Loading src/main/java/com/elphel/imagej/tileprocessor/ImageDtt.java +129 −0 Original line number Diff line number Diff line Loading @@ -1151,6 +1151,135 @@ public class ImageDtt extends ImageDttCPU { return; } /** * Correlate two scenes - reference (should be set with setReferenceTDMotionBlur() ) and this one, keep results in TD * results include selected sensors and the sum of them * @param imgdtt_params * @param tp_tasks (tasks should not include the tiles that are missing from the reference scene) * Differently from nonMB interCorrTD(), tasks contain a pair of primary (to set) and secondary (to subtract) * @param fcorr_td null or float [tilesY][tilesX][][] - will return [number_of_selected_sensors + 1][256] for non-empty * @param gpu_sigma_r * @param gpu_sigma_b * @param gpu_sigma_g * @param gpu_sigma_m * @param gpu_sigma_rb_corr * @param gpu_sigma_corr * @param gpu_sigma_log_corr * @param corr_red * @param corr_blue * @param sensor_mask_inter The bitmask - which sensors to correlate, -1 - all. * @param threadsMax * @param globalDebugLevel */ public void interCorrTDMotionBlur( final ImageDttParameters imgdtt_params, // Now just extra correlation parameters, later will include, most others final TpTask[][] tp_tasks, final float [][][][] fcorr_td, // [tilesY][tilesX][pair][4*64] transform domain representation of 6 corr pairs final double gpu_sigma_r, // 0.9, 1.1 final double gpu_sigma_b, // 0.9, 1.1 final double gpu_sigma_g, // 0.6, 0.7 final double gpu_sigma_m, // = 0.4; // 0.7; final double gpu_sigma_rb_corr, // = 0.5; // apply LPF after accumulating R and B correlation before G, monochrome ? 1.0 : final double gpu_sigma_corr, // = 0.9;gpu_sigma_corr_m final double gpu_sigma_log_corr, // hpf to reduce dynamic range for correlations final double corr_red, // +used final double corr_blue,// +used final int sensor_mask_inter, // The bitmask - which sensors to correlate, -1 - all. final int threadsMax, // maximal number of threads to launch final int globalDebugLevel) { final int numcol = isMonochrome()?1:3; final double [] col_weights= new double [numcol]; // colors are RBG if (isMonochrome()) { col_weights[0] = 1.00; // Was 0 ! 0; } else { col_weights[2] = 1.0/(1.0 + corr_red + corr_blue); // green color col_weights[0] = corr_red * col_weights[2]; col_weights[1] = corr_blue * col_weights[2]; } final float [][] lpf_rgb = new float[][] { floatGetCltLpfFd(gpu_sigma_r), floatGetCltLpfFd(gpu_sigma_b), floatGetCltLpfFd(gpu_sigma_g), floatGetCltLpfFd(gpu_sigma_m) }; gpuQuad.setLpfRbg( // constants memory - same for all cameras lpf_rgb, globalDebugLevel > 2); final float [] lpf_flat = floatGetCltLpfFd(gpu_sigma_corr); gpuQuad.setLpfCorr(// constants memory - same for all cameras "lpf_corr", // String const_name, // "lpf_corr" lpf_flat, globalDebugLevel > 2); final float [] lpf_rb_flat = floatGetCltLpfFd(gpu_sigma_rb_corr); gpuQuad.setLpfCorr(// constants memory - same for all cameras "lpf_rb_corr", // String const_name, // "lpf_corr" lpf_rb_flat, globalDebugLevel > 2); final float [] log_flat = floatGetCltHpfFd(gpu_sigma_log_corr); gpuQuad.setLpfCorr(// constants memory - same for all cameras "LoG_corr", // String const_name, // "lpf_corr" log_flat, globalDebugLevel > 2); // set primary tasks and perform direct conversion to TD gpuQuad.setTasks( // copy tp_tasks to the GPU memory tp_tasks[0], // TpTask [] tile_tasks, false, // use_aux); // boolean use_aux) imgdtt_params.gpu_verify); // boolean verify // used alternative method to prepare tasks, not centered in the tile centers // FIXME: change back to false !!!! // Testing, remove when done // gpuQuad.resetGeometryCorrection(); // gpuQuad.setConvolutionKernels(true); // set kernels if they are not set already // gpuQuad.setBayerImages(true); // set Bayer images if this.quadCLT instance has new ones // Why always NON-UNIFORM grid? Already set in tp_tasks gpuQuad.execSetTilesOffsets(false); // false); // prepare tiles offsets in GPU memory, using NON-UNIFORM grid (pre-calculated) // update tp_tasks gpuQuad.updateTasks( tp_tasks[0], false); // boolean use_aux // while is it in class member? - just to be able to free // Skipping if ((fdisp_dist != null) || (fpxpy != null)) {... gpuQuad.execConvertDirect(-1); // Convert primary image, no erase (each tile will be SET as scales > 0 // set secondary tasks and perform direct conversion to TD, subtracting from the converted primary gpuQuad.setTasks( // copy tp_tasks to the GPU memory tp_tasks[1], // TpTask [] tile_tasks, false, // use_aux); // boolean use_aux) imgdtt_params.gpu_verify); // boolean verify // Why always NON-UNIFORM grid? Already set in tp_tasks gpuQuad.execSetTilesOffsets(false); // false); // prepare tiles offsets in GPU memory, using NON-UNIFORM grid (pre-calculated) // update tp_tasks gpuQuad.updateTasks( tp_tasks[1], false); // boolean use_aux // while is it in class member? - just to be able to free gpuQuad.execConvertDirect(-1); // Convert secondary image, no erase (each tile will be SUBTRACTED as scales < 0) // continue as w/o Motion Blur in ( interCorrTD() ) if (sensor_mask_inter == 0) { // no correlation at all return; } gpuQuad.setSensorMaskInter(sensor_mask_inter); //Generate 2D phase correlations from the CLT representation gpuQuad.execCorr2D_inter_TD( col_weights); // double [] scales, if (fcorr_td != null) { gpuQuad.getCorrTilesTd( true, //boolean inter, fcorr_td); // generate transform domain correlation pairs } return; } /** * Convert reference scene to FD and save result in extra GPU array for the future interscene correlation * Geometry correction and images will come from gpuQuad instance - Loading src/main/java/com/elphel/imagej/tileprocessor/OpticalFlow.java +52 −11 Original line number Diff line number Diff line Loading @@ -5801,6 +5801,53 @@ public class OpticalFlow { return min_max_xyzatr; } /** * Calculate linear and angular velocities for the scene if positions and orientations * are already known relative to the reference scene * @param quadCLTs array of scenes, last one is the reference * @param nscene index of the current scene * @return [2][3] array of {{dx/dt, dy/dt, dz/dt}, {dazimuth/dt, dtilt/dt, droll/dt}} */ public static double [][] getVelocities( QuadCLT [] quadCLTs, int nscene){ int ref_index = quadCLTs.length -1; ErsCorrection ers_reference = quadCLTs[ref_index].getErsCorrection(); int nscene0 = nscene - 1; if ((nscene0 < 0) || (quadCLTs[nscene0]== null)|| (ers_reference.getSceneXYZ(quadCLTs[nscene0].getImageName())== null) || (ers_reference.getSceneATR(quadCLTs[nscene0].getImageName())== null)) { nscene0 = nscene; } int nscene1 = nscene + 1; if ((nscene1 > ref_index) || (quadCLTs[nscene1]== null)) { nscene1 = nscene; } if (nscene1 == nscene0) { System.out.println("**** Isoloated scene!!! skipping... now may only happen for a ref_scene****"); return null; } double dt = quadCLTs[nscene1].getTimeStamp() - quadCLTs[nscene0].getTimeStamp(); String ts0 = quadCLTs[nscene0].getImageName(); String ts1 = quadCLTs[nscene1].getImageName(); double [] scene_xyz0 = ers_reference.getSceneXYZ(ts0); double [] scene_atr0 = ers_reference.getSceneATR(ts0); if (scene_xyz0 == null) { System.out.println ("BUG: No egomotion data for timestamp "+ts0); return null; } double [] scene_xyz1 = (nscene1== ref_index)? ZERO3:ers_reference.getSceneXYZ(ts1); double [] scene_atr1 = (nscene1== ref_index)? ZERO3:ers_reference.getSceneATR(ts1); double [][] dxyzatr_dt = new double[2][3]; for (int i = 0; i < 3; i++) { dxyzatr_dt[0][i] = (scene_xyz1[i]-scene_xyz0[i])/dt; dxyzatr_dt[1][i] = (scene_atr1[i]-scene_atr0[i])/dt; } return dxyzatr_dt; } public static ImagePlus renderSceneSequence( CLTParameters clt_parameters, Loading Loading @@ -5888,6 +5935,7 @@ public class OpticalFlow { ImagePlus imp_scene = null; double [][] dxyzatr_dt = null; if (mb_en) { /* get_velocities: { int nscene0 = nscene - 1; Loading Loading @@ -5922,6 +5970,10 @@ public class OpticalFlow { dxyzatr_dt[1][i] = (scene_atr1[i]-scene_atr0[i])/dt; } } */ dxyzatr_dt = getVelocities( quadCLTs, // QuadCLT [] quadCLTs, nscene); // int nscene) } Loading Loading @@ -12253,9 +12305,6 @@ public double[][] correlateIntersceneDebug( // only uses GPU and quad double eq_weight_scale = clt_parameters.imp.eq_weight_scale; // 10; double eq_level = clt_parameters.imp.eq_level; // 0.8; // equalize to (log) fraction of average/this strength if (scene_is_ref_test) { scene_xyz = ZERO3.clone(); scene_atr = ZERO3.clone(); Loading @@ -12264,14 +12313,6 @@ public double[][] correlateIntersceneDebug( // only uses GPU and quad } int tilesX = tp.getTilesX(); int tilesY = tp.getTilesY(); /* if (dbg_corr_fpn != null) { // 2*16 or 2*17 (average, individual) for (int i = 0; i < dbg_corr_fpn.length; i++) { dbg_corr_fpn[i] = new float [tilesY * tilesX]; Arrays.fill(dbg_corr_fpn[i], Float.NaN); } } */ double [][][] coord_motion = null; // new double [2][tilesX*tilesY][]; final double [][][] motion_vectors = show_motion_vectors?new double [tilesY *tilesX][][]:null; final float [][][] fclt_corr = ((accum_2d_corr != null) || show_2d_correlations) ? Loading
src/main/java/com/elphel/imagej/tileprocessor/ImageDtt.java +129 −0 Original line number Diff line number Diff line Loading @@ -1151,6 +1151,135 @@ public class ImageDtt extends ImageDttCPU { return; } /** * Correlate two scenes - reference (should be set with setReferenceTDMotionBlur() ) and this one, keep results in TD * results include selected sensors and the sum of them * @param imgdtt_params * @param tp_tasks (tasks should not include the tiles that are missing from the reference scene) * Differently from nonMB interCorrTD(), tasks contain a pair of primary (to set) and secondary (to subtract) * @param fcorr_td null or float [tilesY][tilesX][][] - will return [number_of_selected_sensors + 1][256] for non-empty * @param gpu_sigma_r * @param gpu_sigma_b * @param gpu_sigma_g * @param gpu_sigma_m * @param gpu_sigma_rb_corr * @param gpu_sigma_corr * @param gpu_sigma_log_corr * @param corr_red * @param corr_blue * @param sensor_mask_inter The bitmask - which sensors to correlate, -1 - all. * @param threadsMax * @param globalDebugLevel */ public void interCorrTDMotionBlur( final ImageDttParameters imgdtt_params, // Now just extra correlation parameters, later will include, most others final TpTask[][] tp_tasks, final float [][][][] fcorr_td, // [tilesY][tilesX][pair][4*64] transform domain representation of 6 corr pairs final double gpu_sigma_r, // 0.9, 1.1 final double gpu_sigma_b, // 0.9, 1.1 final double gpu_sigma_g, // 0.6, 0.7 final double gpu_sigma_m, // = 0.4; // 0.7; final double gpu_sigma_rb_corr, // = 0.5; // apply LPF after accumulating R and B correlation before G, monochrome ? 1.0 : final double gpu_sigma_corr, // = 0.9;gpu_sigma_corr_m final double gpu_sigma_log_corr, // hpf to reduce dynamic range for correlations final double corr_red, // +used final double corr_blue,// +used final int sensor_mask_inter, // The bitmask - which sensors to correlate, -1 - all. final int threadsMax, // maximal number of threads to launch final int globalDebugLevel) { final int numcol = isMonochrome()?1:3; final double [] col_weights= new double [numcol]; // colors are RBG if (isMonochrome()) { col_weights[0] = 1.00; // Was 0 ! 0; } else { col_weights[2] = 1.0/(1.0 + corr_red + corr_blue); // green color col_weights[0] = corr_red * col_weights[2]; col_weights[1] = corr_blue * col_weights[2]; } final float [][] lpf_rgb = new float[][] { floatGetCltLpfFd(gpu_sigma_r), floatGetCltLpfFd(gpu_sigma_b), floatGetCltLpfFd(gpu_sigma_g), floatGetCltLpfFd(gpu_sigma_m) }; gpuQuad.setLpfRbg( // constants memory - same for all cameras lpf_rgb, globalDebugLevel > 2); final float [] lpf_flat = floatGetCltLpfFd(gpu_sigma_corr); gpuQuad.setLpfCorr(// constants memory - same for all cameras "lpf_corr", // String const_name, // "lpf_corr" lpf_flat, globalDebugLevel > 2); final float [] lpf_rb_flat = floatGetCltLpfFd(gpu_sigma_rb_corr); gpuQuad.setLpfCorr(// constants memory - same for all cameras "lpf_rb_corr", // String const_name, // "lpf_corr" lpf_rb_flat, globalDebugLevel > 2); final float [] log_flat = floatGetCltHpfFd(gpu_sigma_log_corr); gpuQuad.setLpfCorr(// constants memory - same for all cameras "LoG_corr", // String const_name, // "lpf_corr" log_flat, globalDebugLevel > 2); // set primary tasks and perform direct conversion to TD gpuQuad.setTasks( // copy tp_tasks to the GPU memory tp_tasks[0], // TpTask [] tile_tasks, false, // use_aux); // boolean use_aux) imgdtt_params.gpu_verify); // boolean verify // used alternative method to prepare tasks, not centered in the tile centers // FIXME: change back to false !!!! // Testing, remove when done // gpuQuad.resetGeometryCorrection(); // gpuQuad.setConvolutionKernels(true); // set kernels if they are not set already // gpuQuad.setBayerImages(true); // set Bayer images if this.quadCLT instance has new ones // Why always NON-UNIFORM grid? Already set in tp_tasks gpuQuad.execSetTilesOffsets(false); // false); // prepare tiles offsets in GPU memory, using NON-UNIFORM grid (pre-calculated) // update tp_tasks gpuQuad.updateTasks( tp_tasks[0], false); // boolean use_aux // while is it in class member? - just to be able to free // Skipping if ((fdisp_dist != null) || (fpxpy != null)) {... gpuQuad.execConvertDirect(-1); // Convert primary image, no erase (each tile will be SET as scales > 0 // set secondary tasks and perform direct conversion to TD, subtracting from the converted primary gpuQuad.setTasks( // copy tp_tasks to the GPU memory tp_tasks[1], // TpTask [] tile_tasks, false, // use_aux); // boolean use_aux) imgdtt_params.gpu_verify); // boolean verify // Why always NON-UNIFORM grid? Already set in tp_tasks gpuQuad.execSetTilesOffsets(false); // false); // prepare tiles offsets in GPU memory, using NON-UNIFORM grid (pre-calculated) // update tp_tasks gpuQuad.updateTasks( tp_tasks[1], false); // boolean use_aux // while is it in class member? - just to be able to free gpuQuad.execConvertDirect(-1); // Convert secondary image, no erase (each tile will be SUBTRACTED as scales < 0) // continue as w/o Motion Blur in ( interCorrTD() ) if (sensor_mask_inter == 0) { // no correlation at all return; } gpuQuad.setSensorMaskInter(sensor_mask_inter); //Generate 2D phase correlations from the CLT representation gpuQuad.execCorr2D_inter_TD( col_weights); // double [] scales, if (fcorr_td != null) { gpuQuad.getCorrTilesTd( true, //boolean inter, fcorr_td); // generate transform domain correlation pairs } return; } /** * Convert reference scene to FD and save result in extra GPU array for the future interscene correlation * Geometry correction and images will come from gpuQuad instance - Loading
src/main/java/com/elphel/imagej/tileprocessor/OpticalFlow.java +52 −11 Original line number Diff line number Diff line Loading @@ -5801,6 +5801,53 @@ public class OpticalFlow { return min_max_xyzatr; } /** * Calculate linear and angular velocities for the scene if positions and orientations * are already known relative to the reference scene * @param quadCLTs array of scenes, last one is the reference * @param nscene index of the current scene * @return [2][3] array of {{dx/dt, dy/dt, dz/dt}, {dazimuth/dt, dtilt/dt, droll/dt}} */ public static double [][] getVelocities( QuadCLT [] quadCLTs, int nscene){ int ref_index = quadCLTs.length -1; ErsCorrection ers_reference = quadCLTs[ref_index].getErsCorrection(); int nscene0 = nscene - 1; if ((nscene0 < 0) || (quadCLTs[nscene0]== null)|| (ers_reference.getSceneXYZ(quadCLTs[nscene0].getImageName())== null) || (ers_reference.getSceneATR(quadCLTs[nscene0].getImageName())== null)) { nscene0 = nscene; } int nscene1 = nscene + 1; if ((nscene1 > ref_index) || (quadCLTs[nscene1]== null)) { nscene1 = nscene; } if (nscene1 == nscene0) { System.out.println("**** Isoloated scene!!! skipping... now may only happen for a ref_scene****"); return null; } double dt = quadCLTs[nscene1].getTimeStamp() - quadCLTs[nscene0].getTimeStamp(); String ts0 = quadCLTs[nscene0].getImageName(); String ts1 = quadCLTs[nscene1].getImageName(); double [] scene_xyz0 = ers_reference.getSceneXYZ(ts0); double [] scene_atr0 = ers_reference.getSceneATR(ts0); if (scene_xyz0 == null) { System.out.println ("BUG: No egomotion data for timestamp "+ts0); return null; } double [] scene_xyz1 = (nscene1== ref_index)? ZERO3:ers_reference.getSceneXYZ(ts1); double [] scene_atr1 = (nscene1== ref_index)? ZERO3:ers_reference.getSceneATR(ts1); double [][] dxyzatr_dt = new double[2][3]; for (int i = 0; i < 3; i++) { dxyzatr_dt[0][i] = (scene_xyz1[i]-scene_xyz0[i])/dt; dxyzatr_dt[1][i] = (scene_atr1[i]-scene_atr0[i])/dt; } return dxyzatr_dt; } public static ImagePlus renderSceneSequence( CLTParameters clt_parameters, Loading Loading @@ -5888,6 +5935,7 @@ public class OpticalFlow { ImagePlus imp_scene = null; double [][] dxyzatr_dt = null; if (mb_en) { /* get_velocities: { int nscene0 = nscene - 1; Loading Loading @@ -5922,6 +5970,10 @@ public class OpticalFlow { dxyzatr_dt[1][i] = (scene_atr1[i]-scene_atr0[i])/dt; } } */ dxyzatr_dt = getVelocities( quadCLTs, // QuadCLT [] quadCLTs, nscene); // int nscene) } Loading Loading @@ -12253,9 +12305,6 @@ public double[][] correlateIntersceneDebug( // only uses GPU and quad double eq_weight_scale = clt_parameters.imp.eq_weight_scale; // 10; double eq_level = clt_parameters.imp.eq_level; // 0.8; // equalize to (log) fraction of average/this strength if (scene_is_ref_test) { scene_xyz = ZERO3.clone(); scene_atr = ZERO3.clone(); Loading @@ -12264,14 +12313,6 @@ public double[][] correlateIntersceneDebug( // only uses GPU and quad } int tilesX = tp.getTilesX(); int tilesY = tp.getTilesY(); /* if (dbg_corr_fpn != null) { // 2*16 or 2*17 (average, individual) for (int i = 0; i < dbg_corr_fpn.length; i++) { dbg_corr_fpn[i] = new float [tilesY * tilesX]; Arrays.fill(dbg_corr_fpn[i], Float.NaN); } } */ double [][][] coord_motion = null; // new double [2][tilesX*tilesY][]; final double [][][] motion_vectors = show_motion_vectors?new double [tilesY *tilesX][][]:null; final float [][][] fclt_corr = ((accum_2d_corr != null) || show_2d_correlations) ?
