added new surface generation, working on resolving 'impossible triangle' conflicts (508ee2cb) · Commits · Elphel / imagej-elphel

src/main/java/EyesisCorrectionParameters.java

+18 −6

Original line number	Diff line number	Diff line
		@@ -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);

		@@ -3240,7 +3247,8 @@ public class EyesisCorrectionParameters {

		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

+14 −10

Original line number	Diff line number	Diff line
		@@ -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

+398 −65

File changed.

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src/main/java/SurfaceData.java

0 → 100644

+188 −0

Original line number	Diff line number	Diff line
		/**
		**
		** 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

+237 −44

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