Parallel projection, not yet done with center projection bounds with IMS (019655f7) · Commits · Elphel / imagej-elphel

src/main/java/com/elphel/imagej/cameras/CLTParameters.java

+18 −1

Original line number	Diff line number	Diff line
		@@ -470,6 +470,9 @@ public class CLTParameters {
		// parameters for ground maps generation
		public boolean gmap_render_hdr = true; // generate textures w/o normalization to generate undistorted
		public boolean gmap_en = true; // generate ground map from a drone (enables gmap_render_hdr)
		public boolean gmap_parallel_proj = true; // Use parallel projection (map)
		public boolean gmap_update_range = false; // for parallel only

		// extracting ground projection plane
		public boolean gmap_use_lma = true; // ;
		public double gmap_discard_low = 0.01; // fraction of all pixels
		@@ -1613,6 +1616,9 @@ public class CLTParameters {

		properties.setProperty(prefix+"gmap_render_hdr", this.gmap_render_hdr+""); // boolean
		properties.setProperty(prefix+"gmap_en", this.gmap_en+""); // boolean
		properties.setProperty(prefix+"gmap_parallel_proj", this.gmap_parallel_proj+""); // boolean
		properties.setProperty(prefix+"gmap_update_range", this.gmap_update_range+""); // boolean

		properties.setProperty(prefix+"gmap_use_lma", this.gmap_use_lma+""); // boolean
		properties.setProperty(prefix+"gmap_discard_low", this.gmap_discard_low+""); // double
		properties.setProperty(prefix+"gmap_discard_high", this.gmap_discard_high+""); // double
		@@ -2629,6 +2635,8 @@ public class CLTParameters {

		if (properties.getProperty(prefix+"gmap_render_hdr")!=null) this.gmap_render_hdr=Boolean.parseBoolean(properties.getProperty(prefix+ "gmap_render_hdr"));
		if (properties.getProperty(prefix+"gmap_en")!=null) this.gmap_en=Boolean.parseBoolean(properties.getProperty(prefix+ "gmap_en"));
		if (properties.getProperty(prefix+"gmap_parallel_proj")!=null) this.gmap_parallel_proj=Boolean.parseBoolean(properties.getProperty(prefix+"gmap_parallel_proj"));
		if (properties.getProperty(prefix+"gmap_update_range")!=null) this.gmap_update_range=Boolean.parseBoolean(properties.getProperty(prefix+ "gmap_update_range"));
		if (properties.getProperty(prefix+"gmap_use_lma")!=null) this.gmap_use_lma=Boolean.parseBoolean(properties.getProperty(prefix+ "gmap_use_lma"));
		if (properties.getProperty(prefix+"gmap_discard_low")!=null) this.gmap_discard_low=Double.parseDouble(properties.getProperty(prefix+ "gmap_discard_low"));
		if (properties.getProperty(prefix+"gmap_discard_high")!=null) this.gmap_discard_high=Double.parseDouble(properties.getProperty(prefix+ "gmap_discard_high"));
		@@ -3875,10 +3883,17 @@ public class CLTParameters {
		gd.addCheckbox ("glTF use alpha blend", this.gltf_alpha_blend);

		gd.addMessage ("Ground map export");
		gd.addMessage ("Use of IMS/GNSS data is "+(imp.ims_use? "ENABLED":"DISABLED")+" (see 'IMS' configuration tab)");

		gd.addCheckbox ("Generate/save linear 32-bit textures", this.gmap_render_hdr, // true; // enable change FG pixel to opaque from transparent
		"Generate and save textures w/o normalization as 32-bit Tiff files. This option will be automatically activated if ground plane maps are used.");
		gd.addCheckbox ("Render ground-plane maps", this.gmap_en, // true; // enable change FG pixel to opaque from transparent
		"Render fixed-scale projection of the 3D model to a ground plane, such as for the UAS-generated imagery.");
		gd.addCheckbox ("Parallel (not center) projection (maps)", this.gmap_parallel_proj, // true; // enable change FG pixel to opaque from transparent
		"Parallel-project objects to a plane surface. If unchecked - use center (from the camera) projection.");
		gd.addCheckbox ("Fit all model (parallel only)", this.gmap_update_range, // true; // enable change FG pixel to opaque from transparent
		"Recalculate (increase) image size to fit all model elements. Unchecked - limit by plane intersection with the camera FOV.");

		gd.addCheckbox ("Use only LMA disparity for ground", this.gmap_use_lma, // true; // enable change FG pixel to opaque from transparent
		"Use only LMA-generated disparity to find the ground plane to project the map.");
		gd.addNumericField("Discard low fraction", this.gmap_discard_low, 4,6,"",
		@@ -5103,6 +5118,8 @@ public class CLTParameters {

		this.gmap_render_hdr= gd.getNextBoolean();
		this.gmap_en= gd.getNextBoolean();
		this.gmap_parallel_proj= gd.getNextBoolean();
		this.gmap_update_range= gd.getNextBoolean();
		this.gmap_use_lma= gd.getNextBoolean();
		this.gmap_discard_low= gd.getNextNumber();
		this.gmap_discard_high= gd.getNextNumber();

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

+62 −2

Original line number	Diff line number	Diff line
		@@ -2738,6 +2738,20 @@ public class OpticalFlow {
		public static double [][] transformToWorldXYZ(
		final double [] disparity_ref, // invalid tiles - NaN in disparity
		final QuadCLT quadClt, // now - may be null - for testing if scene is rotated ref
		int threadsMax){
		return transformToWorldXYZ(
		disparity_ref, // invalid tiles - NaN in disparity
		quadClt, // now - may be null - for testing if scene is rotated ref
		ZERO3,
		ZERO3,
		threadsMax);
		}

		public static double [][] transformToWorldXYZ(
		final double [] disparity_ref, // invalid tiles - NaN in disparity
		final QuadCLT quadClt, // now - may be null - for testing if scene is rotated ref
		double [] reference_xyz, // this view position in world coordinates (typically ZERO3)
		double [] reference_atr, // this view orientation relative to world frame (typically ZERO3)
		int threadsMax)
		{
		TileProcessor tp = quadClt.getTileProcessor();
		@@ -2764,8 +2778,8 @@ public class OpticalFlow {
		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
		ZERO3, // double [] reference_xyz, // this view position in world coordinates (typically ZERO3)
		ZERO3); // double [] reference_atr, // this view orientation relative to world frame (typically ZERO3)
		reference_xyz, // double [] reference_xyz, // this view position in world coordinates (typically ZERO3)
		reference_atr); // double [] reference_atr, // this view orientation relative to world frame (typically ZERO3)
		}
		}
		};
		@@ -5251,6 +5265,52 @@ public class OpticalFlow {
		ego_comment); // String comment);
		}
		}
		boolean test_ground = false; // true;
		if (test_ground) {
		final boolean use_lma = clt_parameters.gmap_use_lma ; // true; // ;
		final double discard_low = clt_parameters.gmap_discard_low ; //0.01; // fraction of all pixels
		final double discard_high = clt_parameters.gmap_discard_high ; //0.5; // fraction of all pixels
		final double discard_adisp = clt_parameters.gmap_discard_adisp ; //0.2; // discard above/below this fraction of average height
		final double discard_rdisp = clt_parameters.gmap_discard_rdisp ; //0.02; // discard above/below this fraction of average height
		final double pix_size = clt_parameters.gmap_pix_size ; //0.005; // hdr_x0y0, // in meters
		final int max_image_width = clt_parameters.gmap_max_image_width ; //4000; // 3200; // increase pixel size as a power of 2 until image fits
		// final double range_disparity_offset = clt_parameters.imp.range_disparity_offset;// double range_disparity_offset
		boolean use_parallel_proj = false; // true;
		int [] hdr_whs = new int[3];
		double [] hdr_x0y0 = new double[2];
		double [][] to_ground_xyzatr = quadCLTs[ref_index].getGroundNoIms(
		clt_parameters, // CLTParameters clt_parameters,
		use_lma, // boolean use_lma,
		use_parallel_proj, // boolean use_parallel_proj,
		range_disparity_offset,// double range_disparity_offset
		discard_low, // double discard_low, // fraction of all pixels
		discard_high, // double discard_high, // fraction of all pixels
		discard_adisp, // double discard_adisp, // discard above/below this fraction of average height
		discard_rdisp, // double discard_rdisp // discard above/below this fraction of average height
		pix_size, // double pix_size, // in meters
		max_image_width, // int max_image_width // increase pixel size as a power of 2 until image fits
		hdr_x0y0, // double [] x0y0, // initialize to double[2] to return width, height
		hdr_whs, // int [] whs, // initialize to int[3] to return {width, height, scale reduction}
		debugLevel); // int debug_level
		quadCLTs[ref_index].getErsCorrection().printVectors (to_ground_xyzatr[0], to_ground_xyzatr[1]);
		double [][] to_ground_xyzatr_ims = quadCLTs[ref_index].getGroundIms(
		clt_parameters, // CLTParameters clt_parameters,
		use_lma, // boolean use_lma,
		use_parallel_proj, // boolean use_parallel_proj,
		range_disparity_offset,// double range_disparity_offset
		discard_low, // double discard_low, // fraction of all pixels
		discard_high, // double discard_high, // fraction of all pixels
		discard_adisp, // double discard_adisp, // discard above/below this fraction of average height
		discard_rdisp, // double discard_rdisp // discard above/below this fraction of average height
		pix_size, // double pix_size, // in meters
		max_image_width, // int max_image_width // increase pixel size as a power of 2 until image fits
		hdr_x0y0, // double [] x0y0, // initialize to double[2] to return width, height
		hdr_whs, // int [] whs, // initialize to int[3] to return {width, height, scale reduction}
		debugLevel); // int debug_level
		quadCLTs[ref_index].getErsCorrection().printVectors (to_ground_xyzatr_ims[0], to_ground_xyzatr_ims[1]);

		System.out.println("getGroundIms Done");
		}

		if (test_ers) { // only debug feature
		test_ers0 = quadCLTs.length -1; // make it always == reference !

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

+390 −76

File changed.

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

+59 −40

Original line number	Diff line number	Diff line
		@@ -2454,6 +2454,8 @@ public class TexturedModel {
		{
		final boolean map_en = clt_parameters.gmap_en;
		final boolean render_hdr = clt_parameters.gmap_render_hdr \|\| map_en;// true; //false; // true; // generate textures w/o normalization to generate undistorted
		final boolean use_parallel_proj = clt_parameters.gmap_parallel_proj; // Use parallel projection (map)
		final boolean update_range = clt_parameters.gmap_update_range; // for parallel only

		final boolean use_lma = clt_parameters.gmap_use_lma ; // true; // ;
		final double discard_low = clt_parameters.gmap_discard_low ; //0.01; // fraction of all pixels
		@@ -2585,26 +2587,6 @@ public class TexturedModel {
		double[][] ds_fg_bg = {ds_fg[0], ds_bg[0].clone()};
		double[][] ss_fg_bg = {ds_fg[1], ds_bg[1]};

		/*
		for (int i = 0; i < dls_bg[0].length; i++) {
		if (Math.abs(ds_fg_bg[1][i]-ds_fg_bg[0][i]) < tex_fg_bg) {
		ds_fg_bg[1][i] = Double.NaN;
		}
		}
		if (debugLevel > -2) {
		System.out.println("Limiting non-infinity objects' disparity to "+min_obj_disparity+
		", infinity_disparity = "+infinity_disparity);
		}
		for (int nl = 0; nl < ds_fg_bg.length; nl++) {
		for (int i = 0; i < dls_bg[nl].length; i++) {
		if ((nl != sky_layer) \|\| !sky_tiles[i]) {
		if (ds_fg_bg[nl][i] < min_obj_disparity) {
		ds_fg_bg[nl][i] = min_obj_disparity;
		}
		}
		}
		}
		*/
		if (show_bs_debug) {
		String [] dbg_titles = {"FG","BG","BS"};
		double [][] dbg_img = {ds_fg_bg[0], ds_fg_bg[1],combo_dsn_final[OpticalFlow.COMBO_DSN_INDX_BLUE_SKY].clone()};
		@@ -3000,8 +2982,10 @@ public class TexturedModel {
		if (render_hdr) {
		int [] hdr_whs = new int[3];
		double [] hdr_x0y0 = new double[2];
		double [][] to_ground_xyxatr = scenes[ref_index].getGround(
		double [][] to_ground_xyzatr = scenes[ref_index].getGround(
		clt_parameters, // CLTParameters clt_parameters,
		use_lma, // boolean use_lma,
		use_parallel_proj, // boolean use_parallel_proj,
		range_disparity_offset,// double range_disparity_offset
		discard_low, // double discard_low, // fraction of all pixels
		discard_high, // double discard_high, // fraction of all pixels
		@@ -3012,24 +2996,59 @@ public class TexturedModel {
		hdr_x0y0, // double [] x0y0, // initialize to double[2] to return width, height
		hdr_whs, // int [] whs, // initialize to int[3] to return {width, height, scale reduction}
		debugLevel); // int debug_level
		if (to_ground_xyxatr == null) {
		if (to_ground_xyzatr == null) {
		System.out.println("*** Failed to detect flat ground surface, skipping rendering and output files generation ***");
		} else {
		double scaled_pixel_size = pix_size * hdr_whs[2];
		if (use_parallel_proj) {
		if (update_range ) {
		double [][] bounds = Render3D.getBounds(
		tri_meshes, // final ArrayList<TriMesh> tri_meshes,
		to_ground_xyzatr, // final double [][] xyzatr_toground,
		debugLevel); // int debugLevel) // debug level
		hdr_x0y0[0] = bounds[0][0];
		hdr_x0y0[1] = bounds[1][0];
		hdr_whs[0] = (int) Math.ceil((bounds[0][1]-bounds[0][0])/scaled_pixel_size);
		hdr_whs[1] = (int) Math.ceil((bounds[1][1]-bounds[1][0])/scaled_pixel_size);
		if (debugLevel > -2) {
		System.out.println("Updated parameters for rendering:top left corner=["+hdr_x0y0[0]+"m, "+hdr_x0y0[1]+"m]");
		System.out.println(" : width="+hdr_whs[0]+"pix, height="+hdr_whs[1]+"pix, scale level="+hdr_whs[2]);
		System.out.println(" : pixel size: ="+(1000*scaled_pixel_size)+"mm");
		}
		} else {
		if (debugLevel > -2) {
		System.out.println("Keeping conservative parameters for rendering:top left corner=["+hdr_x0y0[0]+"m, "+hdr_x0y0[1]+"m]");
		System.out.println(" : width="+hdr_whs[0]+"pix, height="+hdr_whs[1]+"pix, scale level="+hdr_whs[2]);
		System.out.println(" : pixel size: ="+(1000*scaled_pixel_size)+"mm");
		}

		}
		}

		Render3D render3D = new Render3D (
		//x3d_dir, // String x3d_dir,
		//ref_scene.correctionsParameters.getModelName(ref_scene.getImageName()), // String model_name,
		scenes[ref_index], // QuadCLT ref_scene, // all coordinates relative to this scene
		to_ground_xyxatr, // double [][] plane_xyzatr, // projection plane center relative to reference scene
		pix_size * hdr_whs[2], // double pixel_size, // in meters
		to_ground_xyzatr, // double [][] plane_xyzatr, // projection plane center relative to reference scene
		scaled_pixel_size, // double pixel_size, // in meters
		hdr_x0y0, // double [] x0_y0, // usually negative - top-left point of the output render
		hdr_whs[0], // int out_width, // output rendered image width in pixels
		hdr_whs[1]); // int out_height); // output rendered image height in pixels
		boolean last_is_alpha = true; // last channel in textures slices is alpha
		double [][] full_render =render3D.render3dPlane(
		double [][] full_render;
		if (use_parallel_proj) {
		full_render =render3D.render3dPlaneParallelProj(
		tri_meshes, // final ArrayList<TriMesh> tri_meshes,
		last_is_alpha, // final boolean last_is_alpha,
		// scenes[ref_index], //final QuadCLT ref_scene, // all coordinates relative to this scene
		debugLevel); //int debugLevel)
		} else {
		full_render =render3D.render3dPlaneCenterProj(
		tri_meshes, // final ArrayList<TriMesh> tri_meshes,
		last_is_alpha, // final boolean last_is_alpha,
		scenes[ref_index], //final QuadCLT ref_scene, // all coordinates relative to this scene
		// scenes[ref_index], //final QuadCLT ref_scene, // all coordinates relative to this scene
		debugLevel); //int debugLevel)
		}
		// String model_name = ref_scene.correctionsParameters.getModelName(ref_scene.getImageName());
		String suffix ="-RECT";
		if (clt_parameters.tex_um) {

src/main/java/com/elphel/imagej/x3d/export/Render3D.java

+254 −5

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