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imagej-elphel
Commit 1ff463f4 authored by Andrey Filippov's avatar Andrey Filippov
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Fixed processing of negative disparity

parent 91f2ace8
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Showing with 183 additions and 52 deletions
src/main/java/com/elphel/imagej/tileprocessor/BiQuadParameters.java
View file @ 1ff463f4
......@@ -248,8 +248,14 @@ public class BiQuadParameters {
// ML export for LWIR16 camera
// calculating GT
public double mll_min_disp_change = 0.001; // stop re-measure when difference is below
public int mll_max_refines = 10;
public double mll_min_disp_change_pre = 0.01; // stop re-measure when difference is below
public int mll_max_refines_pre = 10;
public double mll_min_disp_change_lma = 0.001; // stop re-measure when difference is below
public int mll_max_refines_lma = 5;
public boolean mll_generate_scene_outlines = false; // Uses 2 GB - change format, add dimensions (separate color for ref)
// Exporting ML files
public boolean mll_add_combo = true; // add 121-st slice with combined pairs correlation
public boolean mll_save_accum = true; // save accumulated 0-offset correlation
......@@ -681,10 +687,17 @@ public class BiQuadParameters {
gd.addTab("ML","Parameters related to the ML files generation for the dual-quad camera rig");
gd.addMessage("Calculating GT Disparity");
gd.addNumericField("Min change of disparity", this.mll_min_disp_change, 3,6,"pix",
gd.addNumericField("Min change of disparity (preliminary, 40 pairs/no LMA)", this.mll_min_disp_change_pre, 3,6,"pix",
"Refine tile until disparity change falls below");
gd.addNumericField("Number of disparity refine passes (preliminary, 40 pairs/no LMA)", this.mll_max_refines_pre, 0,3,"",
"Abandon disparity refinement for tiles where disparity does not converge after this number of passes");
gd.addNumericField("Min change of disparity (final, 120 pairs with LMA)", this.mll_min_disp_change_lma, 3,6,"pix",
"Refine tile until disparity change falls below");
gd.addNumericField("Number of disparity refine passes", this.mll_max_refines, 0,3,"",
gd.addNumericField("Number of disparity refine passes (final, 120 pairs with LMA)", this.mll_max_refines_lma, 0,3,"",
"Abandon disparity refinement for tiles where disparity does not converge after this number of passes");
gd.addCheckbox ("Generate scene outlines", this.mll_generate_scene_outlines,
"Generate and save scene outlines for scene series (need to change format, it is 2GB with uncompressed Tiff)");
gd.addMessage("ML output files export for LWIR16 camera");
gd.addCheckbox ("Add combo slice", this.mll_add_combo,
"Add combined correlations slice from all available pairs after rotation/scaling. Will not be used for training, can be removed to reduce processing time");
......@@ -980,8 +993,12 @@ public class BiQuadParameters {
this.oc_min_disparity= gd.getNextNumber();
this.oc_min_strength= gd.getNextNumber();
this.mll_min_disp_change= gd.getNextNumber();
this.mll_max_refines= (int) gd.getNextNumber();
this.mll_min_disp_change_pre= gd.getNextNumber();
this.mll_max_refines_pre= (int) gd.getNextNumber();
this.mll_min_disp_change_lma= gd.getNextNumber();
this.mll_max_refines_lma= (int) gd.getNextNumber();
this.mll_generate_scene_outlines= gd.getNextBoolean();
this.mll_add_combo= gd.getNextBoolean();
this.mll_save_accum= gd.getNextBoolean();
this.mll_randomize_offsets= gd.getNextBoolean();
......@@ -1225,8 +1242,12 @@ public class BiQuadParameters {
properties.setProperty(prefix+"oc_min_disparity", this.oc_min_disparity+"");
properties.setProperty(prefix+"oc_min_strength", this.oc_min_strength+"");
properties.setProperty(prefix+"mll_min_disp_change", this.mll_min_disp_change+"");
properties.setProperty(prefix+"mll_max_refines", this.mll_max_refines+"");
properties.setProperty(prefix+"mll_min_disp_change_pre", this.mll_min_disp_change_pre+"");
properties.setProperty(prefix+"mll_max_refines_pre", this.mll_max_refines_pre+"");
properties.setProperty(prefix+"mll_min_disp_change_lma", this.mll_min_disp_change_lma+"");
properties.setProperty(prefix+"mll_max_refines_lma", this.mll_max_refines_lma+"");
properties.setProperty(prefix+"mll_generate_scene_outlines", this.mll_generate_scene_outlines+"");
properties.setProperty(prefix+"mll_add_combo", this.mll_add_combo+"");
properties.setProperty(prefix+"mll_save_accum", this.mll_save_accum+"");
properties.setProperty(prefix+"mll_randomize_offsets", this.mll_randomize_offsets+"");
......@@ -1467,8 +1488,12 @@ public class BiQuadParameters {
if (properties.getProperty(prefix+"oc_min_disparity")!=null) this.oc_min_disparity=Double.parseDouble(properties.getProperty(prefix+"oc_min_disparity"));
if (properties.getProperty(prefix+"oc_min_strength")!=null) this.oc_min_strength=Double.parseDouble(properties.getProperty(prefix+"oc_min_strength"));
if (properties.getProperty(prefix+"mll_min_disp_change")!=null) this.mll_min_disp_change=Double.parseDouble(properties.getProperty(prefix+"mll_min_disp_change"));
if (properties.getProperty(prefix+"mll_max_refines")!=null) this.mll_max_refines=Integer.parseInt(properties.getProperty(prefix+"mll_max_refines"));
if (properties.getProperty(prefix+"mll_min_disp_change_pre")!=null) this.mll_min_disp_change_pre=Double.parseDouble(properties.getProperty(prefix+"mll_min_disp_change_pre"));
if (properties.getProperty(prefix+"mll_max_refines_pre")!=null) this.mll_max_refines_pre=Integer.parseInt(properties.getProperty(prefix+"mll_max_refines_pre"));
if (properties.getProperty(prefix+"mll_min_disp_change_lma")!=null) this.mll_min_disp_change_lma=Double.parseDouble(properties.getProperty(prefix+"mll_min_disp_change_lma"));
if (properties.getProperty(prefix+"mll_max_refines_lma")!=null) this.mll_max_refines_lma=Integer.parseInt(properties.getProperty(prefix+"mll_max_refines_lma"));
if (properties.getProperty(prefix+"mll_generate_scene_outlines")!=null) this.mll_generate_scene_outlines=Boolean.parseBoolean(properties.getProperty(prefix+"mll_generate_scene_outlines"));
if (properties.getProperty(prefix+"mll_add_combo")!=null) this.mll_add_combo=Boolean.parseBoolean(properties.getProperty(prefix+"mll_add_combo"));
if (properties.getProperty(prefix+"mll_save_accum")!=null) this.mll_save_accum=Boolean.parseBoolean(properties.getProperty(prefix+"mll_save_accum"));
if (properties.getProperty(prefix+"mll_randomize_offsets")!=null) this.mll_randomize_offsets=Boolean.parseBoolean(properties.getProperty(prefix+"mll_randomize_offsets"));
......@@ -1709,8 +1734,12 @@ public class BiQuadParameters {
bqp.oc_min_disparity = this.oc_min_disparity;
bqp.oc_min_strength = this.oc_min_strength;
bqp.mll_min_disp_change = this.mll_min_disp_change;
bqp.mll_max_refines = this.mll_max_refines;
bqp.mll_min_disp_change_pre = this.mll_min_disp_change_pre;
bqp.mll_max_refines_pre = this.mll_max_refines_pre;
bqp.mll_min_disp_change_lma = this.mll_min_disp_change_lma;
bqp.mll_max_refines_lma = this.mll_max_refines_lma;
bqp.mll_generate_scene_outlines = this.mll_generate_scene_outlines;
bqp.mll_add_combo = this.mll_add_combo;
bqp.mll_save_accum = this.mll_save_accum;
bqp.mll_randomize_offsets = this.mll_randomize_offsets;
......
src/main/java/com/elphel/imagej/tileprocessor/ErsCorrection.java
View file @ 1ff463f4
......@@ -208,6 +208,17 @@ public class ErsCorrection extends GeometryCorrection {
private double [][] ers_atr; // azimuth-tilt-roll per scan line
private double [][] ers_atr_dt; // angular velocities per scan line. It is now actually 2*omega!
/*
static final double ERS_MIN_DISPARITY = 1.0E-6; // to avoid disparity == 0.0 in division
private double limitedReciprocal(double d) {
if (d > ERS_MIN_DISPARITY) return 1/0/d;
if (d < -ERS_MIN_DISPARITY) return 1/0/d;
if (d > 0) return 1.0/ERS_MIN_DISPARITY;
return -1.0/ERS_MIN_DISPARITY;
}
*/
public void setPose(
double [] camera_xyz,
double [] camera_atr) {
......@@ -948,7 +959,8 @@ public class ErsCorrection extends GeometryCorrection {
return null;
}
if (xyzw[2] > 0) {
return null; // can not match object behind the camera
xyzw[2] = xyzw[2];
/// return null; // can not match object behind the camera
}
ErsCorrection ers_camera = this;
if (cameraQuadCLT != null) {
......@@ -1028,30 +1040,43 @@ public class ErsCorrection extends GeometryCorrection {
// camera orientation during pixel acquisition :
Quaternion qpix = ers_quaternion[line];
Rotation cam_orient_now_local = new Rotation(qpix.getQ0(), qpix.getQ1(), qpix.getQ2(),qpix.getQ3(), true); // boolean needsNormalization)
boolean is_infinity = Math.abs(disparity) < THRESHOLD; // Maybe all negative - too?
if (!is_infinity) {
/// boolean is_infinity = Math.abs(disparity) < THRESHOLD; // Maybe all negative - too?
/// if (!is_infinity) {
if (Math.abs(disparity) >= THRESHOLD) {
for (int i = 0; i < 3; i++) {
xyz[i] /= disparity;
}
} else {
if (disparity >= 0) {
for (int i = 0; i < 3; i++) {
xyz[i] /= THRESHOLD;
}
} else {
for (int i = 0; i < 3; i++) {
xyz[i] /= -THRESHOLD;
}
}
}
Vector3D v3= new Vector3D(xyz);
// convert to frame parallel to the camera during center line
Vector3D cam_center_now_local = cam_orient_now_local.applyInverseTo(v3);
// get real world xyz relative to the camera acquiring a center line
Vector3D cam_center_local = (is_infinity) ? cam_center_now_local : cam_center_now_local.add(cam_now_local); // skip translation for infinity
/// Vector3D cam_center_local = (is_infinity) ? cam_center_now_local : cam_center_now_local.add(cam_now_local); // skip translation for infinity
Vector3D cam_center_local = cam_center_now_local.add(cam_now_local); // skip translation for infinity
// undo camera rotation during acquisition of the center line.
Vector3D cam_center_world = cam_orient_center.applyInverseTo(cam_center_local);
// convert to the real world coordinates
world_xyz = (is_infinity) ? cam_center_world : cam_center_world.add(new Vector3D(camera_xyz));
/// world_xyz = (is_infinity) ? cam_center_world : cam_center_world.add(new Vector3D(camera_xyz));
world_xyz = cam_center_world.add(new Vector3D(camera_xyz));
double [] wxyz = world_xyz.toArray();
double [] wxyz4 = {wxyz[0],wxyz[1],wxyz[2], 1.0};
if (Double.isNaN(wxyz4[0])) {
wxyz4[0] = Double.NaN;
}
if (is_infinity) {
wxyz4[3] = 0.0;
}
/// if (is_infinity) {
/// wxyz4[3] = 0.0;
/// }
return wxyz4;
}
......@@ -1994,13 +2019,26 @@ public class ErsCorrection extends GeometryCorrection {
double [] camera_atr, // camera orientation relative to world frame
double line_err) // threshold error in scan lines (1.0)
{
boolean is_infinity = xyzw[3] == 0;
/// boolean is_infinity = xyzw[3] == 0;
double rxyzw3 = 0.0; // = 1.0/xyzw[3]
if (Math.abs(xyzw[3]) >= THRESHOLD) {
rxyzw3 = 1.0/xyzw[3];
} else if (xyzw[3] > 0.0) {
rxyzw3 = 1.0/THRESHOLD;
} else {
rxyzw3 = -1.0/THRESHOLD;
}
Vector3D world_xyz = new Vector3D(xyzw[0],xyzw[1],xyzw[2]);
world_xyz.scalarMultiply(rxyzw3);
/*
if (!is_infinity) {
world_xyz.scalarMultiply(1.0/xyzw[3]);
}
*/
// convert to camera-centered, world-parallel coordinates
Vector3D cam_center_world = (is_infinity) ? world_xyz : world_xyz.subtract(new Vector3D(camera_xyz));
/// Vector3D cam_center_world = (is_infinity) ? world_xyz : world_xyz.subtract(new Vector3D(camera_xyz));
Vector3D cam_center_world = world_xyz.subtract(new Vector3D(camera_xyz));
// rotate to match camera coordinates when scanning the center line
Rotation cam_orient_center= new Rotation(RotationOrder.YXZ, ROT_CONV, camera_atr[0],camera_atr[1],camera_atr[2]);
Vector3D cam_center_local = cam_orient_center.applyTo(cam_center_world);
......@@ -2020,19 +2058,32 @@ public class ErsCorrection extends GeometryCorrection {
Vector3D cam_now_local1 = new Vector3D(ers_xyz[iline1]);
Vector3D cam_now_local = cam_now_local0.scalarMultiply(1.0 - fline).add(fline,cam_now_local1);
Vector3D cam_center_now_local = (is_infinity) ? cam_center_local : cam_center_local.subtract(cam_now_local); // skip translation for infinity
/// Vector3D cam_center_now_local = (is_infinity) ? cam_center_local : cam_center_local.subtract(cam_now_local); // skip translation for infinity
Vector3D cam_center_now_local = cam_center_local.subtract(cam_now_local); // skip translation for infinity
Quaternion qpix0 = ers_quaternion[iline0];
Quaternion qpix1 = ers_quaternion[iline1];
Quaternion qpix= (qpix0.multiply(1.0-fline)).add(qpix1.multiply(fline));
Rotation cam_orient_now_local = new Rotation(qpix.getQ0(), qpix.getQ1(), qpix.getQ2(),qpix.getQ3(), true); // boolean
Vector3D v3 = cam_orient_now_local.applyTo(cam_center_now_local);
double [] xyz = v3.toArray();
if (Math.abs(xyz[2]) < THRESHOLD) {
return null; // object too close to the lens
/// if (Math.abs(xyz[2]) < THRESHOLD) {
/// return null; // object too close to the lens
/// }
double recip_disp; // = xyz[2];
if (Math.abs(xyz[2]) >= THRESHOLD) {
recip_disp = 1.0/xyz[2];
// object too close to the lens (positive or negative)
} else if (xyz[2] > 0) {
recip_disp = 1.0/THRESHOLD;
} else {
recip_disp = -1.0/THRESHOLD;
}
double pXc = -(1000.0*focalLength / pixelSize) * xyz[0] / xyz[2];
double pYc = (1000.0*focalLength / pixelSize) * xyz[1] / xyz[2];
double disparity = is_infinity ? 0.0 : (-(1000.0*focalLength / pixelSize) / xyz[2] * SCENE_UNITS_SCALE * disparityRadius);
double pXc = -(1000.0*focalLength / pixelSize) * xyz[0] * recip_disp; // / xyz[2];
double pYc = (1000.0*focalLength / pixelSize) * xyz[1] * recip_disp; // / xyz[2];
// double disparity = is_infinity ? 0.0 : (-(1000.0*focalLength / pixelSize) / xyz[2] * SCENE_UNITS_SCALE * disparityRadius);
double disparity = -(1000.0*focalLength / pixelSize) * recip_disp * SCENE_UNITS_SCALE * disparityRadius;
double rND = Math.sqrt(pXc*pXc + pYc*pYc)*0.001*this.pixelSize; // mm
double rD2RND = correctDistortions?getRDistByR(rND/this.distortionRadius):1.0;
......
src/main/java/com/elphel/imagej/tileprocessor/OpticalFlow.java
View file @ 1ff463f4
......@@ -2494,7 +2494,7 @@ public class OpticalFlow {
double centerX = tileX * transform_size + transform_size/2; // - shiftX;
double centerY = tileY * transform_size + transform_size/2; // - shiftY;
if (disparity < 0) {
disparity = 0.0;
disparity = 1.0* disparity; // 0.0;
}
if (scene_QuadClt == reference_QuadClt) {
pXpYD[nTile] = new double [] {centerX, centerY, disparity};
......@@ -3982,13 +3982,17 @@ public class OpticalFlow {
CLTParameters clt_parameters,
ErsCorrection ers_reference,
QuadCLT [] scenes,
int indx_ref,
ColorProcParameters colorProcParameters,
QuadCLT ref_scene, // ordered by increasing timestamps
int debug_level
)
{
boolean generate_outlines = true; // TODO: move to configs
// empiric correction for both lma and non-lma step
double corr_nonlma = 1.23;
double corr_lma = 1.23;
// reference scene is always added to tghe end, even is out of timestamp order
int indx_ref = scenes.length - 1; // Always added to the end even if out-of order
QuadCLT ref_scene = scenes[indx_ref]; // ordered by increasing timestamps
boolean generate_outlines = false; // true; // TODO: move to configs
System.out.println("intersceneExport(), scene timestamp="+ref_scene.getImageName());
int num_scenes = scenes.length;
String [] combo_dsn_titles = {"disp", "strength","disp_lma","num_valid","change"};
......@@ -3998,8 +4002,8 @@ public class OpticalFlow {
int combo_dsn_indx_valid = 3; // initial only
int combo_dsn_indx_change = 4; // increment
final double min_disp_change = clt_parameters.rig.mll_min_disp_change; // 0.001; // stop re-measure when difference is below
final int max_refines = clt_parameters.rig.mll_max_refines;
double min_disp_change = clt_parameters.rig.mll_min_disp_change_pre; // 0.001; // stop re-measure when difference is below
final int max_refines = clt_parameters.rig.mll_max_refines_lma + clt_parameters.rig.mll_max_refines_pre;
final int [] iter_indices = {
combo_dsn_indx_disp,
......@@ -4025,6 +4029,7 @@ public class OpticalFlow {
final int tilesX = ref_scene.getTileProcessor().getTilesX();
final int tilesY = ref_scene.getTileProcessor().getTilesY();
final int tiles = tilesX * tilesY;
// uses 2 GB - change format
if (generate_outlines) { // debug_level > 100) { // add parameter?
int extra = 10; // pixels around largest outline
int scale = 4;
......@@ -4090,13 +4095,41 @@ public class OpticalFlow {
}
}
double [] target_disparity = combo_dsn_change[combo_dsn_indx_disp].clone();
double [] target_disparity_orig = target_disparity.clone(); // will just use NaN/not NaN to restore tasks before second pass with LMA
double [][] combo_dsn_final = new double [combo_dsn_titles.length][combo_dsn[0].length];
combo_dsn_final[0]= combo_dsn[0].clone();
for (int i = 1; i < combo_dsn_final.length; i++) {
Arrays.fill(combo_dsn_final[i], Double.NaN);
}
// Save pair selection and minimize them for scanning, then restore;
int num_sensors =scenes[indx_ref].getNumSensors();
int save_pairs_selection = clt_parameters.img_dtt.getMcorr(num_sensors);
clt_parameters.img_dtt.setMcorr(num_sensors, 0 ); // remove all
clt_parameters.img_dtt.setMcorrNeib(num_sensors,true);
clt_parameters.img_dtt.setMcorrSq (num_sensors,true); // remove even more?
clt_parameters.img_dtt.setMcorrDia (num_sensors,true); // remove even more?
boolean save_run_lma = clt_parameters.correlate_lma;
clt_parameters.correlate_lma = false;
for (int nrefine = 0; nrefine < max_refines; nrefine++) {
int mcorr_sel = Correlation2d.corrSelEncode(clt_parameters.img_dtt,scenes[indx_ref].getNumSensors());
if (nrefine == clt_parameters.rig.mll_max_refines_pre) {
min_disp_change = clt_parameters.rig.mll_min_disp_change_lma;
clt_parameters.img_dtt.setMcorr(num_sensors, save_pairs_selection); // restore
clt_parameters.correlate_lma = save_run_lma; // restore
for (int nt = 0; nt < target_disparity.length; nt++) if (Double.isNaN(target_disparity[nt])){
if (!Double.isNaN(target_disparity_orig[nt])) {
target_disparity[nt] = combo_dsn_change[combo_dsn_indx_disp][nt];
}
}
if (debug_level > -2) {
int num_tomeas = 0;
for (int nt = 0; nt < target_disparity.length; nt++) if (!Double.isNaN(target_disparity[nt])){
num_tomeas++;
}
System.out.println ("nrefine pass = "+nrefine+", remaining "+num_tomeas+" tiles to re-measure");
}
}
int mcorr_sel = Correlation2d.corrSelEncode(clt_parameters.img_dtt,num_sensors);
double [][] disparity_map =
correlateInterscene(
clt_parameters, // final CLTParameters clt_parameters,
......@@ -4111,7 +4144,7 @@ public class OpticalFlow {
false, // final boolean no_map, // do not generate disparity_map (time-consuming LMA)
debug_level-8); // final int debug_level)
if (debug_level > 0) {
if (debug_level > -3) {
(new ShowDoubleFloatArrays()).showArrays(
disparity_map,
tilesX,
......@@ -4133,9 +4166,9 @@ public class OpticalFlow {
// if ((map_disparity_lma != null) || !Double.isNaN(map_disparity[nTile])) { // remeasured
if (!Double.isNaN(map_disparity[nTile])) { // remeasured
if ((map_disparity_lma != null) && !Double.isNaN(map_disparity_lma[nTile])) {
combo_dsn_change[combo_dsn_indx_change][nTile] = map_disparity_lma[nTile];
combo_dsn_change[combo_dsn_indx_change][nTile] = map_disparity_lma[nTile] * corr_nonlma;
} else if (!Double.isNaN(map_disparity[nTile])) {
combo_dsn_change[combo_dsn_indx_change][nTile] = map_disparity[nTile] / clt_parameters.ofp.magic_scale;
combo_dsn_change[combo_dsn_indx_change][nTile] = map_disparity[nTile] / clt_parameters.ofp.magic_scale * corr_lma;
}
if (!Double.isNaN(combo_dsn_change[combo_dsn_indx_change][nTile])) {
combo_dsn_change[combo_dsn_indx_disp][nTile] += combo_dsn_change[combo_dsn_indx_change][nTile];
......@@ -4193,6 +4226,8 @@ public class OpticalFlow {
}
}
// Do above twice: with 40 pairs, no-lma and then with all pairs+LMA
if (debug_level > 1) {
(new ShowDoubleFloatArrays()).showArrays(
combo_dsn_change,
......
src/main/java/com/elphel/imagej/tileprocessor/QuadCLTCPU.java
View file @ 1ff463f4
......@@ -693,7 +693,7 @@ public class QuadCLTCPU {
"-DSI_MAIN", // "-DSI_COMBO", "-DSI_MAIN" (DSI_COMBO_SUFFIX, DSI_MAIN_SUFFIX)
false); // silent
}
restoreInterProperties( // restore properties for interscene processing (extrinsics, ers, ...)
restoreInterProperties( // restore properties for interscene processing (extrinsics, ers, ...) // get relative poses (98)
null, // String path, // full name with extension or null to use x3d directory
false, // boolean all_properties,// null, // Properties properties, // if null - will only save extrinsics)
debugLevel);
......
src/main/java/com/elphel/imagej/tileprocessor/TwoQuadCLT.java
View file @ 1ff463f4
......@@ -9036,9 +9036,13 @@ if (debugLevel > -100) return true; // temporarily !
return;
}
QuadCLT.SetChannels [] set_channels=quadCLT_main.setChannels(debugLevel); // TODO: use just the last one (to need this is no time)
if (indx_ref < 00) {
indx_ref = set_channels.length + indx_ref; // count from the last
}
QuadCLT ref_quadCLT = quadCLT_main.spawnQuadCLT(
set_channels[set_channels.length-1].set_name,
QuadCLT ref_quadCLT = quadCLT_main.spawnQuadCLT( // gets all relative poses (98)
// set_channels[set_channels.length-1].set_name,
set_channels[indx_ref].set_name,
clt_parameters,
colorProcParameters, //
threadsMax,
......@@ -9051,9 +9055,6 @@ if (debugLevel > -100) return true; // temporarily !
threadsMax, // int threadsMax, // maximal number of threads to launch
updateStatus, // boolean updateStatus,
clt_parameters.inp.noise_debug_level); // debugLevel); // int debugLevel)
// if (debugLevel > -1000) return; // TODO: Remove
OpticalFlow opticalFlow = new OpticalFlow(
quadCLT_main.getNumSensors(),
......@@ -9061,15 +9062,15 @@ if (debugLevel > -100) return true; // temporarily !
threadsMax, // int threadsMax, // maximal number of threads to launch
updateStatus);
ErsCorrection ers_reference = ref_quadCLT.getErsCorrection();
String [] sts = ref_only ? (new String [0]) : ers_reference.getScenes();
String [] sts = ref_only ? (new String [0]) : ers_reference.getScenes(); // others, referenced by reference
// get list of all other scenes
int num_scenes = sts.length + 1;
int num_scenes = sts.length + 1; // including reference
// int indx_ref = num_scenes - 1;
if (indx_ref < 0) {
indx_ref = num_scenes - 1;
}
// if (indx_ref < 0) {
// indx_ref = num_scenes - 1;
// }
QuadCLT [] scenes = new QuadCLT [num_scenes];
scenes[indx_ref] = ref_quadCLT;
scenes[scenes.length - 1] = ref_quadCLT; // always added to the end, even if out of order
for (int i = 0; i < sts.length; i++) {
scenes[i] = ref_quadCLT.spawnQuadCLT( // spawnQuadCLT(
......@@ -9084,13 +9085,12 @@ if (debugLevel > -100) return true; // temporarily !
updateStatus, // boolean updateStatus,
-1); // debug_level); // int debugLevel)
}
// Does not need to specify reference scene - it is always the last even if out of timestamp order
opticalFlow.intersceneExport(
clt_parameters, // CLTParameters clt_parameters,
ers_reference, // ErsCorrection ers_reference,
scenes, // QuadCLT [] scenes,
indx_ref, // int indx_ref,
colorProcParameters, // ColorProcParameters colorProcParameters,
ref_quadCLT, // QuadCLT ref_scene, // ordered by increasing timestamps
clt_parameters.inp.noise_debug_level // clt_parameters.ofp.debug_level_optical - 1); // 1); // -1); // int debug_level);
);
......@@ -12006,6 +12006,22 @@ if (debugLevel > -100) return true; // temporarily !
updateStatus, // final boolean updateStatus,
debugLevel);
}
if (quadCLT_main.correctionsParameters.clt_batch_ml_all_aux) {
int ref_index = 50; // temporarily, will make evently distributed
interIntraExportML(quadCLT_aux, // QuadCLT quadCLT_main,
ref_index, // TODO: Make with some strp from latest, matching clt_batch_pose_scene_aux
clt_parameters, // EyesisCorrectionParameters.DCTParameters dct_parameters,
debayerParameters, // EyesisCorrectionParameters.DebayerParameters debayerParameters,
colorProcParameters_aux, // EyesisCorrectionParameters.ColorProcParameters colorProcParameters,
channelGainParameters, // CorrectionColorProc.ColorGainsParameters channelGainParameters,
rgbParameters, // EyesisCorrectionParameters.RGBParameters rgbParameters,
equirectangularParameters, // EyesisCorrectionParameters.EquirectangularParameters
// equirectangularParameters,
properties, // Properties properties,
threadsMax, // final int threadsMax, // maximal number of threads to launch
updateStatus, // final boolean updateStatus,
debugLevel);
}
/*
if ((quadCLT_main != null) && (quadCLT_main.getGPU() != null)) { //TODO: is it needed here? WAs not needed before - verify
quadCLT_main.getGPU().resetGeometryCorrection();
......
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