Skip to content

I
imagej-elphel
Commit 18306caa authored by Andrey Filippov's avatar Andrey Filippov
Browse files
Options

using non-exclusive planes

parent c4468ec2
Hide whitespace changes
Inline Side-by-side
Showing with 383 additions and 55 deletions
src/main/java/EyesisCorrectionParameters.java
View file @ 18306caa
......@@ -2186,7 +2186,8 @@ public class EyesisCorrectionParameters {
public double plWeakWeight2 = 10.0 ; // Maximal weight of the weak plane to merge (second variant)
public double plWeakEigen2 = 0.05; // Maximal eigenvalue of the result of non-weighted merge (second variant)
public double plSumThick = 1.2; // Do not merge if any sqrt of merged eigenvalue exceeds scaled sum of components
public double plNeNeibCost = 5.0; // When calculating non-exclusive planes, do not use neighbors with high cost
public double plNeOwn = 5.0; // When calculating non-exclusive planes, use cenrter plane relative weight
public double plMaxZRatio = 2.0; // Maximal ratio of Z to allow plane merging
public double plMaxDisp = 0.6; // Maximal disparity of one of the planes to apply maximal ratio
public double plCutTail = 1.4; // When merging with neighbors cut the tail that is worse than scaled best
......@@ -2596,6 +2597,8 @@ public class EyesisCorrectionParameters {
properties.setProperty(prefix+"plWeakWeight2", this.plWeakWeight2 +"");
properties.setProperty(prefix+"plWeakEigen2", this.plWeakEigen2 +"");
properties.setProperty(prefix+"plSumThick", this.plSumThick +"");
properties.setProperty(prefix+"plNeNeibCost", this.plNeNeibCost +"");
properties.setProperty(prefix+"plNeOwn", this.plNeOwn +"");
properties.setProperty(prefix+"plMaxZRatio", this.plMaxZRatio +"");
properties.setProperty(prefix+"plMaxDisp", this.plMaxDisp +"");
......@@ -2981,6 +2984,8 @@ public class EyesisCorrectionParameters {
if (properties.getProperty(prefix+"plWeakWeight2")!=null) this.plWeakWeight2=Double.parseDouble(properties.getProperty(prefix+"plWeakWeight2"));
if (properties.getProperty(prefix+"plWeakEigen2")!=null) this.plWeakEigen2=Double.parseDouble(properties.getProperty(prefix+"plWeakEigen2"));
if (properties.getProperty(prefix+"plSumThick")!=null) this.plSumThick=Double.parseDouble(properties.getProperty(prefix+"plSumThick"));
if (properties.getProperty(prefix+"plNeNeibCost")!=null) this.plNeNeibCost=Double.parseDouble(properties.getProperty(prefix+"plNeNeibCost"));
if (properties.getProperty(prefix+"plNeOwn")!=null) this.plNeOwn=Double.parseDouble(properties.getProperty(prefix+"plNeOwn"));
if (properties.getProperty(prefix+"plMaxZRatio")!=null) this.plMaxZRatio=Double.parseDouble(properties.getProperty(prefix+"plMaxZRatio"));
if (properties.getProperty(prefix+"plMaxDisp")!=null) this.plMaxDisp=Double.parseDouble(properties.getProperty(prefix+"plMaxDisp"));
......@@ -3395,6 +3400,8 @@ public class EyesisCorrectionParameters {
gd.addNumericField("Maximal weight of the weak plane to merge (second variant)", this.plWeakWeight2, 6);
gd.addNumericField("Maximal eigenvalue of the result of non-weighted merge (second variant)", this.plWeakEigen2, 6);
gd.addNumericField("Do not merge if any sqrt of merged eigenvalue exceeds scaled sum of components", this.plSumThick, 6);
gd.addNumericField("When calculating non-exclusive planes, do not use neighbors with high cost", this.plNeNeibCost, 6);
gd.addNumericField("When calculating non-exclusive planes, use cenrter plane relative weight", this.plNeOwn, 6);
gd.addMessage ("--- ---");
gd.addNumericField("Maximal ratio of Z to allow plane merging", this.plMaxZRatio, 6);
......@@ -3796,6 +3803,8 @@ public class EyesisCorrectionParameters {
this.plWeakWeight2= gd.getNextNumber();
this.plWeakEigen2= gd.getNextNumber();
this.plSumThick= gd.getNextNumber();
this.plNeNeibCost= gd.getNextNumber();
this.plNeOwn= gd.getNextNumber();
this.plMaxZRatio= gd.getNextNumber();
this.plMaxDisp= gd.getNextNumber();
......
src/main/java/LinkPlanes.java
View file @ 18306caa
......@@ -52,7 +52,10 @@ public class LinkPlanes {
public double plWeakEigen; // = 0.1; // Maximal eigenvalue of the result of non-weighted merge
public double plWeakWeight2; // = 10.0 ; // Maximal weight of the weak plane to merge (second variant)
public double plWeakEigen2; // = 0.05; // Maximal eigenvalue of the result of non-weighted merge (second variant)
public double plSumThick; // = 1.2; // Do not merge if any sqrt of merged eigenvalue exceeds scaled sum of components
public double plSumThick; // = 1.2; // Do not merge if any sqrt of merged eigenvalue exceeds scaled sum of components
public double plNeNeibCost; // = 5.0; // When calculating non-exclusive planes, do not use neighbors with high cost
public double plNeOwn; // = 5.0; // When calculating non-exclusive planes, use cenrter plane relative weight
// comparing merge quality for plane pairs
public double plCostKrq; // = 0.8; // cost of merge quality weighted in disparity space
......@@ -97,6 +100,9 @@ public class LinkPlanes {
plWeakWeight2 = clt_parameters.plWeakWeight2;
plWeakEigen2 = clt_parameters.plWeakEigen2;
plSumThick = clt_parameters.plSumThick;
plNeNeibCost = clt_parameters.plNeNeibCost;
plNeOwn = clt_parameters.plNeOwn;
plCostKrq = clt_parameters.plCostKrq;
plCostKrqEq = clt_parameters.plCostKrqEq;
......@@ -249,7 +255,7 @@ public class LinkPlanes {
1.0, // double w1,
1.0, // double w2)
plEigenFloor);// double eigen_floor)
// if (this_rq_eq == 0.01) System.out.println("planesFit(): this_rq_eq was negative");
double this_rq_eq_norm = this_rq_eq;
if ((w1 + w2) < plWeakWorsening) this_rq_eq_norm *= (w1 + w2) / plWeakWorsening; // forgive more for weak planes
boolean weak_and_close = false;
......@@ -274,6 +280,8 @@ public class LinkPlanes {
w1, // double w1,
w2, // double w2)
plEigenFloor);// double eigen_floor)
// if (this_rq == 0.01) System.out.println("planesFit(): this_rq was negative");
double this_rq_norm = this_rq;
if ((w1 + w2) < plWeakWorsening) this_rq_norm *= (w1 + w2) / plWeakWorsening; // forgive more for weak planes
......@@ -285,6 +293,7 @@ public class LinkPlanes {
w1, // double w1,
w2, // double w2)
0.0);// double eigen_floor)
// if (this_wrq == 0.01) System.out.println("planesFit(): this_wrq was negative");
double this_wrq_norm = this_wrq;
if ((w1 + w2) < plWeakWorsening) this_wrq_norm *= (w1 + w2) / plWeakWorsening; // forgive more for weak planes
......@@ -292,11 +301,14 @@ public class LinkPlanes {
double this_wrq_eq = mergeRQuality(
plane1.getWValue(), // double L1,
plane2.getWValue(), // double L2,
merged_wev, // double L,
merged_wev_eq, // double L,
1.0, // double w1,
1.0, // double w2)
0.0);// double eigen_floor)
this_wrq_eq /= (w1 + w2); // for comparison reduce this value for stronger planes
/// this_wrq_eq /= (w1 + w2); // for comparison reduce this value for stronger planes
// if (this_wrq_eq == 0.01) {
// System.out.println("planesFit(): this_wrq_eq was negative");
// }
double this_wrq_eq_norm = this_wrq_eq;
if ((w1 + w2) < plWeakWorsening) this_wrq_eq_norm *= (w1 + w2) / plWeakWorsening; // forgive more for weak planes
......@@ -477,7 +489,7 @@ public class LinkPlanes {
false, // boolean ignore_weights,
true, // boolean sum_weights,
plPreferDisparity,
debugLevel - 1); // int debugLevel)
debugLevel - 2); // int debugLevel)
merged_ev = merged_pd.getValue();
merged_wev = merged_pd.getWValue();
}
......@@ -489,7 +501,7 @@ public class LinkPlanes {
true, // boolean ignore_weights,
true, // boolean sum_weights,
plPreferDisparity,
debugLevel - 1); // int debugLevel)
debugLevel - 2); // int debugLevel)
merged_ev_eq = merged_pd_eq.getValue();
merged_wev_eq = merged_pd_eq.getWValue();
}
......@@ -502,6 +514,7 @@ public class LinkPlanes {
w1, // double w1,
w2, // double w2)
plEigenFloor);// double eigen_floor)
// if (this_rq == 0.01) System.out.println("getFitQualities(): this_rq was negative");
double this_rq_nofloor = mergeRQuality(
plane1.getValue(), // double L1,
plane2.getValue(), // double L2,
......@@ -509,6 +522,7 @@ public class LinkPlanes {
w1, // double w1,
w2, // double w2)
0); // eigenFloor);// double eigen_floor)
// if (this_rq_nofloor == 0.01) System.out.println("getFitQualities(): this_rq_nofloor was negative");
double this_rq_eq = mergeRQuality(
plane1.getValue(), // double L1,
plane2.getValue(), // double L2,
......@@ -516,8 +530,8 @@ public class LinkPlanes {
1.0, // double w1,
1.0, // double w2)
plEigenFloor);// double eigen_floor)
this_rq /= (w1 + w2); // for comparison reduce this value for stronger planes
/// this_rq /= (w1 + w2); // for comparison reduce this value for stronger planes
// if (this_rq_eq == 0.01) System.out.println("getFitQualities(): this_rq_eq was negative");
double this_wrq = mergeRQuality(
plane1.getWValue(), // double L1,
plane2.getWValue(), // double L2,
......@@ -525,16 +539,17 @@ public class LinkPlanes {
w1, // double w1,
w2, // double w2)
0.0);// double eigen_floor)
this_wrq /= (w1 + w2); // for comparison reduce this value for stronger planes
// if (this_wrq == 0.01) System.out.println("getFitQualities(): this_wrq was negative");
/// this_wrq /= (w1 + w2); // for comparison reduce this value for stronger planes
double this_wrq_eq = mergeRQuality(
plane1.getWValue(), // double L1,
plane2.getWValue(), // double L2,
merged_wev, // double L,
merged_wev_eq, // double L,
1.0, // double w1,
1.0, // double w2)
0.0);// double eigen_floor)
this_wrq_eq /= (w1 + w2); // for comparison reduce this value for stronger planes
/// this_wrq_eq /= (w1 + w2); // for comparison reduce this value for stronger planes
// if (this_wrq_eq == 0.01) System.out.println("getFitQualities(): this_wrq_eq was negative");
double sin2 = plane1.getWorldSin2(plane2);
double rdist2 = plane1.getWorldPlaneRDist2(plane2) + plane2.getWorldPlaneRDist2(plane1);
double [] costs = {
......@@ -665,7 +680,9 @@ public class LinkPlanes {
this_plane.setNeibMatch (dir, np, merged_pd.getValue()); // smallest eigenValue
this_plane.setNeibWMatch(dir, np, merged_pd.getWValue()); // smallest eigenValue
}
if (dl > 0){
System.out.println("matchPlanes(): nsTile0 ="+nsTile0+":"+np0+"-("+dir+")->"+nsTile+":"+np+" (ignore_weights=true)");
}
merged_pd = this_plane.mergePlaneToThis(
other_plane, // PlaneData otherPd,
1.0, // double scale_other,
......@@ -673,13 +690,17 @@ public class LinkPlanes {
true, // false, // boolean ignore_weights,
true, // boolean sum_weights,
plPreferDisparity,
dl-1); // int debugLevel)
dl-0); // int debugLevel)
if (merged_pd !=null) { // now always, but may add later
/// merged_pd.scaleWeight(0.5);
this_plane.setNeibMatchEq (dir, np, merged_pd.getValue()); // smallest eigenValue
this_plane.setNeibWMatchEq(dir, np, merged_pd.getWValue()); // smallest eigenValue
}
if (dl > 0){
System.out.println("matchPlanes(): nsTile0 ="+nsTile0+":"+np0+"-("+dir+")->"+nsTile+":"+np+"...DONE, merged_pd.getWValue()="+merged_pd.getWValue());
}
}
}
}
......@@ -826,6 +847,9 @@ public class LinkPlanes {
for (int np = np_min; np < merge_ev.length; np++){
if ( (planes[nsTile][np] != null) &&
!Double.isNaN(merge_ev[np])) {
if (dl > 0){
System.out.println("filterNeighborPlanes() nsTile0="+nsTile0+" np0="+np0+"-("+dir+")-> nsTile="+nsTile+" np="+np);
}
String prefix = "filterNeighborPlanes() nsTile0="+nsTile0+" np0="+np0+" dir="+dir+" nsTile="+nsTile+" np="+np;
if (planesFit(
planes[nsTile0][np0], // TilePlanes.PlaneData plane1, // should belong to the same supertile (or be converted for one)
......@@ -880,8 +904,9 @@ public class LinkPlanes {
* @param dbg_X
* @param dbg_Y
*/
public void setNonExclusive(
public void setNonExclusive_0(
final TilePlanes.PlaneData [][] planes,
// final double center_weight,
final int debugLevel,
final int dbg_X,
final int dbg_Y)
......@@ -1105,6 +1130,240 @@ public class LinkPlanes {
ImageDtt.startAndJoin(threads);
}
public void setNonExclusive(
final TilePlanes.PlaneData [][] planes,
// final double center_weight,
final int debugLevel,
final int dbg_X,
final int dbg_Y)
{
final int tilesX = st.tileProcessor.getTilesX();
final int tilesY = st.tileProcessor.getTilesY();
final int superTileSize = st.tileProcessor.getSuperTileSize();
// final int tileSize = tileProcessor.getTileSize();
final int stilesX = (tilesX + superTileSize -1)/superTileSize;
final int stilesY = (tilesY + superTileSize -1)/superTileSize;
final int nStiles = stilesX * stilesY;
final double [] nan_plane = new double [superTileSize*superTileSize];
for (int i = 0; i < nan_plane.length; i++) nan_plane[i] = Double.NaN;
final TileNeibs tnSurface = new TileNeibs(stilesX, stilesY);
final int debug_stile = dbg_Y * stilesX + dbg_X;
final Thread[] threads = ImageDtt.newThreadArray((debugLevel > 1)? 1 : st.tileProcessor.threadsMax);
final AtomicInteger ai = new AtomicInteger(0);
for (int ithread = 0; ithread < threads.length; ithread++) {
threads[ithread] = new Thread() {
public void run() {
// TilePlanes.PlaneData [][] dbg_planes = planes;
for (int nsTile0 = ai.getAndIncrement(); nsTile0 < nStiles; nsTile0 = ai.getAndIncrement()) {
int dl = (nsTile0 == debug_stile) ? debugLevel:0;
if ( planes[nsTile0] != null) {
if (dl > 0){
System.out.println("setNonExclusive() nsTile0="+nsTile0);
}
for (int np0 = 0; np0 < planes[nsTile0].length; np0++) if (planes[nsTile0][np0] != null) {
// find best connection quality for each direction
int [] neibs = {-1,-1,-1,-1,-1,-1,-1,-1};
double [][] costs = new double[neibs.length][];
double [] weights = new double[neibs.length];
TilePlanes.PlaneData [] neib_pd = new TilePlanes.PlaneData[neibs.length];
int cost_index = 2;
double sum_rcosts = 0.0;
int non_zero = 0;
for (int dir = 0; dir < neibs.length; dir++) if (planes[nsTile0][np0].hasMergedValid(dir)){
int nsTile1 = tnSurface.getNeibIndex(nsTile0, dir);
if (nsTile1 >= 0){
boolean [] merged_valid = planes[nsTile0][np0].getMergedValid(dir);
double [][] costs_dir = new double[merged_valid.length][];
int best_np = -1;
for (int np = 0; np < merged_valid.length; np++) if (merged_valid[np] && (planes[nsTile1][np] != null)){
TilePlanes.PlaneData other_plane = planes[nsTile0][np0].getPlaneToThis(
planes[nsTile1][np], // neighbor, previous value
debugLevel - 2); // debugLevel);
if (other_plane != null) {
costs_dir[np] = getFitQualities(
planes[nsTile0][np0], // TilePlanes.PlaneData plane1, // should belong to the same supertile (or be converted for one)
other_plane, // TilePlanes.PlaneData plane2,
Double.NaN, // double merged_ev, // if NaN will calculate assuming the same supertile
Double.NaN, // double merged_ev_eq, // if NaN will calculate assuming the same supertile
Double.NaN, // double merged_wev, // if NaN will calculate assuming the same supertile - for world
Double.NaN, // double merged_wev_eq, // if NaN will calculate assuming the same supertile - for world
nsTile0+":"+np0+"-"+dir+":"+np, // String prefix,
0); // int debugLevel)
if (costs_dir[np] != null) {
for (int i = 3; i < costs_dir[np].length; i++) costs_dir[np][i] *= costs_dir[np][2];
if ((best_np < 0) || (costs_dir[np][cost_index] < costs_dir[best_np][cost_index])){
best_np = np;
}
}
}
}
if ((best_np >= 0) && (costs_dir[best_np][cost_index] < plNeNeibCost)) {
neibs[dir] = best_np;
costs[dir] = costs_dir[best_np];
non_zero ++;
weights[dir] = 1.0/costs[dir][cost_index];
sum_rcosts += weights[dir];
neib_pd[dir] = planes[nsTile1][best_np];
}
}
}
for (int dir = 0; dir < neibs.length; dir++) if (neibs[dir] >= 0) {
weights[dir] *= non_zero/sum_rcosts; // average weight for active links will be 1.0
}
if (dl > 0) {
for (int dir = 0; dir <8; dir++)if (costs[dir] != null){
System.out.print(nsTile0+":"+np0+"-"+dir+" "+String.format(" weight= %6.3f ",weights[dir]));
for (int i = 0; i < costs[dir].length; i++){
System.out.print(String.format("%8.3f", costs[dir][i]));
}
System.out.println();
}
System.out.println();
}
// maybe remove outliers here?
if (non_zero > 0) {
TilePlanes.PlaneData merged_pd = mergeWithNeibs(
planes[nsTile0][np0], // TilePlanes.PlaneData center_pd,
neib_pd, // TilePlanes.PlaneData[] neibs_pd,
plMaxEigen, // double maxValue, // do not combine with too bad planes, do not merge if result is above
plNeOwn, // double center_weight,
false, // boolean stopBadNeib,
1.0, // final double normPow,
weights, // double [] weights,
false, // boolean ignore_weights,
dl); // int debugLevel)
merged_pd.getWorldXYZ(0); // debugLevel); // just to recalculate world data for debugging
merged_pd.setNeibBest(neibs);
planes[nsTile0][np0].setNonexclusiveStar(merged_pd);
TilePlanes.PlaneData merged_pd_eq = mergeWithNeibs(
planes[nsTile0][np0], // TilePlanes.PlaneData center_pd,
neib_pd, // TilePlanes.PlaneData[] neibs_pd,
plMaxEigen, // double maxValue, // do not combine with too bad planes, do not merge if result is above
plNeOwn, // double center_weight,
false, // boolean stopBadNeib,
1.0, // final double normPow,
weights, // double [] weights,
true, // boolean ignore_weights,
dl); // int debugLevel)
merged_pd_eq.getWorldXYZ(0); // debugLevel); // just to recalculate world data for debugging
merged_pd_eq.setNeibBest(neibs);
planes[nsTile0][np0].setNonexclusiveStarEq(merged_pd_eq);
}
}
}
}
}
};
}
ImageDtt.startAndJoin(threads);
}
// TODO: reuse in planesSmoothStep
TilePlanes.PlaneData mergeWithNeibs(
TilePlanes.PlaneData center_pd,
TilePlanes.PlaneData[] neibs_pd,
double maxValue, // do not combine with too bad planes, do not merge if result is above
double center_weight,
boolean stopBadNeib,
final double normPow,
double [] weights,
boolean ignore_weights,
int debugLevel)
{
TilePlanes.PlaneData this_new_plane = center_pd.clone();
this_new_plane.setWeight(0.0); //
double num_merged = 0.0; // double to add fractional pull weight of the center
for (int dir = 0; dir < neibs_pd.length; dir++){
if (neibs_pd[dir] != null) {
TilePlanes.PlaneData other_plane = this_new_plane.getPlaneToThis(
neibs_pd[dir], // neighbor, previous value
debugLevel - 2); // debugLevel);
// if (dl > 0) dbg_img[ 2 + dir] = other_plane.getSinglePlaneDisparity(false);
if ((other_plane != null) && ((other_plane.getValue() <= maxValue) || (maxValue == 0))) { // TODO:
if (this_new_plane.getWeight() > 0.0){
this_new_plane = this_new_plane.mergePlaneToThis(
other_plane, // PlaneData otherPd,
weights[dir], // 1.0, // double scale_other,
// here it should be no power function for the weights
1.0, // double starWeightPwr, // Use this power of tile weight when calculating connection cost
ignore_weights, // boolean ignore_weights,
true, // boolean sum_weights,
center_pd.getPreferDisparity(),
debugLevel - 2); // int debugLevel)
} else {
this_new_plane = other_plane; // should increment num_merged
this_new_plane.scaleWeight(weights[dir]);
}
if (this_new_plane != null){
num_merged += 1.0;
// just for debug / calculate
this_new_plane.getWorldXYZ(0);
}
// new_planes[nsTile0][np0] = this_new_plane;
// if (dl > 0) dbg_img[10 + dir] = this_new_plane.getSinglePlaneDisparity(false);
} else if (stopBadNeib){ // just skip, not abandon? (set to false)
this_new_plane = null;
break;
}
}
}
if (this_new_plane != null) {
// average weight over participating directions, so the relative pull
// does not depend on number of neighbors
if ((num_merged > 0.0) && (this_new_plane != null) && (normPow > 1.0)){
double scale = Math.pow(num_merged, normPow);
this_new_plane.scaleWeight(1.0/scale);
num_merged /=scale;
}
if ( (center_weight > 0.0) &&
((center_pd.getValue() < maxValue) || (maxValue == 0) ||
(this_new_plane == null) || (this_new_plane.getWeight() == 0.0)) // keep measured if impossible to merge
){
if (this_new_plane.getWeight() > 0.0){
this_new_plane = this_new_plane.mergePlaneToThis(
center_pd, // PlaneData otherPd,
center_weight, // double scale_other,
1.0, // double starWeightPwr, // Use this power of tile weight when calculating connection cost
false, // boolean ignore_weights,
true, // boolean sum_weights,
center_pd.getPreferDisparity(),
debugLevel - 2); // int debugLevel)
if (this_new_plane != null){
num_merged += center_weight; // num_merged was 1.0 and weight is averaged over all neighbors
}
} else {
this_new_plane = center_pd.clone();
num_merged = 1.0;
}
// if (dl > 0) dbg_img[18] = this_new_plane.getSinglePlaneDisparity(false);
}
}
if ((num_merged > 0.0) && (this_new_plane != null)){
// just for debug / calculate
this_new_plane.getWorldXYZ(0);
this_new_plane.scaleWeight(1.0/num_merged);
double true_num_merged = num_merged - center_weight + 1;
this_new_plane.setNumPoints((int) (this_new_plane.getNumPoints()/true_num_merged));
}
return this_new_plane;
}
/**
......@@ -1670,6 +1929,7 @@ public class LinkPlanes {
final int [][][] merge_candidates,
final boolean [][][] valid_candidates, // will be updated
final boolean merge_low_eigen,
final boolean useNonExcl, // consider only directions available for non-exclusive merges
final int debugLevel,
final int dbg_X,
final int dbg_Y)
......@@ -1705,7 +1965,30 @@ public class LinkPlanes {
if (valid_candidates[nsTile0][np1][np2]) { // only check pair considered valid
boolean [] old_valid = new boolean[8];
for (int dir = 0; dir < 8; dir++){
old_valid[dir] = planes[nsTile0][np1].hasMergedStrongValid(dir) || planes[nsTile0][np2].hasMergedStrongValid(dir);
if (planes[nsTile0][np1].hasMergedStrongValid(dir) || planes[nsTile0][np2].hasMergedStrongValid(dir)){
if (!useNonExcl) {
old_valid[dir] = true;
} else {
if ((planes[nsTile0][np1].getNonexclusiveStar() == null) ||
(planes[nsTile0][np1].getNonexclusiveStar().getNeibBest(dir) >=0)){
old_valid[dir] = true;
}
if ((planes[nsTile0][np1].getNonexclusiveStarEq() == null) ||
(planes[nsTile0][np1].getNonexclusiveStarEq().getNeibBest(dir) >=0)){
old_valid[dir] = true;
}
if ((planes[nsTile0][np2].getNonexclusiveStar() == null) ||
(planes[nsTile0][np2].getNonexclusiveStar().getNeibBest(dir) >=0)){
old_valid[dir] = true;
}
if ((planes[nsTile0][np2].getNonexclusiveStarEq() == null) ||
(planes[nsTile0][np2].getNonexclusiveStarEq().getNeibBest(dir) >=0)){
old_valid[dir] = true;
}
}
}
// old_valid[dir] = planes[nsTile0][np1].hasMergedStrongValid(dir) || planes[nsTile0][np2].hasMergedStrongValid(dir);
//getNonexclusiveStar
}
// should be merged same way as later actually. Does it need to be recalculated from the original tiles?
TilePlanes.PlaneData merged_pd = planes[nsTile0][np1].mergePlaneToThis(
......@@ -1823,8 +2106,8 @@ public class LinkPlanes {
for (int nsTile0 = ai.getAndIncrement(); nsTile0 < nStiles; nsTile0 = ai.getAndIncrement()) if ( merge_candidates[nsTile0] != null) {
int sty0 = nsTile0 / stilesX;
int stx0 = nsTile0 % stilesX;
int dl = ((debugLevel > 0) && (nsTile0 == debug_stile)) ? 3: ((debugLevel > 1) ? 1:0);
if (dl > 1){
int dl = ((debugLevel > 0) && (nsTile0 == debug_stile)) ? 3: ((debugLevel > 1) ? 2:0);
if (dl > 2){
System.out.println("costSameTileConnections(): nsTile="+nsTile0);
}
int n_planes = planes[nsTile0].length;
......@@ -1836,26 +2119,26 @@ public class LinkPlanes {
if (valid_candidates[nsTile0][np1][np2]) { // only check pair considered valid
String prefix = "costSameTileConnections() fit weighted: nsTile0="+nsTile0+" np1="+np1+" np2="+np2;
boolean fit1 = planesFit(
planes[nsTile0][np1].getNonexclusiveStar(), // TilePlanes.PlaneData plane1, // should belong to the same supertile (or be converted for one)
planes[nsTile0][np2].getNonexclusiveStar(), // TilePlanes.PlaneData plane2,
planes[nsTile0][np1].getNonexclusiveStarFb(), // TilePlanes.PlaneData plane1, // should belong to the same supertile (or be converted for one)
planes[nsTile0][np2].getNonexclusiveStarFb(), // TilePlanes.PlaneData plane2,
true, // boolean merge_weak, // use for same supertile merge
Double.NaN, // double merged_ev, // if NaN will calculate assuming the same supertile
Double.NaN, // double merged_ev_eq, // if NaN will calculate assuming the same supertile
Double.NaN, // double merged_wev, // if NaN will calculate assuming the same supertile - for world
Double.NaN, // double merged_wev_eq, // if NaN will calculate assuming the same supertile - for world
prefix, // String prefix,
dl-1); // int debugLevel)
dl -1); // int debugLevel)
prefix = "costSameTileConnections() fit equal weight: nsTile0="+nsTile0+" np1="+np1+" np2="+np2;
boolean fit2 = planesFit(
planes[nsTile0][np1].getNonexclusiveStarEq(), // TilePlanes.PlaneData plane1, // should belong to the same supertile (or be converted for one)
planes[nsTile0][np2].getNonexclusiveStarEq(), // TilePlanes.PlaneData plane2,
planes[nsTile0][np1].getNonexclusiveStarEqFb(), // TilePlanes.PlaneData plane1, // should belong to the same supertile (or be converted for one)
planes[nsTile0][np2].getNonexclusiveStarEqFb(), // TilePlanes.PlaneData plane2,
true, // boolean merge_weak, // use for same supertile merge
Double.NaN, // double merged_ev, // if NaN will calculate assuming the same supertile
Double.NaN, // double merged_ev_eq, // if NaN will calculate assuming the same supertile
Double.NaN, // double merged_wev, // if NaN will calculate assuming the same supertile - for world
Double.NaN, // double merged_wev_eq, // if NaN will calculate assuming the same supertile - for world
prefix, // String prefix,
dl-1); // int debugLevel)
dl -1); // int debugLevel)
if (!fit1 || !fit2){
valid_candidates[nsTile0][np1][np2] = false;
valid_candidates[nsTile0][np2][np1] = false;
......@@ -2464,6 +2747,7 @@ public class LinkPlanes {
double w2,
double eigen_floor)
{
double minVal = 0.00001; // Sometimes get small negative (precision) when merging 2 equal planes
double L1 = L1_in + eigen_floor;
double L2 = L2_in + eigen_floor;
double L = L_in + eigen_floor;
......@@ -2472,6 +2756,11 @@ public class LinkPlanes {
/// double wors = (L - Lav)*(w1+w2)*(w1+w2) /(Lav*w1*w2);
/// double rquality = (L - Lav)*(w1+w2) /(Lav*w1*w2); // ==wors/(w1+w2) to amplify stronger planes
double rquality = (L - Lav)*(w1+w2)*(w1+w2) /(Lav*w1*w2);
if (rquality < minVal){
System.out.println("BUG: mergeRQuality("+L1_in+", "+L2_in+", "+L_in+", "+w1+", "+w2+", "+eigen_floor+") -> "+rquality);
rquality=minVal;
}
return rquality;
}
......
src/main/java/SuperTiles.java
View file @ 18306caa
......@@ -1156,6 +1156,7 @@ public class SuperTiles{
int num_p = (selections == null) ? 0: selections.length;
int num_pm = num_ml * num_p;
int num_pd = (planes != null) ? (planes.length - LOWEST_PLANE(planes.length)) : 0;
final double [][] lapWeight = getLapWeights();
double [][] data = new double [num_pm + 3 * num_ml + 4 * num_pd ][]; // 4* superTileSize*superTileSize];
for (int np = 0; np < num_p; np++) if (selections [np] != null){
for (int ml = 0; ml < num_ml; ml++) if ((disp_strength[ml]!=null) && (selections[np][ml] != null)){
......@@ -1185,7 +1186,14 @@ public class SuperTiles{
}
}
data [num_pm + 0 * num_ml + ml] = disp_strength[ml][0];
data [num_pm + 1 * num_ml + ml] = disp_strength[ml][1];
data [num_pm + 1 * num_ml + ml] = disp_strength[ml][1].clone();
// undo lapweight to show
for (int sty = 0; sty < 2 * superTileSize; sty++){
for (int stx = 0; stx < 2 * superTileSize; stx++){
data [num_pm + 1 * num_ml + ml][stx + 2 * superTileSize * sty] /= lapWeight[sty][stx];
}
}
}
for (int npd = 0; npd < num_pd; npd++) if (planes[npd +LOWEST_PLANE(planes.length)] != null){
double [][] ellipsoids = planes[npd +LOWEST_PLANE(planes.length)].getDoublePlaneDisparityStrength(
......@@ -2099,15 +2107,11 @@ public class SuperTiles{
// separately merge corresponding nonexclusiveStar and nonexclusiveStarEq of these planes - kit is not exact,
// but is needed just for a hint and is compatible with multithreading without recalculating other planes
TilePlanes.PlaneData plane1Ex = these_planes[merge_planes[0]].getNonexclusiveStar();
if (plane1Ex == null) plane1Ex = these_planes[merge_planes[0]];
TilePlanes.PlaneData plane1ExEq = these_planes[merge_planes[0]].getNonexclusiveStarEq();
if (plane1ExEq == null) plane1ExEq = these_planes[merge_planes[0]];
TilePlanes.PlaneData plane1Ex = these_planes[merge_planes[0]].getNonexclusiveStarFb();
TilePlanes.PlaneData plane1ExEq = these_planes[merge_planes[0]].getNonexclusiveStarEqFb();
TilePlanes.PlaneData plane2Ex = these_planes[merge_planes[1]].getNonexclusiveStar();
if (plane2Ex == null) plane2Ex = these_planes[merge_planes[1]];
TilePlanes.PlaneData plane2ExEq = these_planes[merge_planes[1]].getNonexclusiveStarEq();
if (plane2ExEq == null) plane2ExEq = these_planes[merge_planes[1]];
TilePlanes.PlaneData plane2Ex = these_planes[merge_planes[1]].getNonexclusiveStarFb();
TilePlanes.PlaneData plane2ExEq = these_planes[merge_planes[1]].getNonexclusiveStarEqFb();
TilePlanes.PlaneData plane1NonExcl = plane1Ex.mergePlaneToThis(
plane2Ex, // PlaneData otherPd,
......@@ -5816,7 +5820,7 @@ public class SuperTiles{
int [] neibs = this_new_plane.getNeibBest();
double [][] costs = new double[neibs.length][];
double [] weights = new double[neibs.length];
int cost_index = 1;
int cost_index = 2; // overall cost
double sum_rcosts = 0.0;
int non_zero = 0;
for (int dir = 0; dir < neibs.length; dir++) if (neibs[dir] >= 0) {
......@@ -5841,7 +5845,7 @@ public class SuperTiles{
sum_rcosts += weights[dir];
}
for (int dir = 0; dir < neibs.length; dir++) if (neibs[dir] >= 0) {
weights[dir] *= non_zero/sum_rcosts; // average weight fcor active links will be 1.0
weights[dir] *= non_zero/sum_rcosts; // average weight for active links will be 1.0
}
if (dl > 0) {
for (int dir = 0; dir <8; dir++)if (costs[dir] != null){
......@@ -5856,7 +5860,7 @@ public class SuperTiles{
System.out.println();
}
this_new_plane =this_new_plane.clone(); // not to change weight!
this_new_plane.setWeight(0.0); //
double num_merged = 0.0; // double to add fractional pull weight of the center
for (int dir = 0; dir < neibs.length; dir++){
......
src/main/java/TilePlanes.java
View file @ 18306caa
......@@ -199,7 +199,7 @@ public class TilePlanes {
public String getNeibString()
{
if (neib_best == null) {
return "[ undefined ]";
return "[ undefined ] ";
}
String s = "[";
for (int dir = 0; dir < 8; dir++){
......@@ -294,6 +294,12 @@ public class TilePlanes {
{
return this.nonexclusiveStar;
}
public PlaneData getNonexclusiveStarFb() // fallback to this plane if nonexclusiveStar is not available
{
if (this.nonexclusiveStar != null) return this.nonexclusiveStar;
return this;
}
public void setNonexclusiveStar( PlaneData pd)
{
this.nonexclusiveStar = pd;
......@@ -303,6 +309,14 @@ public class TilePlanes {
{
return this.nonexclusiveStarEq;
}
public PlaneData getNonexclusiveStarEqFb() // fallback to this plane if nonexclusiveStarEq is not available
{
if (this.nonexclusiveStarEq != null) return this.nonexclusiveStarEq;
return this;
}
public void setNonexclusiveStarEq( PlaneData pd)
{
this.nonexclusiveStarEq = pd;
......@@ -2792,7 +2806,7 @@ public class TilePlanes {
System.out.println("Zero eigenvalue");
debugLevel = 10;
}
if (debugLevel > 0) {
if (debugLevel > 1) {
System.out.println("other_eig_vals");
other_eig_vals.print(8, 6);
System.out.println("this_eig_vals");
......@@ -2820,7 +2834,7 @@ public class TilePlanes {
Matrix other_covar = other_eig_vectors.times(other_eig_vals.times(other_eig_vectors.transpose()));
Matrix this_covar = this_eig_vectors.times(this_eig_vals.times(this_eig_vectors.transpose()));
Matrix covar = (new Matrix(acovar)).times(other_fraction*(1.0-other_fraction)); // only centers with all masses
if (debugLevel > 0) {
if (debugLevel > 1) {
System.out.println("other_covar");
other_covar.print(8, 6);
System.out.println("this_covar");
......@@ -2830,12 +2844,12 @@ public class TilePlanes {
}
covar.plusEquals(other_covar.times(other_fraction));
if (debugLevel > 0) {
if (debugLevel > 1) {
System.out.println("covar with other_covar");
covar.print(8, 6);
}
covar.plusEquals(this_covar.times(1.0 - other_fraction));
if (debugLevel > 0) {
if (debugLevel > 1) {
System.out.println("covar with other_covar and this_covar");
covar.print(8, 6);
}
......@@ -2847,7 +2861,7 @@ public class TilePlanes {
EigenvalueDecomposition eig = covar.eig(); // verify NaN - it gets stuck
// eig.getD().getArray(),
// eig.getV().getArray(),
if (debugLevel > 0) {
if (debugLevel > 1) {
System.out.println("eig.getV()");
eig.getV().print(8, 6);
System.out.println("eig.getD()");
......@@ -2985,7 +2999,7 @@ public class TilePlanes {
System.out.println("Zero eigenvalue");
debugLevel = 10;
}
if (debugLevel > 0) {
if (debugLevel > 1) {
System.out.println("other_eig_vals");
other_eig_vals.print(8, 6);
System.out.println("this_eig_vals");
......@@ -3013,7 +3027,7 @@ public class TilePlanes {
Matrix other_covar = other_eig_vectors.times(other_eig_vals.times(other_eig_vectors.transpose()));
Matrix this_covar = this_eig_vectors.times(this_eig_vals.times(this_eig_vectors.transpose()));
Matrix covar = (new Matrix(acovar)).times(other_fraction*(1.0-other_fraction)); // only centers with all masses
if (debugLevel > 0) {
if (debugLevel > 1) {
System.out.println("other_covar");
other_covar.print(8, 6);
System.out.println("this_covar");
......@@ -3023,12 +3037,12 @@ public class TilePlanes {
}
covar.plusEquals(other_covar.times(other_fraction));
if (debugLevel > 0) {
if (debugLevel > 1) {
System.out.println("covar with other_covar");
covar.print(8, 6);
}
covar.plusEquals(this_covar.times(1.0 - other_fraction));
if (debugLevel > 0) {
if (debugLevel > 1) {
System.out.println("covar with other_covar and this_covar");
covar.print(8, 6);
}
......@@ -3040,7 +3054,7 @@ public class TilePlanes {
EigenvalueDecomposition eig = covar.eig(); // verify NaN - it gets stuck
// eig.getD().getArray(),
// eig.getV().getArray(),
if (debugLevel > 0) {
if (debugLevel > 1) {
System.out.println("eig.getV()");
eig.getV().print(8, 6);
System.out.println("eig.getD()");
......@@ -3093,9 +3107,6 @@ public class TilePlanes {
for (int i = 0; i < 3; i ++) plane[2][i] = -plane[2][i];
}
// PlaneData pd = this.clone(); // will copy selections too
// pd.invalidateCalculated(); // real world vectors
pd_partial.setWValues(eig_val[oindx][oindx],eig_val[vindx][vindx],eig_val[hindx][hindx]); // eigenvalues [0] - thickness, 2 other to detect skinny (poles)
pd_partial.setWVectors(plane);
......@@ -3114,6 +3125,20 @@ public class TilePlanes {
}
pd_partial.setWeight(new_weight);
}
if (debugLevel > 2) {
double L1 = getWValue();
double L2 = otherPd.getWValue();
double W1 = 1.0 - other_fraction;
double W2 = other_fraction;
double Lav = (L1*W1 + L2*W2)/(W1+W2);
double L = pd_partial.getWValue();
if ((L*1.000001 < Lav) || (debugLevel > 0)){
System.out.println("========== mergePlaneToThisWorld(): L1="+L1+", L2 = "+L2+", W1="+W1+", W2="+W2+", Lav = "+Lav+", L="+L+
", L-Lav="+(L-Lav)+", scale_other="+scale_other+", other_fraction="+other_fraction);
System.out.println();
}
}
return pd_partial;
}
......@@ -4140,12 +4165,12 @@ public class TilePlanes {
}
}
mask[np] = prev_used[np].clone();
if (plDiscrGrown > 0) {
if (plDiscrGrown > 100) { // >0
tileNeibs.growSelection(
plDiscrGrown, // int grow, // grow tile selection by 1 over non-background tiles 1: 4 directions, 2 - 8 directions, 3 - 8 by 1, 4 by 1 more
mask[np], // boolean [] tiles,
null); // boolean [] prohibit)
} else if (plDiscrGrown < 0){
} else if (plDiscrGrown < 100){ //< 0
for (int indx = 0; indx < size2; indx++) mask[np][indx] = true;
}
......@@ -4162,7 +4187,7 @@ public class TilePlanes {
}
}
}
if (plDiscrSteal > 0){
if (0 * plDiscrSteal > 0){ // 0*
for (int np = 0; np < num_planes; np++){
for (int np1 = 0; np1 < num_planes; np1++) if (np1 != np){
for (int indx = 0; indx < size2; indx++){
......
src/main/java/TileProcessor.java
View file @ 18306caa
......@@ -3307,6 +3307,7 @@ public class TileProcessor {
merge_candidates, // final int [][][] merge_candidates,
plane_nooverlaps, // final boolean [][][] valid_candidates, // will be updated
true, // final boolean merge_low_eigen, here it should be true
true, // final boolean useNonExcl, // consider only directions available for non-exclusive merges
2, // -1, // debugLevel, // final int debugLevel)
clt_parameters.tileX,
clt_parameters.tileY);
......@@ -3766,7 +3767,7 @@ public class TileProcessor {
clt_parameters.plNormPow, // 0.0: 8 neighbors pull 8 times as 1, 1.0 - same as 1
Math.pow(10.0, -clt_parameters.plPrecision), // final double maxDiff, // maximal change in any of the disparity values
clt_parameters.plPreferDisparity,
1,// 0, // final int debugLevel)
0, // 1,// 0, // final int debugLevel)
clt_parameters.tileX,
clt_parameters.tileY);
} else {
......
Markdown is supported
0% or
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment