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Commit f2cc84fd authored by Andrey Filippov's avatar Andrey Filippov
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More debugging of individual scenes and pairs

parent ee1f0069
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src/main/java/com/elphel/imagej/tileprocessor/Corr2dLMA.java
View file @ f2cc84fd
......@@ -2614,7 +2614,8 @@ public class Corr2dLMA {
lma_min_min_ac, // minimal of A and C coefficients minimum (measures sharpest point)
lma_max_area, // maximal half-area (if > 0.0)
lma_str_scale, // convert lma-generated strength to match previous ones - scale
lma_str_offset // convert lma-generated strength to match previous ones - add to result
lma_str_offset, // convert lma-generated strength to match previous ones - add to result
false // boolean dbg_mode
)[0];
}
......@@ -2626,11 +2627,12 @@ public class Corr2dLMA {
double lma_min_strength, // minimal composite strength (sqrt(average amp squared over absolute RMS)
double lma_min_max_ac, // minimal of A and C coefficients maximum (measures sharpest point/line)
double lma_min_min_ac, // minimal of A and C coefficients minimum (measures sharpest point)
double lma_max_area, // maximal half-area (if > 0.0)
double lma_max_area, // maximal half-area (if > 0.0) // 20
double lma_str_scale, // convert lma-generated strength to match previous ones - scale
double lma_str_offset // convert lma-generated strength to match previous ones - add to result
double lma_str_offset, // convert lma-generated strength to match previous ones - add to result
boolean dbg_mode
){
double [][][] ds = new double[numMax][numTiles][3];
double [][][] ds = new double[numMax][numTiles][dbg_mode? 6 : 3];
double [] rms = getRmsTile();
for (int nmax = 0; nmax < numMax; nmax++) {
double [][] maxmin_amp = getMaxMinAmpTile(nmax); // nmax
......@@ -2654,8 +2656,6 @@ public class Corr2dLMA {
lmas_min_amp = lmas_min_amp_bg;
break;
}
}
}
if ((maxmin_amp[tile][1]/maxmin_amp[tile][0]) < lmas_min_amp) {
......@@ -2663,24 +2663,24 @@ public class Corr2dLMA {
}
double avg = 0.50*(maxmin_amp[tile][0]+maxmin_amp[tile][1]); // max_min[1] can be negative - filter it out?
double rrms = rms[tile]/avg;
if (((lma_max_rel_rms > 0.0) && (rrms > lma_max_rel_rms)) ||
(Math.max(abc[tile][0], abc[tile][2]) < lma_min_max_ac)
// || (Math.min(abc[tile][0], abc[tile][2]) < lma_min_min_ac)
) {
if ((lma_max_rel_rms > 0.00) && (rrms > lma_max_rel_rms)) {
continue;
}
if (lma_max_area > 0) {
if ((abc[tile][0] > 0.0) && (abc[tile][2] > 0.0)) {
// double area_old = 1.0/abc[tile][0] + 1.0/abc[tile][2]; // area of a maximum
double area = 1.0/Math.sqrt(abc[tile][0] * abc[tile][2]);
if (area > lma_max_area) {
continue; // too wide maximum
}
} else {
continue; // not a maximum
if (Math.max(abc[tile][0], abc[tile][2]) < lma_min_max_ac) {
continue;
}
if ((lma_min_min_ac > 0.0) && ((abc[tile][0] < lma_min_min_ac) || (abc[tile][2] < lma_min_min_ac))){
continue; // too large a or c (not sharp along at least one direction)
}
double area = 0.0;
if ((abc[tile][0] > 0.0) && (abc[tile][2] > 0.0)) {
// double area_old = 1.0/abc[tile][0] + 1.0/abc[tile][2]; // area of a maximum
area = 1.0/Math.sqrt(abc[tile][0] * abc[tile][2]);
if ((lma_max_area > 0) && (area > lma_max_area)) {
continue; // too wide maximum
}
} else {
continue; // not a maximum
}
double strength = Math.sqrt(avg/rrms);
// double disparity = -all_pars[DISP_INDEX + offs];
......@@ -2695,6 +2695,11 @@ public class Corr2dLMA {
ds[nmax][tile][0] = disparity;
ds[nmax][tile][1] = (strength * lma_str_scale) + lma_str_offset;
ds[nmax][tile][2] = strength; // as is
if (ds[nmax][tile].length > 3) {
ds[nmax][tile][3] = area;
ds[nmax][tile][4] = ac;
ds[nmax][tile][5] = Math.min(abc[tile][0],abc[tile][2]);
}
}
}
return ds;
......
src/main/java/com/elphel/imagej/tileprocessor/Correlation2d.java
View file @ f2cc84fd
......@@ -4842,7 +4842,8 @@ public class Correlation2d {
imgdtt_params.lmas_min_min_ac, // minimal of A and C coefficients minimum (measures sharpest point)
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_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
false // boolean dbg_mode
);
for (int nmax = 00; nmax < dispStrs.length; nmax++) if (dispStrs[nmax][0][1] <= 0) {
lmaSuccess = false;
......
src/main/java/com/elphel/imagej/tileprocessor/ImageDtt.java
View file @ f2cc84fd
......@@ -2681,11 +2681,12 @@ public class ImageDtt extends ImageDttCPU {
(debugTile0 ? 1: -2), // int debug_level,
tileX, // int tileX, // just for debug output
tileY );
if (debugTile1) {
if (debugTile1 && (lma_dual!= null)) { // addad (lma_dual != null)
System.out.println("clt_process_tl_correlations() corrLMA2DualMax() done, lma_dual="+
((lma_dual== null)? "null": " not null"));
}
if (lma_dual != null) {
boolean dbg_dispStrs = (debug_lma != null);
double [][][] dispStrs = lma_dual.lmaDisparityStrengths( //TODO: add parameter to filter out negative minimums ?
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
......@@ -2695,13 +2696,18 @@ public class ImageDtt extends ImageDttCPU {
imgdtt_params.lmas_min_min_ac, // minimal of A and C coefficients minimum (measures sharpest point)
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_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 // false // boolean dbg_mode
);
disp_str_lma = new double [dispStrs.length][]; // order matching input ones
for (int nmax = 0;nmax < dispStrs.length; nmax++) {
if ((dispStrs[nmax] != null) && (dispStrs[nmax].length >0)) {
disp_str_lma[nmax] = dispStrs[nmax][0];
if (dbg_dispStrs) {
for (int i = 0; i < dispStrs[nmax][0].length; i++) {
debug_lma[i][nTile] = dispStrs[nmax][0][i];
}
}
}
}
if (imgdtt_params.bimax_post_LMA && (sel_max >=0)) {
......@@ -2866,18 +2872,28 @@ public class ImageDtt extends ImageDttCPU {
}
startAndJoin(threads);
if (debug_lma != null) {
(new ShowDoubleFloatArrays()).showArrays(
debug_lma,
tilesX,
tilesY,
true,
"lma_debug",
new String[] {"disp_samples","num_cnvx_samples","num_comb_samples", "num_lmas","num_iters","rms"}
);
if (imgdtt_params.bimax_dual_LMA) {
(new ShowDoubleFloatArrays()).showArrays(
debug_lma,
tilesX,
tilesY,
true,
"lma_debug_dual_LMA",
new String[] {"disparity","strength_mod","strength", "area","ac","min(a,c)"}
);
} else {
(new ShowDoubleFloatArrays()).showArrays(
debug_lma,
tilesX,
tilesY,
true,
"lma_debug",
new String[] {"disp_samples","num_cnvx_samples","num_comb_samples", "num_lmas","num_iters","rms"}
);
}
}
}
return;
}
......
src/main/java/com/elphel/imagej/tileprocessor/ImageDttParameters.java
View file @ f2cc84fd
......@@ -220,7 +220,7 @@ public class ImageDttParameters {
public double lmas_min_strength = 0.7; // LWIR16: 0.4 minimal composite strength (sqrt(average amp squared over absolute RMS)
public double lmas_min_ac = 0.02; // LWIR16: 0.01 minimal of a and C coefficients maximum (measures sharpest point/line)
public double lmas_min_min_ac = 0.007; // LWIR16: 0.007 minimal of a and C coefficients minimum (measures sharpest point)
public double lmas_max_area = 0.0; // LWIR16: 0.0 maximal half-area (if > 0.0)
public double lmas_max_area = 20.0; // LWIR16: 0.0 maximal half-area (if > 0.0)
// public boolean lma_gaussian = false; // model correlation maximum as a Gaussian (false - as a parabola)
public int lma_gaussian = 0; // 0 - parabola, 1 - Gaussian, 2 - limited parabola, 3 - limited squared parabola
......
src/main/java/com/elphel/imagej/tileprocessor/OpticalFlow.java
View file @ f2cc84fd
......@@ -3236,7 +3236,7 @@ public class OpticalFlow {
reference_QuadClt.getImageName() + "/" + scene_QuadClt.getImageName()+" Done.");
}
}
for (int i = 0; i < scenes.length; i++) {
for (int i = 00; i < scenes.length; i++) {
int i_prev = i - ((i > 0) ? 1 : 0);
int i_next = i + ((i < (scenes.length - 1)) ? 1 : 0);
double dt = scenes[i_next].getTimeStamp() - scenes[i_prev].getTimeStamp();
......@@ -3287,6 +3287,14 @@ public class OpticalFlow {
double [] dbg_img = new double [dbg_w * dbg_h];
for (int dh = 0; dh < dbg_h; dh++) {
for (int dw = 0; dw < dbg_w; dw++) {
if (ers_xyzatr[dw] == null) {
System.out.println("adjustPairsDualPass(): ers_xyzatr["+dw+"] == null");
continue;
}
if (ers_xyzatr[dw][dh/3] == null) {
System.out.println("adjustPairsDualPass(): ers_xyzatr["+dw+"]["+(dh/3)+"] == null");
continue;
}
dbg_img[dh*dbg_w + dw] = ers_xyzatr[dw][dh / 3][dh % 3];
}
}
......@@ -3373,135 +3381,12 @@ public class OpticalFlow {
for (int i = 1; i < scenes.length; i++) {
QuadCLT reference_QuadClt = scenes[i];
/*
QuadCLT scene_QuadClt = scenes[i - 1];
ErsCorrection ers_scene = scene_QuadClt.getErsCorrection();
reference_QuadClt.getErsCorrection().addScene(scene_QuadClt.getImageName(),
scenes_xyzatr1[i][0],
scenes_xyzatr1[i][1],
ers_scene.getErsXYZ_dt(),
ers_scene.getErsATR_dt()
);
*/
reference_QuadClt.saveInterProperties( // save properties for interscene processing (extrinsics, ers, ...)
null, // String path, // full name with extension or w/o path to use x3d directory
debug_level+1);
}
}
/*
public void adjustSeries(
CLTParameters clt_parameters,
double k_prev,
QuadCLT [] scenes, // ordered by increasing timestamps
int debug_level
)
{
double [][][] scenes_xyzatr = new double [scenes.length][][]; // previous scene relative to the next one
// double [][][] ers_xyzatr = new double [scenes.length][][]; // previous scene relative to the next one
QuadCLT reference_QuadClt = scenes[scenes.length-1]; // last acquired
ErsCorrection ers_reference = reference_QuadClt.getErsCorrection();
// modify LMA parameters to freeze reference ERS, remove pull on scene ERS
boolean[] param_select2 = clt_parameters.ilp.ilma_lma_select.clone(); // final boolean[] param_select,
double [] param_regweights2 = clt_parameters.ilp.ilma_regularization_weights; // final double [] param_regweights,
boolean delete_scene_asap = (debug_level < 10); // to save memory
// freeze reference ERS, free scene ERS
for (int j = 0; j <3; j++) {
param_select2[ErsCorrection.DP_DVX + j] = false;
param_select2[ErsCorrection.DP_DVAZ + j] = false;
param_regweights2[ErsCorrection.DP_DSVX + j] = 0.0+0;
param_regweights2[ErsCorrection.DP_DSVAZ + j] = 0.0;
}
for (int i = scenes.length - 3; i >=0 ; i--) {
QuadCLT scene_QuadClt = scenes[i];
String last_known_ts = scenes[i+1].getImageName(); // it should be present in the reference scene scenes
String scene_ts = scenes[i].getImageName(); // it should be present in the scenes[i+1] scenes
ErsCorrection ers_scene_last_known = scenes[i+1].getErsCorrection();
ErsCorrection ers_scene = scene_QuadClt.getErsCorrection();
double [] last_known_xyz = ers_reference.getSceneXYZ(last_known_ts);
double [] last_known_atr = ers_reference.getSceneATR(last_known_ts);
double [] new_from_last_xyz = ers_scene_last_known.getSceneXYZ(scene_ts);
double [] new_from_last_atr = ers_scene_last_known.getSceneATR(scene_ts);
// combine two rotations and two translations
System.out.println("Processing scene "+i+": "+scene_QuadClt.getImageName());
double [][] combo_XYZATR = ErsCorrection.combineXYZATR(
last_known_xyz, // double [] reference_xyz,
last_known_atr, // double [] reference_atr, // null?
new_from_last_xyz, // double [] scene_xyz,
new_from_last_atr); // double [] scene_atr)
// before adjusting - save original ERS, restart afterwards
double [] ers_scene_original_xyz_dt = ers_scene.getErsXYZ_dt();
double [] ers_scene_original_atr_dt = ers_scene.getErsATR_dt();
// ers should be correct for both
scenes_xyzatr[i] = adjustPairsLMA(
clt_parameters, // CLTParameters clt_parameters,
reference_QuadClt, // QuadCLT reference_QuadCLT,
scene_QuadClt, // QuadCLT scene_QuadCLT,
combo_XYZATR[0], // xyz
combo_XYZATR[1], // atr
param_select2, // final boolean[] param_select,
param_regweights2, // final double [] param_regweights,
debug_level); // int debug_level)
ers_reference.addScene(scene_QuadClt.getImageName(),
scenes_xyzatr[i][0],
scenes_xyzatr[i][1],
ers_scene.getErsXYZ_dt(),
ers_scene.getErsATR_dt()
);
// restore original ers data
ers_scene.setErsDt(
ers_scene_original_xyz_dt, // double [] ers_xyz_dt,
ers_scene_original_atr_dt); // double [] ers_atr_dt)(ers_scene_original_xyz_dt);
ers_scene.setupERS();
if (debug_level > -1) {
System.out.println("Pass multi scene "+i+" (of "+ scenes.length+") "+
reference_QuadClt.getImageName() + "/" + scene_QuadClt.getImageName()+" Done.");
}
if (delete_scene_asap) {
scenes[i+1] = null;
}
// Runtime.getRuntime().gc();
// System.out.println("Scene "+i+", --- Free memory="+Runtime.getRuntime().freeMemory()+" (of "+Runtime.getRuntime().totalMemory()+")");
}
reference_QuadClt.saveInterProperties( // save properties for interscene processing (extrinsics, ers, ...)
null, // String path, // full name with extension or w/o path to use x3d directory
debug_level+1);
if (!delete_scene_asap && (debug_level > -1)) {
System.out.println("adjustSeries(): preparing image set...");
int nscenes = scenes.length;
int indx_ref = nscenes - 1;
double [][][] all_scenes_xyzatr = new double [scenes.length][][]; // includes reference (last)
double [][][] all_scenes_ers_dt = new double [scenes.length][][]; // includes reference (last)
all_scenes_xyzatr[indx_ref] = new double [][] {ZERO3,ZERO3};
all_scenes_ers_dt[indx_ref] = new double [][] {
ers_reference.getErsXYZ_dt(),
ers_reference.getErsATR_dt()};
for (int i = 0; i < nscenes; i++) if (i != indx_ref) {
String ts = scenes[i].getImageName();
all_scenes_xyzatr[i] = new double[][] {ers_reference.getSceneXYZ(ts), ers_reference.getSceneATR(ts)};
all_scenes_ers_dt[i] = new double[][] {ers_reference.getSceneErsXYZ_dt(ts), ers_reference.getSceneErsATR_dt(ts)};
}
compareRefSceneTiles(
"" , // String suffix,
false, // boolean blur_reference,
all_scenes_xyzatr, // double [][][] scene_xyzatr, // does not include reference
all_scenes_ers_dt, // double [][][] scene_ers_dt, // does not include reference
scenes, // QuadCLT [] scenes,
8); // int iscale) // 8
}
if (debug_level > -1) {
System.out.println("adjustSeries() Done.");
}
}
*/
public void adjustSeries(
CLTParameters clt_parameters,
double k_prev,
......@@ -3910,7 +3795,7 @@ Maybe later - add same weight. Or use CM instead, even for LMA?
double [] weights = new double [(int) Math.floor(half_run_range)+1];
weights[0] = 1;
for (int i = 1; i < weights.length; i++) {
weights[i] = 0.5* (Math.cos(i*Math.PI/half_run_range));
weights[i] = 0.5* (Math.cos(i*Math.PI/half_run_range) + 1.0);
}
double [][][] ers_xyzatr = new double [ers_xyzatr_in.length][][];
for (int nscene = 0; nscene < ers_xyzatr_in.length; nscene ++) {
......@@ -3918,12 +3803,12 @@ Maybe later - add same weight. Or use CM instead, even for LMA?
double [][] swd = new double[2][3];
for (int ds = -weights.length + 1; ds < weights.length; ds++) {
int ns = nscene + ds;
if ((ns >= 0) && (ns < ers_xyzatr.length) && (ers_xyzatr[ns] != null)) {
if ((ns >= 0) && (ns < ers_xyzatr_in.length) && (ers_xyzatr_in[ns] != null)) {
double w = (ds >= 0) ? weights[ds] : weights[-ds];
sw += w;
for (int m = 0; m < swd.length; m++) {
for (int d = 0; d < swd[m].length; d++) {
swd[m][d] += w * ers_xyzatr[ns][m][d];
swd[m][d] += w * ers_xyzatr_in[ns][m][d];
}
}
}
......
src/main/java/com/elphel/imagej/tileprocessor/QuadCLTCPU.java
View file @ f2cc84fd
......@@ -12805,7 +12805,7 @@ public class QuadCLTCPU {
if (clt_parameters.z_corr_map.containsKey(image_name)){ // not used in lwir
z_correction +=clt_parameters.z_corr_map.get(image_name);
}
final double disparity_corr = (z_correction == 0) ? 0.0 : geometryCorrection.getDisparityFromZ(1.0/z_correction);
final double disparity_corr = (z_correction == 0) ? 0.00 : geometryCorrection.getDisparityFromZ(1.0/z_correction);
int mcorr_sel = save_corr ? Correlation2d.corrSelEncode(clt_parameters.img_dtt, getNumSensors()) : 0;
TpTask[] tp_tasks = GpuQuad.setTasks( // null on geometryCorrection
num_sensors, // final int num_cams,
......
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