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imagej-elphel
Commit 508ee2cb authored by Andrey Filippov's avatar Andrey Filippov
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added new surface generation, working on resolving 'impossible triangle' conflicts

parent dfe9ae9d
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Showing with 1710 additions and 305 deletions
src/main/java/EyesisCorrectionParameters.java
View file @ 508ee2cb
......@@ -2171,7 +2171,8 @@ public class EyesisCorrectionParameters {
public double plMaxEigen = 0.3; // Maximal eigenvalue of a plane
public boolean plDbgMerge = true; // Combine 'other' plane with current
public double plWorstWorsening = 3.0; // Worst case worsening after merge
public double plOKMergeEigen = 0.01; // If result of the merged planes is below, OK to bypass worst worsening
public double plOKMergeEigen = 0.03; // If result of the merged planes is below, OK to bypass worst worsening
public double plMaxWorldSin2 = 0.1; // Maximal sine squared of the world angle between planes to merge. Set to >= 1.0 to disable
public double plWeakWorsening = 1.0; // Relax merge requirements for weaker planes
public boolean plMutualOnly = true; // keep only mutual links, remove weakest if conflict
public boolean plFillSquares = true; // Add diagonals to full squares
......@@ -2217,12 +2218,13 @@ public class EyesisCorrectionParameters {
public double msScaleProj = 1.5; // Scale projection of the plane ellipsoid
public double msFractUni = 0.3; // Spread this fraction of the ellipsoid weight among extended (double) supertile
public boolean tsNoEdge = true; // Do not assigned tiles to thesurface edges (not having all 8 neighbors)
public boolean tsNoEdge = true; // Do not assign tiles to the surface edges (not having all 8 neighbors)
public boolean tsUseCenter = true; // Only assign outside of 8x8 center if no suitable alternative
public double tsMaxDiff = 0.3; // Maximal disparity difference when assigning tiles
public double tsMinDiffOther = 0.35; // Minimal disparity difference to be considered as a competitor surface
public double tsMinStrength = 0.05; // Minimal tile correlation strength to be assigned
public double tsMaxStrength = 10.0; // Maximal tile correlation strength to be assigned
public double tsMinSurface = 0.0001; // Minimal surface strength at the tile location
public double tsMinSurface = 0.001; // Minimal surface strength at the tile location
public int tsMoveDirs = 3; // Allowed tile disparity correction: 1 increase, 2 - decrease, 3 - both directions
public double tsSurfStrPow = 0.0; // Raise surface strengths ratio to this power when comparing candidates
public double tsAddStrength = 0.01; // Add to strengths when calculating pull of assigned tiles
......@@ -2517,6 +2519,7 @@ public class EyesisCorrectionParameters {
properties.setProperty(prefix+"plDbgMerge", this.plDbgMerge+"");
properties.setProperty(prefix+"plWorstWorsening", this.plWorstWorsening +"");
properties.setProperty(prefix+"plOKMergeEigen", this.plOKMergeEigen +"");
properties.setProperty(prefix+"plMaxWorldSin2", this.plMaxWorldSin2 +"");
properties.setProperty(prefix+"plWeakWorsening", this.plWeakWorsening +"");
properties.setProperty(prefix+"plMutualOnly", this.plMutualOnly+"");
properties.setProperty(prefix+"plFillSquares", this.plFillSquares+"");
......@@ -2557,6 +2560,7 @@ public class EyesisCorrectionParameters {
properties.setProperty(prefix+"msFractUni", this.msFractUni +"");
properties.setProperty(prefix+"tsNoEdge", this.tsNoEdge+"");
properties.setProperty(prefix+"tsUseCenter", this.tsUseCenter+"");
properties.setProperty(prefix+"tsMaxDiff", this.tsMaxDiff +"");
properties.setProperty(prefix+"tsMinDiffOther", this.tsMinDiffOther +"");
properties.setProperty(prefix+"tsMinStrength", this.tsMinStrength +"");
......@@ -2842,6 +2846,7 @@ public class EyesisCorrectionParameters {
if (properties.getProperty(prefix+"plDbgMerge")!=null) this.plDbgMerge=Boolean.parseBoolean(properties.getProperty(prefix+"plDbgMerge"));
if (properties.getProperty(prefix+"plWorstWorsening")!=null) this.plWorstWorsening=Double.parseDouble(properties.getProperty(prefix+"plWorstWorsening"));
if (properties.getProperty(prefix+"plOKMergeEigen")!=null) this.plOKMergeEigen=Double.parseDouble(properties.getProperty(prefix+"plOKMergeEigen"));
if (properties.getProperty(prefix+"plMaxWorldSin2")!=null) this.plMaxWorldSin2=Double.parseDouble(properties.getProperty(prefix+"plMaxWorldSin2"));
if (properties.getProperty(prefix+"plWeakWorsening")!=null) this.plWeakWorsening=Double.parseDouble(properties.getProperty(prefix+"plWeakWorsening"));
if (properties.getProperty(prefix+"plMutualOnly")!=null) this.plMutualOnly=Boolean.parseBoolean(properties.getProperty(prefix+"plMutualOnly"));
......@@ -2885,6 +2890,7 @@ public class EyesisCorrectionParameters {
if (properties.getProperty(prefix+"tsNoEdge")!=null) this.tsNoEdge=Boolean.parseBoolean(properties.getProperty(prefix+"tsNoEdge"));
if (properties.getProperty(prefix+"tsUseCenter")!=null) this.tsUseCenter=Boolean.parseBoolean(properties.getProperty(prefix+"tsUseCenter"));
if (properties.getProperty(prefix+"tsMaxDiff")!=null) this.tsMaxDiff=Double.parseDouble(properties.getProperty(prefix+"tsMaxDiff"));
if (properties.getProperty(prefix+"tsMinDiffOther")!=null) this.tsMinDiffOther=Double.parseDouble(properties.getProperty(prefix+"tsMinDiffOther"));
if (properties.getProperty(prefix+"tsMinStrength")!=null) this.tsMinStrength=Double.parseDouble(properties.getProperty(prefix+"tsMinStrength"));
......@@ -3196,6 +3202,7 @@ public class EyesisCorrectionParameters {
gd.addCheckbox ("Combine 'other' plane with the current (unused)", this.plDbgMerge);
gd.addNumericField("Worst case worsening after merge", this.plWorstWorsening, 6);
gd.addNumericField("If result of the merged planes is below, OK to bypass worst worsening", this.plOKMergeEigen, 6);
gd.addNumericField("Maximal sine squared of the world angle between planes to merge. Set to >= 1.0 to disable", this.plMaxWorldSin2, 6);
gd.addNumericField("Relax merge requirements for weaker planes", this.plWeakWorsening, 6);
gd.addCheckbox ("Keep only mutual links, remove weakest if conflict", this.plMutualOnly);
......@@ -3239,8 +3246,9 @@ public class EyesisCorrectionParameters {
gd.addNumericField("Spread this fraction of the ellipsoid weight among extended (double) supertile",this.msFractUni, 6);
gd.addMessage ("--- Tiles assignment ---");
gd.addCheckbox ("Do not assigned tiles to the surface edges (not having all 8 neighbors)", this.tsNoEdge);
gd.addCheckbox ("Do not assign tiles to the surface edges (not having all 8 neighbors)", this.tsNoEdge);
gd.addCheckbox ("Only assign outside of 8x8 center if no suitable alternative", this.tsUseCenter);
gd.addNumericField("Maximal disparity difference when assigning tiles", this.tsMaxDiff, 6);
gd.addNumericField("Minimal disparity difference to be considered as a competitor surface", this.tsMinDiffOther, 6);
gd.addNumericField("Minimal tile correlation strength to be assigned", this.tsMinStrength, 6);
......@@ -3534,6 +3542,7 @@ public class EyesisCorrectionParameters {
this.plDbgMerge= gd.getNextBoolean();
this.plWorstWorsening= gd.getNextNumber();
this.plOKMergeEigen= gd.getNextNumber();
this.plMaxWorldSin2= gd.getNextNumber();
this.plWeakWorsening= gd.getNextNumber();
this.plMutualOnly= gd.getNextBoolean();
......@@ -3576,6 +3585,7 @@ public class EyesisCorrectionParameters {
this.msFractUni= gd.getNextNumber();
this.tsNoEdge= gd.getNextBoolean();
this.tsUseCenter= gd.getNextBoolean();
this.tsMaxDiff= gd.getNextNumber();
this.tsMinDiffOther= gd.getNextNumber();
this.tsMinStrength= gd.getNextNumber();
......@@ -3626,7 +3636,8 @@ public class EyesisCorrectionParameters {
public boolean showTsDialog() {
GenericDialog gd = new GenericDialog("Set CLT tiles to surfaces assignment parameters");
gd.addCheckbox ("Do not assigned tiles to the surface edges (not having all 8 neighbors)", this.tsNoEdge);
gd.addCheckbox ("Do not assign tiles to the surface edges (not having all 8 neighbors)", this.tsNoEdge);
gd.addCheckbox ("Only assign outside of 8x8 center if no suitable alternative", this.tsUseCenter);
gd.addNumericField("Maximal disparity difference when assigning tiles", this.tsMaxDiff, 6);
gd.addNumericField("Minimal disparity difference to be considered as a competitor surface", this.tsMinDiffOther, 6);
gd.addNumericField("Minimal tile correlation strength to be assigned", this.tsMinStrength, 6);
......@@ -3659,6 +3670,7 @@ public class EyesisCorrectionParameters {
gd.showDialog();
if (gd.wasCanceled()) return false;
this.tsNoEdge= gd.getNextBoolean();
this.tsUseCenter= gd.getNextBoolean();
this.tsMaxDiff= gd.getNextNumber();
this.tsMinDiffOther= gd.getNextNumber();
this.tsMinStrength= gd.getNextNumber();
......
src/main/java/QuadCLT.java
View file @ 508ee2cb
......@@ -5233,10 +5233,11 @@ public class QuadCLT {
tp.clt_3d_passes.get(scanIndex), // CLTPass3d scan,
"X3D-"+scanIndex);
}
boolean showTri = ((scanIndex < next_pass + 1) && clt_parameters.show_triangles) ||(scanIndex == 49) || (scanIndex == 54);
boolean showTri = ((scanIndex < next_pass + 1) && clt_parameters.show_triangles) ||((scanIndex - next_pass) == 73);
generateClusterX3d(
x3dOutput,
texturePath,
"shape_id-"+(scanIndex - next_pass), // id
scan.bounds,
scan.selected,
scan_disparity, // scan.disparity_map[ImageDtt.DISPARITY_INDEX_CM],
......@@ -5286,7 +5287,8 @@ public class QuadCLT {
tp.showScan(
tp.clt_3d_passes.get(next_pass-1), // CLTPass3d scan,
"after_pass2-"+(next_pass-1)); //String title)
tp.thirdPassSetup( // prepare tile tasks for the second pass based on the previous one(s)
// tp.thirdPassSetup( // prepare tile tasks for the second pass based on the previous one(s)
tp.thirdPassSetupSurf( // prepare tile tasks for the second pass based on the previous one(s)
clt_parameters,
clt_parameters.bgnd_range, // double disparity_far,
clt_parameters.grow_disp_max, // other_range, //double disparity_near, //
......@@ -5323,11 +5325,6 @@ public class QuadCLT {
threadsMax, // maximal number of threads to launch
updateStatus,
debugLevel);
/**
if ((scanIndex == 49) || (scanIndex == 54) ) tp.showScan(
scan, // tp.clt_3d_passes.get(scanIndex), // CLTPass3d scan,
"MEASURED-"+scanIndex);
*/
}
// TEMPORARY EXIT
......@@ -5353,13 +5350,14 @@ public class QuadCLT {
CLTPass3d scan = tp.clt_3d_passes.get(scanIndex);
/*
if ((scanIndex == 73) ) {
tp.showScan(
tp.clt_3d_passes.get(scanIndex), // CLTPass3d scan,
"SELECTED-"+scanIndex);
}
*/
// TODO: use new updated disparity, for now just what was forced for the picture
double [] scan_disparity = new double [tilesX * tilesY];
......@@ -5383,17 +5381,21 @@ public class QuadCLT {
scan_disparity[i] = sdw;
}
}
/*
if ((scanIndex == 73)) {
tp.showScan(
tp.clt_3d_passes.get(scanIndex), // CLTPass3d scan,
"X3D-"+scanIndex);
}
boolean showTri = ((scanIndex < next_pass + 1) && clt_parameters.show_triangles) ||(scanIndex == 73);
*/
// boolean showTri = ((scanIndex < next_pass + 1) && clt_parameters.show_triangles) ||(scanIndex < 3);
boolean showTri = ((scanIndex < next_pass + 1) && clt_parameters.show_triangles) ||((scanIndex - next_pass) == 73);
// boolean showTri = ((scanIndex < next_pass + 1) && clt_parameters.show_triangles) ||(scanIndex == 49) || (scanIndex == 54);
generateClusterX3d(
x3dOutput,
texturePath,
"shape_id-"+(scanIndex - next_pass), // id
scan.bounds,
scan.selected,
scan_disparity, // scan.disparity_map[ImageDtt.DISPARITY_INDEX_CM],
......@@ -5429,6 +5431,7 @@ public class QuadCLT {
public void generateClusterX3d(
X3dOutput x3dOutput,
String texturePath,
String id,
Rectangle bounds,
boolean [] selected,
double [] disparity,
......@@ -5486,6 +5489,7 @@ public class QuadCLT {
x3dOutput.addCluster(
texturePath,
id,
texCoord,
worldXYZ,
triangles);
......
src/main/java/SuperTiles.java
View file @ 508ee2cb
This diff is collapsed.
src/main/java/SurfaceData.java 0 → 100644
View file @ 508ee2cb
/**
**
** SurfaceData - represents rectangualar area with per-tile disparity
**
** Copyright (C) 2017 Elphel, Inc.
**
** -----------------------------------------------------------------------------**
**
** SurfaceData.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/>.
** -----------------------------------------------------------------------------**
**
*/
public class SurfaceData {
private int [] window;
private int tilesX;
private int tilesY;
private double [] disparity;
private boolean [] selected; // should include border
private boolean [] border;
private int [] sizes;
private int [] clusters;
public SurfaceData(int [] tilesWH, int [] window)
{
this.tilesX = tilesWH[0];
this.tilesY = tilesWH[1];
this.window = window;
int len = window[2]*window[3];
this.disparity = new double [len];
this.selected = new boolean [len];
this.border = new boolean [len];
}
public SurfaceData(int tilesX, int tilesY, int x0, int y0, int width,int height)
{
this.tilesX = tilesX;
this.tilesY = tilesY;
int [] window = {x0,y0,width,height};
this.window = window;
int len = window[2]*window[3];
this.disparity = new double [len];
this.selected = new boolean [len];
this.border = new boolean [len];
}
public void setCluster(int [] clusters)
{
this.clusters = clusters;
}
public int [] getCluster()
{
return this.clusters;
}
public int getWidth()
{
return window[2];
}
public int getHeight()
{
return window[3];
}
public int getLeft()
{
return window[0];
}
public int getTop()
{
return window[1];
}
public int [] getWindow()
{
return window;
}
public void setDisparity(double [] disparity)
{
this.disparity = disparity;
}
public void setDisparity(int indx, double disparity)
{
this.disparity[indx] = disparity;
}
public double [] getDisparity()
{
return this.disparity;
}
public double getDisparity(int indx)
{
return this.disparity[indx];
}
public void setSelected(boolean [] selected)
{
this.selected = selected;
this.sizes = null;
}
public void setSelected(int indx, boolean selected)
{
this.selected[indx] = selected;
this.sizes = null;
}
public boolean [] getSelected()
{
return this.selected;
}
public boolean getSelected(int indx)
{
return this.selected[indx];
}
public void setBorder(boolean [] border)
{
this.border = border;
this.sizes = null;
}
public void setBorder(int indx, boolean border)
{
this.border[indx] = border;
this.sizes = null;
}
public boolean [] getBorder()
{
return this.border;
}
public boolean getBorder(int indx)
{
return this.border[indx];
}
int getImageIndex(int indx)
{
int x = (indx % window[2]) + window[0];
int y = (indx / window[2]) + window[1];
if ((y <0) || (x < 0) || (y >= tilesY) || (x >= tilesX)){
return -1;
}
return y * tilesX + x;
}
public int getSize(
boolean include_border)
{
if (this.sizes == null){
int [] sizes = {0,0};
this.sizes = sizes;
for (int i = 0; i < selected.length; i++){
if (selected[i]) {
sizes[1]++;
if (!border[i]){
sizes[0]++;
}
}
}
}
return this.sizes[include_border ? 1 : 0];
}
public double [] getDisparityNaN(
boolean include_border)
{
double [] data = new double [tilesX*tilesY];
for (int i = 0; i < data.length; i++){
data[i] = Double.NaN;
}
for (int i = 0; i < disparity.length; i++){
if (selected[i] && (include_border || !border[i])){
data[getImageIndex(i)] = disparity[i];
}
}
return data;
}
}
src/main/java/TilePlanes.java
View file @ 508ee2cb
This diff is collapsed.
src/main/java/TileProcessor.java
View file @ 508ee2cb
This diff is collapsed.
src/main/java/TileSurface.java
View file @ 508ee2cb
This diff is collapsed.
src/main/java/X3dOutput.java
View file @ 508ee2cb
......@@ -110,7 +110,8 @@ public class X3dOutput {
}
public void addCluster(
String url,
String url,
String id,
double [][] texCoord,
double [][] coordinate,
int [][] triangles)
......@@ -156,6 +157,7 @@ public class X3dOutput {
Element el_shape = x3dDoc.createElement("Shape");
el_Scene.appendChild(el_shape);
el_shape.setAttribute("id",id);
Element el_appearance = x3dDoc.createElement("Appearance");
el_shape.appendChild(el_appearance);
......
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