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imagej-elphel
Commit 1361f670 authored by Andrey Filippov's avatar Andrey Filippov
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planes from neighbor supertiles

parent 3f6c6c63
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Showing with 601 additions and 64 deletions
src/main/java/EyesisCorrectionParameters.java
View file @ 1361f670
......@@ -2147,7 +2147,8 @@ public class EyesisCorrectionParameters {
public double plTargetEigen = 0.1; // Remove outliers until main axis eigenvalue (possibly scaled by plDispNorm) gets below
public double plFractOutliers = 0.3; // Maximal fraction of outliers to remove
public int plMaxOutliers = 20; // Maximal number of outliers to remove
public double plMinStrength = 0.1; // Minimal total strength of a plane
public double plMaxEigen = 0.3; // Maximal eigenvalue of a plane
// other debug images
public boolean show_ortho_combine = false; // Show 'ortho_combine'
......@@ -2163,7 +2164,7 @@ public class EyesisCorrectionParameters {
public boolean show_neighbors = false; // show 'neighbors'
public boolean show_flaps_dirs = false; // show 'flaps-dirs'
public boolean show_first_clusters = false; // show 'first_N_clusters'
public boolean show_planes = false; // show planes
public CLTParameters(){}
public void setProperties(String prefix,Properties properties){
......@@ -2386,6 +2387,8 @@ public class EyesisCorrectionParameters {
properties.setProperty(prefix+"plTargetEigen", this.plTargetEigen +"");
properties.setProperty(prefix+"plFractOutliers", this.plFractOutliers +"");
properties.setProperty(prefix+"plMaxOutliers", this.plMaxOutliers+"");
properties.setProperty(prefix+"plMinStrength", this.plMinStrength +"");
properties.setProperty(prefix+"plMaxEigen", this.plMaxEigen +"");
properties.setProperty(prefix+"show_ortho_combine", this.show_ortho_combine+"");
properties.setProperty(prefix+"show_refine_supertiles", this.show_refine_supertiles+"");
......@@ -2399,6 +2402,7 @@ public class EyesisCorrectionParameters {
properties.setProperty(prefix+"show_neighbors", this.show_neighbors+"");
properties.setProperty(prefix+"show_flaps_dirs", this.show_flaps_dirs+"");
properties.setProperty(prefix+"show_first_clusters", this.show_first_clusters+"");
properties.setProperty(prefix+"show_planes", this.show_planes+"");
}
public void getProperties(String prefix,Properties properties){
if (properties.getProperty(prefix+"transform_size")!=null) this.transform_size=Integer.parseInt(properties.getProperty(prefix+"transform_size"));
......@@ -2614,6 +2618,8 @@ public class EyesisCorrectionParameters {
if (properties.getProperty(prefix+"plTargetEigen")!=null) this.plTargetEigen=Double.parseDouble(properties.getProperty(prefix+"plTargetEigen"));
if (properties.getProperty(prefix+"plFractOutliers")!=null) this.plFractOutliers=Double.parseDouble(properties.getProperty(prefix+"plFractOutliers"));
if (properties.getProperty(prefix+"plMaxOutliers")!=null) this.plMaxOutliers=Integer.parseInt(properties.getProperty(prefix+"plMaxOutliers"));
if (properties.getProperty(prefix+"plMinStrength")!=null) this.plMinStrength=Double.parseDouble(properties.getProperty(prefix+"plMinStrength"));
if (properties.getProperty(prefix+"plMaxEigen")!=null) this.plMaxEigen=Double.parseDouble(properties.getProperty(prefix+"plMaxEigen"));
if (properties.getProperty(prefix+"show_ortho_combine")!=null) this.show_ortho_combine=Boolean.parseBoolean(properties.getProperty(prefix+"show_ortho_combine"));
if (properties.getProperty(prefix+"show_refine_supertiles")!=null) this.show_refine_supertiles=Boolean.parseBoolean(properties.getProperty(prefix+"show_refine_supertiles"));
......@@ -2627,6 +2633,7 @@ public class EyesisCorrectionParameters {
if (properties.getProperty(prefix+"show_neighbors")!=null) this.show_neighbors=Boolean.parseBoolean(properties.getProperty(prefix+"show_neighbors"));
if (properties.getProperty(prefix+"show_flaps_dirs")!=null) this.show_flaps_dirs=Boolean.parseBoolean(properties.getProperty(prefix+"show_flaps_dirs"));
if (properties.getProperty(prefix+"show_first_clusters")!=null) this.show_first_clusters=Boolean.parseBoolean(properties.getProperty(prefix+"show_first_clusters"));
if (properties.getProperty(prefix+"show_planes")!=null) this.show_planes=Boolean.parseBoolean(properties.getProperty(prefix+"show_planes"));
}
public boolean showDialog() {
......@@ -2864,6 +2871,8 @@ public class EyesisCorrectionParameters {
gd.addNumericField("Remove outliers until main axis eigenvalue (possibly scaled by plDispNorm) gets below", this.plTargetEigen, 6);
gd.addNumericField("Maximal fraction of outliers to remove", this.plFractOutliers, 6);
gd.addNumericField("Maximal number of outliers to remove", this.plMaxOutliers, 0);
gd.addNumericField("Minimal total strength of a plane", this.plMinStrength, 6);
gd.addNumericField("Maximal eigenvalue of a plane", this.plMaxEigen, 6);
gd.addMessage ("--- Other debug images ---");
gd.addCheckbox ("Show 'ortho_combine'", this.show_ortho_combine);
......@@ -2878,6 +2887,7 @@ public class EyesisCorrectionParameters {
gd.addCheckbox ("show 'neighbors'", this.show_neighbors);
gd.addCheckbox ("Show 'flaps-dirs'", this.show_flaps_dirs);
gd.addCheckbox ("Show 'first_N_clusters'", this.show_first_clusters);
gd.addCheckbox ("Show planes", this.show_planes);
WindowTools.addScrollBars(gd);
gd.showDialog();
......@@ -3101,6 +3111,8 @@ public class EyesisCorrectionParameters {
this.plTargetEigen= gd.getNextNumber();
this.plFractOutliers= gd.getNextNumber();
this.plMaxOutliers= (int) gd.getNextNumber();
this.plMinStrength= gd.getNextNumber();
this.plMaxEigen= gd.getNextNumber();
this.show_ortho_combine= gd.getNextBoolean();
this.show_refine_supertiles= gd.getNextBoolean();
......@@ -3114,6 +3126,7 @@ public class EyesisCorrectionParameters {
this.show_neighbors= gd.getNextBoolean();
this.show_flaps_dirs= gd.getNextBoolean();
this.show_first_clusters= gd.getNextBoolean();
this.show_planes= gd.getNextBoolean();
return true;
}
}
......
src/main/java/GeometryCorrection.java
View file @ 1361f670
......@@ -356,6 +356,36 @@ public class GeometryCorrection {
return xyz;
}
/**
* Find disparity for the intersection of the view ray (px, py) and a real-world plane orthogonal through the end of the
* vector norm_xyz
* @param norm_xyz vector from the origin (camera) orthogonal to the plane, length is a distance to the plane
* @param px pixel coordinate horizontal
* @param py pixel coordinate vertical
* @param correctDistortions true for lens distortion correction, false otherwise
* @return disparity for the point on the plane specified by norm_xyz and known view coordinates px, py
*/
public double getPlaneDisparity(
double [] norm_xyz,
double px,
double py,
boolean correctDistortions) // correct distortion (will need corrected background too !)
{
double pXcd = px - 0.5 * this.pixelCorrectionWidth;
double pYcd = py - 0.5 * this.pixelCorrectionHeight;
double rD = Math.sqrt(pXcd*pXcd + pYcd*pYcd)*0.001*this.pixelSize; // distorted radius in a virtual center camera
double rND2R = correctDistortions?(getRByRDist(rD/this.distortionRadius, false)): 1.0;
double pXc = pXcd * rND2R; // non-distorted coordinates relative to the (0.5 * this.pixelCorrectionWidth, 0.5 * this.pixelCorrectionHeight)
double pYc = pYcd * rND2R; // in pixels
// point for the unity disparity
double x = SCENE_UNITS_SCALE * pXc * this.disparityRadius;
double y = -SCENE_UNITS_SCALE * pYc * this.disparityRadius;
double z = -SCENE_UNITS_SCALE * this.focalLength * this.disparityRadius / (0.001*this.pixelSize); // "+" - near, "-" far
double vect_dot_norm = (x * norm_xyz[0]) + (y * norm_xyz[1]) + (z * norm_xyz[2]);
double norm_dot_norm = (norm_xyz[0] * norm_xyz[0]) + (norm_xyz[1] * norm_xyz[1]) + (norm_xyz[2] * norm_xyz[2]);
return vect_dot_norm / norm_dot_norm;
}
/* Just for testing using delta instead of d */
public double [][] getWorldJacobian(
double px,
......@@ -419,15 +449,6 @@ public class GeometryCorrection {
// k = rD/r
double d_k_d_rrND = correctDistortions?getDerivRDistFromR(rrND):0.0;
double d_rND2R_d_rrD = - rND2R * rND2R * d_k_d_rrND / ( d_k_d_rrND * rrND + 1.0/ rND2R); // rrND);
/*
double d_rND2R_d_rrD0 = correctDistortions?(getDerivRByRDist(rrD, false)): 0.0;
double d_rND2R_d_rrD1 = correctDistortions?(getDerivRByRDist(rrD, false, 0.00001)): 0.0;
if (debug) {
System.out.println("getWorldJacobian(): d_rND2R_d_rrD="+d_rND2R_d_rrD+", d_rND2R_d_rrD0="+d_rND2R_d_rrD0+", d_rND2R_d_rrD1="+d_rND2R_d_rrD1 );
}
*/
double d_rND2R_d_px = d_rND2R_d_rrD * d_rRD_d_px;
double d_rND2R_d_py = d_rND2R_d_rrD * d_rRD_d_py;
......@@ -514,7 +535,7 @@ public class GeometryCorrection {
boolean correctDistortions,
int debugLevel)
{
if (debugLevel > 0){
if (debugLevel > 1){
System.out.println("getImageJacobian():");
}
double x = xyz[0];
......
src/main/java/SuperTiles.java
View file @ 1361f670
This diff is collapsed.
src/main/java/TilePlanes.java
View file @ 1361f670
This diff is collapsed.
src/main/java/TileProcessor.java
View file @ 1361f670
......@@ -2973,6 +2973,58 @@ public class TileProcessor {
geometryCorrection,
clt_parameters.correct_distortions,
debugLevel); // final int debugLevel)
if (clt_parameters.show_planes){
int [] wh = st.getShowPlanesWidthHeight();
double [][] plane_data_nonan = st.getShowPlanes(
st.getPlanes(),
clt_parameters.plMinStrength, // minWeight,
clt_parameters.plMaxEigen, // maxEigen,
clt_parameters.plDispNorm,
false); //boolean use_NaN)
double [][] plane_data_nan = st.getShowPlanes(
st.getPlanes(),
clt_parameters.plMinStrength, // minWeight,
clt_parameters.plMaxEigen, // maxEigen,
clt_parameters.plDispNorm,
true); //boolean use_NaN)
double [][] plane_data = new double [plane_data_nonan.length + plane_data_nan.length][];
int indx = 0;
for (int i = 0; i < plane_data_nonan.length; i++){
plane_data[indx++] = plane_data_nonan[i];
}
for (int i = 0; i < plane_data_nan.length; i++){
plane_data[indx++] = plane_data_nan[i];
}
// sdfa_instance.showArrays(plane_data_nonan, wh[0], wh[1], true, "plane_data_noNaN");
// sdfa_instance.showArrays(plane_data_nan, wh[0], wh[1], true, "plane_data_NaN");
sdfa_instance.showArrays(plane_data, wh[0], wh[1], true, "plane_data");
// show plane data
for (int dr = 0; dr < 8; dr++){
TilePlanes.PlaneData [][] planes = st.getNeibPlanes(dr);
plane_data_nonan = st.getShowPlanes(
planes,
clt_parameters.plMinStrength, // minWeight,
clt_parameters.plMaxEigen, // maxEigen,
clt_parameters.plDispNorm,
false); //boolean use_NaN)
plane_data_nan = st.getShowPlanes(
planes,
clt_parameters.plMinStrength, // minWeight,
clt_parameters.plMaxEigen, // maxEigen,
clt_parameters.plDispNorm,
true); //boolean use_NaN)
plane_data = new double [plane_data_nonan.length + plane_data_nan.length][];
indx = 0;
for (int i = 0; i < plane_data_nonan.length; i++){
plane_data[indx++] = plane_data_nonan[i];
}
for (int i = 0; i < plane_data_nan.length; i++){
plane_data[indx++] = plane_data_nan[i];
}
sdfa_instance.showArrays(plane_data, wh[0], wh[1], true, "plane_data_"+dr);
}
}
/*
st.processPlanes1(
null, // final boolean [] selected, // or null
......@@ -3001,7 +3053,7 @@ public class TileProcessor {
dbg_with_super_disp = scan_prev.combineSuper(
true, //boolean updateStrength, // use ST strength if true, keep original (update disparity only) if false
clt_parameters.stStrengthScale, // Multiply st strength if used instead of regular strength (only if updateStrength)
clt_parameters.stUseDisp); //.15; // Use background disparity from supertiles if tile strength is less
clt_parameters.stUseDisp); //.15; // Use background disparity from supertiles if tile strength is less
if (dbg_with_super_disp != null) dbg_with_super_disp = dbg_with_super_disp.clone(); // else no super disparity available
......
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