Working on pole detection

src/main/java/BiQuadParameters.java

@@ -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

 /**
- ** 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

@@ -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
@@ -5157,13 +5162,97 @@ 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";
-			IJ.showMessage("Error",msg);
-			System.out.println(msg);
-			return false;
+			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();

src/main/java/TileNeibs.java

@@ -25,6 +25,20 @@ import java.util.Arrays;
  */
 
 public class TileNeibs{
+	final static int DIR_N =       0; // UP
+	final static int DIR_NE =      1;
+	final static int DIR_E =       2; // Right
+	final static int DIR_SE =      3;
+	final static int DIR_S =       4; // Down
+	final static int DIR_SW =      5;
+	final static int DIR_W =       6; // Left
+	final static int DIR_NW =      7;
+	final static int DIR_CENTER = -1;
+	final static int DIR_UP =      0; // UP
+	final static int DIR_LEFT =    2; // Right
+	final static int DIR_DOWN =    4; // Down
+	final static int DIR_RIGHT =   6; // Left
+
 	int sizeX;
 	int sizeY;
 	public int dirs = 8;