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Commit 076baece authored by Andrey Filippov's avatar Andrey Filippov
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Working on tiles assignment to planes

parent 9cfff83b
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Showing with 827 additions and 38 deletions
src/main/java/SurfaceData.java
View file @ 076baece
/**
**
** SurfaceData - represents rectangualar area with per-tile disparity
** SurfaceData - represents rectangular area with per-tile disparity
**
** Copyright (C) 2017 Elphel, Inc.
**
......
src/main/java/TilePlanes.java
View file @ 076baece
......@@ -104,7 +104,7 @@ public class TilePlanes {
boolean preferDisparity = false;
// alternative "plane" calcualtions in the world coordinates
// alternative "plane" calculations in the world coordinates
double [] wxyz = null; // [3] - plane center point when calculated in world coordinates (x, y , z)
double [][] wvectors = null; // [3][3] - eigenvectors calculated in the real world
double [] wvalues = null; // [3] -eigenvalues calculated in the real world
......@@ -3607,7 +3607,11 @@ public class TilePlanes {
}
copyNeib(this, pd);
pd.num_points = otherPd.num_points; // restore, maybe remove from copy_neib?
// copy other data from this tile
pd.setMeasSelection(this.measuredSelection);
if (this.measuredLayers != null) pd.measuredLayers = this.measuredLayers;
if (this.sel_mask != null) pd.sel_mask = this.sel_mask.clone();
copyStar(this,pd);
return pd; // make sure pd are updated // "this" is not used. Should it be used instead of pd?
}
......
src/main/java/TileProcessor.java
View file @ 076baece
......@@ -3128,7 +3128,7 @@ public class TileProcessor {
final boolean updateStatus,
final int debugLevel)
{
trimCLTPasses(); // make possible to run this method multiple time - remove extra passes added by it last time
trimCLTPasses(); // make possible to run this method multiple times - remove extra passes added by it last time
CLTPass3d scan_prev = clt_3d_passes.get(clt_3d_passes.size() -1); // get last one
// boolean show_st = clt_parameters.stShow || (debugLevel > 1);
SuperTiles st = scan_prev.getSuperTiles();
......@@ -3136,10 +3136,11 @@ public class TileProcessor {
if (tileSurface == null){
return false;
}
/*
tileSurface.testSimpleConnected(
230, // clt_parameters.tileX,
131);//clt_parameters.tileY);
*/
double [][][] dispStrength = st.getDisparityStrengths(
clt_parameters.stMeasSel); // int stMeasSel) // = 1; // Select measurements for supertiles : +1 - combo, +2 - quad +4 - hor +8 - vert)
......@@ -3148,14 +3149,88 @@ public class TileProcessor {
clt_parameters.stMeasSel); // int stMeasSel) // = 1; // Select measurements for supertiles : +1 - combo, +2 - quad +4 - hor +8 - vert)
// Reset/initialize assignments - if not done so yet or specifically requested
boolean first_run = !tileSurface.isInit() || clt_parameters.tsReset;
tileSurface.InitTilesAssignment(
clt_parameters.tsReset,
dispStrength, // final double [][][] dispStrength,
tileSel, // final boolean [][] tileSel,
debugLevel); // final int debugLevel,
// assign tiles that do not depend on other assigned tiles - single pass
int [][] tile_layers = tileSurface.getTileLayersCopy();
int [][] tile_layers_single_surf = tileSurface.newTileLayers(tileSel); // final boolean [][] tileSel,)
int [][] tile_layers_planes = tileSurface.newTileLayers(tileSel); // final boolean [][] tileSel,)
int [] stats_single_surf= tileSurface.assignTilesToSingleSurface(
tile_layers_single_surf, //final int [][] tileLayers,
clt_parameters.tsNoEdge , // final boolean noEdge,
0, // -1, // debugLevel, // final int debugLevel)
clt_parameters.tileX,
clt_parameters.tileY);
System.out.print("Assign the only surface :");
tileSurface.printStats(stats_single_surf);
// grow the only surface assignments
if (clt_parameters.tsEnGrow){
double [] growStrengths = new double [tile_layers_single_surf.length];
double [] contMinStrengths = new double [tile_layers_single_surf.length];
double [] growMaxDiffFar = new double [tile_layers_single_surf.length];
double [] growMaxDiffNear = new double [tile_layers_single_surf.length];
int [][] assign_conflicts = null;
for (int i = 0; i < growStrengths.length; i++){
growStrengths[i] = clt_parameters.tsGrowStrength; // save all the same, later can use different for different types of correlation
contMinStrengths[i] = clt_parameters.tsContStrength;
growMaxDiffFar[i]= clt_parameters.tsContDiff;
growMaxDiffNear[i]= clt_parameters.tsContDiff;
if ((tile_layers_single_surf[i] != null) && (assign_conflicts == null)){
assign_conflicts = new int[tile_layers_single_surf[i].length][];
}
}
stats_single_surf = tileSurface.growWeakAssigned(
tile_layers_single_surf, //final int [][] tileLayers,
assign_conflicts, // final int [][] conflicts,
clt_parameters.tsNoEdge , // final boolean noEdge,
growStrengths, // final double [] maxStrength,
(clt_parameters.tsGrowStrong? contMinStrengths: null), //final double [] minStrengthContinue,
(clt_parameters.tsEnGrow? growMaxDiffFar: null), // final double [] maxDiffFar, // null
(clt_parameters.tsEnGrow? growMaxDiffNear: null), // final double [] maxDiffNear, // null
clt_parameters.plDispNorm, // final double dispNorm, // disparity normalize (proportionally scale down disparity difference if above
dispStrength, // final double [][][] dispStrength,
2, // -1, // debugLevel, // final int debugLevel)
clt_parameters.tileX,
clt_parameters.tileY);
System.out.print("growWeakAssigned():");
tileSurface.printStats(stats_single_surf);
}
int [] stats_planes = tileSurface.assignPlanesTiles(
true, // final boolean force,
tile_layers_planes, //final int [][] tileLayers,
st.planes_mod, // final TilePlanes.PlaneData[][] planes,
2, // -1, // debugLevel, // final int debugLevel)
clt_parameters.tileX,
clt_parameters.tileY);
System.out.print("assignPlanesTiles():");
tileSurface.printStats(stats_planes);
if (clt_parameters.tsEnOnly){
tileSurface.combineTileLayers(
true, // final boolean overwrite,
tile_layers, // final int [][] dst,
tile_layers_single_surf); // final int [][] src);
}
if (clt_parameters.tsEnPlaneSeed) {
tileSurface.combineTileLayers(
true, // final boolean overwrite,
tile_layers, // final int [][] dst,
tile_layers_planes); // final int [][] src);
}
if (clt_parameters.tsEnSingle) {
int [] stats= tileSurface.assignTilesToSurfaces(
tile_layers, //final int [][] tileLayers,
clt_parameters.tsNoEdge , // final boolean noEdge,
clt_parameters.tsUseCenter, // final boolean useCenter,
clt_parameters.tsMaxDiff, //final double maxDiff,
......@@ -3185,6 +3260,7 @@ public class TileProcessor {
if (clt_parameters.tsEnMulti) {
for (int nTry = 0; nTry < 100; nTry++) {
int [] stats= tileSurface.assignTilesToSurfaces(
tile_layers, //final int [][] tileLayers,
clt_parameters.tsNoEdge , // final boolean noEdge,
clt_parameters.tsUseCenter, // final boolean useCenter,
clt_parameters.tsMaxDiff, //final double maxDiff,
......@@ -3217,6 +3293,7 @@ public class TileProcessor {
// Single pass, before growing assigned tiles
if (clt_parameters.tsRemoveWeak1) {
int [] stats= tileSurface.removeSmallClusters(
tile_layers, //final int [][] tileLayers,
clt_parameters.tsClustSize , // final int minSize, // **
clt_parameters. tsClustWeight, // final double minStrength, // **
dispStrength, // final double [][][] dispStrength,
......@@ -3232,6 +3309,7 @@ public class TileProcessor {
if (clt_parameters.tsGrowSurround) {
for (int nTry = 0; nTry < 100; nTry++) {
int [] stats= tileSurface.assignFromFarthest(
tile_layers, //final int [][] tileLayers,
clt_parameters.tsNoEdge , // final boolean noEdge,
clt_parameters.tsMinNeib , // final int minNeib, // **
clt_parameters.tsMaxSurStrength , // final double maxStrength, // **
......@@ -3255,6 +3333,7 @@ public class TileProcessor {
// Single pass, after growing assigned tiles
if (clt_parameters.tsRemoveWeak2) {
int [] stats= tileSurface.removeSmallClusters(
tile_layers, //final int [][] tileLayers,
clt_parameters.tsClustSize , // final int minSize, // **
clt_parameters. tsClustWeight, // final double minStrength, // **
dispStrength, // final double [][][] dispStrength,
......@@ -3263,6 +3342,39 @@ public class TileProcessor {
clt_parameters.tileY);
tileSurface.printStats(stats);
}
// Just show current state
tileSurface.statTileLayers(
tile_layers, // final int [][] tileLayers,
tileSel, // final boolean [][] tileSel,
1); // final int debugLevel)
// removed tile_layers from globals, so multiple parallel assignments can be generated and then combined
// int [][] tile_layers = tileSurface.getTileLayersCopy();
// int [][] tile_layers_single_surf = tileSurface.newTileLayers(tileSel); // final boolean [][] tileSel,)
// int [][] tile_layers_planes = tileSurface.newTileLayers(tileSel); // final boolean [][] tileSel,)
int [][][] tile_assignments = {tile_layers, tile_layers_single_surf, tile_layers_planes};
for (int i = 0; i < tile_assignments.length; i++){
if ((clt_parameters.tsConsensMode & (1 << i)) == 0) {
tile_assignments[i] = null;
}
}
tileSurface.compareAssignments(
tile_assignments); // final int [][][] tileAssignments)
int [][][] opinions = new int [tile_layers.length][][];
tile_layers = tileSurface.getConsensusAssignment(
clt_parameters.tsConsensAgree, // final int min_agree,
opinions, // int [][][] opinions_in,
tile_assignments); // final int [][][] tileAssignments)
tileSurface.setTileLayers(tile_layers);
// Just show current state
tileSurface.InitTilesAssignment(
false,
......
src/main/java/TileSurface.java
View file @ 076baece
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