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imagej-elphel
Commit f62718b1 authored by Andrey Filippov's avatar Andrey Filippov
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Before Java 1.8

parent 3f43f2ac
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src/main/java/com/elphel/imagej/correction/Eyesis_Correction.java
View file @ f62718b1
......@@ -702,6 +702,7 @@ private Panel panel1,
addButton("Inter Test", panelClt5, color_stop);
addButton("Inter Pairs", panelClt5, color_process);
addButton("Inter LMA", panelClt5, color_stop);
addButton("Inter Series", panelClt5, color_process);
plugInFrame.add(panelClt5);
}
......@@ -5116,6 +5117,14 @@ private Panel panel1,
CLT_PARAMETERS.batch_run = true;
interPairsLMA();
return;
/* ======================================================================== */
} else if (label.equals("Inter Series")) {
DEBUG_LEVEL=MASTER_DEBUG_LEVEL;
EYESIS_CORRECTIONS.setDebug(DEBUG_LEVEL);
CLT_PARAMETERS.batch_run = true;
interSeriesLMA();
return;
/* ======================================================================== */
} else if (label.equals("Inter LMA")) {
DEBUG_LEVEL=MASTER_DEBUG_LEVEL;
......@@ -6636,6 +6645,77 @@ private Panel panel1,
}
public boolean interSeriesLMA() {
long startTime=System.nanoTime();
// load needed sensor and kernels files
if (!prepareRigImages()) return false;
String configPath=getSaveCongigPath();
if (configPath.equals("ABORT")) return false;
setAllProperties(PROPERTIES); // batchRig may save properties with the model. Extrinsics will be updated, others should be set here
if (DEBUG_LEVEL > -2){
System.out.println("++++++++++++++ Testing Interscene processing ++++++++++++++");
}
if (CLT_PARAMETERS.useGPU()) { // only init GPU instances if it is used
if (GPU_TILE_PROCESSOR == null) {
try {
GPU_TILE_PROCESSOR = new GPUTileProcessor(CORRECTION_PARAMETERS.tile_processor_gpu);
} catch (Exception e) {
System.out.println("Failed to initialize GPU class");
// TODO Auto-generated catch block
e.printStackTrace();
return false;
} //final int debugLevel);
}
if (CLT_PARAMETERS.useGPU(false) && (QUAD_CLT != null) && (GPU_QUAD == null)) { // if GPU main is needed
try {
GPU_QUAD = GPU_TILE_PROCESSOR.new GpuQuad(
QUAD_CLT,
4,
3);
} catch (Exception e) {
System.out.println("Failed to initialize GpuQuad class");
// TODO Auto-generated catch block
e.printStackTrace();
return false;
} //final int debugLevel);
QUAD_CLT.setGPU(GPU_QUAD);
}
}
try {
TWO_QUAD_CLT.interSeriesLMA(
QUAD_CLT, // QuadCLT quadCLT_main,
// QUAD_CLT_AUX, // QuadCLT quadCLT_aux,
CLT_PARAMETERS, // EyesisCorrectionParameters.DCTParameters dct_parameters,
DEBAYER_PARAMETERS, //EyesisCorrectionParameters.DebayerParameters debayerParameters,
COLOR_PROC_PARAMETERS, //EyesisCorrectionParameters.ColorProcParameters colorProcParameters,
COLOR_PROC_PARAMETERS_AUX, //EyesisCorrectionParameters.ColorProcParameters colorProcParameters_aux,
CHANNEL_GAINS_PARAMETERS, //CorrectionColorProc.ColorGainsParameters channelGainParameters,
RGB_PARAMETERS, //EyesisCorrectionParameters.RGBParameters rgbParameters,
EQUIRECTANGULAR_PARAMETERS, // EyesisCorrectionParameters.EquirectangularParameters equirectangularParameters,
PROPERTIES, // Properties properties,
true, // false, // boolean reset_from_extrinsics,
THREADS_MAX, //final int threadsMax, // maximal number of threads to launch
UPDATE_STATUS, //final boolean updateStatus,
DEBUG_LEVEL);
} catch (Exception e) {
// TODO Auto-generated catch block
e.printStackTrace();
} //final int debugLevel);
if (configPath!=null) {
saveTimestampedProperties( // save config again
configPath, // full path or null
null, // use as default directory if path==null
true,
PROPERTIES);
}
System.out.println("batchRig(): Processing finished at "+
IJ.d2s(0.000000001*(System.nanoTime()-startTime),3)+" sec, --- Free memory="+
Runtime.getRuntime().freeMemory()+" (of "+Runtime.getRuntime().totalMemory()+")");
return true;
}
......
src/main/java/com/elphel/imagej/tileprocessor/ErsCorrection.java
View file @ f62718b1
......@@ -232,7 +232,20 @@ public class ErsCorrection extends GeometryCorrection {
public double [] getErsATR_d2t() {
return ers_watr_center_d2t;
}
public void setErsDt(
double [] ers_xyz_dt,
double [] ers_atr_dt) {
this.ers_wxyz_center_dt = ers_xyz_dt;
this.ers_watr_center_dt = ers_atr_dt;
}
public void setErsD2t(
double [] ers_xyz_d2t,
double [] ers_atr_d2t) {
this.ers_wxyz_center_d2t = ers_xyz_d2t;
this.ers_watr_center_d2t = ers_atr_d2t;
}
......@@ -286,7 +299,7 @@ public class ErsCorrection extends GeometryCorrection {
String prefix = parent_prefix+SCENES_PREFIX+"_";
for (Enumeration<?> e = properties.propertyNames(); e.hasMoreElements();) {
String key = (String) e.nextElement();
if (key.startsWith(prefix)) {
if (key.startsWith(prefix) && !key.endsWith("t")) { // _dt, _d2t
timestamps.add(key.substring(prefix.length()));
}
}
......@@ -899,15 +912,6 @@ public class ErsCorrection extends GeometryCorrection {
if (xyzw == null) {
return null;
}
if (xyzw[3] == 0.0) { // infinity
/*
if (xyzw[2] > 0) {
for (int i = 0; i < 3; i++) {
xyzw[i] = -xyzw[i];
}
}
*/
}
if (xyzw[2] > 0) {
return null; // can not match object behind the camera
}
......@@ -1914,6 +1918,23 @@ public class ErsCorrection extends GeometryCorrection {
}
}
public static double [][] combineXYZATR(
double [] reference_xyz,
double [] reference_atr,
double [] scene_xyz,
double [] scene_atr)
{
Rotation ref_rotation= new Rotation(RotationOrder.YXZ, ROT_CONV, reference_atr[0],reference_atr[1],reference_atr[2]);
Rotation scene_rotation= new Rotation(RotationOrder.YXZ, ROT_CONV, scene_atr[0], scene_atr[1], scene_atr[2]);
Vector3D ref_offset = new Vector3D(reference_xyz);
Vector3D scene_offset = new Vector3D(scene_xyz);
Vector3D offset = ref_offset.add(ref_rotation.applyTo(scene_offset));
Rotation rotation = ref_rotation.applyTo(scene_rotation);
double [] angles = rotation.getAngles(RotationOrder.YXZ, ROT_CONV);
double [] xyz = offset.toArray();
return new double[][] {xyz,angles};
}
public double [] getImageCoordinatesERS(
double [] xyzw,
......@@ -2155,6 +2176,9 @@ public class ErsCorrection extends GeometryCorrection {
double[][] derivatives = new double[DP_NUM_PARS+1][]; // includes [0] - pXpYD vector
// scene pX, pY, Disparity
derivatives[0] = pXpYD_scene;
if (Double.isNaN(pXpYD_scene[0]) || Double.isNaN(pXpYD_scene[1]) || Double.isNaN(pXpYD_scene[2])) {
return null;
}
// derivatives by the reference parameters, starting with /dpX, /dpY, /dd
for (int indx = DW_DPX; indx <= DW_DZ; indx++) {
int vindx = indx+1;
......@@ -2167,6 +2191,9 @@ public class ErsCorrection extends GeometryCorrection {
} else {
derivatives[vindx] = matrixTimesVector(dpscene_dxyz, reference_vectors[vindx]).toArray();
}
if (Double.isNaN(derivatives[vindx][0]) || Double.isNaN(derivatives[vindx][1]) || Double.isNaN(derivatives[vindx][2])) {
return null;
}
}
for (int indx = DP_DSVAZ; indx < DP_NUM_PARS; indx++) { // 15,16, ...
int indx_out = indx+1; // 16, 17,
......@@ -2216,7 +2243,7 @@ public class ErsCorrection extends GeometryCorrection {
double pYcd = pXpYD[1] - 0.5 * this.pixelCorrectionHeight;
double r_scale = 0.001 * this.pixelSize / this.distortionRadius;
double rDn = Math.sqrt(pXcd*pXcd + pYcd*pYcd) * r_scale; // relative to distortion radius
double rND2RD = correctDistortions?(getRByRDist(rDn, false)): 1.0;
double rND2RD = correctDistortions?(getRByRDist(rDn, false)): 1.0; // NaN
// rD - in mm
// double rD = rDn * this.distortionRadius; // Math.sqrt(pXcd*pXcd + pYcd*pYcd)*0.001*this.pixelSize; // distorted radius in a virtual center camera
// pXc, pYc - in pixels
......
src/main/java/com/elphel/imagej/tileprocessor/GeometryCorrection.java
View file @ f62718b1
......@@ -4403,13 +4403,15 @@ matrix([[-0.125, -0.125, 0.125, 0.125, -0.125, 0.125, -0. , -0. , -0.
}
if (rDist < 0) { // not used in lwir
if (debug)System.out.println("getRByRDist("+IJ.d2s(rDist,3)+"): rDist < 0");
return Double.NaN;
rDist=0.0; // Double.NaN;
}
double findex = rDist/this.stepR;
int index=(int) Math.floor(findex);
if (index>=(this.rByRDist.length-2)) { // not used in lwir
if (debug) System.out.println("getRByRDist("+IJ.d2s(rDist,3)+"): index="+index+">="+(this.rByRDist.length-2));
return Double.NaN;
// happens for 3D points far offcenter, should be filtered out by FoV
return this.rByRDist.length-1;
// return Double.NaN;
}
double mu = findex - index;
double mu2 = mu * mu;
......
src/main/java/com/elphel/imagej/tileprocessor/IntersceneLma.java
View file @ f62718b1
......@@ -176,7 +176,7 @@ public class IntersceneLma {
scenesCLT[1], // final QuadCLT scene_QuadClt,
scenesCLT[0], // final QuadCLT reference_QuadClt,
debug_level); // final int debug_level)
double [][] wjtj = getWJtJlambda( // USED in lwir
double [][] wjtj = getWJtJlambda( // USED in lwir all NAN
0.0, // final double lambda,
last_jt); // final double [][] jt)
for (int i = 0; i < parameters_vector.length; i++) {
......@@ -252,7 +252,7 @@ public class IntersceneLma {
}
} else { // improved over initial ?
if (last_rms[0] < initial_rms[0]) {
if (last_rms[0] < initial_rms[0]) { // NaN
rslt[0] = true;
if (debug_level > 0) System.out.println("Step "+iter+": Failed to converge, but result improved over initial");
} else {
......@@ -270,6 +270,16 @@ public class IntersceneLma {
}
}
}
if ((debug_level > -2) && !rslt[0]) { // failed
if ((debug_level > 1) || (iter == 1) || last_run) {
System.out.println("LMA failed on iteration = "+iter);
String [] lines = printOldNew(true); // boolean allvectors)
for (String line : lines) {
System.out.println(line);
}
}
System.out.println();
}
return rslt[0]? iter : -1;
}
......@@ -487,6 +497,9 @@ public class IntersceneLma {
double full_weight = asum_weight.sum();
pure_weight = s_pure/full_weight;
final double s = 1.0/asum_weight.sum();
if (Double.isNaN(s)) {
System.out.println("normalizeWeights(): s == NaN");
}
ai.set(0);
for (int ithread = 0; ithread < threads.length; ithread++) {
threads[ithread] = new Thread() {
......@@ -578,13 +591,16 @@ public class IntersceneLma {
scene_rot_matrix, // Matrix scene_rot_matrix, // single rotation (direct) matrix for the scene
debug_level); // int debug_level);
if (deriv_params!= null) {
fx[2 * iMTile + 0] = deriv_params[0][0]; // pX
fx[2 * iMTile + 1] = deriv_params[0][1]; // pY
if (jt != null) {
for (int i = 0; i < par_indices.length; i++) {
int indx = par_indices[i] + 1;
jt[i][2 * iMTile + 0] = deriv_params[indx][0]; // pX
jt[i][2 * iMTile + 1] = deriv_params[indx][1]; // pY (disparity is not used)
boolean bad_tile = false;
if (!bad_tile) {
fx[2 * iMTile + 0] = deriv_params[0][0]; // pX
fx[2 * iMTile + 1] = deriv_params[0][1]; // pY
if (jt != null) {
for (int i = 0; i < par_indices.length; i++) {
int indx = par_indices[i] + 1;
jt[i][2 * iMTile + 0] = deriv_params[indx][0]; // pX
jt[i][2 * iMTile + 1] = deriv_params[indx][1]; // pY (disparity is not used)
}
}
}
}
......
src/main/java/com/elphel/imagej/tileprocessor/OpticalFlow.java
View file @ f62718b1
......@@ -26,6 +26,7 @@ package com.elphel.imagej.tileprocessor;
import java.util.Arrays;
import java.util.Comparator;
import java.util.concurrent.atomic.AtomicInteger;
import java.util.concurrent.atomic.DoubleAccumulator;
import com.elphel.imagej.cameras.CLTParameters;
import com.elphel.imagej.common.DoubleGaussianBlur;
......@@ -537,8 +538,8 @@ public class OpticalFlow {
final int best_num,
final double ref_stdev,
final int debug_level)
final int debug_level,
final boolean enable_debug_images)
{
final TileProcessor tp = reference_QuadClt.getTileProcessor();
final int transform_size = tp.getTileSize();
......@@ -644,7 +645,7 @@ public class OpticalFlow {
}
final int macroTilesX = tp.getTilesX()/transform_size;
String flowXYS_title = (debug_level > 0)?("vectorXYS_"+scene_QuadClt.getImageName()+"-ref"+reference_QuadClt.getImageName()):null;
String flowXYS_title = (enable_debug_images && (debug_level > 0))?("vectorXYS_"+scene_QuadClt.getImageName()+"-ref"+reference_QuadClt.getImageName()):null;
double [][] vectorXYConfidence = attachVectorConfidence(
flowXY, // final double [][] flowXY,
......@@ -931,12 +932,11 @@ public class OpticalFlow {
}
int iYMmax = (int) Math.round(yMax);
int iXMmax = (int) Math.round(xMax);
if (iYMmax >= transform_size) {
iYMmax = transform_size -1;
}
if (iXMmax >= transform_size) {
iXMmax = transform_size -1;
}
if (iYMmax < 0) iYMmax = 0;
if (iYMmax >= transform_size) iYMmax = transform_size -1;
if (iXMmax < 0) iXMmax = 0;
if (iXMmax >= transform_size) iXMmax = transform_size -1;
double dMax = corr2d_tile[iYMmax * corr_size + iXMmax]; // negative
double s1=0.0, s2 =0.0;
for (int i = 0; i < corr2d_tile.length; i++) {
......@@ -2043,6 +2043,73 @@ public class OpticalFlow {
}
public void compareRefSceneTiles(
String suffix,
boolean blur_reference,
double [][][] scene_xyzatr, // includeS reference (last)
double [][][] scene_ers_dt, // includeS reference (last)
QuadCLT [] scenes,
int iscale) // 8
{
int nscenes = scenes.length;
int indx_ref = nscenes - 1;
double [][][] dsrbg = new double [nscenes][][];
String [] time_stamps = new String[nscenes];
// [0] - last scene before the reference one
for (int i = 0; i < nscenes; i++) {
int indx = dsrbg.length - i - 1;
if ((i == 0) && !blur_reference) {
dsrbg[0]= scenes[indx_ref].getDSRBG();
} else {
time_stamps[i] = scenes[indx].getImageName();
ErsCorrection ers_scene = scenes[indx].getErsCorrection();
double [] ers_scene_original_xyz_dt = ers_scene.getErsXYZ_dt();
double [] ers_scene_original_atr_dt = ers_scene.getErsATR_dt();
ers_scene.setErsDt(
scene_ers_dt[indx][0], // double [] ers_xyz_dt,
scene_ers_dt[indx][1]); // double [] ers_atr_dt)(ers_scene_original_xyz_dt);
ers_scene.setupERS();
dsrbg[i] = transformCameraVew( // shifts previous image correctly (right)
scene_xyzatr[indx][0], // double [] camera_xyz, // camera center in world coordinates
scene_xyzatr[indx][1], //double [] camera_atr, // camera orientation relative to world frame
scenes[indx], // QuadCLT camera_QuadClt,
scenes[indx_ref], // reference
iscale);
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();
}
}
TileProcessor tp = scenes[indx_ref].getTileProcessor();
int tilesX = tp.getTilesX();
int tilesY = tp.getTilesY();
String [] dsrbg_titles = {"d", "s", "r", "b", "g"};
int nslices = dsrbg_titles.length;
// combine this scene with warped previous one
String [] rtitles = new String[nscenes * nslices];
double [][] dbg_rslt = new double [rtitles.length][];
for (int nslice = 0; nslice < nslices; nslice++) {
for (int nscene = 0; nscene < nscenes; nscene++) {
rtitles[nscenes * nslice + nscene] = dsrbg_titles[nslice]+"-"+time_stamps[nscene];
dbg_rslt[nscenes * nslice + nscene] = dsrbg[nscene][nslice];
}
}
String title = "previous_frames_matching"+suffix;
(new ShowDoubleFloatArrays()).showArrays(
dbg_rslt,
tilesX,
tilesY,
true,
title,
rtitles);
}
/**
* Show macrotiles in comparison, typically reference to scene ones
* @param title Image stack title.
......@@ -2162,39 +2229,101 @@ public class OpticalFlow {
* @return Per-tile array of resampled {disparity,strength,red,blue,green} values (or nulls).
*/
public double [][] transformCameraVew(
double [] scene_xyz, // camera center in world coordinates
double [] scene_atr, // camera orientation relative to world frame
QuadCLT scene_QuadClt,
QuadCLT reference_QuadClt,
int iscale)
final double [] scene_xyz, // camera center in world coordinates
final double [] scene_atr, // camera orientation relative to world frame
final QuadCLT scene_QuadClt,
final QuadCLT reference_QuadClt,
final int iscale)
{
final double line_error = 0.5;
TileProcessor tp = reference_QuadClt.getTileProcessor();
int tilesX = tp.getTilesX();
int tilesY = tp.getTilesY();
int tiles = tilesX*tilesY;
int transform_size = tp.getTileSize();
int rel_num_passes = 10;
int num_passes = transform_size; // * 2;
int stilesX = iscale*tilesX;
int stilesY = iscale*tilesY;
int stiles = stilesX*stilesY;
double sigma = 0.5 * iscale;
double scale = 1.0 * iscale/transform_size;
double [][] dsrbg_camera = scene_QuadClt.getDSRBG();
/// double [][] dsrbg_reference = reference_QuadClt.getDSRBG();
double [][] ds = new double [dsrbg_camera.length][stiles];
final int tilesX = tp.getTilesX();
final int tilesY = tp.getTilesY();
final int tiles = tilesX*tilesY;
final int transform_size = tp.getTileSize();
final int rel_num_passes = 10;
final int num_passes = transform_size; // * 2;
final int stilesX = iscale*tilesX;
final int stilesY = iscale*tilesY;
final int stiles = stilesX*stilesY;
final double sigma = 0.5 * iscale;
final double scale = 1.0 * iscale/transform_size;
final double [][] dsrbg_camera = scene_QuadClt.getDSRBG();
final double [][] ds = new double [dsrbg_camera.length][stiles];
for (int i = 0; i <ds.length; i++) {
for (int j = 0; j <ds[i].length; j++) {
ds[i][j] = Double.NaN;
}
}
ErsCorrection ersReferenceCorrection = reference_QuadClt.getErsCorrection();
ErsCorrection ersSceneCorrection = scene_QuadClt.getErsCorrection();
final ErsCorrection ersReferenceCorrection = reference_QuadClt.getErsCorrection();
final ErsCorrection ersSceneCorrection = scene_QuadClt.getErsCorrection();
ersReferenceCorrection.setupERS(); // just in case - setUP using instance paRAMETERS
ersSceneCorrection.setupERS();
double [] zbuffer = new double [tiles];
final Thread[] threads = ImageDtt.newThreadArray(threadsMax);
final AtomicInteger ai = new AtomicInteger(0);
final double [] zbuffer = new double [tiles];
// DoubleAccumulator admax = new DoubleAccumulator (Double::max, Double.NEGATIVE_INFINITY);
// DoubleAccumulator admax = new DoubleAccumulator (Double::max, Double.NEGATIVE_INFINITY);
for (int ithread = 0; ithread < threads.length; ithread++) {
threads[ithread] = new Thread() {
public void run() {
for (int nTile = ai.getAndIncrement(); nTile < tiles; nTile = ai.getAndIncrement()) if (dsrbg_camera[QuadCLT.DSRBG_STRENGTH][nTile] > 0.0) {
double disparity = dsrbg_camera[QuadCLT.DSRBG_DISPARITY][nTile];
if (!Double.isNaN(disparity)) {
int tileY = nTile / tilesX;
int tileX = nTile % tilesX;
double centerX = tileX * transform_size + transform_size/2; // - shiftX;
double centerY = tileY * transform_size + transform_size/2; // - shiftY;
if (disparity < 0) {
disparity = 0.0;
}
double [] pXpYD = ersSceneCorrection.getImageCoordinatesERS( // ersCorrection - reference
reference_QuadClt, // QuadCLT cameraQuadCLT, // camera station that got image to be to be matched
centerX, // double px, // pixel coordinate X in the reference view
centerY, // double py, // pixel coordinate Y in the reference view
disparity, // double disparity, // reference disparity
true, // boolean distortedView, // This camera view is distorted (diff.rect), false - rectilinear
scene_xyz, // double [] reference_xyz, // this view position in world coordinates (typically ZERO3)
scene_atr, // double [] reference_atr, // this view orientation relative to world frame (typically ZERO3)
true, // boolean distortedCamera, // camera view is distorted (false - rectilinear)
ZERO3, // double [] camera_xyz, // camera center in world coordinates
ZERO3, // double [] camera_atr, // camera orientation relative to world frame
line_error); // LINE_ERR); // double line_err) // threshold error in scan lines (1.0)
if (pXpYD != null) {
int px = (int) Math.round(pXpYD[0]/transform_size);
int py = (int) Math.round(pXpYD[1]/transform_size);
int spx = (int) Math.round(pXpYD[0]*scale);
int spy = (int) Math.round(pXpYD[1]*scale);
if ((px >= 0) && (py >= 0) && (px < tilesX) & (py < tilesY)) {
//Z-buffer
if (!(pXpYD[2] < zbuffer[px + py* tilesX])) {
zbuffer[px + py* tilesX] = pXpYD[2];
if ((spx >= 0) && (spy >= 0) && (spx < stilesX) & (spy < stilesY)) {
int sTile = spx + spy* stilesX;
ds[QuadCLT.DSRBG_DISPARITY][sTile] = pXpYD[2]; //reduce*
for (int i = QuadCLT.DSRBG_STRENGTH; i < dsrbg_camera.length; i++) {
ds[i][sTile] = dsrbg_camera[i][nTile]; // reduce *
}
}
}
}
}
}
}
}
};
}
ImageDtt.startAndJoin(threads);
for (int tileY = 0; tileY < tilesY; tileY++) {
for (int tileX = 0; tileX < tilesX; tileX++) {
int nTile = tileX + tileY * tilesX;
......@@ -2426,7 +2555,118 @@ public class OpticalFlow {
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,
// 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;
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
double [][] combo_XYZATR = ErsCorrection.combineXYZATR(
last_known_xyz, // double [] reference_xyz,
last_known_atr, // double [] reference_atr,
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)
if (debug_level > -1) {
System.out.println("Pass 1 scene "+i+" (of "+ scenes.length+") "+
reference_QuadClt.getImageName() + "/" + scene_QuadClt.getImageName()+" Done.");
}
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.");
}
}
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 (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.");
}
}
double [][] getPoseFromErs(
double k_prev,
QuadCLT reference_QuadCLT,
......@@ -2491,63 +2731,10 @@ public class OpticalFlow {
TileProcessor tp = reference_QuadCLT.getTileProcessor();
final int iscale = 8;
boolean blur_reference = false;
/*
double ts = reference_QuadCLT.getTimeStamp();
double ts_prev = ts;
double [] camera_xyz0 = ZERO3.clone();
double [] camera_atr0 = ZERO3.clone();
ErsCorrection ersCorrection = reference_QuadCLT.getErsCorrection();
String this_image_name = reference_QuadCLT.getImageName();
if (debug_level > 0) {
System.out.println("\n"+this_image_name+":\n"+ersCorrection.extrinsic_corr.toString());
System.out.println(String.format("%s: ers_wxyz_center= %f, %f, %f", this_image_name,
ersCorrection.ers_wxyz_center[0], ersCorrection.ers_wxyz_center[1],ersCorrection.ers_wxyz_center[2] ));
System.out.println(String.format("%s: ers_wxyz_center_dt= %f, %f, %f", this_image_name,
ersCorrection.ers_wxyz_center_dt[0], ersCorrection.ers_wxyz_center_dt[1],ersCorrection.ers_wxyz_center_dt[2] ));
System.out.println(String.format("%s: ers_wxyz_center_d2t= %f, %f, %f", this_image_name,
ersCorrection.ers_wxyz_center_d2t[0], ersCorrection.ers_wxyz_center_d2t[1],ersCorrection.ers_wxyz_center_d2t[2] ));
System.out.println(String.format("%s: ers_watr_center_dt= %f, %f, %f", this_image_name,
ersCorrection.ers_watr_center_dt[0], ersCorrection.ers_watr_center_dt[1],ersCorrection.ers_watr_center_dt[2] ));
System.out.println(String.format("%s: ers_watr_center_d2t= %f, %f, %f", this_image_name,
ersCorrection.ers_watr_center_d2t[0], ersCorrection.ers_watr_center_d2t[1],ersCorrection.ers_watr_center_d2t[2] ));
}
double dt = 0.0;
if (scene_QuadCLT == null) {
scene_QuadCLT = reference_QuadCLT;
}
ErsCorrection ersCorrectionPrev = (ErsCorrection) (scene_QuadCLT.geometryCorrection);
if (scene_QuadCLT != null) {
ts_prev = scene_QuadCLT.getTimeStamp();
dt = ts-ts_prev;
if (dt < 0) {
k_prev = (1.0-k_prev);
}
if (Math.abs(dt) > 0.15) { // at least two frames TODO: use number of lines* line_time * ...?
k_prev = 0.5;
System.out.println("Non-consecutive frames, dt = "+dt);
}
double [] wxyz_center_dt_prev = ersCorrectionPrev.ers_wxyz_center_dt;
double [] watr_center_dt_prev = ersCorrectionPrev.ers_watr_center_dt; // is twice omega!
double [] wxyz_delta = new double[3];
double [] watr_delta = new double[3];
for (int i = 0; i <3; i++) {
// wxyz_delta[i] = corr_scale * dt * (k_prev * wxyz_center_dt_prev[i] + (1.0-k_prev) * ersCorrection.ers_wxyz_center_dt[i]);
// watr_delta[i] = corr_scale * dt * (k_prev * watr_center_dt_prev[i] + (1.0-k_prev) * ersCorrection.ers_watr_center_dt[i]);
wxyz_delta[i] = dt * (k_prev * wxyz_center_dt_prev[i] + (1.0-k_prev) * ersCorrection.ers_wxyz_center_dt[i]);
watr_delta[i] = 0.5 * dt * (k_prev * watr_center_dt_prev[i] + (1.0-k_prev) * ersCorrection.ers_watr_center_dt[i]);
}
watr_delta[0] = -watr_delta[0]; /// TESTING!
watr_delta[2] = -watr_delta[2]; /// TESTING!
camera_xyz0 = wxyz_delta;
camera_atr0 = watr_delta;
}
*/
int tilesX = tp.getTilesX();
int tilesY = tp.getTilesY();
if (debug_level > 0) {
if (clt_parameters.ofp.enable_debug_images && (debug_level > 0)) {
compareRefSceneTiles(
"before_LMA", // String suffix,
blur_reference, // boolean blur_reference,
......@@ -2600,9 +2787,11 @@ public class OpticalFlow {
clt_parameters.ofp.min_change, // final double min_change,
clt_parameters.ofp.best_neibs_num, // final int best_num,
clt_parameters.ofp.ref_stdev, // final double ref_stdev,
clt_parameters.ofp.debug_level_iterate); // final int debug_level)
clt_parameters.ofp.debug_level_iterate, // final int debug_level)
clt_parameters.ofp.enable_debug_images); //final boolean enable_debug_images)
if (debug_level > 2) {
if (clt_parameters.ofp.enable_debug_images && (debug_level > 2)) {
String dbg_title = "OpticalFlow-"+scene_QuadCLT.getImageName()+"-"+reference_QuadCLT.getImageName()+"-iteration_"+nlma;;
showVectorXYConfidence(
dbg_title, // String title,
......@@ -2621,7 +2810,7 @@ public class OpticalFlow {
if (debug_level > 1) {
System.out.println("Removed "+n2+" outliers in a second pass, total removed:"+(n+n2));
}
if (debug_level > 0) {
if (clt_parameters.ofp.enable_debug_images && (debug_level > 0)) {
if ((debug_level > 1) || (nlma == 0)) {
String dbg_title = "OpticalFlowFiltered-"+scene_QuadCLT.getImageName()+"-"+reference_QuadCLT.getImageName()+"-iteration_"+nlma;
showVectorXYConfidence(
......@@ -2657,12 +2846,12 @@ public class OpticalFlow {
last_run, // boolean last_run,
clt_parameters.ilp.ilma_debug_level); // int debug_level)
if (lmaResult < 0) {
System.out.println("LMA failed");
System.out.println("LMA failed, nlma="+nlma);
break;
}
camera_xyz0 = intersceneLma.getSceneXYZ(false); // true for initial values
camera_atr0 = intersceneLma.getSceneATR(false); // true for initial values
if (debug_level > 1) {
if (clt_parameters.ofp.enable_debug_images && (debug_level > 1)) {
compareRefSceneTiles(
"iteration_"+nlma, // String suffix,
blur_reference, // boolean blur_reference,
......@@ -2676,7 +2865,8 @@ public class OpticalFlow {
break;
}
}
if (debug_level == 1) {
if (clt_parameters.ofp.enable_debug_images && (debug_level == 1)) {
/// if (!clt_parameters.ofp.enable_debug_images || (clt_parameters.ofp.enable_debug_images && (debug_level == 1))) {
compareRefSceneTiles(
"after_lma", // String suffix,
blur_reference, // boolean blur_reference,
......@@ -2829,7 +3019,8 @@ public class OpticalFlow {
clt_parameters.ofp.min_change, // final double min_change,
clt_parameters.ofp.best_neibs_num, // final int best_num,
clt_parameters.ofp.ref_stdev, // final double ref_stdev,
clt_parameters.ofp.debug_level_iterate); // final int debug_level)
clt_parameters.ofp.debug_level_iterate, // final int debug_level)
clt_parameters.ofp.enable_debug_images); //final boolean enable_debug_images)
if (debug_level > 2) {
String dbg_title = "OpticalFlow-"+scene_QuadCLT.getImageName()+"-"+reference_QuadCLT.getImageName()+"-iteration_"+nlma;;
......@@ -3120,7 +3311,8 @@ public class OpticalFlow {
clt_parameters.ofp.min_change, // final double min_change,
clt_parameters.ofp.best_neibs_num, // final int best_num,
clt_parameters.ofp.ref_stdev, // final double ref_stdev,
clt_parameters.ofp.debug_level_iterate); // final int debug_level)
clt_parameters.ofp.debug_level_iterate, // final int debug_level)
clt_parameters.ofp.enable_debug_images); //final boolean enable_debug_images)
if (debug_level > -2) {
String dbg_title = "OpticalFlow-"+scene_QuadCLT.getImageName()+"-"+reference_QuadCLT.getImageName();
......
src/main/java/com/elphel/imagej/tileprocessor/OpticalFlowParameters.java
View file @ f62718b1
......@@ -72,6 +72,7 @@ public class OpticalFlowParameters {
public int debug_level_optical = 1;
public int debug_level_iterate = -1;
public boolean enable_debug_images = true;
public void dialogQuestions(GenericJTabbedDialog gd) {
gd.addMessage("Intraframe ERS to pose");
......@@ -159,7 +160,8 @@ public class OpticalFlowParameters {
gd.addNumericField("Debug level correlation iterations", this.debug_level_iterate, 0,4,"",
"Apply during Optical Flow refinement itgerations");
gd.addCheckbox ("Enable debug images", this.enable_debug_images,
"When false - no debug images will be generated regardless of debug level");
}
public void dialogAnswers(GenericJTabbedDialog gd) {
......@@ -202,6 +204,7 @@ public class OpticalFlowParameters {
this.test_corr_rad_max = (int) gd.getNextNumber();
this.debug_level_optical = (int) gd.getNextNumber();
this.debug_level_iterate = (int) gd.getNextNumber();
this.enable_debug_images = gd.getNextBoolean();
}
......@@ -243,7 +246,7 @@ public class OpticalFlowParameters {
properties.setProperty(prefix+"test_corr_rad_max", this.test_corr_rad_max+"");
properties.setProperty(prefix+"debug_level_optical", this.debug_level_optical+"");
properties.setProperty(prefix+"debug_level_iterate", this.debug_level_iterate+"");
properties.setProperty(prefix+"enable_debug_images", this.enable_debug_images+"");
}
public void getProperties(String prefix,Properties properties){
......@@ -285,7 +288,8 @@ public class OpticalFlowParameters {
if (properties.getProperty(prefix+"test_corr_rad_max")!=null) this.test_corr_rad_max=Integer.parseInt(properties.getProperty(prefix+"test_corr_rad_max"));
if (properties.getProperty(prefix+"debug_level_optical")!=null) this.debug_level_optical=Integer.parseInt(properties.getProperty(prefix+"debug_level_optical"));
if (properties.getProperty(prefix+"debug_level_iterate")!=null) this.debug_level_iterate=Integer.parseInt(properties.getProperty(prefix+"debug_level_iterate"));
if (properties.getProperty(prefix+"enable_debug_images")!=null) this.enable_debug_images=Boolean.parseBoolean(properties.getProperty(prefix+"enable_debug_images"));
}
@Override
public OpticalFlowParameters clone() throws CloneNotSupportedException {
......@@ -325,6 +329,7 @@ public class OpticalFlowParameters {
ofp.test_corr_rad_max = this.test_corr_rad_max;
ofp.debug_level_optical = this.debug_level_optical;
ofp.debug_level_iterate = this.debug_level_iterate;
ofp.enable_debug_images = this.enable_debug_images;
return ofp;
}
......
src/main/java/com/elphel/imagej/tileprocessor/TwoQuadCLT.java
View file @ f62718b1
......@@ -8391,7 +8391,6 @@ if (debugLevel > -100) return true; // temporarily !
}
public void TestInterLMA(
QuadCLT quadCLT_main, // tiles should be set
CLTParameters clt_parameters,
......@@ -8484,6 +8483,72 @@ if (debugLevel > -100) return true; // temporarily !
System.out.println("End of test");
}
public void interSeriesLMA(
QuadCLT quadCLT_main, // tiles should be set
CLTParameters clt_parameters,
EyesisCorrectionParameters.DebayerParameters debayerParameters,
ColorProcParameters colorProcParameters,
ColorProcParameters colorProcParameters_aux,
CorrectionColorProc.ColorGainsParameters channelGainParameters,
EyesisCorrectionParameters.RGBParameters rgbParameters,
EyesisCorrectionParameters.EquirectangularParameters equirectangularParameters,
Properties properties,
boolean reset_from_extrinsics,
final int threadsMax, // maximal number of threads to launch
final boolean updateStatus,
final int debugLevel) throws Exception
{
if ((quadCLT_main != null) && (quadCLT_main.getGPU() != null)) {
quadCLT_main.getGPU().resetGeometryCorrection();
quadCLT_main.gpuResetCorrVector(); // .getGPU().resetGeometryCorrectionVector();
}
// final boolean batch_mode = clt_parameters.batch_run;
this.startTime=System.nanoTime();
String [] sourceFiles0=quadCLT_main.correctionsParameters.getSourcePaths();
QuadCLT.SetChannels [] set_channels_main = quadCLT_main.setChannels(debugLevel);
if ((set_channels_main == null) || (set_channels_main.length==0)) {
System.out.println("No files to process (of "+sourceFiles0.length+")");
return;
}
QuadCLT.SetChannels [] set_channels=quadCLT_main.setChannels(debugLevel);
QuadCLT [] quadCLTs = new QuadCLT [set_channels.length];
for (int i = 0; i < quadCLTs.length; i++) {
quadCLTs[i] = quadCLT_main.spawnQuadCLT(
set_channels[i].set_name,
clt_parameters,
colorProcParameters, //
threadsMax,
debugLevel);
// temporarily fix wrong sign:
ErsCorrection ers = (ErsCorrection) (quadCLTs[i].getGeometryCorrection());
// if (reset_from_extrinsics) {
// System.out.println("Reset ERS parameters from intraframe extrinsics");
// ers.setupERSfromExtrinsics();
// }
quadCLTs[i].setDSRBG(
clt_parameters, // CLTParameters clt_parameters,
threadsMax, // int threadsMax, // maximal number of threads to launch
updateStatus, // boolean updateStatus,
debugLevel); // int debugLevel)
/// quadCLTs[i].showDSIMain();
}
OpticalFlow opticalFlow = new OpticalFlow(
threadsMax, // int threadsMax, // maximal number of threads to launch
updateStatus); // boolean updateStatus);
opticalFlow.adjustSeries(
clt_parameters, // CLTParameters clt_parameters,
clt_parameters.ofp.k_prev, // k_prev,
quadCLTs, // QuadCLT [] scenes, // ordered by increasing timestamps
clt_parameters.ofp.debug_level_optical); // 1); // -1); // int debug_level);
System.out.println("End of interSeriesLMA()");
}
public void batchLwirRig(
......
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