added new surface generation, working on resolving 'impossible triangle' conflicts

src/main/java/EyesisCorrectionParameters.java

@@ -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

@@ -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/SurfaceData.java

+/**
+ **
+ ** 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/X3dOutput.java

@@ -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);