Updated multi-scene Lazy Eye adjustment (23dab5f8) · Commits · Elphel / imagej-elphel

src/main/java/com/elphel/imagej/tileprocessor/BiQuadParameters.java

+30 −3

Original line number	Diff line number	Diff line
		@@ -271,6 +271,11 @@ public class BiQuadParameters {
		public double fsplit_adiff = 0.02; //4;// minimal tile (combo) absolute disparity difference from neighbors
		public double fsplit_rdiff = 0.02; // 1; // minimal tile (combo) relative disparity difference from neighbors
		public double fsplit_kfg_min = 0.05; // *** minimal fraction of kfg and (1.0-kfg)
		// split filtering
		public double fsplit_min_ratio = 0.8; // minimal ratio of the weakest to strongest of fg and bg strengths
		public double fsplit_min_diff = 0.08; // minimal FG to BG disparity difference
		public double fsplit_rms_gain = 1.1; // minimal LMA RMS improvement of splitting to FG and BG

		public boolean fsplit_dbg = false;

		public boolean mll_generate_scene_outlines = false; // Uses 2 GB - change format, add dimensions (separate color for ref)
		@@ -743,6 +748,14 @@ public class BiQuadParameters {
		"Maximal relative (to average) disparity difference from average of neighbors for FG/BG split.");
		gd.addNumericField("Minimal kFG fraction", this.fsplit_kfg_min, 3,6,"",
		"Minimal fraction of kfg and (1.0-kfg).");

		gd.addNumericField("Minimal weakest to strongest FG, BG ratio", this.fsplit_min_ratio, 3,6,"",
		"Minimal ratio of the weakest to strongest of fg and bg strengths.");
		gd.addNumericField("Minimal FG to BG difference", this.fsplit_min_diff, 3,6,"pix",
		"Minimal FG to BG disparity difference.");
		gd.addNumericField("Minimal LMA RMS improvement of splitting", this.fsplit_rms_gain, 3,6,"",
		"Minimal LMA RMS improvement of splitting to FG and BG.");

		gd.addCheckbox ("Debug far FG/BG split ", this.fsplit_dbg,
		"Generate and save scene outlines for scene series (need to change format, it is 2GB with uncompressed Tiff)");

		@@ -1063,9 +1076,12 @@ public class BiQuadParameters {
		this.fsplit_adiff = gd.getNextNumber();
		this.fsplit_rdiff = gd.getNextNumber();
		this.fsplit_kfg_min = gd.getNextNumber();
		this.fsplit_min_ratio = gd.getNextNumber();
		this.fsplit_min_diff = gd.getNextNumber();
		this.fsplit_rms_gain = gd.getNextNumber();
		this.fsplit_dbg = gd.getNextBoolean();
		this.mll_generate_scene_outlines= gd.getNextBoolean();

		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();
		@@ -1327,7 +1343,11 @@ public class BiQuadParameters {
		properties.setProperty(prefix+"fsplit_adiff", this.fsplit_adiff+""); // double
		properties.setProperty(prefix+"fsplit_rdiff", this.fsplit_rdiff+""); // double
		properties.setProperty(prefix+"fsplit_kfg_min", this.fsplit_kfg_min+""); // double
		properties.setProperty(prefix+"fsplit_dbg", this.fsplit_dbg+"");
		properties.setProperty(prefix+"fsplit_min_ratio", this.fsplit_min_ratio+""); // double
		properties.setProperty(prefix+"fsplit_min_diff", this.fsplit_min_diff+""); // double
		properties.setProperty(prefix+"fsplit_rms_gain", this.fsplit_rms_gain+""); // double

		properties.setProperty(prefix+"fsplit_dbg", this.fsplit_dbg+""); // boolean

		properties.setProperty(prefix+"mll_add_combo", this.mll_add_combo+"");
		properties.setProperty(prefix+"mll_save_accum", this.mll_save_accum+"");
		@@ -1587,6 +1607,9 @@ public class BiQuadParameters {
		if (properties.getProperty(prefix+"fsplit_adiff")!=null) this.fsplit_adiff=Double.parseDouble(properties.getProperty(prefix+"fsplit_adiff"));
		if (properties.getProperty(prefix+"fsplit_rdiff")!=null) this.fsplit_rdiff=Double.parseDouble(properties.getProperty(prefix+"fsplit_rdiff"));
		if (properties.getProperty(prefix+"fsplit_kfg_min")!=null) this.fsplit_kfg_min=Double.parseDouble(properties.getProperty(prefix+"fsplit_kfg_min"));
		if (properties.getProperty(prefix+"fsplit_min_ratio")!=null) this.fsplit_min_ratio=Double.parseDouble(properties.getProperty(prefix+"fsplit_min_ratio"));
		if (properties.getProperty(prefix+"fsplit_min_diff")!=null) this.fsplit_min_diff=Double.parseDouble(properties.getProperty(prefix+"fsplit_min_diff"));
		if (properties.getProperty(prefix+"fsplit_rms_gain")!=null) this.fsplit_rms_gain=Double.parseDouble(properties.getProperty(prefix+"fsplit_rms_gain"));
		if (properties.getProperty(prefix+"fsplit_dbg")!=null) this.fsplit_dbg=Boolean.parseBoolean(properties.getProperty(prefix+"fsplit_dbg"));

		if (properties.getProperty(prefix+"mll_generate_scene_outlines")!=null) this.mll_generate_scene_outlines=Boolean.parseBoolean(properties.getProperty(prefix+"mll_generate_scene_outlines"));
		@@ -1849,7 +1872,11 @@ public class BiQuadParameters {
		bqp.fsplit_adiff = this.fsplit_adiff;
		bqp.fsplit_rdiff = this.fsplit_rdiff;
		bqp.fsplit_kfg_min = this.fsplit_kfg_min;
		bqp.fsplit_min_ratio = this.fsplit_min_ratio;
		bqp.fsplit_min_diff = this.fsplit_min_diff;
		bqp.fsplit_rms_gain = this.fsplit_rms_gain;
		bqp.fsplit_dbg = this.fsplit_dbg;

		bqp.mll_generate_scene_outlines = this.mll_generate_scene_outlines;

		bqp.mll_add_combo = this.mll_add_combo;

src/main/java/com/elphel/imagej/tileprocessor/Correlation2d.java

+76 −72

Original line number	Diff line number	Diff line
		@@ -4788,6 +4788,10 @@ public class Correlation2d {
		int x_max = Math.min(x00 + imgdtt_params.bimax_rad_convex_search , high_marg);
		int y_min = Math.max (y00 - imgdtt_params.bimax_rad_convex_search,imgdtt_params.lma_soft_marg);
		int y_max = Math.min(y00 + imgdtt_params.bimax_rad_convex_search, high_marg);
		// got illegal index x00=38
		if ((x_min > x_max) \|\| (y_min > y_max)) {
		continue;
		}
		int imx = x_min + y_min * corr_size;
		double [] own_mask = own_masks[nmax][npair];
		for (int iy = y_min; iy <= y_max; iy++) {

src/main/java/com/elphel/imagej/tileprocessor/ImageDtt.java

+33 −6

Original line number	Diff line number	Diff line
		@@ -1751,6 +1751,7 @@ public class ImageDtt extends ImageDttCPU {
		final double [][][] dcorr_tiles, // [tile][pair][(2transform_size-1)(2*transform_size-1)] // if null - will not calculate
		// When clt_mismatch is non-zero, no far objects extraction will be attempted
		//optional, may be null
		final boolean use_rms, // DISPARITY_STRENGTH_INDEX means LMA RMS (18/04/2023)
		final double [][] disparity_map, // [8][tilesY][tilesX], only [6][] is needed on input or null - do not calculate
		final double [][][][] ddnd, // [tilesY][tilesX][num_sensors][2] data for LY. Should be either null or [tilesY][tilesX][][]. disparity_map should be non-null
		final boolean run_lma, // calculate LMA, false - CM only
		@@ -1929,12 +1930,22 @@ public class ImageDtt extends ImageDttCPU {
		if (disparity_map != null){ // only slices that are needed, keep others
		boolean use_bimax = imgdtt_params.bimax_dual_LMA;
		ArrayList<Integer> used_slices = new ArrayList<Integer>();
		for (int i : new int[] {DISPARITY_INDEX_CM, DISPARITY_INDEX_CM+1,DISPARITY_STRENGTH_INDEX}) used_slices.add(i);
		if (run_lma) for (int i : new int[] {DISPARITY_INDEX_POLY,DISPARITY_INDEX_POLY+1}) used_slices.add(i);
		for (int i : new int[] {DISPARITY_INDEX_CM, DISPARITY_INDEX_CM+1,DISPARITY_STRENGTH_INDEX}) {
		used_slices.add(i);
		}
		if (run_lma) for (int i : new int[] {DISPARITY_INDEX_POLY,DISPARITY_INDEX_POLY+1}) {
		used_slices.add(i);
		}
		if (use_bimax) used_slices.add(DISPARITY_VARIATIONS_INDEX);

		ArrayList<Integer> nan_slices = new ArrayList<Integer>();
		nan_slices.add(DISPARITY_INDEX_CM);
		if (run_lma) nan_slices.add(DISPARITY_INDEX_POLY);
		if (run_lma) {
		nan_slices.add(DISPARITY_INDEX_POLY);
		if (use_rms) {
		nan_slices.add(DISPARITY_STRENGTH_INDEX); // will be used for RMS if LMA succeeded
		}
		}
		for (int indx:used_slices) {
		disparity_map[indx] = new double[tilesY*tilesX];
		}
		@@ -1958,6 +1969,7 @@ public class ImageDtt extends ImageDttCPU {
		if (fcorr_td[tileY][tileX] == null) {
		continue; // nothing accumulated for this tile
		}
		double lma_rms = Double.NaN;
		// boolean dbg_val=globalDebugLevel>100;
		nTile = tileY * tilesX + tileX;
		if (tp_tasks[iTile].getTask() == 0) continue; // nothing to do for this tile
		@@ -2190,6 +2202,7 @@ public class ImageDtt extends ImageDttCPU {
		((lma_dual== null)? "null": " not null"));
		}
		if (lma_dual != null) {
		lma_rms = lma_dual.getRmsTile()[0];
		boolean dbg_dispStrs = (debug_lma != null);
		double [][][] dispStrs = lma_dual.lmaDisparityStrengths( //TODO: add parameter to filter out negative minimums ?
		dbg_dispStrs, // false, // boolean bypass_tests, // keep even weak for later analysis. Normally - only in test mode
		@@ -2251,6 +2264,9 @@ public class ImageDtt extends ImageDttCPU {
		// set BG to DISPARITY_INDEX_CM/DISPARITY_INDEX_CM+1
		disparity_map[DISPARITY_INDEX_CM ][nTile] = disp_str_lma[1-indx][0]; // disparity LMA
		disparity_map[DISPARITY_INDEX_CM + 1][nTile] = disp_str_lma[1-indx][2]; // strength LMA
		if (use_rms) {
		disparity_map[DISPARITY_STRENGTH_INDEX][nTile] = lma_rms;
		}
		if (debugTile1) { // FIXME: remove debugTile1!
		System.out.println("clt_process_tl_correlations() disp_str_lma:");
		for (int nmax = 0; nmax < disp_str_lma.length; nmax++) {
		@@ -2263,7 +2279,11 @@ public class ImageDtt extends ImageDttCPU {
		} else {
		disparity_map[DISPARITY_INDEX_CM ][nTile] = disp_str_sel[0][0]; // disparity non-LMA
		disparity_map[DISPARITY_INDEX_CM + 1 ][nTile] = disp_str_sel[0][1]; // strength non-LMA;
		if (use_rms) {
		disparity_map[DISPARITY_STRENGTH_INDEX][nTile] = lma_rms;
		} else {
		disparity_map[DISPARITY_STRENGTH_INDEX][nTile] = disp_str_sel[0][1]; // strength non-LMA;
		}
		if ((disp_str_lma!=null) && (disp_str_lma.length>0)) {
		if (disp_str_lma.length == 1) {
		if (!Double.isNaN(disp_str_lma[0][0])) {
		@@ -2301,9 +2321,11 @@ public class ImageDtt extends ImageDttCPU {
		disp_str = new double [] {-corr_stat[0], corr_stat[1]};
		disparity_map[DISPARITY_INDEX_CM ][nTile] = disp_str[0];
		disparity_map[DISPARITY_INDEX_CM + 1 ][nTile] = disp_str[1];
		if (!use_rms) {
		disparity_map[DISPARITY_STRENGTH_INDEX][nTile] = disp_str[1];
		}
		}
		}
		} // if (imgdtt_params.bimax_dual_LMA) else
		} // if (combine_corrs) {

		@@ -2346,6 +2368,7 @@ public class ImageDtt extends ImageDttCPU {
		}
		double [][] ds = null;
		if (lma2 != null) {
		lma_rms = lma2.getRmsTile()[0];
		ds = lma2.lmaDisparityStrength(
		false, // boolean bypass_tests, // keep even weak for later analysis. Normally - only in test mode
		imgdtt_params.lmas_min_amp, // minimal ratio of minimal pair correlation amplitude to maximal pair correlation amplitude
		@@ -2363,7 +2386,11 @@ public class ImageDtt extends ImageDttCPU {
		// if (disparity_map!=null) {
		disparity_map[DISPARITY_INDEX_POLY ][nTile] = ds[0][0];
		disparity_map[DISPARITY_INDEX_POLY + 1][nTile] = ds[0][2]; // LMA strength as is
		if (use_rms) {
		disparity_map[DISPARITY_STRENGTH_INDEX][nTile] = lma_rms;
		} else {
		disparity_map[DISPARITY_STRENGTH_INDEX][nTile] = ds[0][1]; // overwrite with LMA strength
		}
		// }
		if (ddnd != null) {
		ddnd[tileY][tileX] = lma2.getDdNd();

src/main/java/com/elphel/imagej/tileprocessor/IntersceneMatchParameters.java

+7 −2

Original line number	Diff line number	Diff line
		@@ -36,6 +36,7 @@ public class IntersceneMatchParameters {
		// Maybe add parameters to make sure there is enough data? Enough in each zone? Enough spread?
		public boolean force_ref_dsi = false; // true;
		public boolean force_orientations = false;
		public boolean run_ly = false; // will return just after LY adjustments, skipping all output generation
		public int min_num_orient = 2; // make from parameters, should be >= 1
		public int min_num_interscene = 2; // make from parameters, should be >= 1

		@@ -374,6 +375,8 @@ public class IntersceneMatchParameters {
		"Calculate reference scene DSI even if the file exists.");
		gd.addCheckbox ("Force egomotion calculation", this.force_orientations,
		"Calculate relative poses of each scene camera relative to the reference scene even if the data exists.");
		gd.addCheckbox ("Run LY adjustments", this.run_ly,
		"Adjust cameras orientations (after building DSI) and exit without generatin result files.");
		gd.addNumericField("Minimal number of egomotion calculations",this.min_num_orient, 0,3,"",
		"Minimal number of fitting scenes cycles, should be >=1. First cycle includes spiral search for the first scene");
		gd.addNumericField("Minimal number of interscene accumulations", this.min_num_interscene, 0,3,"",
		@@ -963,6 +966,7 @@ public class IntersceneMatchParameters {
		public void dialogAnswers(GenericJTabbedDialog gd) {
		this.force_ref_dsi = gd.getNextBoolean();
		this.force_orientations = gd.getNextBoolean();
		this.run_ly = gd.getNextBoolean();
		this.min_num_orient = (int) gd.getNextNumber(); if (min_num_orient < 1) min_num_orient = 1;
		this.min_num_interscene = (int) gd.getNextNumber(); if (min_num_interscene < 1) min_num_interscene = 1;
		this.generate_mapped = gd.getNextBoolean();
		@@ -1280,6 +1284,7 @@ public class IntersceneMatchParameters {
		public void setProperties(String prefix,Properties properties){
		properties.setProperty(prefix+"force_ref_dsi", this.force_ref_dsi + ""); // boolean
		properties.setProperty(prefix+"force_orientations", this.force_orientations + ""); // boolean
		properties.setProperty(prefix+"run_ly", this.run_ly + ""); // boolean
		// properties.setProperty(prefix+"readjust_orient", this.readjust_orient + ""); // boolean
		// properties.setProperty(prefix+"force_interscene", this.force_interscene + ""); // boolean
		properties.setProperty(prefix+"min_num_orient", this.min_num_orient+""); // int
		@@ -1556,6 +1561,7 @@ public class IntersceneMatchParameters {
		public void getProperties(String prefix,Properties properties){
		if (properties.getProperty(prefix+"force_ref_dsi")!=null) this.force_ref_dsi=Boolean.parseBoolean(properties.getProperty(prefix+"force_ref_dsi"));
		if (properties.getProperty(prefix+"force_orientations")!=null) this.force_orientations=Boolean.parseBoolean(properties.getProperty(prefix+"force_orientations"));
		if (properties.getProperty(prefix+"run_ly")!=null) this.run_ly=Boolean.parseBoolean(properties.getProperty(prefix+"run_ly"));
		if (properties.getProperty(prefix+"min_num_orient")!=null) this.min_num_orient=Integer.parseInt(properties.getProperty(prefix+"min_num_orient"));
		if (properties.getProperty(prefix+"min_num_interscene")!=null) this.min_num_interscene=Integer.parseInt(properties.getProperty(prefix+"min_num_interscene"));
		if (properties.getProperty(prefix+"generate_mapped")!=null) this.generate_mapped=Boolean.parseBoolean(properties.getProperty(prefix+"generate_mapped"));
		@@ -1855,8 +1861,7 @@ public class IntersceneMatchParameters {
		IntersceneMatchParameters imp = new IntersceneMatchParameters();
		imp.force_ref_dsi = this.force_ref_dsi;
		imp.force_orientations = this.force_orientations;
		// imp.readjust_orient = this.readjust_orient;
		// imp.force_interscene = this.force_interscene;
		imp.run_ly = this.run_ly;
		imp.min_num_orient = this.min_num_orient;
		imp.min_num_interscene = this.min_num_interscene;
		imp.generate_mapped = this.generate_mapped;

src/main/java/com/elphel/imagej/tileprocessor/MultisceneLY.java

+10 −6

Original line number	Diff line number	Diff line
		@@ -105,6 +105,7 @@ public class MultisceneLY {
		double [] inf_avg,
		boolean debug
		) {
		TileNeibs tn = new TileNeibs(tp.getTilesX(), tp.getTilesY());
		int num_bins = 256;
		int [] hist = new int [num_bins];
		double [][] dbg_img = debug? (new double[2][]): null;
		@@ -168,20 +169,22 @@ public class MultisceneLY {
		}
		}
		// grow sure fg
		tp.growTiles(
		// tp.growTiles(
		tn.growSelection(
		2, // 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
		is_fg, // boolean [] tiles,
		null); // boolean [] prohibit)
		// Remove even core infinity if it is expanden FG
		// Remove even core infinity if it is expanded FG
		for (int nTile = 0; nTile < is_inf.length; nTile++) {
		is_inf[nTile] &= !is_fg[nTile];
		}

		tp.growTiles(
		// tp.growTiles(
		tn.growSelection(
		2, // 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
		is_inf, // boolean [] tiles,
		is_fg); // boolean [] prohibit)

		// uses deprecated - update with tn.growSelection
		tp.fillGaps( // grows, then shrinks
		2, // int depth, // same as grow - odd - 4 directions, even - 8
		true, // false, // boolean poison, // do not fill gaps that even touch prohibited
		@@ -390,7 +393,6 @@ public class MultisceneLY {
		for (int nscene = 0; nscene < num_scenes; nscene++) {
		target_disparities[nscene] = scenes[nscene].getDSRBG()[0];
		Arrays.fill(rslt_disparities[nscene], Double.NaN);

		}
		final Thread[] threads = ImageDtt.newThreadArray(threadsMax);
		final AtomicInteger ai = new AtomicInteger(0);
		@@ -1019,6 +1021,7 @@ public class MultisceneLY {
		double [][][] dcorr_tiles = show_corr? (new double [tp_tasks_combo.length][][]):null;
		final double[][] disparity_map = new double [image_dtt.getDisparityTitles().length][];
		final double [][][][] ddnd = new double [tilesY][tilesX][][];
		// Does not use disparity_map[DISPARITY_STRENGTH_INDEX]
		image_dtt.clt_process_tl_correlations( // convert to pixel domain and process correlations already prepared in fcorr_td and/or fcorr_combo_td
		clt_parameters.img_dtt, // final ImageDttParameters imgdtt_params, // Now just extra correlation parameters, later will include, most others
		fcorr_td_acc, // final float [][][][] fcorr_td, // [tilesY][tilesX][pair][4*64] transform domain representation of all selected corr pairs
		@@ -1037,6 +1040,7 @@ public class MultisceneLY {
		// to be converted to float
		dcorr_tiles, // final double [][][] dcorr_tiles, // [tile][pair][(2transform_size-1)(2*transform_size-1)] // if null - will not calculate
		// When clt_mismatch is non-zero, no far objects extraction will be attempted
		false, // final boolean use_rms, // DISPARITY_STRENGTH_INDEX means LMA RMS (18/04/2023)
		//optional, may be null
		disparity_map, // final double [][] disparity_map, // [8][tilesY][tilesX], only [6][] is needed on input or null - do not calculate
		ddnd, // [tilesY][tilesX][num_sensors][2] data for LY. Should be either null or [tilesY][tilesX][][]. disparity_map should be non-null

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