Implemented MPO export for EO/LWIR dual-quad rig (37f405a5) · Commits · Elphel / imagej-elphel

src/main/java/com/elphel/imagej/cameras/EyesisCorrectionParameters.java

+9 −2

Original line number	Diff line number	Diff line
		@@ -149,6 +149,7 @@ public class EyesisCorrectionParameters {
		public boolean clt_batch_extrinsic = false; // Calibrate extrinsic parameters for each set
		public boolean clt_batch_poly = false; // Calculate fine polynomial correction for each set
		public boolean clt_batch_4img = true; // Create a set of 4 images, usually for disparity = 0
		public boolean clt_batch_4img_aux = true; // Create a set of 4 images, usually for disparity = 0 for AUX camera
		public boolean clt_batch_explore = true; // 1-st step of 3d reconstruction - explore disparities for each tile
		public boolean clt_batch_surf = true; // Create super-tile 2.5d surfaces
		public boolean clt_batch_assign = true; // Assign tiles to surfaces
		@@ -286,6 +287,7 @@ public class EyesisCorrectionParameters {
		cp.clt_batch_extrinsic= this.clt_batch_extrinsic;
		cp.clt_batch_poly= this.clt_batch_poly;
		cp.clt_batch_4img= this.clt_batch_4img;
		cp.clt_batch_4img_aux= this.clt_batch_4img_aux;
		cp.clt_batch_explore= this.clt_batch_explore;
		cp.clt_batch_surf= this.clt_batch_surf;
		cp.clt_batch_assign= this.clt_batch_assign;
		@@ -461,6 +463,7 @@ public class EyesisCorrectionParameters {
		properties.setProperty(prefix+"clt_batch_extrinsic", this.clt_batch_extrinsic+"");
		properties.setProperty(prefix+"clt_batch_poly", this.clt_batch_poly+"");
		properties.setProperty(prefix+"clt_batch_4img", this.clt_batch_4img+"");
		properties.setProperty(prefix+"clt_batch_4img_aux", this.clt_batch_4img_aux+"");
		properties.setProperty(prefix+"clt_batch_explore", this.clt_batch_explore+"");
		properties.setProperty(prefix+"clt_batch_surf", this.clt_batch_surf+"");
		properties.setProperty(prefix+"clt_batch_assign", this.clt_batch_assign+"");
		@@ -616,6 +619,7 @@ public class EyesisCorrectionParameters {
		if (properties.getProperty(prefix+"clt_batch_extrinsic")!= null) this.clt_batch_extrinsic=Boolean.parseBoolean(properties.getProperty(prefix+"clt_batch_extrinsic"));
		if (properties.getProperty(prefix+"clt_batch_poly")!= null) this.clt_batch_poly=Boolean.parseBoolean(properties.getProperty(prefix+"clt_batch_poly"));
		if (properties.getProperty(prefix+"clt_batch_4img")!= null) this.clt_batch_4img=Boolean.parseBoolean(properties.getProperty(prefix+"clt_batch_4img"));
		if (properties.getProperty(prefix+"clt_batch_4img_aux")!= null) this.clt_batch_4img_aux=Boolean.parseBoolean(properties.getProperty(prefix+"clt_batch_4img_aux"));
		if (properties.getProperty(prefix+"clt_batch_explore")!= null) this.clt_batch_explore=Boolean.parseBoolean(properties.getProperty(prefix+"clt_batch_explore"));
		if (properties.getProperty(prefix+"clt_batch_surf")!= null) this.clt_batch_surf=Boolean.parseBoolean(properties.getProperty(prefix+"clt_batch_surf"));
		if (properties.getProperty(prefix+"clt_batch_assign")!= null) this.clt_batch_assign=Boolean.parseBoolean(properties.getProperty(prefix+"clt_batch_assign"));
		@@ -983,6 +987,7 @@ public class EyesisCorrectionParameters {
		gd.addCheckbox ("Calibrate extrinsic parameters for each set", this.clt_batch_extrinsic); // 22
		gd.addCheckbox ("Calculate fine polynomial correction for each set", this.clt_batch_poly); // 23
		gd.addCheckbox ("Create a set of 4 images, usually for disparity = 0", this.clt_batch_4img); // 24
		gd.addCheckbox ("Create a set of 4 images for AUX (LWIR) camera", this.clt_batch_4img_aux); // 24
		gd.addCheckbox ("1-st step of 3d reconstruction - explore disparities for each tile", this.clt_batch_explore); // 25
		gd.addCheckbox ("Create super-tile 2.5d surfaces", this.clt_batch_surf); // 26
		gd.addCheckbox ("Assign tiles to surfaces", this.clt_batch_assign); // 27
		@@ -993,8 +998,9 @@ public class EyesisCorrectionParameters {

		gd.addCheckbox ("Create DSI combo image", this.clt_batch_dsi,
		"Save main camera, dual-quad rig and optionally aux camera combo DSI image with the model");
		gd.addCheckbox ("Include aux camera DSI data in the combo DSI", this.clt_batch_dsi_aux,
		"Currently DSI for the AUX camera is offset (by the rig baseline) from the main and rig DSI. Aux DSI requires extra processing time");
		gd.addCheckbox ("Include/genarate separate aux camera DSI data in the combo DSI", this.clt_batch_dsi_aux,
		"8-rig: DSI for the AUX camera is offset (by the rig baseline) from the main and rig DSI. Aux DSI requires extra processing time."+
		" EO+LWIR - generate a separate GT+AUX file");
		gd.addCheckbox ("Save field adjustment data with the model", this.clt_batch_save_extrinsics,
		"This data can be used to restore specific filed-adjusted cameras extrinsics used when the model was generated");
		gd.addCheckbox ("Save all parameters with the model", this.clt_batch_save_all,
		@@ -1073,6 +1079,7 @@ public class EyesisCorrectionParameters {
		this.clt_batch_extrinsic= gd.getNextBoolean(); // 22
		this.clt_batch_poly= gd.getNextBoolean(); // 23
		this.clt_batch_4img= gd.getNextBoolean(); // 24
		this.clt_batch_4img_aux= gd.getNextBoolean(); // 24
		this.clt_batch_explore= gd.getNextBoolean(); // 25
		this.clt_batch_surf= gd.getNextBoolean(); // 26
		this.clt_batch_assign= gd.getNextBoolean(); // 27

src/main/java/com/elphel/imagej/correction/Eyesis_Correction.java

+4 −4

Original line number	Diff line number	Diff line
		@@ -5231,16 +5231,16 @@ private Panel panel1,
		ds[l][i] = f_ds[l][i];
		}
		}
		String [] titles = {"disparity","strength"};
		(new ShowDoubleFloatArrays()) .showArrays(ds, width, height, true, title, titles);
		String [] rslt_titles = split_fg_bg ? QuadCLT.FGBG_TITLES_AUX :QuadCLT.FGBG_TITLES_ADJ; // last 2 will be 0;

		(new ShowDoubleFloatArrays()) .showArrays(ds, width, height, true, title, QuadCLT.FGBG_TITLES_ADJ);

		int tile_size = CLT_PARAMETERS.transform_size;
		int [] wh_aux = QUAD_CLT_AUX.getGeometryCorrection().getSensorWH();
		int tilesX_aux = wh_aux[0] / tile_size;
		int tilesY_aux = wh_aux[1] / tile_size;

		// int num_slices = split_fg_bg? 7:2;
		String [] fgbg_titles = {"disparity","strength", "rms","rms-split","fg-disp","fg-str","bg-disp","bg-str"};
		String [] rslt_titles = split_fg_bg ? fgbg_titles :titles;

		double [][] ds_aux = QUAD_CLT_AUX.depthMapMainToAux(
		ds, // double [][] ds,

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

+6 −6

Original line number	Diff line number	Diff line
		@@ -2202,18 +2202,18 @@ B = \|+dy0 -dy1 -2*dy3 \|
		int [] pq = per_quad.clone();
		Arrays.sort(per_quad);
		if (debugLevel > -20) {
		System.out.print(String.format("Tiles per quadrants :[%d, %d, %d, %d], tiles at infinity %d", pq[0],pq[1],pq[2],pq[3],num_inf));
		System.out.println(String.format("Tiles per quadrants :[%d, %d, %d, %d], tiles at infinity %d", pq[0],pq[1],pq[2],pq[3],num_inf));
		}
		if (per_quad[1] < min_per_quadrant) {
		if (debugLevel > -20) {
		System.out.print(String.format("Too few tiles in quadrants :[%d, %d, %d, %d], minimum for the second worst is %d", pq[0],pq[1],pq[2],pq[3],min_per_quadrant));
		System.out.println(String.format("Too few tiles in quadrants :[%d, %d, %d, %d], minimum for the second worst is %d", pq[0],pq[1],pq[2],pq[3],min_per_quadrant));
		}
		return null;
		}

		if (num_inf < min_inf) {
		if (debugLevel > -20) {
		System.out.print(String.format("Too few tiles at infinity: %d minimum is %d", num_inf, min_inf));
		System.out.println(String.format("Too few tiles at infinity: %d minimum is %d", num_inf, min_inf));
		}
		return null;
		}
		@@ -2810,19 +2810,19 @@ B = \|+dy0 -dy1 -2*dy3 \|
		Arrays.sort(per_quad);
		if (per_quad[1] < min_per_quadrant) {
		if (debugLevel > -20) {
		System.out.print(String.format("Too few tiles in quadrants :[%d, %d, %d, %d], minimum for the second worst is %d", pq[0],pq[1],pq[2],pq[3],min_per_quadrant));
		System.out.println(String.format("Too few tiles in quadrants :[%d, %d, %d, %d], minimum for the second worst is %d", pq[0],pq[1],pq[2],pq[3],min_per_quadrant));
		}
		return null;
		}

		if (num_inf < min_inf) {
		if (debugLevel > -20) {
		System.out.print(String.format("Too few tiles at infinity (<%4f): %d minimum is %d", inf_max_disparity, num_inf, min_inf));
		System.out.println(String.format("Too few tiles at infinity (<%4f): %d minimum is %d", inf_max_disparity, num_inf, min_inf));
		}
		return null;
		}
		if (debugLevel > -20) {
		System.out.print(String.format("Tiles per quadrants :[%d, %d, %d, %d], tiles at infinity %d", pq[0],pq[1],pq[2],pq[3],num_inf));
		System.out.println(String.format("Tiles per quadrants :[%d, %d, %d, %d], tiles at infinity %d", pq[0],pq[1],pq[2],pq[3],num_inf));
		}

		double inf_fraction_limited = (inf_fraction >= 0.0) ?((inf_fraction > 1.0) ? 1.0 : inf_fraction):0.0;

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

+61 −2

Original line number	Diff line number	Diff line
		@@ -251,6 +251,8 @@ public class BiQuadParameters {
		public boolean ml_copyJP4 = true; // Copy source jp4 files when running "Ground truth" command

		public int ml_hwidth = 4; // Half-width of the ML tiles to export (0-> 1x1, 1->3x3, 2 -> 5x5)

		// For dual-quad rig mode
		public double ml_disparity_sweep = 2.0; // Disparity sweep around ground truth, each side
		public int ml_sweep_steps = 1; // Number of disparity sweep steps

		@@ -268,6 +270,15 @@ public class BiQuadParameters {
		public boolean ml_main_rnd = true; // generate ML from main camera DSI with random offset
		public boolean ml_rig_rnd = true; // generate ML from rig DSI (GT) with random offset

		// for EO+LWIR mode
		public boolean ml_aux_ag = true; // aux (lwir) mode - generate 2dcorr for GT (average disparity)
		public boolean ml_aux_fg = true; // aux (lwir) mode - generate 2dcorr for GT (foreground disparity)
		public boolean ml_aux_bg = true; // aux (lwir) mode - generate 2dcorr for GT (background disparity)
		public double ml_aux_low = 0.0; // aux (lwir) mode - disparity sweep low
		public double ml_aux_high = 10.0; // aux (lwir) mode - disparity sweep high
		public double ml_aux_step = 0.1; // aux (lwir) mode - disparity sweep step( >= 0 - no sweep)

		// common
		public boolean ml_keep_aux = false; // true; // include auxiliary camera data in the ML output
		public boolean ml_keep_inter = false; // true; // include inter-camera correlation data in the ML output
		public boolean ml_keep_hor_vert = true; // include combined horizontal and vertical pairs data in the ML output
		@@ -678,7 +689,7 @@ public class BiQuadParameters {
		gd.addCheckbox ("Randomize offset", this.ml_randomize,
		"Each tile will have individual offset, but it the range between the filename and next higher. Reduces sweep steps by 1");

		gd.addMessage("Enhancing main camera dsi for generation of the ml files");
		gd.addMessage("Enhancing main camera dsi for generation of the ml files (dual quad rig mode");

		gd.addNumericField("Max disparity difference between rig and main camera", this.ml_rig_tolerance, 3,6,"",
		"Replace main camera disparity if it differs from rig by more than this");
		@@ -693,6 +704,7 @@ public class BiQuadParameters {
		gd.addNumericField("Extrapolated tile strength", this.ml_new_strength, 3,6,"",
		"Assign this fraction of average neighbors strength strength to the tiles where strength is unknown (expanded tiles with extrapolated target)");

		gd.addMessage("Dual-quad rig mode (8 identical cameras)");

		gd.addCheckbox ("Generate ML 2d correlations from main camera DSI", this.ml_main,
		"Target disparity/convergence extracted from the main camera DSI, filtered and expanded");
		@@ -701,6 +713,25 @@ public class BiQuadParameters {
		gd.addCheckbox ("Generate ML from rig DSI (GT) with random offset", this.ml_rig_rnd,
		"Main camera data is not used, offset is just random from the rig (ground truth)");

		gd.addMessage("AUX mode (4×EO + 4×LWIR, different resolution)");

		gd.addCheckbox ("Generate 2D correlation for GT (average disparity)", this.ml_aux_ag,
		"Generate 2D correlation using tile weighted average disparity as target disparity");
		gd.addCheckbox ("Generate 2D correlation for GT (foreground disparity)", this.ml_aux_fg,
		"Generate 2D correlation using tile weighted foreground average disparity as target disparity");
		gd.addCheckbox ("Generate 2D correlation for GT (background disparity)", this.ml_aux_bg,
		"Generate 2D correlation using tile weighted background average disparity as target disparity");

		gd.addNumericField("AUX (LWIR) camera disparity sweep low (start)", this.ml_aux_low, 3,6,"",
		"Perform disparity sweep for AUX (LWIR) camera, starting with this disparity");
		gd.addNumericField("AUX (LWIR) camera disparity sweep high (end)", this.ml_aux_high, 3,6,"",
		"Perform disparity sweep for AUX (LWIR) camera, up to (inclusive) this disparity");
		gd.addNumericField("AUX (LWIR) camera disparity sweep step (<=0 - no sweep generation)", this.ml_aux_step, 3,6,"",
		"Perform disparity sweep for AUX (LWIR) camera with this disparity step. Values <=0.0 disable sweep.");

		gd.addMessage("Common ML generation parameters");


		gd.addCheckbox ("Include auxiliary camera data in the ML output", this.ml_keep_aux,
		"ML output will have the second set of the layers for the auxiliary camera. Disparity values should be scaled for the camera baseline");
		gd.addCheckbox ("Keep inter-camera correlation data", this.ml_keep_inter,
		@@ -932,6 +963,13 @@ public class BiQuadParameters {
		this.ml_main_rnd= gd.getNextBoolean();
		this.ml_rig_rnd= gd.getNextBoolean();

		this.ml_aux_ag= gd.getNextBoolean();
		this.ml_aux_fg= gd.getNextBoolean();
		this.ml_aux_bg= gd.getNextBoolean();
		this.ml_aux_low= gd.getNextNumber();
		this.ml_aux_high= gd.getNextNumber();
		this.ml_aux_step= gd.getNextNumber();

		this.ml_keep_aux= gd.getNextBoolean();
		this.ml_keep_inter= gd.getNextBoolean();
		this.ml_keep_tbrl= gd.getNextBoolean();
		@@ -1155,6 +1193,13 @@ public class BiQuadParameters {
		properties.setProperty(prefix+"ml_main_rnd", this.ml_main_rnd+"");
		properties.setProperty(prefix+"ml_rig_rnd", this.ml_rig_rnd+"");

		properties.setProperty(prefix+"ml_aux_ag", this.ml_aux_ag+"");
		properties.setProperty(prefix+"ml_aux_fg", this.ml_aux_fg+"");
		properties.setProperty(prefix+"ml_aux_bg", this.ml_aux_bg+"");
		properties.setProperty(prefix+"ml_aux_low", this.ml_aux_low+"");
		properties.setProperty(prefix+"ml_aux_high", this.ml_aux_high+"");
		properties.setProperty(prefix+"ml_aux_step", this.ml_aux_step+"");

		properties.setProperty(prefix+"ml_keep_aux", this.ml_keep_aux+"");
		properties.setProperty(prefix+"ml_keep_inter", this.ml_keep_inter+"");
		properties.setProperty(prefix+"ml_keep_tbrl", this.ml_keep_tbrl+"");
		@@ -1377,6 +1422,13 @@ public class BiQuadParameters {
		if (properties.getProperty(prefix+"ml_main_rnd")!=null) this.ml_main_rnd=Boolean.parseBoolean(properties.getProperty(prefix+"ml_main_rnd"));
		if (properties.getProperty(prefix+"ml_rig_rnd")!=null) this.ml_rig_rnd=Boolean.parseBoolean(properties.getProperty(prefix+"ml_rig_rnd"));

		if (properties.getProperty(prefix+"ml_aux_ag")!=null) this.ml_aux_ag=Boolean.parseBoolean(properties.getProperty(prefix+"ml_aux_ag"));
		if (properties.getProperty(prefix+"ml_aux_fg")!=null) this.ml_aux_fg=Boolean.parseBoolean(properties.getProperty(prefix+"ml_aux_fg"));
		if (properties.getProperty(prefix+"ml_aux_bg")!=null) this.ml_aux_bg=Boolean.parseBoolean(properties.getProperty(prefix+"ml_aux_bg"));
		if (properties.getProperty(prefix+"ml_aux_low")!=null) this.ml_aux_low=Double.parseDouble(properties.getProperty(prefix+"ml_aux_low"));
		if (properties.getProperty(prefix+"ml_aux_high")!=null) this.ml_aux_high=Double.parseDouble(properties.getProperty(prefix+"ml_aux_high"));
		if (properties.getProperty(prefix+"ml_aux_step")!=null) this.ml_aux_step=Double.parseDouble(properties.getProperty(prefix+"ml_aux_step"));

		if (properties.getProperty(prefix+"ml_keep_aux")!=null) this.ml_keep_aux=Boolean.parseBoolean(properties.getProperty(prefix+"ml_keep_aux"));
		if (properties.getProperty(prefix+"ml_keep_inter")!=null) this.ml_keep_inter=Boolean.parseBoolean(properties.getProperty(prefix+"ml_keep_inter"));
		if (properties.getProperty(prefix+"ml_keep_tbrl")!=null) this.ml_keep_tbrl=Boolean.parseBoolean(properties.getProperty(prefix+"ml_keep_tbrl"));
		@@ -1590,6 +1642,13 @@ public class BiQuadParameters {
		bqp.ml_main_rnd = this.ml_main_rnd;
		bqp.ml_rig_rnd = this.ml_rig_rnd;

		bqp.ml_aux_ag = this.ml_aux_ag;
		bqp.ml_aux_fg = this.ml_aux_fg;
		bqp.ml_aux_bg = this.ml_aux_bg;
		bqp.ml_aux_low = this.ml_aux_low;
		bqp.ml_aux_high = this.ml_aux_high;
		bqp.ml_aux_step = this.ml_aux_step;

		bqp.ml_keep_aux = this.ml_keep_aux;
		bqp.ml_randomize = this.ml_randomize;

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

+3 −3

Original line number	Diff line number	Diff line
		@@ -289,7 +289,7 @@ public class Correlation2d {
		tcorr[col],
		fat_zero/scale_value);

		if (first_col < 0) {// accummulate all channels in frst non-null color ( 0 for color, 2 for mono?)
		if (first_col < 0) {// accummulate all channels in first non-null color ( 0 for color, 2 for mono?)
		first_col = col; // first non-empty color (2, green) or 0 for color images
		for (int n = 0; n < 4; n++) {
		for (int i = 0; i < transform_len; i++) {
		@@ -1150,7 +1150,7 @@ public class Correlation2d {
		double fc1 = full_corr[2 * ndir + 1][findx++]; // 1 - bottom, 3 (right)
		double cc = 0.0;
		if (offset >= 0.0) {
		if ((fc0 > 0.0) && (fc1 > 0.0)) {
		if ((fc0 > -offset) && (fc1 > -offset)) {
		cc = Math.sqrt((fc0 + offset) * (fc1 + offset)) - offset;
		}
		} else {

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