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imagej-elphel
Commit f801b9b5 authored by Andrey Filippov's avatar Andrey Filippov
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Found and fixed bug in ExtrinsicAdjustment introduced while converting 

from quad
parent 2a11eb19
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Showing with 77 additions and 18 deletions
src/main/java/com/elphel/imagej/tileprocessor/ExtrinsicAdjustment.java
View file @ f801b9b5
...@@ -589,6 +589,12 @@ public class ExtrinsicAdjustment { ...@@ -589,6 +589,12 @@ public class ExtrinsicAdjustment {
"Initial_y-fX_after_moving_objects"); "Initial_y-fX_after_moving_objects");
} }
if (debugLevel > 0) {
printYminusFxWeight(
this.last_ymfx,
this.weights,
"Initial_y-fX_after_moving_objects");
}
double lambda = 0.1; double lambda = 0.1;
double lambda_scale_good = 0.5; double lambda_scale_good = 0.5;
double lambda_scale_bad = 8.0; double lambda_scale_bad = 8.0;
...@@ -705,13 +711,11 @@ public class ExtrinsicAdjustment { ...@@ -705,13 +711,11 @@ public class ExtrinsicAdjustment {
fx[indx0] = this.weights[indx0] * d; fx[indx0] = this.weights[indx0] * d;
rms += fx[indx0]*d; // sum of weights rms += fx[indx0]*d; // sum of weights
for (int cam = 0; cam < num_sensors; cam++) { for (int cam = 0; cam < num_sensors; cam++) {
int indx = indx0 + cam + 1; int indx = indx0 + cam + 1; // index of dd component
// d = (-measured_dsxy[cluster][ExtrinsicAdjustment.INDX_DD0 + cam] - fx[indx]);
d = (-measured_dsxy[cluster][indx_dd0 + cam] - fx[indx]); d = (-measured_dsxy[cluster][indx_dd0 + cam] - fx[indx]);
fx[indx] = this.weights[indx] * d; fx[indx] = this.weights[indx] * d;
rms += fx[indx] * d; // sum of weights rms += fx[indx] * d; // sum of weights
indx = indx0 + cam + 5; // nd indx = indx0 + cam + num_sensors + 1; // // index of nd component
// d = (-measured_dsxy[cluster][ExtrinsicAdjustment.INDX_ND0 + cam] - fx[indx]);
d = (-measured_dsxy[cluster][indx_nd0 + cam] - fx[indx]); d = (-measured_dsxy[cluster][indx_nd0 + cam] - fx[indx]);
fx[indx] = this.weights[indx] * d; fx[indx] = this.weights[indx] * d;
rms += fx[indx] * d; // sum of weights rms += fx[indx] * d; // sum of weights
...@@ -2107,15 +2111,15 @@ public class ExtrinsicAdjustment { ...@@ -2107,15 +2111,15 @@ public class ExtrinsicAdjustment {
dbg_img[5][pix] = Double.NaN; dbg_img[5][pix] = Double.NaN;
} }
} else { } else {
// dbg_img[0][pix] = measured_dsxy[cluster][ExtrinsicAdjustment.INDX_DD0 + mode - 1]; // dbg_img[0][pix] = measured_dsxy[cluster][ExtrinsicAdjustment.INDX_DD0 + mode - 1];
dbg_img[0][pix] = measured_dsxy[cluster][indx_dd0 + mode - 1]; dbg_img[0][pix] = measured_dsxy[cluster][indx_dd0 + mode - 1];
dbg_img[1][pix] = -fx[indx]; dbg_img[1][pix] = -fx[indx];
// dbg_img[2][pix] = measured_dsxy[cluster][ExtrinsicAdjustment.INDX_DD0 + mode - 1] + fx[indx]; // dbg_img[2][pix] = measured_dsxy[cluster][ExtrinsicAdjustment.INDX_DD0 + mode - 1] + fx[indx];
dbg_img[2][pix] = measured_dsxy[cluster][indx_dd0 + mode - 1] + fx[indx]; dbg_img[2][pix] = measured_dsxy[cluster][indx_dd0 + mode - 1] + fx[indx];
if (weights[indx] > 0.0) { if (weights[indx] > 0.0) {
dbg_img[3][pix] = weights[indx]*clusters; dbg_img[3][pix] = weights[indx]*clusters;
// dbg_img[4][pix] = weights[indx]*clusters*(measured_dsxy[cluster][ExtrinsicAdjustment.INDX_DD0 + mode - 1] + fx[indx]); // dbg_img[4][pix] = weights[indx]*clusters*(measured_dsxy[cluster][ExtrinsicAdjustment.INDX_DD0 + mode - 1] + fx[indx]);
// dbg_img[5][pix] = measured_dsxy[cluster][ExtrinsicAdjustment.INDX_DD0 + mode - 1] + fx[indx]; // dbg_img[5][pix] = measured_dsxy[cluster][ExtrinsicAdjustment.INDX_DD0 + mode - 1] + fx[indx];
dbg_img[4][pix] = weights[indx]*clusters*(measured_dsxy[cluster][indx_dd0 + mode - 1] + fx[indx]); dbg_img[4][pix] = weights[indx]*clusters*(measured_dsxy[cluster][indx_dd0 + mode - 1] + fx[indx]);
dbg_img[5][pix] = measured_dsxy[cluster][indx_dd0 + mode - 1] + fx[indx]; dbg_img[5][pix] = measured_dsxy[cluster][indx_dd0 + mode - 1] + fx[indx];
} else { } else {
...@@ -2149,6 +2153,55 @@ public class ExtrinsicAdjustment { ...@@ -2149,6 +2153,55 @@ public class ExtrinsicAdjustment {
} }
public void printYminusFxWeight(
double [] fx,
double [] weights,
String title) {
if (fx == null) {
fx = new double [weights.length];
}
int clusters = clustersX * clustersY;
// String [] titles = {"Y", "-fX", "Y+fx", "Weight", "W*(Y+fx)", "Masked Y+fx"};
System.out.println("===== "+title+" =====");
// text output
for (int mode = 0; mode < points_sample; mode++) {
if (mode == 0) {
System.out.println("Differential Disparity");
} else if (mode <= num_sensors) {
System.out.println("DD-"+(mode - 1));
} else {
System.out.println("ND-"+(mode - num_sensors - 1));
}
System.out.println( "clusterX clusterY Y -fX Y + fX Weight W*(Y+fX) Masked (Y + fX)");
for (int cluster = 0; cluster < clusters; cluster++) {
int clusterX = cluster % clustersX;
int clusterY = cluster / clustersX;
int indx = cluster * points_sample + mode;
if ((measured_dsxy[cluster] != null) && (weights[indx] > 0.0)){
double [] dbg_data = new double[6];
if (mode ==0) {
dbg_data[0] = measured_dsxy[cluster][ExtrinsicAdjustment.INDX_DIFF];
dbg_data[1] = -fx[indx];
dbg_data[2] = measured_dsxy[cluster][ExtrinsicAdjustment.INDX_DIFF] + fx[indx];
dbg_data[3] = weights[indx]*clusters;
dbg_data[4] = weights[indx]*clusters*(measured_dsxy[cluster][ExtrinsicAdjustment.INDX_DIFF] + fx[indx]);
dbg_data[5] = measured_dsxy[cluster][ExtrinsicAdjustment.INDX_DIFF] + fx[indx];
} else {
dbg_data[0] = measured_dsxy[cluster][indx_dd0 + mode - 1];
dbg_data[1] = -fx[indx];
dbg_data[2] = measured_dsxy[cluster][indx_dd0 + mode - 1] + fx[indx];
dbg_data[3] = weights[indx]*clusters;
dbg_data[4] = weights[indx]*clusters*(measured_dsxy[cluster][indx_dd0 + mode - 1] + fx[indx]);
dbg_data[5] = measured_dsxy[cluster][indx_dd0 + mode - 1] + fx[indx];
}
System.out.println(String.format(" %3d %3d %8.5f %8.5f %8.5f %8.5f %8.5f %8.5f",
clusterX, clusterY, dbg_data[0],dbg_data[1],dbg_data[2],dbg_data[3],dbg_data[4],dbg_data[5]));
}
}
}
}
private void dbgXY( private void dbgXY(
CorrVector corr_vector, CorrVector corr_vector,
String title) { String title) {
...@@ -2366,12 +2419,18 @@ public class ExtrinsicAdjustment { ...@@ -2366,12 +2419,18 @@ public class ExtrinsicAdjustment {
if (this.last_rms == null) { //first time, need to calculate all (vector is valid) if (this.last_rms == null) { //first time, need to calculate all (vector is valid)
this.last_jt = getJacobianTransposed(corr_vector); // new double [num_pars][num_points]; this.last_jt = getJacobianTransposed(corr_vector); // new double [num_pars][num_points];
this.last_ymfx = getFx(corr_vector); this.last_ymfx = getFx(corr_vector);
if (debug_level > -2) { // temporary if (debug_level > -1) { // temporary
dbgYminusFxWeight( dbgYminusFxWeight(
this.last_ymfx, this.last_ymfx,
this.weights, this.weights,
"Initial_y-fX_after_moving_objects"); "Initial_y-fX_after_moving_objects");
} }
if (debug_level > -1) { // temporary
printYminusFxWeight(
this.last_ymfx,
this.weights,
"Initial_y-fX_after_moving_objects");
}
if (last_ymfx == null) { if (last_ymfx == null) {
return null; // need to re-init/restart LMA return null; // need to re-init/restart LMA
...@@ -2400,7 +2459,7 @@ public class ExtrinsicAdjustment { ...@@ -2400,7 +2459,7 @@ public class ExtrinsicAdjustment {
lambda, // *10, // temporary lambda, // *10, // temporary
this.last_jt)); // double [][] jt) this.last_jt)); // double [][] jt)
if (debug_level>2) { if (debug_level>2) {
System.out.println("JtJ + lambda*diag(JtJ"); System.out.println("JtJ + lambda*diag(JtJ), lambda = "+lambda);
wjtjlambda.print(18, 6); wjtjlambda.print(18, 6);
double [] diag_sqrt = getWJtDiagSqrt(this.last_jt); double [] diag_sqrt = getWJtDiagSqrt(this.last_jt);
System.out.print("diag_sqrt={"); System.out.print("diag_sqrt={");
...@@ -2428,20 +2487,20 @@ public class ExtrinsicAdjustment { ...@@ -2428,20 +2487,20 @@ public class ExtrinsicAdjustment {
return rslt; return rslt;
} }
if (debug_level>2) { if (debug_level>2) {
System.out.println("(JtJ + lambda*diag(JtJ).inv()"); System.out.println("(JtJ + lambda*diag(JtJ).inv(), lambda = "+lambda);
jtjl_inv.print(18, 6); jtjl_inv.print(18, 10);
} }
//last_jt has NaNs //last_jt has NaNs
Matrix jty = (new Matrix(this.last_jt)).times(y_minus_fx_weighted); Matrix jty = (new Matrix(this.last_jt)).times(y_minus_fx_weighted);
if (debug_level>2) { if (debug_level>2) {
System.out.println("Jt * (y-fx)"); System.out.println("Jt * (y-fx)");
jty.print(18, 6); jty.print(18, 10);
} }
Matrix mdelta = jtjl_inv.times(jty); Matrix mdelta = jtjl_inv.times(jty);
if (debug_level>2) { if (debug_level>2) {
System.out.println("mdelta"); System.out.println("mdelta");
mdelta.print(18, 6); mdelta.print(18, 10);
} }
double [] delta = mdelta.getColumnPackedCopy(); double [] delta = mdelta.getColumnPackedCopy();
......
src/main/java/com/elphel/imagej/tileprocessor/ImageDttCPU.java
View file @ f801b9b5
...@@ -3222,10 +3222,10 @@ public class ImageDttCPU { ...@@ -3222,10 +3222,10 @@ public class ImageDttCPU {
if (disp_dist_cons != null) { if (disp_dist_cons != null) {
System.out.println("disp_dist_cons[0]="+disp_dist_cons[0]+", disp_dist_cons[0]="+disp_dist_cons[0]+" (this tile - weighted average will be discarded)"); System.out.println("disp_dist_cons[0]="+disp_dist_cons[0]+", disp_dist_cons[0]="+disp_dist_cons[0]+" (this tile - weighted average will be discarded)");
} }
(new ShowDoubleFloatArrays()).showArrays(corrs_cons, 15, 15, true, "corrs_cons_CX"+clustX+"-CY"+clustY,correlation2d.getCorrTitles()); // (new ShowDoubleFloatArrays()).showArrays(corrs_cons, 15, 15, true, "corrs_cons_CX"+clustX+"-CY"+clustY,correlation2d.getCorrTitles());
// mcorr_comb_width, // combined correlation tile width // mcorr_comb_width, // combined correlation tile width
//mcorr_comb_height, // combined correlation tile full height //mcorr_comb_height, // combined correlation tile full height
(new ShowDoubleFloatArrays()).showArrays(corr_combo_all, mcorr_comb_width, mcorr_comb_height, "corr_combo_all_CX"+clustX+"-CY"+clustY); // (new ShowDoubleFloatArrays()).showArrays(corr_combo_all, mcorr_comb_width, mcorr_comb_height, "corr_combo_all_CX"+clustX+"-CY"+clustY);
} }
if (ixy != null) { //TODO - for CM use magic! if (ixy != null) { //TODO - for CM use magic!
...@@ -3246,7 +3246,7 @@ public class ImageDttCPU { ...@@ -3246,7 +3246,7 @@ public class ImageDttCPU {
if (disp_str_combo != null) { if (disp_str_combo != null) {
System.out.println("disp_str_combo[0]="+disp_str_combo[1]+", disp_str_combo[0]="+disp_str_combo[1]); System.out.println("disp_str_combo[0]="+disp_str_combo[1]+", disp_str_combo[0]="+disp_str_combo[1]);
} }
(new ShowDoubleFloatArrays()).showArrays(corrs_cons, 15, 15, true, "corrs_cons_CX"+clustX+"-CY"+clustY,correlation2d.getCorrTitles()); // (new ShowDoubleFloatArrays()).showArrays(corrs_cons, 15, 15, true, "corrs_cons_CX"+clustX+"-CY"+clustY,correlation2d.getCorrTitles());
} }
lma2 = correlation2d.corrLMA2Single( lma2 = correlation2d.corrLMA2Single(
......
src/main/java/com/elphel/imagej/tileprocessor/TwoQuadCLT.java
View file @ f801b9b5
...@@ -9537,7 +9537,7 @@ if (debugLevel > -100) return true; // temporarily ! ...@@ -9537,7 +9537,7 @@ if (debugLevel > -100) return true; // temporarily !
inf_max, // double inf_max, inf_max, // double inf_max,
threadsMax, //final int threadsMax, // maximal number of threads to launch threadsMax, //final int threadsMax, // maximal number of threads to launch
updateStatus,// final boolean updateStatus, updateStatus,// final boolean updateStatus,
1); // debugLevelInner); // final int debugLevel) debugLevelInner); // 1); // final int debugLevel)
if (!ok) break; if (!ok) break;
} else { } else {
boolean ok = quadCLT_aux.extrinsicsCLTfromGT( boolean ok = quadCLT_aux.extrinsicsCLTfromGT(
......
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