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Commit 4c92ae27 authored by Andrey Filippov's avatar Andrey Filippov
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Documented OpticalFlow, cleaned up, added configurable 

OpticalFlowParameters
parent 0a156a26
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Showing with 1226 additions and 765 deletions
src/main/java/com/elphel/imagej/cameras/CLTParameters.java
View file @ 4c92ae27
...@@ -14,6 +14,7 @@ import com.elphel.imagej.tileprocessor.BiQuadParameters; ...@@ -14,6 +14,7 @@ import com.elphel.imagej.tileprocessor.BiQuadParameters;
import com.elphel.imagej.tileprocessor.ImageDtt; import com.elphel.imagej.tileprocessor.ImageDtt;
import com.elphel.imagej.tileprocessor.ImageDttParameters; import com.elphel.imagej.tileprocessor.ImageDttParameters;
import com.elphel.imagej.tileprocessor.MeasuredLayersFilterParameters; import com.elphel.imagej.tileprocessor.MeasuredLayersFilterParameters;
import com.elphel.imagej.tileprocessor.OpticalFlowParameters;
import com.elphel.imagej.tileprocessor.PoleProcessorParameters; import com.elphel.imagej.tileprocessor.PoleProcessorParameters;
import ij.gui.GenericDialog; import ij.gui.GenericDialog;
...@@ -869,6 +870,7 @@ public class CLTParameters { ...@@ -869,6 +870,7 @@ public class CLTParameters {
public PoleProcessorParameters poles = new PoleProcessorParameters(); public PoleProcessorParameters poles = new PoleProcessorParameters();
public MeasuredLayersFilterParameters mlfp = new MeasuredLayersFilterParameters(); public MeasuredLayersFilterParameters mlfp = new MeasuredLayersFilterParameters();
public LwirReaderParameters lwir = new LwirReaderParameters(); public LwirReaderParameters lwir = new LwirReaderParameters();
public OpticalFlowParameters ofp = new OpticalFlowParameters();
public HashMap<String,Double> z_corr_map = new HashMap<String,Double>(); //old one public HashMap<String,Double> z_corr_map = new HashMap<String,Double>(); //old one
...@@ -1715,6 +1717,8 @@ public class CLTParameters { ...@@ -1715,6 +1717,8 @@ public class CLTParameters {
rig.setProperties (prefix+"_rig", properties); rig.setProperties (prefix+"_rig", properties);
poles.setProperties (prefix+"_poles", properties); poles.setProperties (prefix+"_poles", properties);
lwir.setProperties (prefix+"_lwir", properties); lwir.setProperties (prefix+"_lwir", properties);
ofp.setProperties (prefix+"_ofp_", properties);
} }
public void setPropertiesInfinityDistance(String prefix,Properties properties){ public void setPropertiesInfinityDistance(String prefix,Properties properties){
...@@ -2534,7 +2538,8 @@ public class CLTParameters { ...@@ -2534,7 +2538,8 @@ public class CLTParameters {
mlfp.getProperties (prefix+"_mlfp", properties); mlfp.getProperties (prefix+"_mlfp", properties);
rig.getProperties (prefix+"_rig", properties); rig.getProperties (prefix+"_rig", properties);
poles.getProperties (prefix+"_poles", properties); poles.getProperties (prefix+"_poles", properties);
lwir.getProperties (prefix+"_lwir", properties); lwir.getProperties (prefix+"_lwir", properties);
ofp.getProperties (prefix+"_ofp_", properties);
} }
public boolean showJDialog() { public boolean showJDialog() {
...@@ -3498,6 +3503,12 @@ public class CLTParameters { ...@@ -3498,6 +3503,12 @@ public class CLTParameters {
gd.addTab ("LWIR", "parameters for LWIR/EO 8-camera rig"); gd.addTab ("LWIR", "parameters for LWIR/EO 8-camera rig");
this.lwir.dialogQuestions(gd); this.lwir.dialogQuestions(gd);
gd.addTab ("O-Flow", "parameters for the interscene Optical FLow calculations");
this.ofp.dialogQuestions(gd);
gd.addTab ("Debug", "Other debug images"); gd.addTab ("Debug", "Other debug images");
gd.addMessage ("--- Other debug images ---"); gd.addMessage ("--- Other debug images ---");
// clt_parameters.debug_initial_discriminate, // final boolean debug_initial_discriminate, // clt_parameters.debug_initial_discriminate, // final boolean debug_initial_discriminate,
...@@ -4292,6 +4303,7 @@ public class CLTParameters { ...@@ -4292,6 +4303,7 @@ public class CLTParameters {
this.gpu_debug_accum= gd.getNextBoolean(); this.gpu_debug_accum= gd.getNextBoolean();
this.lwir.dialogAnswers(gd); this.lwir.dialogAnswers(gd);
this.ofp.dialogAnswers(gd);
this.debug_initial_discriminate= gd.getNextBoolean(); this.debug_initial_discriminate= gd.getNextBoolean();
this.dbg_migrate= gd.getNextBoolean(); this.dbg_migrate= gd.getNextBoolean();
......
src/main/java/com/elphel/imagej/tileprocessor/Correlation2d.java
View file @ 4c92ae27
...@@ -166,7 +166,24 @@ public class Correlation2d { ...@@ -166,7 +166,24 @@ public class Correlation2d {
wndx_scale); // double scale); wndx_scale); // double scale);
} }
public Correlation2d ( // USED in lwir
int transform_size,
boolean monochrome,
boolean debug) {
this.monochrome = monochrome;
this.dtt = new DttRad2(transform_size);
this.transform_size = transform_size;
this.transform_len = transform_size * transform_size;
this.corr_size = transform_size * 2 -1;
// not initialized until needed
this.transpose_all_ortho = new int [corr_size*corr_size];
this.transpose_all_diagonal = new int [corr_size*corr_size];
this.ortho_notch_filter = new double [corr_size];
this.corr_wndy = null; // will not be used
this.corr_wndx = null; // will not be used
this.corr_wndy_notch = null; // will not be used
}
public int [] getTransposeAll(boolean diagonal){ // USED in lwir public int [] getTransposeAll(boolean diagonal){ // USED in lwir
if (diagonal) return getTransposeAllDiagonal(); if (diagonal) return getTransposeAllDiagonal();
else return getTransposeAllOrtho(); else return getTransposeAllOrtho();
......
src/main/java/com/elphel/imagej/tileprocessor/OpticalFlow.java
View file @ 4c92ae27
This source diff could not be displayed because it is too large. You can view the blob instead.
src/main/java/com/elphel/imagej/tileprocessor/OpticalFlowParameters.java 0 → 100644
View file @ 4c92ae27
package com.elphel.imagej.tileprocessor;
/**
**
** OpticalFlowParameters - parameters defining Optical Flow operations
**
** Copyright (C) 2020 Elphel, Inc.
**
** -----------------------------------------------------------------------------**
**
** OpticalFlowParameters.java is free software: you can redistribute it and/or modify
** it under the terms of the GNU General Public License as published by
** the Free Software Foundation, either version 3 of the License, or
** (at your option) any later version.
**
** This program is distributed in the hope that it will be useful,
** but WITHOUT ANY WARRANTY; without even the implied warranty of
** MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
** GNU General Public License for more details.
**
** You should have received a copy of the GNU General Public License
** along with this program. If not, see <http://www.gnu.org/licenses/>.
** -----------------------------------------------------------------------------**
**
*/
import java.util.Properties;
import com.elphel.imagej.common.GenericJTabbedDialog;
public class OpticalFlowParameters {
public double k_prev = 0.75;
public double ers_to_pose_scale = 0.75;
public double tolerance_absolute_ref = 0.25; // absolute disparity half-range in each tile
public double tolerance_relative_ref = 0.2; // relative disparity half-range in each tile
public double center_occupancy_ref = 0.25; // fraction of remaining tiles in the center 8x8 area (<1.0)
public int num_laplassian = 100;
public double change_laplassian = 0.005 ;
public double tolerance_absolute_inter = 0.25; // absolute disparity half-range in each tile
public double tolerance_relative_inter = 0.2; // relative disparity half-range in each tile
public double occupancy_inter = 0.25; // fraction of remaining tiles in the center 8x8 area (<1.0)
public double [] chn_weights = {1.0,1.0,1.0,1.0}; // strength, r,b,g
// double [] chn_weights = {1.0,0.0,0.0,0.0}; // strength, r,b,g
// double [] chn_weights = {0.0,1.0,1.0,1.0}; // strength, r,b,g
public double corr_sigma = 0.5;
public double fat_zero = 0.05;
public double frac_radius = 0.9; // add to integer radius for window calculation
public double tolerance_absolute_macro = 0.25; // absolute disparity half-range to consolidate macro tiles
public double tolerance_relative_macro = 0.2; // relative disparity half-range to consolidate macro tiles
public int iradius_cm = 3; // half-size of the square to process
public double dradius_cm = 1.5; // weight calculation (1/(r/dradius)^2 + 1)
public int refine_num_cm = 5; // number of iterations to apply weights around new center
public double magic_scale = 0.85; // 2.0 * 0.85;
public int max_refines = 50;
public int num_refine_all = 3;
public double min_change = 0.1; // 01;// sqrt (dx*dx + dy*dy) for correction (int tiles) in pixels
public int best_neibs_num = 4; // use 4 best neighbors to calculate std deviation
public double ref_stdev = 5.0; // strength 0.5 if standard deviation of best neighbors to tile difference is this.
public boolean combine_empty_only = true; // false;
public boolean late_normalize_iterate = true;
public int test_corr_rad_max = 3;
// for recalculateFlowXY()
public int debug_level_optical = 1;
public int debug_level_iterate = -1;
public void dialogQuestions(GenericJTabbedDialog gd) {
gd.addMessage("Intraframe ERS to pose");
gd.addNumericField("Previous (in time) frame weight (0.75)", this.k_prev, 3,6,"",
"Earlier frame ERS was sampled closer to interframe");
gd.addNumericField("Correction coefficient (0.75)", this.ers_to_pose_scale, 3,6,"",
"Still to fing out the reason why ERS estimates higher value");
gd.addMessage("Reference and scene macrotiles calculation");
gd.addNumericField("Absolute disparity tolerance for reference scene", this.tolerance_absolute_ref, 3,6,"pix",
"Filter reference scene tiles in a macrotile by disparity (absolute term)");
gd.addNumericField("Relative disparity tolerance for reference scene", this.tolerance_relative_ref, 3,6,"pix/pix",
"Filter reference scene tiles in a macrotile by disparity (relative to disparity)");
gd.addNumericField("Minimal fraction of disparity-compliant tiles in the reference center", this.center_occupancy_ref, 4,6,"",
"Discard reference macrotile with less fraction of remaining tiles after filtering by the same disparity in the center 8x8 of the 16x16 macrotile");
gd.addNumericField("Number of replace-NaN Laplassian passes", this.num_laplassian, 0,4,"",
"Maximal number of repetitions replacing the removed by disparity filtered tiles by weighted average of the 8 neighbors");
gd.addNumericField("Maximal change threshold for Laplassian NaN replacement", this.change_laplassian, 5,8,"",
"Exit replacement passes when maximal change falls below this threshold");
gd.addNumericField("Absolute disparity interscene tolerance", this.tolerance_absolute_inter, 3,6,"pix",
"Filter scene tiles in a macrotile by interscene disparity comparison (absolute term)");
gd.addNumericField("Relative disparity interscene tolerance", this.tolerance_relative_inter, 3,6,"pix/pix",
"Filter scene tiles in a macrotile by interscene disparity comparison (relative to disparity term)");
gd.addNumericField("Occupancy of the scene macrotile", this.occupancy_inter, 3,6,"",
"Fraction of the remaining tiles in a scene macrotile after interframe disparity filtering");
gd.addMessage("Interscene 2D correlation");
gd.addNumericField("Correlation weight of the intrascene strength channel", this.chn_weights[0], 3,6,"",
"Weight of the intrascene correlation strength in interscene macrotile correlation (will be normalized)");
gd.addNumericField("Correlation weight of the intrascene red channel", this.chn_weights[1], 3,6,"",
"Weight of the intrascene average red color in interscene macrotile correlation (will be normalized)");
gd.addNumericField("Correlation weight of the intrascene blue channel", this.chn_weights[2], 3,6,"",
"Weight of the intrascene average blue color in interscene macrotile correlation (will be normalized)");
gd.addNumericField("Correlation weight of the intrascene green channel", this.chn_weights[3], 3,6,"",
"Weight of the intrascene average green color in interscene macrotile correlation (will be normalized)");
gd.addNumericField("Interscene correlation LPF sigma", this.corr_sigma, 3,6,"tiles",
"LPF 2D interscene correlations before copnverting to pixel domain");
gd.addNumericField("Fat zero for transform-domain correlation normalization", this.fat_zero, 3,6,"",
"Add fat zero to regularize phase correlation");
gd.addNumericField("Add fraction pixel radius for correlation consolidation", this.frac_radius, 3,6,"",
"Just for correlation testing with variable number of consolidated tiles - add this to integer radius");
gd.addNumericField("Absolute disparity tolerance for macrotile consolidation", this.tolerance_absolute_macro, 3,6,"pix",
"Consolidate only those macrotiles correlations that have close average disparitgy");
gd.addNumericField("Relartive disparity tolerance for macrotile consolidation", this.tolerance_relative_macro, 3,6,"",
"Consolidate only those macrotiles correlations that have close average disparitgy");
gd.addMessage("Argmax calculation with center-of-mass");
gd.addNumericField("Half-size of the square to use for CM argmax", this.iradius_cm, 0,4,"tiles",
"Use this half-size square to calculate center of mass for argmax");
gd.addNumericField("CM correlation radius (weight = (1/(r/dradius_cm)^2 + 1)", this.dradius_cm, 3,6,"tiles",
"Fade-out function for CM argmax() calculation");
gd.addNumericField("Number of CM iterations", this.refine_num_cm, 0,4,"",
"Re-calculate weights of the tiles for CM calculation after refining argmax");
gd.addMessage("Optical flow vector refines");
gd.addNumericField("Magic scale (0.85) after CM argmax", this.magic_scale, 3,6,"",
"Optical vector refinement should be divided by this value before application");
gd.addNumericField("Maximal number of Optical Flow refine cycles", this.max_refines, 0,4,"",
"Hard limit on th number of 2D correlations/ optical flow vectors refines");
gd.addNumericField("Number of unconditional refines", this.num_refine_all,0,4,"",
"Number of refines even if the last vector increment was larger than the previous one");
gd.addNumericField("Minimal Optical Flow vector change to exit macrotile refinement", this.min_change, 3,6,"pix",
"Stop re-correlating tile when change is smaller than this threshold (in image pixels)");
gd.addMessage("Confidence calculation");
gd.addNumericField("Number of the best (closest) Optical Flow neighbors", this.best_neibs_num,0,4,"",
"Use this number of the neighbors (of total 8) that are most similar to the current tile to calculate confidence. Zero confidence if there are not enough neighbors.");
gd.addNumericField("Expected standard deviation of the Optical Flow", this.ref_stdev, 3,6,"pix",
"Calculate for the best neighbors around the current tile: confidence= (ref_stdev ^ 2)/(ref_stdev ^2 + stdev^2)");
gd.addMessage("Testing and Debug");
gd.addCheckbox ("Consolidate correlation macrotiles only if the current macrotile is null", this.combine_empty_only,
"When false - consolidate all macrotiles, including defined ones");
gd.addCheckbox ("Late normalize (after combining channels in transform domain)", this.late_normalize_iterate,
"Assumed true when consolidating macrotiles");
gd.addNumericField("Maximal consolidation radius to try", this.test_corr_rad_max, 0,4,"tiles",
"Test and dispaly consolidation from from zero to this radius around each macrotile");
gd.addNumericField("Debug level for Optical Flow testing", this.debug_level_optical, 0,4,"",
"Apply to series or Optical FLow tests");
gd.addNumericField("Debug level correlation iterations", this.debug_level_iterate, 0,4,"",
"Apply during Optical Flow refinement itgerations");
}
public void dialogAnswers(GenericJTabbedDialog gd) {
this.k_prev = gd.getNextNumber();
this.ers_to_pose_scale = gd.getNextNumber();
this.tolerance_absolute_ref = gd.getNextNumber();
this.tolerance_relative_ref = gd.getNextNumber();
this.center_occupancy_ref = gd.getNextNumber();
this.num_laplassian = (int) gd.getNextNumber();
this.change_laplassian = gd.getNextNumber();
this.tolerance_absolute_inter = gd.getNextNumber();
this.tolerance_relative_inter = gd.getNextNumber();
this.occupancy_inter = gd.getNextNumber();
this.chn_weights[0] = gd.getNextNumber();
this.chn_weights[1] = gd.getNextNumber();
this.chn_weights[2] = gd.getNextNumber();
this.chn_weights[3] = gd.getNextNumber();
this.corr_sigma = gd.getNextNumber();
this.fat_zero = gd.getNextNumber();
this.frac_radius = gd.getNextNumber();
this.tolerance_absolute_macro = gd.getNextNumber();
this.tolerance_relative_macro = gd.getNextNumber();
this.iradius_cm = (int) gd.getNextNumber();
this.dradius_cm = gd.getNextNumber();
this.refine_num_cm = (int) gd.getNextNumber();
this.magic_scale = gd.getNextNumber();
this.max_refines = (int) gd.getNextNumber();
this.num_refine_all = (int) gd.getNextNumber();
this.min_change = gd.getNextNumber();
this.best_neibs_num = (int) gd.getNextNumber();
this.ref_stdev = gd.getNextNumber();
this.combine_empty_only = gd.getNextBoolean();
this.late_normalize_iterate = gd.getNextBoolean();
this.test_corr_rad_max = (int) gd.getNextNumber();
this.debug_level_optical = (int) gd.getNextNumber();
this.debug_level_iterate = (int) gd.getNextNumber();
}
public void setProperties(String prefix,Properties properties){
properties.setProperty(prefix+"k_prev", this.k_prev+"");
properties.setProperty(prefix+"ers_to_pose_scale", this.ers_to_pose_scale+"");
properties.setProperty(prefix+"tolerance_absolute_ref", this.tolerance_absolute_ref+"");
properties.setProperty(prefix+"tolerance_relative_ref", this.tolerance_relative_ref+"");
properties.setProperty(prefix+"center_occupancy_ref", this.center_occupancy_ref+"");
properties.setProperty(prefix+"num_laplassian", this.num_laplassian+"");
properties.setProperty(prefix+"change_laplassian", this.change_laplassian+"");
properties.setProperty(prefix+"tolerance_absolute_inter", this.tolerance_absolute_inter+"");
properties.setProperty(prefix+"tolerance_relative_inter", this.tolerance_relative_inter+"");
properties.setProperty(prefix+"occupancy_inter", this.occupancy_inter+"");
for (int i = 0; i < chn_weights.length; i++) {
properties.setProperty(prefix+"chn_weights_"+i, this.chn_weights[i]+"");
}
properties.setProperty(prefix+"corr_sigma", this.corr_sigma+"");
properties.setProperty(prefix+"fat_zero", this.fat_zero+"");
properties.setProperty(prefix+"frac_radius", this.frac_radius+"");
properties.setProperty(prefix+"tolerance_absolute_macro", this.tolerance_absolute_macro+"");
properties.setProperty(prefix+"tolerance_relative_macro", this.tolerance_relative_macro+"");
properties.setProperty(prefix+"iradius_cm", this.iradius_cm+"");
properties.setProperty(prefix+"dradius_cm", this.dradius_cm+"");
properties.setProperty(prefix+"refine_num_cm", this.refine_num_cm+"");
properties.setProperty(prefix+"magic_scale", this.magic_scale+"");
properties.setProperty(prefix+"max_refines", this.max_refines+"");
properties.setProperty(prefix+"num_refine_all", this.num_refine_all+"");
properties.setProperty(prefix+"min_change", this.min_change+"");
properties.setProperty(prefix+"best_neibs_num", this.best_neibs_num+"");
properties.setProperty(prefix+"ref_stdev", this.ref_stdev+"");
properties.setProperty(prefix+"combine_empty_only", this.combine_empty_only+"");
properties.setProperty(prefix+"late_normalize_iterate", this.late_normalize_iterate+"");
properties.setProperty(prefix+"test_corr_rad_max", this.test_corr_rad_max+"");
properties.setProperty(prefix+"debug_level_optical", this.debug_level_optical+"");
properties.setProperty(prefix+"debug_level_iterate", this.debug_level_iterate+"");
}
public void getProperties(String prefix,Properties properties){
if (properties.getProperty(prefix+"k_prev")!=null) this.k_prev=Double.parseDouble(properties.getProperty(prefix+"k_prev"));
if (properties.getProperty(prefix+"ers_to_pose_scale")!=null) this.ers_to_pose_scale=Double.parseDouble(properties.getProperty(prefix+"ers_to_pose_scale"));
if (properties.getProperty(prefix+"tolerance_absolute_ref")!=null) this.tolerance_absolute_ref=Double.parseDouble(properties.getProperty(prefix+"tolerance_absolute_ref"));
if (properties.getProperty(prefix+"tolerance_relative_ref")!=null) this.tolerance_relative_ref=Double.parseDouble(properties.getProperty(prefix+"tolerance_relative_ref"));
if (properties.getProperty(prefix+"center_occupancy_ref")!=null) this.center_occupancy_ref=Double.parseDouble(properties.getProperty(prefix+"center_occupancy_ref"));
if (properties.getProperty(prefix+"num_laplassian")!=null) this.num_laplassian=Integer.parseInt(properties.getProperty(prefix+"num_laplassian"));
if (properties.getProperty(prefix+"change_laplassian")!=null) this.change_laplassian=Double.parseDouble(properties.getProperty(prefix+"change_laplassian"));
if (properties.getProperty(prefix+"tolerance_absolute_inter")!=null) this.tolerance_absolute_inter=Double.parseDouble(properties.getProperty(prefix+"tolerance_absolute_inter"));
if (properties.getProperty(prefix+"tolerance_relative_inter")!=null) this.tolerance_relative_inter=Double.parseDouble(properties.getProperty(prefix+"tolerance_relative_inter"));
if (properties.getProperty(prefix+"occupancy_inter")!=null) this.occupancy_inter=Double.parseDouble(properties.getProperty(prefix+"occupancy_inter"));
for (int i = 0; i < chn_weights.length; i++) {
String s_chn_weight = "chn_weights_"+i;
if (properties.getProperty(prefix+s_chn_weight)!=null) this.chn_weights[i]=Double.parseDouble(properties.getProperty(prefix+s_chn_weight));
}
if (properties.getProperty(prefix+"corr_sigma")!=null) this.corr_sigma=Double.parseDouble(properties.getProperty(prefix+"corr_sigma"));
if (properties.getProperty(prefix+"fat_zero")!=null) this.fat_zero=Double.parseDouble(properties.getProperty(prefix+"fat_zero"));
if (properties.getProperty(prefix+"frac_radius")!=null) this.frac_radius=Double.parseDouble(properties.getProperty(prefix+"frac_radius"));
if (properties.getProperty(prefix+"tolerance_absolute_macro")!=null) this.tolerance_absolute_macro=Double.parseDouble(properties.getProperty(prefix+"tolerance_absolute_macro"));
if (properties.getProperty(prefix+"tolerance_relative_macro")!=null) this.tolerance_relative_macro=Double.parseDouble(properties.getProperty(prefix+"tolerance_relative_macro"));
if (properties.getProperty(prefix+"iradius_cm")!=null) this.iradius_cm=Integer.parseInt(properties.getProperty(prefix+"iradius_cm"));
if (properties.getProperty(prefix+"dradius_cm")!=null) this.dradius_cm=Double.parseDouble(properties.getProperty(prefix+"dradius_cm"));
if (properties.getProperty(prefix+"refine_num_cm")!=null) this.refine_num_cm=Integer.parseInt(properties.getProperty(prefix+"refine_num_cm"));
if (properties.getProperty(prefix+"magic_scale")!=null) this.magic_scale=Double.parseDouble(properties.getProperty(prefix+"magic_scale"));
if (properties.getProperty(prefix+"max_refines")!=null) this.max_refines=Integer.parseInt(properties.getProperty(prefix+"max_refines"));
if (properties.getProperty(prefix+"num_refine_all")!=null) this.num_refine_all=Integer.parseInt(properties.getProperty(prefix+"num_refine_all"));
if (properties.getProperty(prefix+"min_change")!=null) this.min_change=Double.parseDouble(properties.getProperty(prefix+"min_change"));
if (properties.getProperty(prefix+"best_neibs_num")!=null) this.best_neibs_num=Integer.parseInt(properties.getProperty(prefix+"best_neibs_num"));
if (properties.getProperty(prefix+"ref_stdev")!=null) this.ref_stdev=Double.parseDouble(properties.getProperty(prefix+"ref_stdev"));
if (properties.getProperty(prefix+"combine_empty_only")!=null) this.combine_empty_only=Boolean.parseBoolean(properties.getProperty(prefix+"combine_empty_only"));
if (properties.getProperty(prefix+"late_normalize_iterate")!=null) this.late_normalize_iterate=Boolean.parseBoolean(properties.getProperty(prefix+"late_normalize_iterate"));
if (properties.getProperty(prefix+"test_corr_rad_max")!=null) this.test_corr_rad_max=Integer.parseInt(properties.getProperty(prefix+"test_corr_rad_max"));
if (properties.getProperty(prefix+"debug_level_optical")!=null) this.debug_level_optical=Integer.parseInt(properties.getProperty(prefix+"debug_level_optical"));
if (properties.getProperty(prefix+"debug_level_iterate")!=null) this.debug_level_iterate=Integer.parseInt(properties.getProperty(prefix+"debug_level_iterate"));
}
@Override
public OpticalFlowParameters clone() throws CloneNotSupportedException {
OpticalFlowParameters ofp = new OpticalFlowParameters();
ofp.k_prev = this.k_prev;
ofp.ers_to_pose_scale = this.ers_to_pose_scale;
ofp.tolerance_absolute_ref = this.tolerance_absolute_ref;
ofp.tolerance_relative_ref = this.tolerance_relative_ref;
ofp.center_occupancy_ref = this.center_occupancy_ref;
ofp.num_laplassian = this.num_laplassian;
ofp.change_laplassian = this.change_laplassian;
ofp.tolerance_absolute_inter = this.tolerance_absolute_inter;
ofp.tolerance_relative_inter = this.tolerance_relative_inter;
ofp.occupancy_inter = this.occupancy_inter;
ofp.chn_weights = this.chn_weights.clone();
ofp.corr_sigma = this.corr_sigma;
ofp.fat_zero = this.fat_zero;
ofp.frac_radius = this.frac_radius;
ofp.tolerance_absolute_macro = this.tolerance_absolute_macro;
ofp.tolerance_relative_macro = this.tolerance_relative_macro;
ofp.iradius_cm = this.iradius_cm;
ofp.dradius_cm = this.dradius_cm;
ofp.refine_num_cm = this.refine_num_cm;
ofp.magic_scale = this.magic_scale;
ofp.max_refines = this.max_refines;
ofp.num_refine_all = this.num_refine_all;
ofp.min_change = this.min_change;
ofp.best_neibs_num = this.best_neibs_num;
ofp.ref_stdev = this.ref_stdev;
ofp.combine_empty_only = this.combine_empty_only;
ofp.late_normalize_iterate = this.late_normalize_iterate;
ofp.test_corr_rad_max = this.test_corr_rad_max;
ofp.debug_level_optical = this.debug_level_optical;
ofp.debug_level_iterate = this.debug_level_iterate;
return ofp;
}
}
src/main/java/com/elphel/imagej/tileprocessor/TwoQuadCLT.java
View file @ 4c92ae27
...@@ -8255,75 +8255,31 @@ if (debugLevel > -100) return true; // temporarily ! ...@@ -8255,75 +8255,31 @@ if (debugLevel > -100) return true; // temporarily !
} }
double k_prev = 0.75; /// double k_prev = 0.75;
/// double corr_scale = 0.75;
double corr_scale = 0.75;
/// for (int i = 0; i < quadCLTs.length; i++) {
OpticalFlow opticalFlow = new OpticalFlow( OpticalFlow opticalFlow = new OpticalFlow(
threadsMax, // int threadsMax, // maximal number of threads to launch threadsMax, // int threadsMax, // maximal number of threads to launch
updateStatus); // boolean updateStatus); updateStatus); // boolean updateStatus);
// int margin = 4; // extra margins over 16x16 tiles to accommodate distorted destination tiles
/*
double tolerance_absolute = 0.25; // absolute disparity half-range in each tile
double tolerance_relative = 0.2; // relative disparity half-range in each tile
double center_occupancy = 0.25; // fraction of remaining tiles in the center 8x8 area (<1.0)
int num_passes = 100;
double max_change = 0.005 ;
*/
for (int i = 1; i < quadCLTs.length; i++) { for (int i = 1; i < quadCLTs.length; i++) {
QuadCLT qPrev = (i > 0) ? quadCLTs[i - 1] : null; QuadCLT qPrev = (i > 0) ? quadCLTs[i - 1] : null;
/*
double [][][] source_tiles = opticalFlow.prepareReferenceTiles(
quadCLTs[i], // final QuadCLT qthis,
// margin, // final int margin, // extra margins over 16x16 tiles to accommodate distorted destination tiles
tolerance_absolute, // final double tolerance_absolute, // absolute disparity half-range in each tile
tolerance_relative, // final double tolerance_relative, // relative disparity half-range in each tile
center_occupancy, // final double center_occupancy, // fraction of remaining tiles in the center 8x8 area (<1.0)
2); // final int debug_level)
opticalFlow.fillTilesNans(
source_tiles, // final double [][][] nan_tiles,
quadCLTs[i], // final QuadCLT qthis,
// margin, // final int margin, // extra margins over 16x16 tiles to accommodate distorted destination tiles
// 0.5 * Math.sqrt(2.0), // double diagonal_weight, // relative to ortho
num_passes, // final int num_passes,
max_change, // final double max_change,
2); // final int debug_level)
*/
double [][][] pair_sets =
opticalFlow.get_pair( // double [][][] pair_sets =
clt_parameters, // CLTParameters clt_parameters, opticalFlow.get_pair(
k_prev, clt_parameters, // CLTParameters clt_parameters,
quadCLTs[i], clt_parameters.ofp.k_prev, // k_prev,
qPrev, quadCLTs[i],
corr_scale, qPrev,
1); // -1); // int debug_level); clt_parameters.ofp.ers_to_pose_scale, // corr_scale,
clt_parameters.ofp.debug_level_optical); // 1); // -1); // int debug_level);
} }
/*
for (int i = 0; i < quadCLTs.length; i++) {
quadCLTs[i].saveInterProperties(// save properties for interscene processing (extrinsics, ers, ...)
null, // String path, // full name with extension or w/o path to use x3d directory
debugLevel);
}
*/
System.out.println("End of test"); System.out.println("End of test");
} }
/*
* public double [][] getDSRBG (){
return dsrbg;
}
*/
public void batchLwirRig( public void batchLwirRig(
QuadCLT quadCLT_main, // tiles should be set QuadCLT quadCLT_main, // tiles should be set
......
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