Working on tiles assignment to planes (076baece) · Commits · Elphel / imagej-elphel

src/main/java/EyesisCorrectionParameters.java

+89 −4

Original line number	Diff line number	Diff line
		@@ -2326,6 +2326,15 @@ public class EyesisCorrectionParameters {
		public double tsMaxSurStrength = 0.05; // Maximal strength of the surrounded unassigned tile to join
		public boolean tsCountDis = true; // Include disabled tiles/borders when counting assigned neighbors

		public boolean tsEnPlaneSeed = true; // Assign tiles that were used to generate planes
		public boolean tsEnOnly = true; // Allow assignment only surface
		public boolean tsEnGrow = true; // Grow the only surface assignments
		public double tsGrowStrength = 0.01; // Maximal strength when growing the only surfaces
		public boolean tsGrowStrong = true; // Grow over strong if disparity matches
		public double tsContStrength = 0.1; // Minimal strength to continue grow with disparity match
		public double tsContDiff = 0.1; // Maximal normalized disparity error to grow over strong tiles


		public boolean tsEnSingle = true; // Allow assignment to the nearest surface with no competitors
		public boolean tsEnMulti = true; // Allow assignment when several surfaces fit

		@@ -2338,6 +2347,10 @@ public class EyesisCorrectionParameters {
		public boolean tsShow = false; // Show results of tiles to surfaces assignment
		public int tsNumClust = 50; // Number of clusters to keep

		public int tsConsensMode = 7; // Which assignments to match +1 - combo, +2 grown single, +4 plane seeds
		public int tsConsensAgree = 1; // Minimal number of assignments to agree


		public boolean replaceWeakOutlayers = true; // false;

		public boolean dbg_migrate = true;
		@@ -2743,6 +2756,15 @@ public class EyesisCorrectionParameters {
		properties.setProperty(prefix+"tsMinNeib", this.tsMinNeib +"");
		properties.setProperty(prefix+"tsMaxSurStrength", this.tsMaxSurStrength +"");
		properties.setProperty(prefix+"tsCountDis", this.tsCountDis +"");

		properties.setProperty(prefix+"tsEnPlaneSeed", this.tsEnPlaneSeed+"");
		properties.setProperty(prefix+"tsEnOnly", this.tsEnOnly+"");
		properties.setProperty(prefix+"tsEnGrow", this.tsEnGrow+"");
		properties.setProperty(prefix+"tsGrowStrength", this.tsGrowStrength +"");
		properties.setProperty(prefix+"tsGrowStrong", this.tsGrowStrong+"");
		properties.setProperty(prefix+"tsContStrength", this.tsContStrength +"");
		properties.setProperty(prefix+"tsContDiff", this.tsContDiff +"");

		properties.setProperty(prefix+"tsEnSingle", this.tsEnSingle+"");
		properties.setProperty(prefix+"tsEnMulti", this.tsEnMulti+"");
		properties.setProperty(prefix+"tsRemoveWeak1", this.tsRemoveWeak1+"");
		@@ -2752,6 +2774,9 @@ public class EyesisCorrectionParameters {
		properties.setProperty(prefix+"tsShow", this.tsShow+"");
		properties.setProperty(prefix+"tsNumClust", this.tsNumClust +"");

		properties.setProperty(prefix+"tsConsensMode", this.tsConsensMode +"");
		properties.setProperty(prefix+"tsConsensAgree", this.tsConsensAgree +"");

		properties.setProperty(prefix+"dbg_migrate", this.dbg_migrate+"");

		properties.setProperty(prefix+"show_ortho_combine", this.show_ortho_combine+"");
		@@ -3150,6 +3175,15 @@ public class EyesisCorrectionParameters {
		if (properties.getProperty(prefix+"tsMinNeib")!=null) this.tsMinNeib=Integer.parseInt(properties.getProperty(prefix+"tsMinNeib"));
		if (properties.getProperty(prefix+"tsMaxSurStrength")!=null) this.tsMaxSurStrength=Double.parseDouble(properties.getProperty(prefix+"tsMaxSurStrength"));
		if (properties.getProperty(prefix+"tsCountDis")!=null) this.tsCountDis=Boolean.parseBoolean(properties.getProperty(prefix+"tsCountDis"));

		if (properties.getProperty(prefix+"tsEnPlaneSeed")!=null) this.tsEnOnly=Boolean.parseBoolean(properties.getProperty(prefix+"tsEnPlaneSeed"));
		if (properties.getProperty(prefix+"tsEnOnly")!=null) this.tsEnOnly=Boolean.parseBoolean(properties.getProperty(prefix+"tsEnOnly"));
		if (properties.getProperty(prefix+"tsEnGrow")!=null) this.tsEnOnly=Boolean.parseBoolean(properties.getProperty(prefix+"tsEnGrow"));
		if (properties.getProperty(prefix+"tsGrowStrength")!=null) this.tsGrowStrength=Double.parseDouble(properties.getProperty(prefix+"tsGrowStrength"));
		if (properties.getProperty(prefix+"tsGrowStrong")!=null) this.tsGrowStrong=Boolean.parseBoolean(properties.getProperty(prefix+"tsGrowStrong"));
		if (properties.getProperty(prefix+"tsContStrength")!=null) this.tsGrowStrength=Double.parseDouble(properties.getProperty(prefix+"tsContStrength"));
		if (properties.getProperty(prefix+"tsContDiff")!=null) this.tsContDiff=Double.parseDouble(properties.getProperty(prefix+"tsContDiff"));

		if (properties.getProperty(prefix+"tsEnSingle")!=null) this.tsEnSingle=Boolean.parseBoolean(properties.getProperty(prefix+"tsEnSingle"));
		if (properties.getProperty(prefix+"tsEnMulti")!=null) this.tsEnMulti=Boolean.parseBoolean(properties.getProperty(prefix+"tsEnMulti"));
		if (properties.getProperty(prefix+"tsRemoveWeak1")!=null) this.tsRemoveWeak1=Boolean.parseBoolean(properties.getProperty(prefix+"tsRemoveWeak1"));
		@@ -3160,6 +3194,8 @@ public class EyesisCorrectionParameters {
		if (properties.getProperty(prefix+"tsShow")!=null) this.tsShow=Boolean.parseBoolean(properties.getProperty(prefix+"tsShow"));
		if (properties.getProperty(prefix+"tsNumClust")!=null) this.tsNumClust=Integer.parseInt(properties.getProperty(prefix+"tsNumClust"));

		if (properties.getProperty(prefix+"tsConsensMode")!=null) this.tsConsensMode=Integer.parseInt(properties.getProperty(prefix+"tsConsensMode"));
		if (properties.getProperty(prefix+"tsConsensAgree")!=null) this.tsConsensAgree=Integer.parseInt(properties.getProperty(prefix+"tsConsensAgree"));

		if (properties.getProperty(prefix+"dbg_migrate")!=null) this.dbg_migrate=Boolean.parseBoolean(properties.getProperty(prefix+"dbg_migrate"));

		@@ -3590,6 +3626,15 @@ public class EyesisCorrectionParameters {
		gd.addNumericField("Minimal number of neighbors of unassigned tile to join (the farthest)", this.tsMinNeib, 0);
		gd.addNumericField("Maximal strength of the surrounded unassigned tile to join", this.tsMaxSurStrength, 6);
		gd.addCheckbox ("Include disabled tiles/borders when counting assigned neighbors", this.tsCountDis);

		gd.addCheckbox ("Assign tiles that were used to generate planes", this.tsEnPlaneSeed);
		gd.addCheckbox ("Allow assignment only surface", this.tsEnOnly);
		gd.addCheckbox ("Grow the only surface assignments", this.tsEnGrow);
		gd.addNumericField("Maximal strength when growing the only surfaces", this.tsGrowStrength, 6);
		gd.addCheckbox ("Grow over strong if disparity matches", this.tsGrowStrong);
		gd.addNumericField("Minimal strength to continue grow with disparity match", this.tsContStrength, 6);
		gd.addNumericField("Maximal normalized disparity error to grow over strong tiles", this.tsContDiff, 6);

		gd.addCheckbox ("Allow assignment to the nearest surface with no competitors", this.tsEnSingle);
		gd.addCheckbox ("Allow assignment when several surfaces fit", this.tsEnMulti);
		gd.addCheckbox ("Remove weak clusters before growing", this.tsRemoveWeak1);
		@@ -3600,6 +3645,9 @@ public class EyesisCorrectionParameters {
		gd.addCheckbox ("Show results of tiles to surfaces assignment", this.tsShow);
		gd.addNumericField("Number of clusters to keep", this.tsNumClust, 0);

		gd.addNumericField("Which assignments to match +1 - combo, +2 grown single, +4 plane seeds", this.tsConsensMode, 0);
		gd.addNumericField("Minimal number of assignments to agree", this.tsConsensAgree, 0);

		gd.addCheckbox ("Test new mode after migration", this.dbg_migrate);

		gd.addMessage ("--- Other debug images ---");
		@@ -4006,6 +4054,15 @@ public class EyesisCorrectionParameters {
		this.tsMaxSurStrength= gd.getNextNumber();
		this.tsCountDis= gd.getNextBoolean();
		this.tsReset = false; // Reset tiles to surfaces assignment

		this.tsEnPlaneSeed= gd.getNextBoolean();
		this.tsEnOnly= gd.getNextBoolean();
		this.tsEnGrow= gd.getNextBoolean();
		this.tsGrowStrength= gd.getNextNumber();
		this.tsGrowStrong= gd.getNextBoolean();
		this.tsContStrength= gd.getNextNumber();
		this.tsContDiff= gd.getNextNumber();

		this.tsEnSingle= gd.getNextBoolean();
		this.tsEnMulti= gd.getNextBoolean();
		this.tsRemoveWeak1= gd.getNextBoolean();
		@@ -4016,6 +4073,9 @@ public class EyesisCorrectionParameters {
		this.tsShow = gd.getNextBoolean();
		this.tsNumClust = (int) gd.getNextNumber();

		this.tsConsensMode = (int) gd.getNextNumber();
		this.tsConsensAgree = (int) gd.getNextNumber();

		this.dbg_migrate= gd.getNextBoolean();

		this.show_ortho_combine= gd.getNextBoolean();
		@@ -4057,6 +4117,15 @@ public class EyesisCorrectionParameters {
		gd.addNumericField("Maximal strength of the surrounded unassigned tile to join", this.tsMaxSurStrength, 6);
		gd.addCheckbox ("Include disabled tiles/borders when counting assigned neighbors", this.tsCountDis);
		gd.addCheckbox ("Reset tiles to surfaces assignment", false);

		gd.addCheckbox ("Assign tiles that were used to generate planes", this.tsEnPlaneSeed);
		gd.addCheckbox ("Allow assignment only surface", this.tsEnOnly);
		gd.addCheckbox ("Grow the only surface assignments", this.tsEnGrow);
		gd.addNumericField("Maximal strength when growing the only surfaces", this.tsGrowStrength, 6);
		gd.addCheckbox ("Grow over strong if disparity matches", this.tsGrowStrong);
		gd.addNumericField("Minimal strength to continue grow with disparity match", this.tsContStrength, 6);
		gd.addNumericField("Maximal normalized disparity error to grow over strong tiles", this.tsContDiff, 6);

		gd.addCheckbox ("Allow assignment to the nearest surface with no competitors", this.tsEnSingle);
		gd.addCheckbox ("Allow assignment when several surfaces fit", this.tsEnMulti);
		gd.addCheckbox ("Remove weak clusters before growing", this.tsRemoveWeak1);
		@@ -4067,6 +4136,10 @@ public class EyesisCorrectionParameters {
		gd.addCheckbox ("Show results of tiles to surfaces assignment", this.tsShow);
		gd.addNumericField("Number of clusters to keep", this.tsNumClust, 0);

		gd.addNumericField("Which assignments to match +1 - combo, +2 grown single, +4 plane seeds", this.tsConsensMode, 0);
		gd.addNumericField("Minimal number of assignments to agree", this.tsConsensAgree, 0);


		WindowTools.addScrollBars(gd);
		gd.showDialog();
		if (gd.wasCanceled()) return false;
		@@ -4091,6 +4164,15 @@ public class EyesisCorrectionParameters {
		this.tsMaxSurStrength= gd.getNextNumber();
		this.tsCountDis= gd.getNextBoolean();
		this.tsReset= gd.getNextBoolean();

		this.tsEnPlaneSeed= gd.getNextBoolean();
		this.tsEnOnly= gd.getNextBoolean();
		this.tsEnGrow= gd.getNextBoolean();
		this.tsGrowStrength= gd.getNextNumber();
		this.tsGrowStrong= gd.getNextBoolean();
		this.tsContStrength= gd.getNextNumber();
		this.tsContDiff= gd.getNextNumber();

		this.tsEnSingle= gd.getNextBoolean();
		this.tsEnMulti= gd.getNextBoolean();
		this.tsRemoveWeak1= gd.getNextBoolean();
		@@ -4100,6 +4182,9 @@ public class EyesisCorrectionParameters {
		this.tsLoopMulti= gd.getNextBoolean();
		this.tsShow = gd.getNextBoolean();
		this.tsNumClust= (int) gd.getNextNumber();
		this.tsConsensMode = (int) gd.getNextNumber();
		this.tsConsensAgree = (int) gd.getNextNumber();

		return true;
		}

src/main/java/SurfaceData.java

+1 −1

Original line number	Diff line number	Diff line
		/**
		**
		** 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

+6 −2

Original line number	Diff line number	Diff line
		@@ -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

+114 −2

Original line number	Diff line number	Diff line
		@@ -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,

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