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Commit 5467504f authored by Andrey Filippov's avatar Andrey Filippov
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fusing sub-surfaces

parent f60cc3af
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Showing with 700 additions and 153 deletions
src/main/java/EyesisCorrectionParameters.java
View file @ 5467504f
......@@ -2153,9 +2153,15 @@ public class EyesisCorrectionParameters {
public double plWorstWorsening = 1.0; // Worst case worsening after merge
public boolean plMutualOnly = true; // keep only mutual links, remove weakest if conflict
public double plPull = .1; // Relative weight of original (measured) plane when combing with neighbors
public int plIterations = 10; // Maximal number of smoothing iterations for each step
public int plPrecision = 6; // Maximal step difference (1/power of 10)
public double plPull = .1; // Relative weight of original (measured) plane when combing with neighbors
public int plIterations = 10; // Maximal number of smoothing iterations for each step
public int plPrecision = 6; // Maximal step difference (1/power of 10)
public boolean plFuse = true; // Fuse planes together (off for debug only)
public boolean plKeepOrphans = true; // Keep unconnected supertiles
public double plMinOrphan = 2.0; // Minimal strength unconnected supertiles to keep
public double plSnapDisp = .2; // Maximal (scaled by plDispNorm) disparity difference to snap to plane at any strength
public double plSnapDispMax = .5; // Maximal (scaled by plDispNorm) disparity difference to snap to plane at low strength
public double plSnapDispWeight = .5; // Maximal disparity diff. by weight product to snap to plane
// other debug images
......@@ -2404,7 +2410,14 @@ public class EyesisCorrectionParameters {
properties.setProperty(prefix+"plPull", this.plPull +"");
properties.setProperty(prefix+"plIterations", this.plIterations+"");
properties.setProperty(prefix+"plPrecision", this.plPrecision+"");
properties.setProperty(prefix+"plFuse", this.plFuse+"");
properties.setProperty(prefix+"plKeepOrphans", this.plKeepOrphans+"");
properties.setProperty(prefix+"plMinOrphan", this.plMinOrphan +"");
properties.setProperty(prefix+"plSnapDisp", this.plSnapDisp +"");
properties.setProperty(prefix+"plSnapDispMax", this.plSnapDispMax +"");
properties.setProperty(prefix+"plSnapDispWeight", this.plSnapDispWeight +"");
properties.setProperty(prefix+"show_ortho_combine", this.show_ortho_combine+"");
properties.setProperty(prefix+"show_refine_supertiles", this.show_refine_supertiles+"");
properties.setProperty(prefix+"show_bgnd_nonbgnd", this.show_bgnd_nonbgnd+"");
......@@ -2642,6 +2655,13 @@ public class EyesisCorrectionParameters {
if (properties.getProperty(prefix+"plPull")!=null) this.plPull=Double.parseDouble(properties.getProperty(prefix+"plPull"));
if (properties.getProperty(prefix+"plIterations")!=null) this.plIterations=Integer.parseInt(properties.getProperty(prefix+"plIterations"));
if (properties.getProperty(prefix+"plPrecision")!=null) this.plPrecision=Integer.parseInt(properties.getProperty(prefix+"plPrecision"));
if (properties.getProperty(prefix+"plFuse")!=null) this.plFuse=Boolean.parseBoolean(properties.getProperty(prefix+"plFuse"));
if (properties.getProperty(prefix+"plKeepOrphans")!=null) this.plKeepOrphans=Boolean.parseBoolean(properties.getProperty(prefix+"plKeepOrphans"));
if (properties.getProperty(prefix+"plMinOrphan")!=null) this.plMinOrphan=Double.parseDouble(properties.getProperty(prefix+"plMinOrphan"));
if (properties.getProperty(prefix+"plSnapDisp")!=null) this.plSnapDisp=Double.parseDouble(properties.getProperty(prefix+"plSnapDisp"));
if (properties.getProperty(prefix+"plSnapDispMax")!=null) this.plSnapDispMax=Double.parseDouble(properties.getProperty(prefix+"plSnapDispMax"));
if (properties.getProperty(prefix+"plSnapDispWeight")!=null) this.plSnapDispWeight=Double.parseDouble(properties.getProperty(prefix+"plSnapDispWeight"));
if (properties.getProperty(prefix+"show_ortho_combine")!=null) this.show_ortho_combine=Boolean.parseBoolean(properties.getProperty(prefix+"show_ortho_combine"));
if (properties.getProperty(prefix+"show_refine_supertiles")!=null) this.show_refine_supertiles=Boolean.parseBoolean(properties.getProperty(prefix+"show_refine_supertiles"));
......@@ -2902,7 +2922,15 @@ public class EyesisCorrectionParameters {
gd.addNumericField("Relative weight of original (measured) plane when combing with neighbors", this.plPull, 6);
gd.addNumericField("Maximal number of smoothing iterations for each step", this.plIterations, 0);
gd.addNumericField("Maximal step difference (1/power of 10) ", this.plPrecision, 0);
gd.addCheckbox ("Fuse planes together (off for debug only)", this.plFuse);
gd.addCheckbox ("Keep unconnected supertiles", this.plKeepOrphans);
gd.addNumericField("Minimal strength unconnected supertiles to keep", this.plMinOrphan, 6);
gd.addMessage ("--- Snap to planes ---");
gd.addNumericField("Maximal (scaled by plDispNorm) disparity difference to snap to plane at any strength", this.plSnapDisp, 6);
gd.addNumericField("Maximal (scaled by plDispNorm) disparity difference to snap to plane at low strength", this.plSnapDispMax, 6);
gd.addNumericField("Maximal disparity diff. by weight product to snap to plane", this.plSnapDispWeight, 6);
gd.addMessage ("--- Other debug images ---");
gd.addCheckbox ("Show 'ortho_combine'", this.show_ortho_combine);
gd.addCheckbox ("Show 'refine_disparity_supertiles'", this.show_refine_supertiles);
......@@ -3149,6 +3177,13 @@ public class EyesisCorrectionParameters {
this.plPull= gd.getNextNumber();
this.plIterations= (int) gd.getNextNumber();
this.plPrecision= (int) gd.getNextNumber();
this.plFuse= gd.getNextBoolean();
this.plKeepOrphans= gd.getNextBoolean();
this.plMinOrphan= gd.getNextNumber();
this.plSnapDisp= gd.getNextNumber();
this.plSnapDispMax= gd.getNextNumber();
this.plSnapDispWeight= gd.getNextNumber();
this.show_ortho_combine= gd.getNextBoolean();
this.show_refine_supertiles=gd.getNextBoolean();
......
src/main/java/SuperTiles.java
View file @ 5467504f
This diff is collapsed.
src/main/java/TilePlanes.java
View file @ 5467504f
import Jama.EigenvalueDecomposition;
import Jama.Matrix;
/**
**
** TilePlanes - detect planes in tile clusters
......@@ -24,6 +21,9 @@ import Jama.Matrix;
** -----------------------------------------------------------------------------**
**
*/
import Jama.EigenvalueDecomposition;
import Jama.Matrix;
public class TilePlanes {
private int tileSize = 0; // 8;
......@@ -120,6 +120,11 @@ public class TilePlanes {
}
}
if (src.neib_best != null) dst.neib_best = src.neib_best.clone();
// also copy original plane parameters - tile selection and number of points
dst.num_points = src.num_points;
if (src.plane_sel != null) dst.plane_sel = src.plane_sel.clone();
}
public void invalidateCalculated()
......@@ -303,9 +308,11 @@ public class TilePlanes {
double [] zxy = getZxy(); // {disparity, x center in pixels, y center in pixels (relative to a supertile center)
for (int sy = -superTileSize/2; sy < superTileSize/2; sy++){
int indx_sel = (2*sy + superTileSize) * superTileSize + superTileSize/2;
double y = tileSize * sy - zxy[2];
// adding half-tile and half-pixel to match the center of the pixel. Supertile center is between
// pixel 31 and pixel 32 (counting from 0) in both directions
double y = tileSize * (sy + 0.5) + 0.5 - zxy[2];
for (int sx = -superTileSize/2; sx < superTileSize/2; sx++){
double x = tileSize * sx - zxy[1];
double x = tileSize * (sx + 0.5) + 0.5 - zxy[1];
if (plane_sel[indx_sel] || !useNaN || (plane_sel==null)){
disparities[indx] = zxy[0] - (normal[1] * x + normal[2] * y)/normal[0];
} else {
......@@ -317,7 +324,95 @@ public class TilePlanes {
}
return disparities;
}
/**
* Get disparity values for the tiles of this overlapping supertile as [2*superTileSize * 2*superTileSize] array
* @param useNaN replace unselected tiles with Double.NaN
* @return array of disparity values for the plane (not including overlapped areas)
*/
public double[] getDoublePlaneDisparity(
boolean useNaN)
{
double [] disparities = new double[4*superTileSize*superTileSize];
int indx = 0;
double [] normal = getVector();
double [] zxy = getZxy(); // {disparity, x center in pixels, y center in pixels (relative to a supertile center)
for (int sy = -superTileSize; sy < superTileSize; sy++){
// adding half-tile and half-pixel to match the center of the pixel. Supertile center is between
// pixel 31 and pixel 32 (counting from 0) in both directions
double y = tileSize * (sy + 0.5) + 0.5 - zxy[2];
for (int sx = -superTileSize; sx < superTileSize; sx++){
double x = tileSize * (sx + 0.5) + 0.5 - zxy[1];
if (plane_sel[indx] || !useNaN || (plane_sel==null)){
disparities[indx] = zxy[0] - (normal[1] * x + normal[2] * y)/normal[0];
} else {
disparities[indx] = Double.NaN;
}
indx++;
}
}
return disparities;
}
public double[] getDoublePlaneDisparity(
int dir,
boolean useNaN)
{
double [] plane_all = getDoublePlaneDisparity(useNaN);
double [] plane = new double [superTileSize * superTileSize];
int [] start_index = {
superTileSize/2, // N 4
superTileSize, // NE 8
(superTileSize + 1) * superTileSize, // E 72
(2* superTileSize + 1) * superTileSize, // SE 136
(4* superTileSize + 1) * superTileSize / 2, // S 132
2* superTileSize * superTileSize, // SW 128
superTileSize * superTileSize, // W 64
0}; // NW 0
for (int y = 0; y < superTileSize; y++) {
System.arraycopy(plane_all, start_index[dir] + 2 * superTileSize * y, plane, superTileSize * y, superTileSize);
}
return plane;
}
public double[] getTriplePlaneDisparity()
{
double [] disparities = new double[9*superTileSize*superTileSize];
int indx = 0;
double [] normal = getVector();
double [] zxy = getZxy(); // {disparity, x center in pixels, y center in pixels (relative to a supertile center)
for (int sy = -3 * superTileSize / 2; sy < 3* superTileSize / 2; sy++){
// adding half-tile and half-pixel to match the center of the pixel. Supertile center is between
// pixel 31 and pixel 32 (counting from 0) in both directions
double y = tileSize * (sy + 0.5) + 0.5 - zxy[2];
for (int sx = -3 * superTileSize/2; sx < 3 * superTileSize / 2; sx++){
double x = tileSize * (sx + 0.5) + 0.5 - zxy[1];
disparities[indx] = zxy[0] - (normal[1] * x + normal[2] * y)/normal[0];
indx++;
}
}
return disparities;
}
public double[] getTriplePlaneDisparity(
int dir)
{
double [] plane_all = getTriplePlaneDisparity();
double [] plane = new double [superTileSize * superTileSize];
int [] start_index = {
superTileSize, // N 8
2 * superTileSize, // NE 16
(3 * superTileSize + 2) * superTileSize, // E 208
(3 * superTileSize + 1) * superTileSize * 2, // SE 400
(6 * superTileSize + 1) * superTileSize , // S 392
6 * superTileSize * superTileSize, // SW 384
3 * superTileSize * superTileSize, // W 192
0}; // NW 0
for (int y = 0; y < superTileSize; y++) {
System.arraycopy(plane_all, start_index[dir] + 3 * superTileSize * y, plane, superTileSize * y, superTileSize);
}
return plane;
}
// double px = tileSize*(superTileSize * sTileXY[0] + superTileSize/2) + zxy[1]; // [3] - plane point {disparity, x, y), x=0, y=0 is a 4,4 point of an 8x8 supertile
......@@ -798,8 +893,9 @@ public class TilePlanes {
numPoints++;
double w = weight[indx];
double d = data[indx];
int x = ((indx % stSize2) - stSize) * tileSize; // in pixels, not in tiles
int y = ((indx / stSize2) - stSize) * tileSize;
// referencing samples to centers of pixels
double x = ((indx % stSize2) - stSize + 0.5) * tileSize + 0.5; // in pixels, not in tiles
double y = ((indx / stSize2) - stSize + 0.5) * tileSize + 0.5;
sw += w;
swz += w * d;
swx += w * x;
......@@ -825,8 +921,8 @@ public class TilePlanes {
double w = weight[indx] / sw;
double d = kz * (data[indx] - swz);
double wd = w*d;
double x = ((indx % stSize2) - stSize) * tileSize - swx;
double y = ((indx / stSize2) - stSize) * tileSize - swy;
double x = ((indx % stSize2) - stSize + 0.5) * tileSize + 0.5 - swx;
double y = ((indx / stSize2) - stSize + 0.5) * tileSize + 0.5 - swy;
acovar [0][0] += wd * d;
acovar [0][1] += wd * x;
acovar [0][2] += wd * y;
......
src/main/java/TileProcessor.java
View file @ 5467504f
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