Loading src/main/java/com/elphel/imagej/tileprocessor/BiQuadParameters.java +41 −12 Original line number Diff line number Diff line Loading @@ -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 Loading Loading @@ -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"); Loading Loading @@ -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(); Loading Loading @@ -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+""); Loading Loading @@ -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")); Loading Loading @@ -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; Loading src/main/java/com/elphel/imagej/tileprocessor/ErsCorrection.java +67 −16 Original line number Diff line number Diff line Loading @@ -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) { Loading Loading @@ -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) { Loading Loading @@ -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; } Loading Loading @@ -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); Loading @@ -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; Loading src/main/java/com/elphel/imagej/tileprocessor/OpticalFlow.java +45 −10 Original line number Diff line number Diff line Loading @@ -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}; Loading Loading @@ -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"}; Loading @@ -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, Loading @@ -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; Loading Loading @@ -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, Loading @@ -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, Loading @@ -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]; Loading Loading @@ -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, Loading src/main/java/com/elphel/imagej/tileprocessor/QuadCLTCPU.java +1 −1 Original line number Diff line number Diff line Loading @@ -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); Loading src/main/java/com/elphel/imagej/tileprocessor/TwoQuadCLT.java +29 −13 Original line number Diff line number Diff line Loading @@ -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, Loading @@ -9052,24 +9056,21 @@ if (debugLevel > -100) return true; // temporarily ! 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(), clt_parameters.ofp.scale_no_lma_disparity, // double scale_no_lma_disparity, 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( Loading @@ -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); ); Loading Loading @@ -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(); Loading
src/main/java/com/elphel/imagej/tileprocessor/BiQuadParameters.java +41 −12 Original line number Diff line number Diff line Loading @@ -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 Loading Loading @@ -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"); Loading Loading @@ -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(); Loading Loading @@ -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+""); Loading Loading @@ -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")); Loading Loading @@ -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; Loading
src/main/java/com/elphel/imagej/tileprocessor/ErsCorrection.java +67 −16 Original line number Diff line number Diff line Loading @@ -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) { Loading Loading @@ -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) { Loading Loading @@ -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; } Loading Loading @@ -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); Loading @@ -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; Loading
src/main/java/com/elphel/imagej/tileprocessor/OpticalFlow.java +45 −10 Original line number Diff line number Diff line Loading @@ -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}; Loading Loading @@ -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"}; Loading @@ -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, Loading @@ -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; Loading Loading @@ -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, Loading @@ -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, Loading @@ -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]; Loading Loading @@ -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, Loading
src/main/java/com/elphel/imagej/tileprocessor/QuadCLTCPU.java +1 −1 Original line number Diff line number Diff line Loading @@ -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); Loading
src/main/java/com/elphel/imagej/tileprocessor/TwoQuadCLT.java +29 −13 Original line number Diff line number Diff line Loading @@ -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, Loading @@ -9052,24 +9056,21 @@ if (debugLevel > -100) return true; // temporarily ! 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(), clt_parameters.ofp.scale_no_lma_disparity, // double scale_no_lma_disparity, 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( Loading @@ -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); ); Loading Loading @@ -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();
