Working on pole detection (41b89aee) · Commits · Elphel / imagej-elphel

src/main/java/BiQuadParameters.java

+21 −2

Original line number	Diff line number	Diff line
		@@ -151,6 +151,9 @@ public class BiQuadParameters {
		public double pf_new_diff = 0.5; // Minimal disparity (in master camera pixels) difference between the new suggested and the already tried/measured one
		public int pf_min_new = 5; // Minimal number of he new tiles during rig refine for plane filter

		public double lonefg_rstrength = 0.4; // Minimal relative strength of the lone FG tiles
		public double lonefg_disp_incr = 1.0; // Maximal disparity of the lone FG tile over maximum of its neighbors

		public boolean ltavg_en = true; // apply low texture correlation averaging
		public int ltavg_radius = 1; // low texture averaging radius
		public boolean ltavg_dens_strong = true; // density calculation - consider only strong tiles
		@@ -470,7 +473,14 @@ public class BiQuadParameters {
		gd.addNumericField("Minimal refined tiles during plane filter", this.pf_min_new, 0,3,"",
		"Repeat refine antill less tiles are updated");

		gd.addTab("LT Avg","Low texture correlatinaveraging");

		gd.addMessage("Remove lone FG tiles, that have disparity exceeding maximal neighbor by a margin");
		gd.addNumericField("Minimal relative strength of the lone FG tiles", this.lonefg_rstrength, 4,6,"",
		"Tile will be removed if it is closer than closest neighbor and is weaker than that neighbor or this value");
		gd.addNumericField("Maximal disparity of the lone FG tile over maximum of its neighbors", this.lonefg_disp_incr, 4,6,"pix",
		"Tile will be removed if it has disparity higher by this margin that highest neighbor and is weak enough");

		gd.addTab("LT Avg","Low texture correlation averaging");

		gd.addCheckbox ("Apply low texture correlation averaging", this.ltavg_en,
		"Improve low textures by averaging 2-d correlation results");
		@@ -731,6 +741,9 @@ public class BiQuadParameters {
		this.pf_new_diff= gd.getNextNumber();
		this.pf_min_new= (int) gd.getNextNumber();

		this.lonefg_rstrength= gd.getNextNumber();
		this.lonefg_disp_incr= gd.getNextNumber();

		this.ltavg_en= gd.getNextBoolean();
		this.ltavg_radius= (int) gd.getNextNumber();
		this.ltavg_dens_strong= gd.getNextBoolean();
		@@ -918,6 +931,8 @@ public class BiQuadParameters {
		properties.setProperty(prefix+"pf_new_diff", this.pf_new_diff+"");
		properties.setProperty(prefix+"pf_min_new", this.pf_min_new+"");

		properties.setProperty(prefix+"lonefg_rstrength", this.lonefg_rstrength+"");
		properties.setProperty(prefix+"lonefg_disp_incr", this.lonefg_disp_incr+"");

		properties.setProperty(prefix+"ltavg_en", this.ltavg_en+"");
		properties.setProperty(prefix+"ltavg_radius", this.ltavg_radius+"");
		@@ -1107,7 +1122,8 @@ public class BiQuadParameters {
		if (properties.getProperty(prefix+"pf_new_diff")!=null) this.pf_new_diff=Double.parseDouble(properties.getProperty(prefix+"pf_new_diff"));
		if (properties.getProperty(prefix+"pf_min_new")!=null) this.pf_min_new=Integer.parseInt(properties.getProperty(prefix+"pf_min_new"));


		if (properties.getProperty(prefix+"lonefg_rstrength")!=null) this.lonefg_rstrength=Double.parseDouble(properties.getProperty(prefix+"lonefg_rstrength"));
		if (properties.getProperty(prefix+"lonefg_disp_incr")!=null) this.lonefg_disp_incr=Double.parseDouble(properties.getProperty(prefix+"lonefg_disp_incr"));

		if (properties.getProperty(prefix+"ltavg_en")!=null) this.ltavg_en=Boolean.parseBoolean(properties.getProperty(prefix+"ltavg_en"));
		if (properties.getProperty(prefix+"ltavg_radius")!=null) this.ltavg_radius=Integer.parseInt(properties.getProperty(prefix+"ltavg_radius"));
		@@ -1298,6 +1314,9 @@ public class BiQuadParameters {
		bqp.pf_new_diff= this.pf_new_diff;
		bqp.pf_min_new= this.pf_min_new;

		bqp.lonefg_rstrength= this.lonefg_rstrength;
		bqp.lonefg_disp_incr= this.lonefg_disp_incr;

		bqp.ltavg_en= this.ltavg_en;
		bqp.ltavg_radius= this.ltavg_radius;
		bqp.ltavg_dens_strong= this.ltavg_dens_strong;

src/main/java/BiScan.java

+68 −3

Original line number	Diff line number	Diff line
		/**
		** BiCamScan - calss to represent bultiple bi-quad camera measurements
		** BiCamScan - class to represent multiple bi-quad camera measurements
		**
		** Copyright (C) 2018 Elphel, Inc.
		**
		@@ -36,7 +36,7 @@ public class BiScan {
		boolean [] strong_trusted; // sufficient strength without neighbors
		boolean [] trusted;
		boolean [] cond_trusted;
		boolean [] disabled_measurement; // should disable source also
		boolean [] disabled_measurement; // should disable source, not this!
		int [] src_index; // index of the source scan which measured data is used here (applies to disparity_measured, strength_measured, disabled_measurement
		int list_index = -1;
		int scan_type = -1;
		@@ -100,7 +100,7 @@ public class BiScan {
		// disabled[nTile] = true;
		// if ((src_index[nTile] >= 0) && (src_index[nTile] != list_index)) {
		if (src_index[nTile] >= 0) {
		biCamDSI.getBiScan(src_index[nTile]).disabled_measurement[nTile] = false; // may be source tile or this tile
		biCamDSI.getBiScan(src_index[nTile]).disabled_measurement[nTile] = true; // false; // may be source tile or this tile
		}
		}
		/**
		@@ -1267,6 +1267,71 @@ public class BiScan {
		return numTrustedAll;
		}

		/**
		* Remove stray tiles that are closer than closest neighbor and weaker than it or
		* trusted_strength * min_rstrength
		* @param trusted_strength absolute raw strength to trust
		* @param min_rstrength minimal strength to allow lone FG, relative to trusted_strength
		* @param max_disp_inc maximal disparity difference between this tile and the nearest neighbor
		* @param dbg_x
		* @param dbg_y
		* @param debugLevel
		* @return number of disabled tiles
		*/

		int trimWeakLoneFG(
		final double trusted_strength, // trusted correlation strength
		final double min_rstrength, // strength floor - relative to trusted
		final double max_disp_inc,
		final int dbg_x,
		final int dbg_y,
		final int debugLevel
		) {
		final AtomicInteger ai_trimmed = new AtomicInteger(0);
		final double min_strength = trusted_strength * min_rstrength;
		final TileNeibs tnImage = biCamDSI.tnImage;
		final int num_tiles = tnImage.sizeX * tnImage.sizeY;
		final Thread[] threads = ImageDtt.newThreadArray(biCamDSI.threadsMax);
		final AtomicInteger ai = new AtomicInteger(0);
		final double [][] ds = getDisparityStrength( // already has disabled zeroed
		false, // final boolean only_strong,
		false, // final boolean only_trusted,
		true) ; // final boolean only_enabled);

		for (int ithread = 0; ithread < threads.length; ithread++) {
		threads[ithread] = new Thread() {
		@Override
		public void run() {
		for (int nTile = ai.getAndIncrement(); nTile < num_tiles; nTile = ai.getAndIncrement()) if (!Double.isNaN(ds[0][nTile])){
		double max_disp = 0;
		double max_disp_w = 0;
		double d_lim = ds[0][nTile] - max_disp_inc;
		double w = ds[1][nTile];
		for (int dir = 0; dir < 8; dir++) {
		int nTile1 = tnImage.getNeibIndex(nTile, dir);
		if ((nTile1 >=0) && (ds[0][nTile1] > max_disp)){
		max_disp = ds[0][nTile1];
		max_disp_w = ds[1][nTile1];
		}
		if (max_disp > d_lim) {
		break;
		}
		}
		if ((max_disp <= d_lim) && ((w < max_disp_w) \|\| (w < min_strength))) {
		disableTile(nTile);
		ai_trimmed.getAndIncrement();
		if (debugLevel > -4) {
		System.out.println("trimWeakLoneFG: removing tile "+nTile+" ("+(nTile%tnImage.sizeX)+":"+(nTile/tnImage.sizeX));
		}
		}
		}
		}
		};
		}
		ImageDtt.startAndJoin(threads);
		return ai_trimmed.get();
		}

		// FG edge should be strong
		// Trimming(disabling) weak (trusted but not strong_trusted) tiles if on any one side:
		// a) there are no same plane or closer tiles

src/main/java/Eyesis_Correction.java

+96 −7

Original line number	Diff line number	Diff line
		@@ -4254,10 +4254,14 @@ private Panel panel1,
		/// ============================================

		} else if (label.equals("CLT 3D") \|\| label.equals("CLT Extrinsics") \|\| label.equals("CLT Poly corr")) {

		boolean adjust_extrinsics = label.equals("CLT Extrinsics") \|\| label.equals("CLT Poly corr");
		boolean adjust_poly = label.equals("CLT Poly corr");
		DEBUG_LEVEL=MASTER_DEBUG_LEVEL;
		EYESIS_CORRECTIONS.setDebug(DEBUG_LEVEL);

		clt3d(adjust_extrinsics, adjust_poly);
		/*
		if (QUAD_CLT == null){
		QUAD_CLT = new QuadCLT (
		QuadCLT.PREFIX,
		@@ -4327,6 +4331,7 @@ private Panel panel1,
		true,
		PROPERTIES);
		}
		*/
		return;
		} else if (label.equals("AUX Extrinsics") \|\| label.equals("AUX Poly corr")) {
		boolean adjust_extrinsics = label.equals("AUX Extrinsics") \|\| label.equals("AUX Poly corr");
		@@ -5125,11 +5130,11 @@ private Panel panel1,
		if (configPath.equals("ABORT")) return false;

		if (DEBUG_LEVEL > -2){
		System.out.println("++++++++++++++ Enhancing single-camera DSI by the dual-camera rig using planes ++++++++++++++");
		System.out.println("++++++++++++++ Generating GT data for street poles ++++++++++++++");
		}
		TWO_QUAD_CLT.processPoles( // actually there is no sense to process multiple image sets. Combine with other processing?
		// QUAD_CLT, // QuadCLT quadCLT_main,
		// QUAD_CLT_AUX, // QuadCLT quadCLT_aux,
		QUAD_CLT, // QuadCLT quadCLT_main,
		QUAD_CLT_AUX, // QuadCLT quadCLT_aux,
		TWO_QUAD_CLT.biCamDSI_persistent, // BiCamDSI biCamDSI,
		CLT_PARAMETERS, // EyesisCorrectionParameters.DCTParameters dct_parameters,
		THREADS_MAX, //final int threadsMax, // maximal number of threads to launch
		@@ -5157,14 +5162,98 @@ private Panel panel1,
		QUAD_CLT.resetGroundTruthByRig();
		return true;
		}

		// boolean adjust_extrinsics = label.equals("CLT Extrinsics") \|\| label.equals("CLT Poly corr");
		// boolean adjust_poly = label.equals("CLT Poly corr");
		public boolean clt3d(
		boolean adjust_extrinsics,
		boolean adjust_poly
		) {
		if (QUAD_CLT == null){
		QUAD_CLT = new QuadCLT (
		QuadCLT.PREFIX,
		PROPERTIES,
		EYESIS_CORRECTIONS,
		CORRECTION_PARAMETERS);
		if (DEBUG_LEVEL > 0){
		System.out.println("Created new QuadCLT instance, will need to read CLT kernels");
		}
		}
		String configPath=getSaveCongigPath();
		if (configPath.equals("ABORT")) return false;

		EYESIS_CORRECTIONS.initSensorFiles(DEBUG_LEVEL);
		int numChannels=EYESIS_CORRECTIONS.getNumChannels();
		CHANNEL_GAINS_PARAMETERS.modifyNumChannels(numChannels);

		if (!QUAD_CLT.CLTKernelsAvailable()){
		if (DEBUG_LEVEL > 0){
		System.out.println("Reading CLT kernels");
		}
		QUAD_CLT.readCLTKernels(
		CLT_PARAMETERS,
		THREADS_MAX,
		UPDATE_STATUS, // update status info
		DEBUG_LEVEL);

		if (DEBUG_LEVEL > 1){
		QUAD_CLT.showCLTKernels(
		THREADS_MAX,
		UPDATE_STATUS, // update status info
		DEBUG_LEVEL);
		}
		}

		if (!QUAD_CLT.geometryCorrectionAvailable()){
		if (DEBUG_LEVEL > 0){
		System.out.println("Calculating geometryCorrection");
		}
		if (!QUAD_CLT.initGeometryCorrection(DEBUG_LEVEL+2)){
		return false;
		}
		}

		QUAD_CLT.processCLTQuads3d(
		adjust_extrinsics, // boolean adjust_extrinsics,
		adjust_poly, // boolean adjust_poly,
		CLT_PARAMETERS, // EyesisCorrectionParameters.DCTParameters dct_parameters,
		DEBAYER_PARAMETERS, //EyesisCorrectionParameters.DebayerParameters debayerParameters,
		// NONLIN_PARAMETERS, //EyesisCorrectionParameters.NonlinParameters nonlinParameters,
		COLOR_PROC_PARAMETERS, //EyesisCorrectionParameters.ColorProcParameters colorProcParameters,
		CHANNEL_GAINS_PARAMETERS, //CorrectionColorProc.ColorGainsParameters channelGainParameters,
		RGB_PARAMETERS, //EyesisCorrectionParameters.RGBParameters rgbParameters,
		EQUIRECTANGULAR_PARAMETERS, // EyesisCorrectionParameters.EquirectangularParameters equirectangularParameters,
		// CONVOLVE_FFT_SIZE, //int convolveFFTSize, // 128 - fft size, kernel size should be size/2
		THREADS_MAX, //final int threadsMax, // maximal number of threads to launch
		UPDATE_STATUS, //final boolean updateStatus,
		DEBUG_LEVEL); //final int debugLevel);




		if (configPath!=null) {
		saveTimestampedProperties( // save config again
		configPath, // full path or null
		null, // use as default directory if path==null
		true,
		PROPERTIES);
		}
		return true;
		}

		public boolean enhanceByRig( boolean use_planes) {
		long startTime=System.nanoTime();
		if ((QUAD_CLT == null) \|\| (QUAD_CLT.tp == null) \|\| (QUAD_CLT.tp.clt_3d_passes == null)) {
		String msg = "DSI data is not available. Please run \"CLT 3D\" first";
		boolean OK = clt3d(
		false, // boolean adjust_extrinsics,
		false); // boolean adjust_poly);
		if (! OK) {
		String msg = "DSI data is not available and \"CLT 3D\" failed";
		IJ.showMessage("Error",msg);
		System.out.println(msg);
		return false;
		}
		}
		if (!prepareRigImages()) return false;
		String configPath=getSaveCongigPath();
		if (configPath.equals("ABORT")) return false;

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