Commit 2790d745 authored by Andrey Filippov's avatar Andrey Filippov

Before fixing getIMU() and setIMU()

parent c1955bd8
...@@ -29,6 +29,7 @@ import java.util.Properties; ...@@ -29,6 +29,7 @@ import java.util.Properties;
import com.elphel.imagej.common.GenericJTabbedDialog; import com.elphel.imagej.common.GenericJTabbedDialog;
public class IntersceneMatchParameters { public class IntersceneMatchParameters {
public static String [] MODES3D = {"RAW", "INF", "FG", "BG"}; // RAW:-1
// Maybe add parameters to make sure there is enough data? Enough in each zone? Enough spread? // 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_ref_dsi = false; // true;
public boolean force_orientations = false; public boolean force_orientations = false;
...@@ -44,6 +45,7 @@ public class IntersceneMatchParameters { ...@@ -44,6 +45,7 @@ public class IntersceneMatchParameters {
public boolean generate_mapped = true; public boolean generate_mapped = true;
public int extra_hor_tile = 15; public int extra_hor_tile = 15;
public int extra_vert_tile = 10; public int extra_vert_tile = 10;
public boolean crop_3d = true; // do not show extra of FG/BG views (currently they only ref scene has disparity)
public int sensor_mask = 1; // -1 - all public int sensor_mask = 1; // -1 - all
public int mode3d = 1; // -1 - raw, 0 - infinity, 1 - FG, 2 - BG public int mode3d = 1; // -1 - raw, 0 - infinity, 1 - FG, 2 - BG
public boolean show_mapped_color = true; public boolean show_mapped_color = true;
...@@ -53,6 +55,7 @@ public class IntersceneMatchParameters { ...@@ -53,6 +55,7 @@ public class IntersceneMatchParameters {
public double range_min_strength = 0.5; public double range_min_strength = 0.5;
public double range_max = 5000.0; public double range_max = 5000.0;
// Other parameters for filtering depth maps // Other parameters for filtering depth maps
public int num_bottom = 6; // average this number of lowest disparity neighbors (of 8) public int num_bottom = 6; // average this number of lowest disparity neighbors (of 8)
public int num_passes = 100; public int num_passes = 100;
...@@ -132,6 +135,12 @@ public class IntersceneMatchParameters { ...@@ -132,6 +135,12 @@ public class IntersceneMatchParameters {
private boolean show_motion_vectors = true; // show calculated motion vectors private boolean show_motion_vectors = true; // show calculated motion vectors
public int debug_level = -1; // all renders are disable for debug_level < 0, scene "renders" for for debug_level < 1 public int debug_level = -1; // all renders are disable for debug_level < 0, scene "renders" for for debug_level < 1
// Pairwise ERS testing
public boolean test_ers = false;
public int test_ers0 = -1; // try adjusting a pair of scenes with ERS. Reference scene index
public int test_ers1 = -1; // try adjusting a pair of scenes with ERS. Other scene index
public boolean renderRef() {return (debug_level>1) && render_ref;} public boolean renderRef() {return (debug_level>1) && render_ref;}
public boolean renderScene() {return (debug_level>1) && render_scene;} public boolean renderScene() {return (debug_level>1) && render_scene;}
public boolean show2dCorrelations() {return (debug_level>1) && show_2d_correlations;} public boolean show2dCorrelations() {return (debug_level>1) && show_2d_correlations;}
...@@ -174,6 +183,7 @@ public class IntersceneMatchParameters { ...@@ -174,6 +183,7 @@ public class IntersceneMatchParameters {
"Disregard weaker results when measuring range."); "Disregard weaker results when measuring range.");
gd.addNumericField("Maximal displayed range", this.range_max, 5,7,"m", gd.addNumericField("Maximal displayed range", this.range_max, 5,7,"m",
"Do not display extremely far objects."); "Do not display extremely far objects.");
gd.addMessage ("Depth map filtering parameters"); gd.addMessage ("Depth map filtering parameters");
gd.addNumericField("Average lowest disparity neighbors", this.num_bottom, 0,3,"", gd.addNumericField("Average lowest disparity neighbors", this.num_bottom, 0,3,"",
...@@ -241,10 +251,17 @@ public class IntersceneMatchParameters { ...@@ -241,10 +251,17 @@ public class IntersceneMatchParameters {
"Enlarge reference scene window horizontally in each direction to accommodate other scenes in a sequence"); "Enlarge reference scene window horizontally in each direction to accommodate other scenes in a sequence");
gd.addNumericField("Scene sequence vertical extra", this.extra_vert_tile, 0,3,"tiles", gd.addNumericField("Scene sequence vertical extra", this.extra_vert_tile, 0,3,"tiles",
"Enlarge reference scene window vertically in each direction to accommodate other scenes in a sequence"); "Enlarge reference scene window vertically in each direction to accommodate other scenes in a sequence");
gd.addCheckbox ("Crop 3D", this.crop_3d,
"Do not enlarge reference scene windows fro 3D views (FG, BG)");
gd.addNumericField("Sensor mask (bitmask, -1 - all sensors)",this.sensor_mask, 0,3,"", gd.addNumericField("Sensor mask (bitmask, -1 - all sensors)",this.sensor_mask, 0,3,"",
"Select which sensors to be included in each scene of the sequence"); "Select which sensors to be included in each scene of the sequence");
gd.addNumericField("3D mode (-1 - RAW, 0 - infinity, 1 - FG, 2 BG)", this.mode3d, 0, 3, "",
"3D mode for rendering scenes in a sequence: -1 - raw images, 0 - no 3D, use infinity; 1 - Foreground; 2 - Background"); gd. addChoice("3D mode ", MODES3D, MODES3D[this.mode3d + 1],
"3D mode for rendering scenes in a sequence: RAW - raw images, INF - no 3D, use infinity; FG - Foreground; BG - Background");
gd.addCheckbox ("Show scene sequences in (pseudo)colors", this.show_mapped_color, gd.addCheckbox ("Show scene sequences in (pseudo)colors", this.show_mapped_color,
"Show generated scene sequences in (pseudo)color mode"); "Show generated scene sequences in (pseudo)color mode");
gd.addCheckbox ("Show scene sequences in monochrome", this.show_mapped_mono, gd.addCheckbox ("Show scene sequences in monochrome", this.show_mapped_mono,
...@@ -344,6 +361,15 @@ public class IntersceneMatchParameters { ...@@ -344,6 +361,15 @@ public class IntersceneMatchParameters {
gd.addNumericField("Debug Level for interscene match", this.debug_level, 0,3,"", gd.addNumericField("Debug Level for interscene match", this.debug_level, 0,3,"",
"Debug Level for the above parameters: renders and raw correlations need >1, motion vectors > 0"); "Debug Level for the above parameters: renders and raw correlations need >1, motion vectors > 0");
gd.addMessage ("Pairwise ERS testing");
gd.addCheckbox ("Replace scene with reference scene", this.test_ers,
"Correlate reference scene with itself for testing (may want to manually change scene_atr and scene_xyz in debug mode)");
gd.addNumericField("Test scene reference index", this.test_ers0, 0,3,"",
"Reference scene index in a scene sequence");
gd.addNumericField("Test scene other scene index", this.test_ers1, 0,3,"",
"Other scene index in a scene sequence (should have a very different angular/linear velocity component)");
} }
public void dialogAnswers(GenericJTabbedDialog gd) { public void dialogAnswers(GenericJTabbedDialog gd) {
...@@ -392,8 +418,9 @@ public class IntersceneMatchParameters { ...@@ -392,8 +418,9 @@ public class IntersceneMatchParameters {
this.generate_mapped = gd.getNextBoolean(); this.generate_mapped = gd.getNextBoolean();
this.extra_hor_tile = (int) gd.getNextNumber(); this.extra_hor_tile = (int) gd.getNextNumber();
this.extra_vert_tile = (int) gd.getNextNumber(); this.extra_vert_tile = (int) gd.getNextNumber();
this.crop_3d = gd.getNextBoolean();
this.sensor_mask = (int) gd.getNextNumber(); this.sensor_mask = (int) gd.getNextNumber();
this.mode3d = (int) gd.getNextNumber(); this.mode3d = gd.getNextChoiceIndex() - 1;
this.show_mapped_color = gd.getNextBoolean(); this.show_mapped_color = gd.getNextBoolean();
this.show_mapped_mono = gd.getNextBoolean(); this.show_mapped_mono = gd.getNextBoolean();
...@@ -438,6 +465,10 @@ public class IntersceneMatchParameters { ...@@ -438,6 +465,10 @@ public class IntersceneMatchParameters {
this.show_2d_correlations = gd.getNextBoolean(); this.show_2d_correlations = gd.getNextBoolean();
this.show_motion_vectors = gd.getNextBoolean(); this.show_motion_vectors = gd.getNextBoolean();
this.debug_level = (int) gd.getNextNumber(); this.debug_level = (int) gd.getNextNumber();
this.test_ers = gd.getNextBoolean();
this.test_ers0 = (int) gd.getNextNumber();
this.test_ers1 = (int) gd.getNextNumber();
if (this.weight_zero_neibs > 1.0) this.weight_zero_neibs = 1.0; if (this.weight_zero_neibs > 1.0) this.weight_zero_neibs = 1.0;
} }
...@@ -488,8 +519,9 @@ public class IntersceneMatchParameters { ...@@ -488,8 +519,9 @@ public class IntersceneMatchParameters {
properties.setProperty(prefix+"generate_mapped", this.generate_mapped+""); // boolean properties.setProperty(prefix+"generate_mapped", this.generate_mapped+""); // boolean
properties.setProperty(prefix+"extra_hor_tile", this.extra_hor_tile+""); // int properties.setProperty(prefix+"extra_hor_tile", this.extra_hor_tile+""); // int
properties.setProperty(prefix+"extra_vert_tile", this.extra_vert_tile+""); // int properties.setProperty(prefix+"extra_vert_tile", this.extra_vert_tile+""); // int
properties.setProperty(prefix+"crop_3d", this.crop_3d+""); // boolean
properties.setProperty(prefix+"sensor_mask", this.sensor_mask+""); // int properties.setProperty(prefix+"sensor_mask", this.sensor_mask+""); // int
properties.setProperty(prefix+"mode3d", this.mode3d+""); // int properties.setProperty(prefix+"mode3d", this.mode3d+""); // int
properties.setProperty(prefix+"show_mapped_color", this.show_mapped_color+""); // boolean properties.setProperty(prefix+"show_mapped_color", this.show_mapped_color+""); // boolean
properties.setProperty(prefix+"show_mapped_mono", this.show_mapped_mono+""); // boolean properties.setProperty(prefix+"show_mapped_mono", this.show_mapped_mono+""); // boolean
...@@ -534,6 +566,11 @@ public class IntersceneMatchParameters { ...@@ -534,6 +566,11 @@ public class IntersceneMatchParameters {
properties.setProperty(prefix+"show_2d_correlations", this.show_2d_correlations+"");// boolean properties.setProperty(prefix+"show_2d_correlations", this.show_2d_correlations+"");// boolean
properties.setProperty(prefix+"show_motion_vectors", this.show_motion_vectors+""); // boolean properties.setProperty(prefix+"show_motion_vectors", this.show_motion_vectors+""); // boolean
properties.setProperty(prefix+"debug_level", this.debug_level+""); // int properties.setProperty(prefix+"debug_level", this.debug_level+""); // int
properties.setProperty(prefix+"test_ers", this.test_ers+""); // boolean
properties.setProperty(prefix+"test_ers0", this.test_ers0+""); // int
properties.setProperty(prefix+"test_ers1", this.test_ers1+""); // int
} }
public void getProperties(String prefix,Properties properties){ public void getProperties(String prefix,Properties properties){
...@@ -582,6 +619,7 @@ public class IntersceneMatchParameters { ...@@ -582,6 +619,7 @@ public class IntersceneMatchParameters {
if (properties.getProperty(prefix+"generate_mapped")!=null) this.generate_mapped=Boolean.parseBoolean(properties.getProperty(prefix+"generate_mapped")); if (properties.getProperty(prefix+"generate_mapped")!=null) this.generate_mapped=Boolean.parseBoolean(properties.getProperty(prefix+"generate_mapped"));
if (properties.getProperty(prefix+"extra_hor_tile")!=null) this.extra_hor_tile=Integer.parseInt(properties.getProperty(prefix+"extra_hor_tile")); if (properties.getProperty(prefix+"extra_hor_tile")!=null) this.extra_hor_tile=Integer.parseInt(properties.getProperty(prefix+"extra_hor_tile"));
if (properties.getProperty(prefix+"extra_vert_tile")!=null) this.extra_vert_tile=Integer.parseInt(properties.getProperty(prefix+"extra_vert_tile")); if (properties.getProperty(prefix+"extra_vert_tile")!=null) this.extra_vert_tile=Integer.parseInt(properties.getProperty(prefix+"extra_vert_tile"));
if (properties.getProperty(prefix+"crop_3d")!=null) this.crop_3d=Boolean.parseBoolean(properties.getProperty(prefix+"crop_3d"));
if (properties.getProperty(prefix+"sensor_mask")!=null) this.sensor_mask=Integer.parseInt(properties.getProperty(prefix+"sensor_mask")); if (properties.getProperty(prefix+"sensor_mask")!=null) this.sensor_mask=Integer.parseInt(properties.getProperty(prefix+"sensor_mask"));
if (properties.getProperty(prefix+"mode3d")!=null) this.mode3d=Integer.parseInt(properties.getProperty(prefix+"mode3d")); if (properties.getProperty(prefix+"mode3d")!=null) this.mode3d=Integer.parseInt(properties.getProperty(prefix+"mode3d"));
if (properties.getProperty(prefix+"show_mapped_color")!=null) this.show_mapped_color=Boolean.parseBoolean(properties.getProperty(prefix+"show_mapped_color")); if (properties.getProperty(prefix+"show_mapped_color")!=null) this.show_mapped_color=Boolean.parseBoolean(properties.getProperty(prefix+"show_mapped_color"));
...@@ -627,6 +665,9 @@ public class IntersceneMatchParameters { ...@@ -627,6 +665,9 @@ public class IntersceneMatchParameters {
if (properties.getProperty(prefix+"show_2d_correlations")!=null) this.show_2d_correlations=Boolean.parseBoolean(properties.getProperty(prefix+"show_2d_correlations")); if (properties.getProperty(prefix+"show_2d_correlations")!=null) this.show_2d_correlations=Boolean.parseBoolean(properties.getProperty(prefix+"show_2d_correlations"));
if (properties.getProperty(prefix+"show_motion_vectors")!=null) this.show_motion_vectors=Boolean.parseBoolean(properties.getProperty(prefix+"show_motion_vectors")); if (properties.getProperty(prefix+"show_motion_vectors")!=null) this.show_motion_vectors=Boolean.parseBoolean(properties.getProperty(prefix+"show_motion_vectors"));
if (properties.getProperty(prefix+"debug_level")!=null) this.debug_level=Integer.parseInt(properties.getProperty(prefix+"debug_level")); if (properties.getProperty(prefix+"debug_level")!=null) this.debug_level=Integer.parseInt(properties.getProperty(prefix+"debug_level"));
if (properties.getProperty(prefix+"test_ers")!=null) this.test_ers=Boolean.parseBoolean(properties.getProperty(prefix+"test_ers"));
if (properties.getProperty(prefix+"test_ers0")!=null) this.test_ers0=Integer.parseInt(properties.getProperty(prefix+"test_ers0"));
if (properties.getProperty(prefix+"test_ers1")!=null) this.test_ers1=Integer.parseInt(properties.getProperty(prefix+"test_ers1"));
} }
@Override @Override
...@@ -677,6 +718,7 @@ public class IntersceneMatchParameters { ...@@ -677,6 +718,7 @@ public class IntersceneMatchParameters {
imp.generate_mapped = this.generate_mapped; imp.generate_mapped = this.generate_mapped;
imp.extra_hor_tile = this.extra_hor_tile; imp.extra_hor_tile = this.extra_hor_tile;
imp.extra_vert_tile = this.extra_vert_tile; imp.extra_vert_tile = this.extra_vert_tile;
imp.crop_3d = this.crop_3d;
imp.sensor_mask = this.sensor_mask; imp.sensor_mask = this.sensor_mask;
imp.mode3d = this.mode3d; imp.mode3d = this.mode3d;
imp.show_mapped_color = this.show_mapped_color; imp.show_mapped_color = this.show_mapped_color;
......
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