Commit f62718b1 authored by Andrey Filippov's avatar Andrey Filippov

Before Java 1.8

parent 3f43f2ac
......@@ -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;
}
......
......@@ -233,6 +233,19 @@ public class ErsCorrection extends GeometryCorrection {
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
......
......@@ -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;
......
......@@ -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() {
......@@ -578,6 +591,8 @@ 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) {
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) {
......@@ -591,6 +606,7 @@ public class IntersceneLma {
}
}
}
}
};
}
ImageDtt.startAndJoin(threads);
......
......@@ -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){
......@@ -285,6 +288,7 @@ 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
......@@ -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;
}
......
......@@ -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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