably wrong initial maximum - try around preliminary? "+lma.getBadTile()); System.out.println("Found bad tile/pair during single (probably wrong initial maximum - try around preliminary? "+lma.getBadTile());
} }
} }
if (!lmaSuccess && (npass > 0) && en_shape) { // only if not already filtered
if (debug_level > -3) {
System.out.println("LMA failed on pass2. Disabling some adjustments and re-trying.");
}
lma.restoreSolution();
// TODO: fine tune which to disable, maybe not all
lma.setParMask(
adjust_disparities, // null, // boolean [] adjust_disparities, // null - adjust all, otherwise - per maximum
common_scale, //boolean [] common_scale, // per-maximum, if true - common scale for all pairs
false, // en_shape && imgdtt_params.lmas_adjust_wm, // boolean adjust_width, // adjust width of the maximum - lma_adjust_wm
false, // en_shape && imgdtt_params.lmas_adjust_ag, // boolean adjust_scales, // adjust 2D correlation scales - lma_adjust_ag
false, // en_shape && imgdtt_params.lmas_adjust_wy, // boolean adjust_ellipse, // allow non-circular correlation maximums lma_adjust_wy
false, // (adjust_ly ? imgdtt_params.lma_adjust_wxy : false), //imgdtt_params.lma_adjust_wxy, // boolean adjust_lazyeye_par, // adjust disparity corrections parallel to disparities lma_adjust_wxy
false, // (adjust_ly ? imgdtt_params.lma_adjust_ly1: false), // imgdtt_params.lma_adjust_ly1, // boolean adjust_lazyeye_ortho, // adjust disparity corrections orthogonal to disparities lma_adjust_ly1
0.0, // (adjust_ly ? imgdtt_params.lma_cost_wy : 0.0), // imgdtt_params.lma_cost_wy, // double cost_lazyeye_par, // cost for each of the non-zero disparity corrections lma_cost_wy
0.0); // (adjust_ly ? imgdtt_params.lma_cost_wxy : 0.0) //imgdtt_params.lma_cost_wxy // double cost_lazyeye_odtho // cost for each of the non-zero ortho disparity corrections lma_cost_wxy
lmaSuccess = lma.runLma(
imgdtt_params.lmas_lambda_initial, // double lambda, // 0.1
imgdtt_params.lma_lambda_scale_good, // double lambda_scale_good,// 0.5
imgdtt_params.lma_lambda_scale_bad, // double lambda_scale_bad, // 8.0
imgdtt_params.lma_lambda_max, // double lambda_max, // 100
imgdtt_params.lmas_rms_diff, // double rms_diff, // 0.001
imgdtt_params.lmas_num_iter, // int num_iter, // 20
debug_level); // imgdtt_params.lma_debug_level1); // 4); // int debug_level) // > 3
if (!lmaSuccess) {
if (debug_level > -3) {
System.out.println("Still did not help - LMA failed.");
}
}
}
} }
if (lmaSuccess) { if (lmaSuccess) {
lma.updateFromVector(); lma.updateFromVector();
double [][][] dispStrs = lma.lmaDisparityStrengths( //TODO: add parameter to filter out negative minimums ? double [][][] dispStrs = lma.lmaDisparityStrengths( //TODO: add parameter to filter out negative minimums ?
imgdtt_params.lmamask_dbg, // false, // boolean bypass_tests, // keep even weak for later analysis. Normally - only in test mode imgdtt_params.lmamask_bypass || imgdtt_params.lmamask_dbg, // false, // boolean bypass_tests, // keep even weak for later analysis. Normally - only in test mode
imgdtt_params.lmas_min_amp, // minimal ratio of minimal pair correlation amplitude to maximal pair correlation amplitude imgdtt_params.lmas_min_amp, // minimal ratio of minimal pair correlation amplitude to maximal pair correlation amplitude
imgdtt_params.lmas_min_amp_bg, // minimal ratio of minimal pair correlation amplitude to maximal pair correlation amplitude imgdtt_params.lmas_min_amp_bg, // minimal ratio of minimal pair correlation amplitude to maximal pair correlation amplitude
imgdtt_params.lmas_max_rel_rms, // maximal relative (to average max/min amplitude LMA RMS) // May be up to 0.3) imgdtt_params.lmas_max_rel_rms, // maximal relative (to average max/min amplitude LMA RMS) // May be up to 0.3)
......
src/main/java/com/elphel/imagej/tileprocessor/ImageDtt.java
View file @ f18a76e7
...@@ -3506,7 +3506,7 @@ public class ImageDtt extends ImageDttCPU { ...@@ -3506,7 +3506,7 @@ public class ImageDtt extends ImageDttCPU {
lma_rms = lma_dual.getRmsTile()[0]; lma_rms = lma_dual.getRmsTile()[0];
boolean dbg_dispStrs = (debug_lma != null); boolean dbg_dispStrs = (debug_lma != null);
double [][][] dispStrs = lma_dual.lmaDisparityStrengths( //TODO: add parameter to filter out negative minimums ? double [][][] dispStrs = lma_dual.lmaDisparityStrengths( //TODO: add parameter to filter out negative minimums ?
dbg_dispStrs, // false, // boolean bypass_tests, // keep even weak for later analysis. Normally - only in test mode imgdtt_params.lmamask_bypass || dbg_dispStrs || debug_print_targets, // false, // boolean bypass_tests, // keep even weak for later analysis. Normally - only in test mode
imgdtt_params.lmas_min_amp, // minimal ratio of minimal pair correlation amplitude to maximal pair correlation amplitude imgdtt_params.lmas_min_amp, // minimal ratio of minimal pair correlation amplitude to maximal pair correlation amplitude
imgdtt_params.lmas_min_amp_bg, // minimal ratio of minimal pair correlation amplitude to maximal pair correlation amplitude imgdtt_params.lmas_min_amp_bg, // minimal ratio of minimal pair correlation amplitude to maximal pair correlation amplitude
imgdtt_params.lmas_max_rel_rms, // maximal relative (to average max/min amplitude LMA RMS) // May be up to 0.3) imgdtt_params.lmas_max_rel_rms, // maximal relative (to average max/min amplitude LMA RMS) // May be up to 0.3)
...@@ -3516,7 +3516,7 @@ public class ImageDtt extends ImageDttCPU { ...@@ -3516,7 +3516,7 @@ public class ImageDtt extends ImageDttCPU {
imgdtt_params.lmas_max_area, //double lma_max_area, // maximal half-area (if > 0.0) imgdtt_params.lmas_max_area, //double lma_max_area, // maximal half-area (if > 0.0)
imgdtt_params.lma_str_scale, // convert lma-generated strength to match previous ones - scale imgdtt_params.lma_str_scale, // convert lma-generated strength to match previous ones - scale
imgdtt_params.lma_str_offset, // convert lma-generated strength to match previous ones - add to result imgdtt_params.lma_str_offset, // convert lma-generated strength to match previous ones - add to result
dbg_dispStrs || debug_print_targets, // false // boolean dbg_mode imgdtt_params.lmamask_bypass || dbg_dispStrs || debug_print_targets, // false // boolean dbg_mode
imgdtt_params.lma_ac_offset, // Add to A, C coefficients for near-lines where A,C could become negative because of window imgdtt_params.lma_ac_offset, // Add to A, C coefficients for near-lines where A,C could become negative because of window
imgdtt_params.lma_relax_indiv_max// double lma_relax_indiv_max // double relax_indiv_max imgdtt_params.lma_relax_indiv_max// double lma_relax_indiv_max // double relax_indiv_max
); );
......
src/main/java/com/elphel/imagej/tileprocessor/ImageDttParameters.java
View file @ f18a76e7
...@@ -102,6 +102,8 @@ public class ImageDttParameters { ...@@ -102,6 +102,8 @@ public class ImageDttParameters {
public int bimax_min_num_samples = 4; // minimal number of samples per pair per maximum public int bimax_min_num_samples = 4; // minimal number of samples per pair per maximum
public int bimax_min_num_pairs = 8; // minimal number of used pairs public int bimax_min_num_pairs = 8; // minimal number of used pairs
public boolean bimax_dual_pass = true; // First pass - do not adjust disparity public boolean bimax_dual_pass = true; // First pass - do not adjust disparity
public boolean bimax_disp_only2 = false;// Disparity only on second pass (keep scales and shape - some CUAS where failing on second pass)
public boolean bimax_common_fg = true; // Common gains for foreground/single correlation maximum public boolean bimax_common_fg = true; // Common gains for foreground/single correlation maximum
public boolean bimax_common_bg = true; // Common gains for background correlation maximum public boolean bimax_common_bg = true; // Common gains for background correlation maximum
public boolean bimax_post_LMA = true; // When dual max, LMA with two maximums, then select. If false,select before LMA public boolean bimax_post_LMA = true; // When dual max, LMA with two maximums, then select. If false,select before LMA
...@@ -111,6 +113,7 @@ public class ImageDttParameters { ...@@ -111,6 +113,7 @@ public class ImageDttParameters {
public boolean bimax_dual_only = false; // process only tiles with dual maximums (requires bimax_dual_LMA) public boolean bimax_dual_only = false; // process only tiles with dual maximums (requires bimax_dual_LMA)
//lmamask_ //lmamask_
public boolean lmamask_bypass = false; // Bypass solution tests, OK weak
public boolean lmamask_dbg = false; // show LMA images, exit after single BG public boolean lmamask_dbg = false; // show LMA images, exit after single BG
public boolean lmamask_en = false; // Use disparity-based LMA samples filter public boolean lmamask_en = false; // Use disparity-based LMA samples filter
public double lmamask_magic = 0.85; // Now only used for initial disparity from estimated by CM/Poly public double lmamask_magic = 0.85; // Now only used for initial disparity from estimated by CM/Poly
...@@ -574,8 +577,10 @@ public class ImageDttParameters { ...@@ -574,8 +577,10 @@ public class ImageDttParameters {
"Minimal number of samples per pair per maximum to use this pair by LMA (each of the maximums used)"); "Minimal number of samples per pair per maximum to use this pair by LMA (each of the maximums used)");
gd.addNumericField("Minimal number of used pairs", this.bimax_min_num_pairs, 0, 3, "", gd.addNumericField("Minimal number of used pairs", this.bimax_min_num_pairs, 0, 3, "",
"Do not use LMA if total number of used pairs is lower"); "Do not use LMA if total number of used pairs is lower");
gd.addCheckbox ("Dual-pass LMA", this.bimax_dual_pass, gd.addCheckbox ("Dual-pass LMA (no disparity on first)", this.bimax_dual_pass,
"First adjust other parameters (keeping disparities), then add disparities"); "First adjust other parameters (keeping disparities), then add disparities");
gd.addCheckbox ("Disparity only on second pass", this.bimax_disp_only2,
"Sometimes failed for CUAS on second pass, mitigate by disparity only (keep others from pass1).");
gd.addCheckbox ("Common gains for foreground/single correlation maximum", this.bimax_common_fg, gd.addCheckbox ("Common gains for foreground/single correlation maximum", this.bimax_common_fg,
"Use common gain for all pairs for FG/single correlation (unchecked - use individual gain for each pair)"); "Use common gain for all pairs for FG/single correlation (unchecked - use individual gain for each pair)");
gd.addCheckbox ("Common gains for background correlation maximum", this.bimax_common_bg, gd.addCheckbox ("Common gains for background correlation maximum", this.bimax_common_bg,
...@@ -591,6 +596,8 @@ public class ImageDttParameters { ...@@ -591,6 +596,8 @@ public class ImageDttParameters {
"May be used to determine BG after refining FG. First refine with false and mode = 3 (FG), then with true and mode = 4 (BG)"); "May be used to determine BG after refining FG. First refine with false and mode = 3 (FG), then with true and mode = 4 (BG)");
gd.addMessage("LMA samples filter based on estimated disparity"); gd.addMessage("LMA samples filter based on estimated disparity");
gd.addCheckbox ("Bypass LMA solution tests, use anyway", this.lmamask_bypass,
"Bypass solution tests, OK weak.");
gd.addCheckbox ("Debug LMA", this.lmamask_dbg, gd.addCheckbox ("Debug LMA", this.lmamask_dbg,
"Generate debug images and exit after first clt_process_tl_correlations() while generating background image"); "Generate debug images and exit after first clt_process_tl_correlations() while generating background image");
gd.addCheckbox ("Use disparity-based LMA samples filtering", this.lmamask_en, gd.addCheckbox ("Use disparity-based LMA samples filtering", this.lmamask_en,
...@@ -1031,6 +1038,7 @@ public class ImageDttParameters { ...@@ -1031,6 +1038,7 @@ public class ImageDttParameters {
this.bimax_min_num_samples= (int) gd.getNextNumber(); this.bimax_min_num_samples= (int) gd.getNextNumber();
this.bimax_min_num_pairs= (int) gd.getNextNumber(); this.bimax_min_num_pairs= (int) gd.getNextNumber();
this.bimax_dual_pass = gd.getNextBoolean(); this.bimax_dual_pass = gd.getNextBoolean();
this.bimax_disp_only2 = gd.getNextBoolean();
this.bimax_common_fg = gd.getNextBoolean(); this.bimax_common_fg = gd.getNextBoolean();
this.bimax_common_bg = gd.getNextBoolean(); this.bimax_common_bg = gd.getNextBoolean();
this.bimax_post_LMA = gd.getNextBoolean(); this.bimax_post_LMA = gd.getNextBoolean();
...@@ -1038,6 +1046,7 @@ public class ImageDttParameters { ...@@ -1038,6 +1046,7 @@ public class ImageDttParameters {
this.bimax_dual_LMA = gd.getNextBoolean(); this.bimax_dual_LMA = gd.getNextBoolean();
this.bimax_dual_only = gd.getNextBoolean(); this.bimax_dual_only = gd.getNextBoolean();
this.lmamask_bypass = gd.getNextBoolean();
this.lmamask_dbg = gd.getNextBoolean(); this.lmamask_dbg = gd.getNextBoolean();
this.lmamask_en = gd.getNextBoolean(); this.lmamask_en = gd.getNextBoolean();
this.lmamask_magic = gd.getNextNumber(); this.lmamask_magic = gd.getNextNumber();
...@@ -1279,6 +1288,7 @@ public class ImageDttParameters { ...@@ -1279,6 +1288,7 @@ public class ImageDttParameters {
properties.setProperty(prefix+"bimax_min_num_samples", this.bimax_min_num_samples +""); properties.setProperty(prefix+"bimax_min_num_samples", this.bimax_min_num_samples +"");
properties.setProperty(prefix+"bimax_min_num_pairs", this.bimax_min_num_pairs +""); properties.setProperty(prefix+"bimax_min_num_pairs", this.bimax_min_num_pairs +"");
properties.setProperty(prefix+"bimax_dual_pass", this.bimax_dual_pass +""); properties.setProperty(prefix+"bimax_dual_pass", this.bimax_dual_pass +"");
properties.setProperty(prefix+"bimax_disp_only2", this.bimax_disp_only2 +"");
properties.setProperty(prefix+"bimax_common_fg", this.bimax_common_fg +""); properties.setProperty(prefix+"bimax_common_fg", this.bimax_common_fg +"");
properties.setProperty(prefix+"bimax_common_bg", this.bimax_common_bg +""); properties.setProperty(prefix+"bimax_common_bg", this.bimax_common_bg +"");
properties.setProperty(prefix+"bimax_post_LMA", this.bimax_post_LMA +""); properties.setProperty(prefix+"bimax_post_LMA", this.bimax_post_LMA +"");
...@@ -1286,6 +1296,7 @@ public class ImageDttParameters { ...@@ -1286,6 +1296,7 @@ public class ImageDttParameters {
properties.setProperty(prefix+"bimax_dual_LMA", this.bimax_dual_LMA +""); properties.setProperty(prefix+"bimax_dual_LMA", this.bimax_dual_LMA +"");
properties.setProperty(prefix+"bimax_dual_only", this.bimax_dual_only +""); properties.setProperty(prefix+"bimax_dual_only", this.bimax_dual_only +"");
properties.setProperty(prefix+"lmamask_bypass", this.lmamask_bypass +"");
properties.setProperty(prefix+"lmamask_dbg", this.lmamask_dbg +""); properties.setProperty(prefix+"lmamask_dbg", this.lmamask_dbg +"");
properties.setProperty(prefix+"lmamask_en", this.lmamask_en +""); properties.setProperty(prefix+"lmamask_en", this.lmamask_en +"");
properties.setProperty(prefix+"lmamask_magic", this.lmamask_magic +""); properties.setProperty(prefix+"lmamask_magic", this.lmamask_magic +"");
...@@ -1529,6 +1540,7 @@ public class ImageDttParameters { ...@@ -1529,6 +1540,7 @@ public class ImageDttParameters {
if (properties.getProperty(prefix+"bimax_min_num_samples")!=null) this.bimax_min_num_samples=Integer.parseInt(properties.getProperty(prefix+"bimax_min_num_samples")); if (properties.getProperty(prefix+"bimax_min_num_samples")!=null) this.bimax_min_num_samples=Integer.parseInt(properties.getProperty(prefix+"bimax_min_num_samples"));
if (properties.getProperty(prefix+"bimax_min_num_pairs")!=null) this.bimax_min_num_pairs=Integer.parseInt(properties.getProperty(prefix+"bimax_min_num_pairs")); if (properties.getProperty(prefix+"bimax_min_num_pairs")!=null) this.bimax_min_num_pairs=Integer.parseInt(properties.getProperty(prefix+"bimax_min_num_pairs"));
if (properties.getProperty(prefix+"bimax_dual_pass")!=null) this.bimax_dual_pass=Boolean.parseBoolean(properties.getProperty(prefix+"bimax_dual_pass")); if (properties.getProperty(prefix+"bimax_dual_pass")!=null) this.bimax_dual_pass=Boolean.parseBoolean(properties.getProperty(prefix+"bimax_dual_pass"));
if (properties.getProperty(prefix+"bimax_disp_only2")!=null) this.bimax_disp_only2=Boolean.parseBoolean(properties.getProperty(prefix+"bimax_disp_only2"));
if (properties.getProperty(prefix+"bimax_common_fg")!=null) this.bimax_common_fg=Boolean.parseBoolean(properties.getProperty(prefix+"bimax_common_fg")); if (properties.getProperty(prefix+"bimax_common_fg")!=null) this.bimax_common_fg=Boolean.parseBoolean(properties.getProperty(prefix+"bimax_common_fg"));
if (properties.getProperty(prefix+"bimax_common_bg")!=null) this.bimax_common_bg=Boolean.parseBoolean(properties.getProperty(prefix+"bimax_common_bg")); if (properties.getProperty(prefix+"bimax_common_bg")!=null) this.bimax_common_bg=Boolean.parseBoolean(properties.getProperty(prefix+"bimax_common_bg"));
if (properties.getProperty(prefix+"bimax_post_LMA")!=null) this.bimax_post_LMA=Boolean.parseBoolean(properties.getProperty(prefix+"bimax_post_LMA")); if (properties.getProperty(prefix+"bimax_post_LMA")!=null) this.bimax_post_LMA=Boolean.parseBoolean(properties.getProperty(prefix+"bimax_post_LMA"));
...@@ -1536,6 +1548,7 @@ public class ImageDttParameters { ...@@ -1536,6 +1548,7 @@ public class ImageDttParameters {
if (properties.getProperty(prefix+"bimax_dual_LMA")!=null) this.bimax_dual_LMA=Boolean.parseBoolean(properties.getProperty(prefix+"bimax_dual_LMA")); if (properties.getProperty(prefix+"bimax_dual_LMA")!=null) this.bimax_dual_LMA=Boolean.parseBoolean(properties.getProperty(prefix+"bimax_dual_LMA"));
if (properties.getProperty(prefix+"bimax_dual_only")!=null) this.bimax_dual_only=Boolean.parseBoolean(properties.getProperty(prefix+"bimax_dual_only")); if (properties.getProperty(prefix+"bimax_dual_only")!=null) this.bimax_dual_only=Boolean.parseBoolean(properties.getProperty(prefix+"bimax_dual_only"));
if (properties.getProperty(prefix+"lmamask_bypass")!=null) this.lmamask_bypass=Boolean.parseBoolean(properties.getProperty(prefix+"lmamask_bypass"));
if (properties.getProperty(prefix+"lmamask_dbg")!=null) this.lmamask_dbg=Boolean.parseBoolean(properties.getProperty(prefix+"lmamask_dbg")); if (properties.getProperty(prefix+"lmamask_dbg")!=null) this.lmamask_dbg=Boolean.parseBoolean(properties.getProperty(prefix+"lmamask_dbg"));
if (properties.getProperty(prefix+"lmamask_en")!=null) this.lmamask_en=Boolean.parseBoolean(properties.getProperty(prefix+"lmamask_en")); if (properties.getProperty(prefix+"lmamask_en")!=null) this.lmamask_en=Boolean.parseBoolean(properties.getProperty(prefix+"lmamask_en"));
if (properties.getProperty(prefix+"lmamask_magic")!=null) this.lmamask_magic=Double.parseDouble(properties.getProperty(prefix+"lmamask_magic")); if (properties.getProperty(prefix+"lmamask_magic")!=null) this.lmamask_magic=Double.parseDouble(properties.getProperty(prefix+"lmamask_magic"));
...@@ -1794,6 +1807,7 @@ public class ImageDttParameters { ...@@ -1794,6 +1807,7 @@ public class ImageDttParameters {
idp.bimax_min_num_samples= this.bimax_min_num_samples; idp.bimax_min_num_samples= this.bimax_min_num_samples;
idp.bimax_min_num_pairs= this.bimax_min_num_pairs; idp.bimax_min_num_pairs= this.bimax_min_num_pairs;
idp.bimax_dual_pass= this.bimax_dual_pass; idp.bimax_dual_pass= this.bimax_dual_pass;
idp.bimax_disp_only2 = this.bimax_disp_only2;
idp.bimax_common_fg= this.bimax_common_fg; idp.bimax_common_fg= this.bimax_common_fg;
idp.bimax_common_bg= this.bimax_common_bg; idp.bimax_common_bg= this.bimax_common_bg;
idp.bimax_post_LMA= this.bimax_post_LMA; idp.bimax_post_LMA= this.bimax_post_LMA;
...@@ -1801,6 +1815,7 @@ public class ImageDttParameters { ...@@ -1801,6 +1815,7 @@ public class ImageDttParameters {
idp.bimax_dual_LMA= this.bimax_dual_LMA; idp.bimax_dual_LMA= this.bimax_dual_LMA;
idp.bimax_dual_only= this.bimax_dual_only; idp.bimax_dual_only= this.bimax_dual_only;
idp.lmamask_bypass = this.lmamask_bypass;
idp.lmamask_dbg= this.lmamask_dbg; idp.lmamask_dbg= this.lmamask_dbg;
idp.lmamask_en= this.lmamask_en; idp.lmamask_en= this.lmamask_en;
idp.lmamask_magic= this.lmamask_magic; idp.lmamask_magic= this.lmamask_magic;
...@@ -1992,7 +2007,9 @@ public class ImageDttParameters { ...@@ -1992,7 +2007,9 @@ public class ImageDttParameters {
lma_ac_offset = imp.cuas_ac_offset; lma_ac_offset = imp.cuas_ac_offset;
lmas_min_max_ac = imp.cuas_min_max_ac; lmas_min_max_ac = imp.cuas_min_max_ac;
lmas_min_min_ac = imp.cuas_min_min_ac; lmas_min_min_ac = imp.cuas_min_min_ac;
bimax_dual_pass = imp.cuas_dual_pass;
bimax_disp_only2 = imp.cuas_disp_only2;
lmamask_bypass = imp.cuas_lma_bypass;
} }
......
src/main/java/com/elphel/imagej/tileprocessor/IntersceneMatchParameters.java
View file @ f18a76e7
...@@ -861,17 +861,21 @@ min_str_neib_fpn 0.35 ...@@ -861,17 +861,21 @@ min_str_neib_fpn 0.35
public boolean cuas_smooth_omegas = true; // Recalculate omegas from continuing targets positions public boolean cuas_smooth_omegas = true; // Recalculate omegas from continuing targets positions
public boolean cuas_rng_um = true; // apply UM to images for ranging (assumed true) public boolean cuas_rng_um = true; // apply UM to images for ranging (assumed true)
public boolean cuas_rng_um_all = false;// Unsharp mask all images (after FPN and Row/Col), unchecked - when needed. Checked faster, but original data is lost. public boolean cuas_rng_um_all = false;// Unsharp mask all images (after FPN and Row/Col), unchecked - when needed. Checked faster, but original data is lost.
public double cuas_rng_um_sigma = 2; // unsharp mask sigma for ranging images public double cuas_rng_um_sigma = 2; // unsharp mask sigma for ranging images
public boolean cuas_rng_um2 = false; // apply UM to images twice public boolean cuas_rng_um2 = false; // apply UM to images twice
public double cuas_rng_um_weight = 1.0; // unsharp mask weight for ranging images public double cuas_rng_um_weight = 1.0; // unsharp mask weight for ranging images
public boolean cuas_rng_coswnd = true; // Use cosine scenes window (false - rectangular)
public int cuas_rng_combine = 8; // combine multiple scenes before intrascene correlation public int cuas_rng_combine = 8; // combine multiple scenes before intrascene correlation
public double cuas_rng_radius0 = 3.5; // mask out data outside peripheral areas, keep 0.5 at the radius - first iteration public double cuas_rng_radius0 = 3.5; // mask out data outside peripheral areas, keep 0.5 at the radius - first iteration
public double cuas_rng_radius = 2.0; // mask out data outside peripheral areas, keep 0.5 at the radius - next iteration public double cuas_rng_radius = 2.0; // mask out data outside peripheral areas, keep 0.5 at the radius - next iteration
public double cuas_rng_blur = 0.5; // relative transition radius range (for 0.5 the mask inside (1-0.5) radius will be 1.0, outside (1+0.5) radius will be 0 public double cuas_rng_blur = 0.5; // relative transition radius range (for 0.5 the mask inside (1-0.5) radius will be 1.0, outside (1+0.5) radius will be 0
public double cuas_rng_fz = 1000.0; // Fat zero in target ranging mode public double cuas_rng_fz = 1000.0; // Fat zero in target ranging mode
public double cuas_rng_scale = 8.0; // Scale alt_data to use same strength as for normal ranging because targets public double cuas_rng_scale = 8.0; // Scale alt_data to use same strength as for normal ranging because targets
// will overwrite ImageDttParameters // will overwrite ImageDttParameters
public boolean cuas_dual_pass = true; // First pass - do not adjust disparity
public boolean cuas_disp_only2 = true; // Disparity only on second pass (keep scales and shape - some CUAS where failing on second pass)
public boolean cuas_lma_bypass = false; // Bypass solution tests, OK weak
public int cuas_mcorr_sel = 3; // all pairs and diagonals (as was for non-cuas ranging) public int cuas_mcorr_sel = 3; // all pairs and diagonals (as was for non-cuas ranging)
public int cuas_mcorr_sel_lma = 1; // all pairs (will use all selected by cuas_mcorr_sel) public int cuas_mcorr_sel_lma = 1; // all pairs (will use all selected by cuas_mcorr_sel)
...@@ -2613,10 +2617,12 @@ min_str_neib_fpn 0.35 ...@@ -2613,10 +2617,12 @@ min_str_neib_fpn 0.35
"Unsharp mask all images (after FPN and Row/Col), unchecked - when needed. Checked faster, but original data is lost."); "Unsharp mask all images (after FPN and Row/Col), unchecked - when needed. Checked faster, but original data is lost.");
gd.addNumericField("Unsharp mask sigma (radius)", this.cuas_rng_um_sigma, 5,7,"pix", gd.addNumericField("Unsharp mask sigma (radius)", this.cuas_rng_um_sigma, 5,7,"pix",
"Unsharp mask Gaussian sigma for ranging."); "Unsharp mask Gaussian sigma for ranging.");
gd.addCheckbox ("Apply unsharp mask twice", this.cuas_rng_um2, gd.addCheckbox ("Apply unsharp mask twice", this.cuas_rng_um2,
"Apply unsharp mask twice to fight gradients appearing as level shifts."); "Apply unsharp mask twice to fight gradients appearing as level shifts.");
gd.addNumericField("Unsharp mask weight", this.cuas_rng_um_weight, 5,7,"", gd.addNumericField("Unsharp mask weight", this.cuas_rng_um_weight, 5,7,"",
"Unsharp mask weightt (multiply blurred version before subtraction from the original)."); "Unsharp mask weightt (multiply blurred version before subtraction from the original).");
gd.addCheckbox ("Cosine scenes window", this.cuas_rng_coswnd,
" Use cosine scenes window (false - rectangular) .");
gd.addNumericField("Combine scenes before correlating", this.cuas_rng_combine, 0,3,"", gd.addNumericField("Combine scenes before correlating", this.cuas_rng_combine, 0,3,"",
"Combine multiple scenes before intrascene correlation."); "Combine multiple scenes before intrascene correlation.");
...@@ -2631,6 +2637,15 @@ min_str_neib_fpn 0.35 ...@@ -2631,6 +2637,15 @@ min_str_neib_fpn 0.35
gd.addNumericField("Scale alt image data", this.cuas_rng_scale, 5,8,"x", gd.addNumericField("Scale alt image data", this.cuas_rng_scale, 5,8,"x",
"Scale alt_data to use same strength as for normal ranging because targets are smaller than tile."); "Scale alt_data to use same strength as for normal ranging because targets are smaller than tile.");
gd.addMessage("=== Overwrite image_dtt parameters ===");
gd.addCheckbox ("Dual-pass LMA (no disparity on first)", this.cuas_dual_pass,
"First adjust other parameters (keeping disparities), then add disparities");
gd.addCheckbox ("Disparity only on second pass", this.cuas_disp_only2,
"Sometimes failed for CUAS on second pass, mitigate by disparity only (keep others from pass1).");
gd.addCheckbox ("Bypass LMA solution tests, use anyway", this.cuas_lma_bypass,
"Use to find out which test fails in the logs. Disable when done.");
gd.addNumericField("Select correlation pairs to calculate", this.cuas_mcorr_sel, 0, 3, "", gd.addNumericField("Select correlation pairs to calculate", this.cuas_mcorr_sel, 0, 3, "",
"Will select pairs to process and use for CM in CUAS mode: +1 - all, +2 - dia, +4 - sq, +8 - neibs, +16 - hor + 32 - vert"); "Will select pairs to process and use for CM in CUAS mode: +1 - all, +2 - dia, +4 - sq, +8 - neibs, +16 - hor + 32 - vert");
gd.addNumericField("Select correlation pairs for LMA", this.cuas_mcorr_sel_lma, 0, 3, "", gd.addNumericField("Select correlation pairs for LMA", this.cuas_mcorr_sel_lma, 0, 3, "",
...@@ -3799,6 +3814,7 @@ min_str_neib_fpn 0.35 ...@@ -3799,6 +3814,7 @@ min_str_neib_fpn 0.35
this.cuas_rng_um_sigma = gd.getNextNumber(); this.cuas_rng_um_sigma = gd.getNextNumber();
this.cuas_rng_um2 = gd.getNextBoolean(); this.cuas_rng_um2 = gd.getNextBoolean();
this.cuas_rng_um_weight = gd.getNextNumber(); this.cuas_rng_um_weight = gd.getNextNumber();
this.cuas_rng_coswnd = gd.getNextBoolean();
this.cuas_rng_combine = (int) gd.getNextNumber(); this.cuas_rng_combine = (int) gd.getNextNumber();
this.cuas_rng_radius0 = gd.getNextNumber(); this.cuas_rng_radius0 = gd.getNextNumber();
...@@ -3807,6 +3823,9 @@ min_str_neib_fpn 0.35 ...@@ -3807,6 +3823,9 @@ min_str_neib_fpn 0.35
this.cuas_rng_fz = gd.getNextNumber(); this.cuas_rng_fz = gd.getNextNumber();
this.cuas_rng_scale = gd.getNextNumber(); this.cuas_rng_scale = gd.getNextNumber();
this.cuas_dual_pass = gd.getNextBoolean();
this.cuas_disp_only2 = gd.getNextBoolean();
this.cuas_lma_bypass = gd.getNextBoolean();
this.cuas_mcorr_sel = (int) gd.getNextNumber(); this.cuas_mcorr_sel = (int) gd.getNextNumber();
this.cuas_mcorr_sel_lma = (int) gd.getNextNumber(); this.cuas_mcorr_sel_lma = (int) gd.getNextNumber();
...@@ -4859,6 +4878,8 @@ min_str_neib_fpn 0.35 ...@@ -4859,6 +4878,8 @@ min_str_neib_fpn 0.35
properties.setProperty(prefix+"cuas_rng_um_sigma", this.cuas_rng_um_sigma+""); // double properties.setProperty(prefix+"cuas_rng_um_sigma", this.cuas_rng_um_sigma+""); // double
properties.setProperty(prefix+"cuas_rng_um2", this.cuas_rng_um2+""); // boolean properties.setProperty(prefix+"cuas_rng_um2", this.cuas_rng_um2+""); // boolean
properties.setProperty(prefix+"cuas_rng_um_weight", this.cuas_rng_um_weight+""); // double properties.setProperty(prefix+"cuas_rng_um_weight", this.cuas_rng_um_weight+""); // double
properties.setProperty(prefix+"cuas_rng_coswnd", this.cuas_rng_coswnd+""); // boolean
properties.setProperty(prefix+"cuas_rng_combine", this.cuas_rng_combine+""); // int properties.setProperty(prefix+"cuas_rng_combine", this.cuas_rng_combine+""); // int
properties.setProperty(prefix+"cuas_rng_radius0", this.cuas_rng_radius0+""); // double properties.setProperty(prefix+"cuas_rng_radius0", this.cuas_rng_radius0+""); // double
...@@ -4867,6 +4888,9 @@ min_str_neib_fpn 0.35 ...@@ -4867,6 +4888,9 @@ min_str_neib_fpn 0.35
properties.setProperty(prefix+"cuas_rng_fz", this.cuas_rng_fz+""); // double properties.setProperty(prefix+"cuas_rng_fz", this.cuas_rng_fz+""); // double
properties.setProperty(prefix+"cuas_rng_scale", this.cuas_rng_scale+""); // double properties.setProperty(prefix+"cuas_rng_scale", this.cuas_rng_scale+""); // double
properties.setProperty(prefix+"cuas_dual_pass", this.cuas_dual_pass+""); // boolean
properties.setProperty(prefix+"cuas_disp_only2", this.cuas_disp_only2+""); // boolean
properties.setProperty(prefix+"cuas_lma_bypass", this.cuas_lma_bypass+""); // boolean
properties.setProperty(prefix+"cuas_mcorr_sel", this.cuas_mcorr_sel+""); // int properties.setProperty(prefix+"cuas_mcorr_sel", this.cuas_mcorr_sel+""); // int
properties.setProperty(prefix+"cuas_mcorr_sel_lma", this.cuas_mcorr_sel_lma+""); // int properties.setProperty(prefix+"cuas_mcorr_sel_lma", this.cuas_mcorr_sel_lma+""); // int
...@@ -5895,6 +5919,8 @@ min_str_neib_fpn 0.35 ...@@ -5895,6 +5919,8 @@ min_str_neib_fpn 0.35
if (properties.getProperty(prefix+"cuas_rng_um_sigma")!=null) this.cuas_rng_um_sigma=Double.parseDouble(properties.getProperty(prefix+"cuas_rng_um_sigma")); if (properties.getProperty(prefix+"cuas_rng_um_sigma")!=null) this.cuas_rng_um_sigma=Double.parseDouble(properties.getProperty(prefix+"cuas_rng_um_sigma"));
if (properties.getProperty(prefix+"cuas_rng_um2")!=null) this.cuas_rng_um2=Boolean.parseBoolean(properties.getProperty(prefix+"cuas_rng_um2")); if (properties.getProperty(prefix+"cuas_rng_um2")!=null) this.cuas_rng_um2=Boolean.parseBoolean(properties.getProperty(prefix+"cuas_rng_um2"));
if (properties.getProperty(prefix+"cuas_rng_um_weight")!=null) this.cuas_rng_um_weight=Double.parseDouble(properties.getProperty(prefix+"cuas_rng_um_weight")); if (properties.getProperty(prefix+"cuas_rng_um_weight")!=null) this.cuas_rng_um_weight=Double.parseDouble(properties.getProperty(prefix+"cuas_rng_um_weight"));
if (properties.getProperty(prefix+"cuas_rng_coswnd")!=null) this.cuas_rng_coswnd=Boolean.parseBoolean(properties.getProperty(prefix+"cuas_rng_coswnd"));
if (properties.getProperty(prefix+"cuas_rng_combine")!=null) this.cuas_rng_combine=Integer.parseInt(properties.getProperty(prefix+"cuas_rng_combine")); if (properties.getProperty(prefix+"cuas_rng_combine")!=null) this.cuas_rng_combine=Integer.parseInt(properties.getProperty(prefix+"cuas_rng_combine"));
if (properties.getProperty(prefix+"cuas_rng_radius0")!=null) this.cuas_rng_radius0=Double.parseDouble(properties.getProperty(prefix+"cuas_rng_radius0")); if (properties.getProperty(prefix+"cuas_rng_radius0")!=null) this.cuas_rng_radius0=Double.parseDouble(properties.getProperty(prefix+"cuas_rng_radius0"));
...@@ -5902,7 +5928,10 @@ min_str_neib_fpn 0.35 ...@@ -5902,7 +5928,10 @@ min_str_neib_fpn 0.35
if (properties.getProperty(prefix+"cuas_rng_blur")!=null) this.cuas_rng_blur=Double.parseDouble(properties.getProperty(prefix+"cuas_rng_blur")); if (properties.getProperty(prefix+"cuas_rng_blur")!=null) this.cuas_rng_blur=Double.parseDouble(properties.getProperty(prefix+"cuas_rng_blur"));
if (properties.getProperty(prefix+"cuas_rng_fz")!=null) this.cuas_rng_fz=Double.parseDouble(properties.getProperty(prefix+"cuas_rng_fz")); if (properties.getProperty(prefix+"cuas_rng_fz")!=null) this.cuas_rng_fz=Double.parseDouble(properties.getProperty(prefix+"cuas_rng_fz"));
if (properties.getProperty(prefix+"cuas_rng_scale")!=null) this.cuas_rng_scale=Double.parseDouble(properties.getProperty(prefix+"cuas_rng_scale")); if (properties.getProperty(prefix+"cuas_rng_scale")!=null) this.cuas_rng_scale=Double.parseDouble(properties.getProperty(prefix+"cuas_rng_scale"));
if (properties.getProperty(prefix+"cuas_dual_pass")!=null) this.cuas_dual_pass=Boolean.parseBoolean(properties.getProperty(prefix+"cuas_dual_pass"));
if (properties.getProperty(prefix+"cuas_disp_only2")!=null) this.cuas_disp_only2=Boolean.parseBoolean(properties.getProperty(prefix+"cuas_disp_only2"));
if (properties.getProperty(prefix+"cuas_lma_bypass")!=null) this.cuas_lma_bypass=Boolean.parseBoolean(properties.getProperty(prefix+"cuas_lma_bypass"));
if (properties.getProperty(prefix+"cuas_mcorr_sel")!=null) this.cuas_mcorr_sel=Integer.parseInt(properties.getProperty(prefix+"cuas_mcorr_sel")); if (properties.getProperty(prefix+"cuas_mcorr_sel")!=null) this.cuas_mcorr_sel=Integer.parseInt(properties.getProperty(prefix+"cuas_mcorr_sel"));
if (properties.getProperty(prefix+"cuas_mcorr_sel_lma")!=null) this.cuas_mcorr_sel_lma=Integer.parseInt(properties.getProperty(prefix+"cuas_mcorr_sel_lma")); if (properties.getProperty(prefix+"cuas_mcorr_sel_lma")!=null) this.cuas_mcorr_sel_lma=Integer.parseInt(properties.getProperty(prefix+"cuas_mcorr_sel_lma"));
...@@ -6924,6 +6953,7 @@ min_str_neib_fpn 0.35 ...@@ -6924,6 +6953,7 @@ min_str_neib_fpn 0.35
imp.cuas_rng_um_sigma = this.cuas_rng_um_sigma; imp.cuas_rng_um_sigma = this.cuas_rng_um_sigma;
imp.cuas_rng_um2 = this.cuas_rng_um2; imp.cuas_rng_um2 = this.cuas_rng_um2;
imp.cuas_rng_um_weight = this.cuas_rng_um_weight; imp.cuas_rng_um_weight = this.cuas_rng_um_weight;
imp.cuas_rng_coswnd = this.cuas_rng_coswnd;
imp.cuas_rng_combine = this.cuas_rng_combine; imp.cuas_rng_combine = this.cuas_rng_combine;
imp.cuas_rng_radius0 = this.cuas_rng_radius0; imp.cuas_rng_radius0 = this.cuas_rng_radius0;
...@@ -6932,6 +6962,9 @@ min_str_neib_fpn 0.35 ...@@ -6932,6 +6962,9 @@ min_str_neib_fpn 0.35
imp.cuas_rng_fz = this.cuas_rng_fz; imp.cuas_rng_fz = this.cuas_rng_fz;
imp.cuas_rng_scale = this.cuas_rng_scale; imp.cuas_rng_scale = this.cuas_rng_scale;
imp.cuas_dual_pass = this.cuas_dual_pass;
imp.cuas_disp_only2 = this.cuas_disp_only2;
imp.cuas_lma_bypass = this.cuas_lma_bypass;
imp.cuas_mcorr_sel = this.cuas_mcorr_sel; imp.cuas_mcorr_sel = this.cuas_mcorr_sel;
imp.cuas_mcorr_sel_lma = this.cuas_mcorr_sel_lma; imp.cuas_mcorr_sel_lma = this.cuas_mcorr_sel_lma;
......
src/main/java/com/elphel/imagej/tileprocessor/QuadCLT.java
View file @ f18a76e7
...@@ -1843,7 +1843,8 @@ public class QuadCLT extends QuadCLTCPU { ...@@ -1843,7 +1843,8 @@ public class QuadCLT extends QuadCLTCPU {
int threadsMax, int threadsMax,
final int debugLevel){ final int debugLevel){
return preRenderGPUFromDSI( // will return PxPyD return preRenderGPUFromDSI( // will return PxPyD
false, // final boolean accumulate, false, // final boolean accumulate,
1.0, // final double global_scale, // <=1.0
sensor_mask, // final int sensor_mask, sensor_mask, // final int sensor_mask,
merge_channels, // final boolean merge_channels, merge_channels, // final boolean merge_channels,
discard_border, // final int discard_border, discard_border, // final int discard_border,
...@@ -1869,7 +1870,8 @@ public class QuadCLT extends QuadCLTCPU { ...@@ -1869,7 +1870,8 @@ public class QuadCLT extends QuadCLTCPU {
public static double [][] preRenderGPUFromDSI( // will return PxPyD public static double [][] preRenderGPUFromDSI( // will return PxPyD
final boolean accumulate, final boolean accumulate,
final double global_scale, // <=1.0
final int sensor_mask, final int sensor_mask,
final boolean merge_channels, final boolean merge_channels,
final int discard_border, final int discard_border,
...@@ -1979,6 +1981,7 @@ public class QuadCLT extends QuadCLTCPU { ...@@ -1979,6 +1981,7 @@ public class QuadCLT extends QuadCLTCPU {
if (mb_vectors!=null) { if (mb_vectors!=null) {
tp_tasks = GpuQuad.setInterTasksMotionBlur( // "true" reference, with stereo actual reference will be offset tp_tasks = GpuQuad.setInterTasksMotionBlur( // "true" reference, with stereo actual reference will be offset
accumulate, // final boolean accumulate, accumulate, // final boolean accumulate,
global_scale, // final double global_scale, // <=1.0
scene.getNumSensors(), scene.getNumSensors(),
rendered_width, // should match output size, pXpYD.length rendered_width, // should match output size, pXpYD.length
!scene.hasGPU(), // final boolean calcPortsCoordinatesAndDerivatives, // GPU can calculate them centreXY !scene.hasGPU(), // final boolean calcPortsCoordinatesAndDerivatives, // GPU can calculate them centreXY
...@@ -1997,6 +2000,7 @@ public class QuadCLT extends QuadCLTCPU { ...@@ -1997,6 +2000,7 @@ public class QuadCLT extends QuadCLTCPU {
tp_tasks = new TpTask[1][]; tp_tasks = new TpTask[1][];
tp_tasks[0] = GpuQuad.setInterTasks( // "true" reference, with stereo actual reference will be offset tp_tasks[0] = GpuQuad.setInterTasks( // "true" reference, with stereo actual reference will be offset
accumulate, // final boolean accumulate, accumulate, // final boolean accumulate,
global_scale, // final double global_scale, // <=1.0
scene.getNumSensors(), scene.getNumSensors(),
rendered_width, // should match output size, pXpYD.length rendered_width, // should match output size, pXpYD.length
!scene.hasGPU(), // final boolean calcPortsCoordinatesAndDerivatives, // GPU can calculate them centreXY !scene.hasGPU(), // final boolean calcPortsCoordinatesAndDerivatives, // GPU can calculate them centreXY
...@@ -2033,7 +2037,7 @@ public class QuadCLT extends QuadCLTCPU { ...@@ -2033,7 +2037,7 @@ public class QuadCLT extends QuadCLTCPU {
int [] wh = (full_woi_in == null)? null: new int[]{ int [] wh = (full_woi_in == null)? null: new int[]{
full_woi_in.width * GPUTileProcessor.DTT_SIZE, full_woi_in.width * GPUTileProcessor.DTT_SIZE,
full_woi_in.height * GPUTileProcessor.DTT_SIZE}; full_woi_in.height * GPUTileProcessor.DTT_SIZE};
int erase_clt = show_nan ? 1:0; int erase_clt = accumulate? -1 : ( show_nan ? 1:0); // do not erase if accumulate !
// boolean test1 = true; // boolean test1 = true;
if (mb_vectors!=null) {// && test1) { if (mb_vectors!=null) {// && test1) {
image_dtt.setReferenceTDMotionBlur( // change to main? image_dtt.setReferenceTDMotionBlur( // change to main?
...@@ -6197,7 +6201,7 @@ if (debugLevel < -100) { ...@@ -6197,7 +6201,7 @@ if (debugLevel < -100) {
int nsens_col = nImg % num_sens_col; int nsens_col = nImg % num_sens_col;
int nsens = nsens_col / num_col; int nsens = nsens_col / num_col;
int ncol = nsens_col % num_col; int ncol = nsens_col % num_col;
double [] img_src = scenes[nscene].getImageData()[nsens][ncol]; double [] img_src = scenes[nscene].getOrigImageData()[nsens][ncol];
if (!unsharped && um_en) { if (!unsharped && um_en) {
System.arraycopy(img_src, 0, img_buf, 0, img_buf.length); System.arraycopy(img_src, 0, img_buf, 0, img_buf.length);
gb.blurDouble( gb.blurDouble(
......
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