More debugging of individual scenes and pairs (f2cc84fd) · Commits · Elphel / imagej-elphel

src/main/java/com/elphel/imagej/tileprocessor/Corr2dLMA.java

+26 −21

Original line number	Diff line number	Diff line
		@@ -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) {
		@@ -2663,25 +2663,25 @@ 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 (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
		double area = 1.0/Math.sqrt(abc[tile][0] * abc[tile][2]);
		if (area > lma_max_area) {
		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];
		if ((strength < lma_min_strength) \|\| Double.isNaN(disparity)) {
		@@ -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

+2 −1

Original line number	Diff line number	Diff line
		@@ -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

+29 −13

Original line number	Diff line number	Diff line
		@@ -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)) {
		@@ -2866,6 +2872,16 @@ public class ImageDtt extends ImageDttCPU {
		}
		startAndJoin(threads);
		if (debug_lma != null) {
		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,
		@@ -2874,10 +2890,10 @@ public class ImageDtt extends ImageDttCPU {
		"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

+1 −1

Original line number	Diff line number	Diff line
		@@ -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

+12 −127

Original line number	Diff line number	Diff line
		@@ -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];
		}
		}
		}

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