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imagej-elphel
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
......@@ -22,7 +22,11 @@
**
*/
import java.util.ArrayList;
import java.util.Collections;
import java.util.Comparator;
import java.util.concurrent.atomic.AtomicInteger;
import java.awt.Point;
import java.util.ArrayList;
//import TilePlanes.PlaneData;
......@@ -54,6 +58,11 @@ public class SuperTiles{
TilePlanes.PlaneData [][] planes = null;
//
TilePlanes.PlaneData [][] planes_mod = null;
int [][] shell_map = null; // per supertile, per disparity plane - shell index + 1 (0 - none)
double [][] surfaces; // per shell, per tile (linescan order) disparity value or NaN in missing supertiles
double [][][] fuse_coeff = null; // coefficients to fuse planes in neighbor supertiles
public SuperTiles(
CLTPass3d cltPass3d,
double step_near,
......@@ -98,6 +107,104 @@ public class SuperTiles{
}
//
}
initFuseCoeff(0.5, false); // true);
}
public void initFuseCoeff(
double scale_diag,
boolean debug)
{
final int superTileSize = tileProcessor.getSuperTileSize();
fuse_coeff = new double [8][2][superTileSize * superTileSize];
double [] sin2orthotab = new double [2* superTileSize];
for (int i = 0; i < 2 * superTileSize; i++){
sin2orthotab[i] = 0.5 * (1.0 - Math.cos(Math.PI*(i + 0.5)/superTileSize));
}
double [] sin2diagtab = new double [4* superTileSize];
for (int i = 0; i < 4 * superTileSize; i++){
sin2diagtab[i] = 0.5 * (1.0 - Math.cos(Math.PI*i/(2 * superTileSize)));
}
// ortho neighbors N, E, S, W
for (int y = 0; y < superTileSize /2 ; y++){
for (int x = 0; x < superTileSize; x++){
int [] indx = {
y * superTileSize + x,
x * superTileSize + (superTileSize - y - 1),
(superTileSize - y - 1) * superTileSize + (superTileSize - x - 1),
(superTileSize - x - 1) * superTileSize + y,
};
for (int dir = 0; dir <4; dir++){
fuse_coeff[2*dir][0][indx[dir]] = sin2orthotab[x + superTileSize/2] * sin2orthotab[y + superTileSize / 2];
fuse_coeff[2*dir][1][indx[dir]] = sin2orthotab[x + superTileSize/2] * sin2orthotab[y + 3 * superTileSize / 2];
}
}
}
// Diagonal: NE, SE, SW, NW
for (int y = 0; y < superTileSize ; y++){
for (int x = y; x < superTileSize; x++){
int [] indx = {
y * superTileSize + x,
x * superTileSize + (superTileSize - y - 1),
(superTileSize - y - 1) * superTileSize + (superTileSize - x - 1),
(superTileSize - x - 1) * superTileSize + y,
};
for (int dir = 0; dir <4; dir++){
fuse_coeff[2*dir + 1][0][indx[dir]] = scale_diag *
sin2diagtab[x + y + superTileSize + 1] *
sin2diagtab[ x - y + 2* superTileSize];
fuse_coeff[2*dir + 1][1][indx[dir]] = scale_diag *
sin2diagtab[x + y + superTileSize + 1] *
sin2diagtab[ x - y];
}
}
}
if (debug) {
String [] titles = {
"N_this", "N-other",
"NE_this", "NE-other",
"E_this", "E-other",
"SE_this", "SE-other",
"S_this", "S-other",
"SW_this", "SW-other",
"W_this", "W-other",
"NW_this", "NW-other"};
double [][] dbg_img = {
fuse_coeff[0][0],fuse_coeff[0][1],
fuse_coeff[1][0],fuse_coeff[1][1],
fuse_coeff[2][0],fuse_coeff[2][1],
fuse_coeff[3][0],fuse_coeff[3][1],
fuse_coeff[4][0],fuse_coeff[4][1],
fuse_coeff[5][0],fuse_coeff[5][1],
fuse_coeff[6][0],fuse_coeff[6][1],
fuse_coeff[7][0],fuse_coeff[7][1]};
showDoubleFloatArrays sdfa_instance = new showDoubleFloatArrays(); // just for debugging?
sdfa_instance.showArrays(dbg_img, superTileSize, superTileSize, true, "fuse_coeff",titles);
}
}
public double [] getFuseThis(int dir){
return fuse_coeff[dir][0];
}
public double [] getFuseOther(int dir){
return fuse_coeff[dir][1];
}
public void setShellMap(int [][] shells){
shell_map = shells;
}
public int [][] getShellMap(){
return shell_map;
}
public void setSurfaces(double [][] surfaces){
this.surfaces = surfaces;
}
public double [][] getSurfaces(){
return surfaces;
}
public int disparityToBin(double disparity){ // not filtered
......@@ -131,10 +238,16 @@ public class SuperTiles{
{
return planes;
}
public TilePlanes.PlaneData [][] getPlanesMod()
{
return planes_mod;
}
public void resetPlanesMod()
{
planes_mod = null;
}
private double [][] getLapWeights(){
final int superTileSize = tileProcessor.superTileSize;
......@@ -1026,6 +1139,33 @@ public class SuperTiles{
ImageDtt.startAndJoin(threads);
}
public double corrMaxEigen(
double maxEigen,
double dispNorm,
TilePlanes.PlaneData pd)
{
return corrMaxEigen(
maxEigen,
dispNorm,
pd.getZxy()[0]);
}
public double corrMaxEigen(
double maxEigen,
double dispNorm,
double disparity)
{
double corrV = maxEigen;
if ((dispNorm > 0.0) && (disparity > dispNorm)) {
// double dd = (dispNorm + z0)/ dispNorm; // > 1
double dd = disparity/ dispNorm; // > 1
corrV *= dd * dd; // > original
}
return corrV;
}
public void processPlanes2(
final boolean [] selected, // or null
......@@ -1080,6 +1220,9 @@ public class SuperTiles{
double [] stStrength = new double [superTileSize2*superTileSize2];
boolean [] stSel = new boolean [superTileSize2*superTileSize2];
for (int nsTile = ai.getAndIncrement(); nsTile < nStiles; nsTile = ai.getAndIncrement()) {
if (nsTile == debug_stile){
System.out.println("processPlanes2(): nsTile="+nsTile);
}
int stileY = nsTile / stilesX;
int stileX = nsTile % stilesX;
int [] sTiles = {stileX, stileY};
......@@ -1142,7 +1285,7 @@ public class SuperTiles{
//correct_distortions
double swc_common = pd.getWeight();
if (dl > 0) {
if (swc_common > 0.3) { // 1.0) {
if (swc_common > 0.1) { // 1.0) {
System.out.println("Processing planes["+nsTile+"]"+
", stileX="+stileX+
", stileY="+stileY+
......@@ -1157,12 +1300,18 @@ public class SuperTiles{
// now try to remove outliers
int max_outliers = (int) Math.round(pd.getNumPoints() * plFractOutliers);
if (max_outliers > plMaxOutliers) max_outliers = plMaxOutliers;
/*
double targetV = plTargetEigen;
double z0 = pd.getZxy()[0];
if ((plDispNorm > 0.0) && (z0 > plDispNorm)) {
if ((plTargetEigen > 0.0) && (z0 > plDispNorm)) {
double dd = (plDispNorm + z0)/ plDispNorm; // > 1
targetV *= dd * dd; // > original
}
*/
double targetV = corrMaxEigen(
plTargetEigen,
plDispNorm,
pd);
if (pd.getValues()[0] > targetV) {
pd = tpl.removePlaneOutliers(
pd,
......@@ -1261,7 +1410,7 @@ public class SuperTiles{
max_outliers = (int) Math.round(pd.getNumPoints() * plFractOutliers);
if (max_outliers > plMaxOutliers) max_outliers = plMaxOutliers;
targetV = plTargetEigen;
z0 = pd.getZxy()[0];
double z0 = pd.getZxy()[0];
if ((plDispNorm > 0.0) && (z0 > plDispNorm)) {
double dd = (plDispNorm + z0)/ plDispNorm; // > 1
targetV *= dd * dd; // > original
......@@ -1722,6 +1871,7 @@ public class SuperTiles{
*/
public void selectNeighborPlanesMutual(
final double rquality,
final double dispNorm,
final double maxEigen, // maximal eigenvalue of planes to consider
final double minWeight, // minimal pain weight to consider
final int debugLevel,
......@@ -1801,12 +1951,20 @@ public class SuperTiles{
double [] merge_ev = planes[nsTile0][np0].getMergedValue(dir);
if (!this_matched[np0] &&
(merge_ev != null) &&
((maxEigen == 0.0) || (planes[nsTile0][np0].getValue() < maxEigen)) &&
((maxEigen == 0.0) ||
(planes[nsTile0][np0].getValue() < corrMaxEigen(
maxEigen,
dispNorm,
planes[nsTile0][np0]))) &&
(planes[nsTile0][np0].getWeight() > minWeight)) {
for (int np = np_min; np < merge_ev.length; np++){
if (!other_matched[np] &&
!Double.isNaN(merge_ev[np]) &&
((maxEigen == 0.0) || (planes[nsTile][np].getValue() < maxEigen)) &&
((maxEigen == 0.0) ||
(planes[nsTile][np].getValue() < corrMaxEigen(
maxEigen,
dispNorm,
planes[nsTile][np]))) &&
(planes[nsTile][np].getWeight() > minWeight)) {
double w1 = planes[nsTile0][np0].getWeight();
double w2 = planes[nsTile][np].getWeight();
......@@ -1910,10 +2068,16 @@ public class SuperTiles{
if (planes[i][j].getWeight() >= minWeight){
double eigVal = planes[i][j].getValue(); // ************** generated does not have value ????????????
double disp = planes[i][j].getPlaneDisparity(false)[centerIndex];
/*
if (disp > dispNorm) {
eigVal *= dispNorm / disp;
}
if (eigVal < maxEigen) num_sat ++;
*/
if (eigVal < corrMaxEigen(
maxEigen,
dispNorm,
disp)) num_sat ++;
}
}
if (num_sat > num_planes) num_planes = num_sat;
......@@ -1938,12 +2102,16 @@ public class SuperTiles{
if (planes[nsTile][np].getWeight() >= minWeight){
//&& (planes[nsTile][np].getValue() < maxEigen)){
double eigVal = planes[nsTile][np].getValue();
// double disp = planes[nsTile][np].getPlaneDisparity(false)[centerIndex];
double disp = planes[nsTile][np].getZxy()[0];
/*
if (disp > dispNorm) {
eigVal *= dispNorm / disp;
}
if (eigVal < maxEigen) {
*/
if (eigVal < corrMaxEigen(
maxEigen,
dispNorm,
disp)) {
plane = planes[nsTile][np].getPlaneDisparity(use_NaN);
// add connections to neighbors if available
int [] neib_best = planes[nsTile][np].getNeibBest();
......@@ -1976,7 +2144,169 @@ public class SuperTiles{
return data;
}
public double [][] getShowShells(
TilePlanes.PlaneData [][] planes,
int [][] shells,
int max_shells,
boolean fuse,
boolean show_connections,
boolean use_NaN,
double arrow_dark,
double arrow_white)
{
final int tilesX = tileProcessor.getTilesX();
final int tilesY = tileProcessor.getTilesY();
final int superTileSize = tileProcessor.getSuperTileSize();
// final int tileSize = tileProcessor.getTileSize();
final int stilesX = (tilesX + superTileSize -1)/superTileSize;
final int stilesY = (tilesY + superTileSize -1)/superTileSize;
final int width = stilesX * superTileSize; // * tileSize;
final int height = stilesY * superTileSize; // * tileSize;
final double [] nan_plane = new double [superTileSize*superTileSize];
for (int i = 0; i < nan_plane.length; i++) nan_plane[i] = Double.NaN;
final int centerIndex = (superTileSize+1) * superTileSize / 2;
final int [] dirs = {-superTileSize,
-superTileSize + 1,
1,
superTileSize + 1,
superTileSize,
superTileSize - 1,
-1,
-superTileSize - 1};
final int [] neib_offsets={
-stilesX,
-stilesX + 1,
1,
stilesX + 1,
stilesX,
stilesX - 1,
-1,
-stilesX - 1};
// final int debug_stile = 17 * stilesX + 27;
final int debug_stile = -1; // 18 * stilesX + 30;
int num_shells = 0;
for (int nsTile = 0; nsTile < shells.length; nsTile++) if (shells[nsTile] != null){
for (int np = 0; np < shells[nsTile].length; np++){
if (shells[nsTile][np] > num_shells) {
num_shells = shells[nsTile][np]; // starts with 1, not 0
}
}
}
if (num_shells > max_shells){
num_shells = max_shells;
}
double [][] data = new double [num_shells][width*height];
for (int nShell = 0; nShell < num_shells; nShell++) {
for (int sty = 0; sty < stilesY; sty++){
for (int stx = 0; stx < stilesX; stx++){
int nsTile = sty * stilesX + stx;
boolean debug = (nsTile == debug_stile) ; // (sty == 18) && (stx == 28);
String [] dbg_titles = {"Center","N","NE","E","SE","S","SW","W","NW"};
double [][] dbg_img3 = null;
double [][] dbg_img = null;
double [][] dbg_this = null;
double [][] dbg_other = null;
if (debug) {
System.out.println("getShowShells():2, tile = "+nsTile);
}
double [] plane = nan_plane;
int indx = (sty * superTileSize) * width + (stx * superTileSize);
if (debug) {
System.out.println("getShowShells():"+((planes[nsTile] != null)? planes[nsTile].length : "null"));
}
if (planes[nsTile] != null) {
for (int np = 0; np < planes[nsTile].length; np++){
if (shells[nsTile][np] == (nShell + 1)) {
plane = planes[nsTile][np].getPlaneDisparity(use_NaN);
int [] neib_best = planes[nsTile][np].getNeibBest();
if (fuse && (neib_best != null)){
if (debug) {
dbg_img3 = new double [dbg_titles.length][];
dbg_img = new double [dbg_titles.length][];
dbg_this = new double [dbg_titles.length][];
dbg_other = new double [dbg_titles.length][];
dbg_img3[0] = planes[nsTile][np].getTriplePlaneDisparity();
dbg_img[0] = planes[nsTile][np].getPlaneDisparity(false);
}
double [] weight_this = new double [superTileSize*superTileSize];
double [] weight_other = new double [superTileSize*superTileSize];
double [] plane_combo = new double [superTileSize*superTileSize];
for (int dir = 0; dir < 8; dir++){
if (neib_best[dir] >=0){
int nsTileOther = nsTile + neib_offsets[dir];
int npOther = neib_best[dir];
int dirOther = (dir + 4) % 8;
double [] plane_other = planes[nsTileOther][npOther].getTriplePlaneDisparity(dirOther);
double [] fuse_this = getFuseThis(dir);
double [] fuse_other = getFuseOther(dir);
if (debug) {
dbg_img3[dir + 1] = planes[nsTileOther][npOther].getTriplePlaneDisparity();
dbg_img[dir + 1] = planes[nsTileOther][npOther].getTriplePlaneDisparity(dirOther);
dbg_this[dir + 1] = fuse_this.clone();
dbg_other[dir + 1] = fuse_other.clone();
}
for (int i = 0; i < weight_this.length; i++){
weight_this[i] += fuse_this[i];
weight_other[i] += fuse_other[i];
plane_combo[i] += fuse_other[i] * plane_other[i];
}
}
}
if (debug) {
showDoubleFloatArrays sdfa_instance = new showDoubleFloatArrays(); // just for debugging?
sdfa_instance.showArrays(dbg_img, superTileSize, superTileSize, true, "plane_"+nsTile,dbg_titles);
sdfa_instance.showArrays(dbg_img3, 3*superTileSize, 3*superTileSize, true, "plane3_"+nsTile,dbg_titles);
sdfa_instance.showArrays(dbg_this, superTileSize, superTileSize, true, "weights_this_"+nsTile,dbg_titles);
sdfa_instance.showArrays(dbg_other, superTileSize, superTileSize, true, "weights_other_"+nsTile,dbg_titles);
}
double [] plane_other = planes[nsTile][np].getPlaneDisparity(false);
for (int i = 0; i < weight_this.length; i++){
plane_combo[i] += weight_this[i] * plane_other[i];
double w = weight_this[i] + weight_other[i];
if (w > 0){
plane_combo[i] /= w;
} else {
plane_combo[i] = plane_other[i];
}
}
if (use_NaN){
for (int i = 0; i < plane_combo.length; i++){
if (Double.isNaN(plane[i])){
plane_combo[i] = Double.NaN;
}
}
}
plane = plane_combo;
}
if (show_connections) {
if (neib_best != null){
for (int dir = 0; dir < neib_best.length; dir ++) if (neib_best[dir] >= 0){
// draw a line
//int center_index = indx + centerIndex;
for (int i = 0; i < (superTileSize / 2); i++){
plane[centerIndex + i * dirs[dir]] = ((i & 1) == 0) ? arrow_dark : arrow_white;
}
}
}
}
for (int y = 0; y < superTileSize; y++) {
System.arraycopy(plane, superTileSize * y, data[nShell], indx + width * y, superTileSize);
}
}
}
}
}
}
}
return data;
}
public TilePlanes.PlaneData[][] copyPlanes(
TilePlanes.PlaneData[][] src_planes)
{
......@@ -2022,9 +2352,9 @@ public class SuperTiles{
final int dbg_X,
final int dbg_Y)
{
// if (this.planes_mod == null){
if (this.planes_mod == null){
this.planes_mod =copyPlanes(this.planes); // make always (for now) *********************
// }
}
for (int pass = 0; pass < num_passes; pass++){
double diff = planesSmoothStep(
meas_pull, // relative pull of the original (measured) plane with respect to the average of the neighbors
......@@ -2182,6 +2512,155 @@ public class SuperTiles{
for (int i = 0; (i < numThreads) ; i++) if (diff < rslt_diffs[i]) diff = rslt_diffs[i];
return diff; // return maximal difference
}
public boolean [][] selectPlanes(
final double dispNorm,
final double maxEigen, // maximal eigenvalue of planes to consider
final double minWeight, // minimal pain weight to consider
TilePlanes.PlaneData [][] planes)
{
final int tilesX = tileProcessor.getTilesX();
final int tilesY = tileProcessor.getTilesY();
final int superTileSize = tileProcessor.getSuperTileSize();
// final int tileSize = tileProcessor.getTileSize();
final int stilesX = (tilesX + superTileSize -1)/superTileSize;
final int stilesY = (tilesY + superTileSize -1)/superTileSize;
boolean [][] selection = new boolean [planes.length][];
for (int sty = 0; sty < stilesY; sty++){
for (int stx = 0; stx < stilesX; stx++){
int nsTile = sty * stilesX + stx;
if (planes[nsTile] != null) {
selection[nsTile] = new boolean [planes[nsTile].length];
for (int np = 0; np < planes[nsTile].length; np++){
if (planes[nsTile][np].getWeight() >= minWeight){
//&& (planes[nsTile][np].getValue() < maxEigen)){
double eigVal = planes[nsTile][np].getValue();
double disp = planes[nsTile][np].getZxy()[0];
selection[nsTile][np] = (eigVal < corrMaxEigen(
maxEigen,
dispNorm,
disp));
}
}
}
}
}
return selection;
}
public int [][] createSupertileShells(
boolean[][] selection, // may be null
boolean use_all, // use plane 0 even if there are more than 1
boolean keep_orphans, // single-cell shells
double orphan_strength, // minimal strength no keep orphans (single-tile planes)
final TilePlanes.PlaneData [][] planes,
int debugLevel)
{
class TPW {
int t;
int p;
double w;
TPW (int t, int p){
this.t= t;
this.p= p;
this.w = planes[t][p].getWeight();
}
}
final int tilesX = tileProcessor.getTilesX();
final int superTileSize = tileProcessor.getSuperTileSize();
final int stilesX = (tilesX + superTileSize -1)/superTileSize;
final int [] dirs= {-stilesX, -stilesX+1, 1, stilesX+1, stilesX, stilesX-1, -1, -stilesX-1};
boolean [][] field = new boolean [planes.length][];
for (int nsTile = 0; nsTile < planes.length; nsTile++){
if (planes[nsTile] != null){
field[nsTile] = new boolean [planes[nsTile].length];
if (selection != null) {
for (int i = 0; i < selection[nsTile].length; i++){
if (!selection[nsTile][i]) field[nsTile][i] = true; // used/prohibited
}
}
if (!use_all && (planes[nsTile].length > 1)){
field[nsTile][0] = false;
}
}
}
ArrayList<ArrayList<TPW>> listShells = new ArrayList<ArrayList<TPW>>();
for (int nsTile = 0; nsTile < field.length; nsTile++){
if (field[nsTile] != null){
for (int np = 0; np < field[nsTile].length; np++){
if (!field[nsTile][np]){
// see if
ArrayList<TPW> listWave = new ArrayList<TPW>();
int read_p = 0;
// int num_cluster = listShells.size()+1;
TPW sp = new TPW(nsTile,np);
field[sp.t][sp.p] = true; // just 1 would be OK
listWave.add(sp);
while (read_p < listWave.size()) { // keeping all list, not just front
TPW tail = listWave.get(read_p++);
int [] neibs = planes[tail.t][tail.p].getNeibBest();
for (int dir = 0; dir < neibs.length; dir++){
if (neibs[dir] >= 0) {
sp = new TPW(
tail.t + dirs[dir],
neibs[dir]);
if (!field[sp.t][sp.p] && ((selection == null) || (selection[sp.t][sp.p]))){
field[sp.t][sp.p] = true;
listWave.add(sp);
}
}
}
}
if (listWave.size() > 1) {
listShells.add(listWave);
} else if (keep_orphans && (listWave.size() == 1)){ // so far always >= 1
TPW tail = listWave.get(0);
if (planes[tail.t][tail.p].getWeight() >= orphan_strength){
listShells.add(listWave);
}
}
if (debugLevel > 1){
System.out.println("CreateSupertileShells(): "+(listShells.size())+":"+listWave.size());
}
}
}
}
}
// sort list
Collections.sort(listShells, new Comparator<ArrayList<TPW>>() {
@Override
public int compare(ArrayList<TPW> lhs, ArrayList<TPW> rhs) {
// -1 - less than, 1 - greater than, 0 - equal, all inverted for descending
int sgn = lhs.size() > rhs.size() ? -1 : (lhs.size() < rhs.size() ) ? 1 : 0;
if (sgn != 0) return sgn;
double wl = 0.0, wr = 0.0;
for (TPW p:lhs) wl += p.w;
for (TPW p:rhs) wr += p.w;
return wl > wr ? -1 : (wl < wr ) ? 1 : 0;
}
});
int [][] shells = new int [planes.length][];
for (int nsTile = 0; nsTile < planes.length; nsTile++){
if (planes[nsTile] != null){
shells[nsTile] = new int [planes[nsTile].length];
}
}
for (int num_shell = 0; num_shell < listShells.size(); num_shell++){
for (TPW p:listShells.get(num_shell)){
shells[p.t][p.p] = num_shell+1;
}
if (debugLevel > 0){
double w = 0;
for (TPW p:listShells.get(num_shell)){
w += p.w;
}
System.out.println("CreateSupertileShells(): "+(num_shell + 1)+":"+listShells.get(num_shell).size()+", total strength = "+w);
}
}
return shells;
}
} // end of class SuperTiles
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
......@@ -2825,14 +2825,17 @@ public class TileProcessor {
st.selectNeighborPlanesMutual(
clt_parameters.plWorstWorsening, // final double worst_worsening,
clt_parameters.plDispNorm,
clt_parameters.plMaxEigen,
clt_parameters.plMinStrength,
0, // final int debugLevel)
clt_parameters.tileX,
clt_parameters.tileY);
TilePlanes.PlaneData [][] planes_mod = null;
if (clt_parameters.plMutualOnly) { // temporarily re-use obsolete parameter to test smoothing
// smooth planes (by averaging with neighbors and the "measured" one with variable "pull")
if (clt_parameters.plIterations > 0) {
st.resetPlanesMod(); // clean start
planes_mod = st.planesSmooth(
clt_parameters.plPull, // final double meas_pull,// relative pull of the original (measured) plane with respect to the average of the neighbors
clt_parameters.plIterations, // final int num_passes,
......@@ -2840,17 +2843,38 @@ public class TileProcessor {
0, // final int debugLevel)
clt_parameters.tileX,
clt_parameters.tileY);
// } else {
// st.selectNeighborPlanes(
// clt_parameters.plWorstWorsening, // final double worst_worsening,
// clt_parameters.plMutualOnly, // final boolean mutual_only,
// 0); // final int debugLevel)
}
// filter out weak planes, create boolean array [per-supertile][per disparity plane]
boolean [][] selected_planes = st.selectPlanes(
clt_parameters.plDispNorm,
clt_parameters.plMaxEigen, // maxEigen,
clt_parameters.plMinStrength, // minWeight,
st.getPlanesMod());
// detect connected "shells" by running wave algorithm over multi-plane supertiles, create integer array (same structure as planes and selected_planes
// Each element [per supertile][per disparity plane] is either 0 (not used) or unique shell index (started from 1)
int [][] shells = st.createSupertileShells(
selected_planes, // boolean[][] selection, // may be null
false, // boolean use_all, // use plane 0 even if there are more than 1
clt_parameters.plKeepOrphans, // true, // boolean keep_orphans, // single-cell shells
clt_parameters.plMinOrphan, // orphan_strength // add separate parameter
st.getPlanesMod(), // TilePlanes.PlaneData [][] planes,
1); // int debugLevel)
// save shell indices with SuperTiles instance
st.setShellMap(shells); // persistent
// Create array [per shell][per tile] of shell disparities. tiles of unused supertiles are Double.NaN
double [][] surfaces = st.getShowShells(
st.getPlanesMod(), // TilePlanes.PlaneData [][] planes,
st.getShellMap(), // shells, // int [][] shells,
1000, // int max_shells,
clt_parameters.plFuse,// boolean fuse,
false, // boolean show_connections,
false, // boolean use_NaN,
10.0, // double arrow_dark,
10.0); // double arrow_white)
// save surfaces with SuperTiles instance. They can be used to snap to for the per-tile disparity maps.
st.setSurfaces(surfaces);
if (clt_parameters.show_planes){
int [] wh = st.getShowPlanesWidthHeight();
double [][] plane_data_nonan = st.getShowPlanes(
(planes_mod != null) ? st.getPlanesMod():st.getPlanes(),
......@@ -2868,7 +2892,6 @@ public class TileProcessor {
true, //boolean use_NaN)
0.0,
10.0);
double [][] plane_data = new double [plane_data_nonan.length + plane_data_nan.length][];
int indx = 0;
for (int i = 0; i < plane_data_nonan.length; i++){
......@@ -2877,54 +2900,44 @@ public class TileProcessor {
for (int i = 0; i < plane_data_nan.length; i++){
plane_data[indx++] = plane_data_nan[i];
}
// sdfa_instance.showArrays(plane_data_nonan, wh[0], wh[1], true, "plane_data_noNaN");
// sdfa_instance.showArrays(plane_data_nan, wh[0], wh[1], true, "plane_data_NaN");
sdfa_instance.showArrays(plane_data, wh[0], wh[1], true, "plane_data");
plane_data = st.getShowShells(
st.getPlanesMod(), // TilePlanes.PlaneData [][] planes,
st.getShellMap(), // shells, // int [][] shells,
100, // int max_shells,
clt_parameters.plFuse,// boolean fuse,
false, // boolean show_connections,
false, // boolean use_NaN,
10.0, // double arrow_dark,
10.0); // double arrow_white)
sdfa_instance.showArrays(plane_data, wh[0], wh[1], true, "shells_all");
plane_data = st.getShowShells(
st.getPlanesMod(), // TilePlanes.PlaneData [][] planes,
st.getShellMap(), // shells, // int [][] shells,
100, // int max_shells,
clt_parameters.plFuse,// boolean fuse,
true, // boolean show_connections,
false, // boolean use_NaN,
10.0, // double arrow_dark,
10.0); // double arrow_white)
sdfa_instance.showArrays(plane_data, wh[0], wh[1], true, "shells_all_arrows");
// show plane data
/*
for (int dr = 0; dr < 8; dr++){
TilePlanes.PlaneData [][] planes = st.getNeibPlanes(
dr,
clt_parameters.plDbgMerge);
plane_data_nonan = st.getShowPlanes(
planes,
clt_parameters.plMinStrength, // minWeight,
clt_parameters.plMaxEigen, // maxEigen,
clt_parameters.plDispNorm,
false, //boolean use_NaN)
0.0,
10.0);
plane_data_nan = st.getShowPlanes(
planes,
clt_parameters.plMinStrength, // minWeight,
clt_parameters.plMaxEigen, // maxEigen,
clt_parameters.plDispNorm,
true, //boolean use_NaN)
0.0,
10.0);
plane_data = new double [plane_data_nonan.length + plane_data_nan.length][];
indx = 0;
for (int i = 0; i < plane_data_nonan.length; i++){
plane_data[indx++] = plane_data_nonan[i];
}
for (int i = 0; i < plane_data_nan.length; i++){
plane_data[indx++] = plane_data_nan[i];
}
sdfa_instance.showArrays(plane_data, wh[0], wh[1], true, "plane_data_"+dr);
}
*/
plane_data = st.getShowShells(
st.getPlanesMod(), // TilePlanes.PlaneData [][] planes,
st.getShellMap(), // shells, // int [][] shells,
100, // int max_shells,
clt_parameters.plFuse,// boolean fuse,
false, // boolean show_connections,
true, // boolean use_NaN,
10.0, // double arrow_dark,
10.0); // double arrow_white)
sdfa_instance.showArrays(plane_data, wh[0], wh[1], true, "shells");
}
}
//
public void secondPassSetup( // prepare tile tasks for the second pass based on the previous one(s)
// final double [][][] image_data, // first index - number of image in a quad
......@@ -3089,87 +3102,11 @@ public class TileProcessor {
clt_parameters.plMaxOutliers, // = 20; // Maximal number of outliers to remove
geometryCorrection,
clt_parameters.correct_distortions,
-1, // debugLevel, // final int debugLevel)
0, // -1, // debugLevel, // final int debugLevel)
clt_parameters.tileX,
clt_parameters.tileY);
/*
if (clt_parameters.show_planes){
int [] wh = st.getShowPlanesWidthHeight();
double [][] plane_data_nonan = st.getShowPlanes(
st.getPlanes(),
clt_parameters.plMinStrength, // minWeight,
clt_parameters.plMaxEigen, // maxEigen,
clt_parameters.plDispNorm,
false); //boolean use_NaN)
double [][] plane_data_nan = st.getShowPlanes(
st.getPlanes(),
clt_parameters.plMinStrength, // minWeight,
clt_parameters.plMaxEigen, // maxEigen,
clt_parameters.plDispNorm,
true); //boolean use_NaN)
double [][] plane_data = new double [plane_data_nonan.length + plane_data_nan.length][];
int indx = 0;
for (int i = 0; i < plane_data_nonan.length; i++){
plane_data[indx++] = plane_data_nonan[i];
}
for (int i = 0; i < plane_data_nan.length; i++){
plane_data[indx++] = plane_data_nan[i];
}
// sdfa_instance.showArrays(plane_data_nonan, wh[0], wh[1], true, "plane_data_noNaN");
// sdfa_instance.showArrays(plane_data_nan, wh[0], wh[1], true, "plane_data_NaN");
sdfa_instance.showArrays(plane_data, wh[0], wh[1], true, "plane_data");
// show plane data
for (int dr = 0; dr < 8; dr++){
TilePlanes.PlaneData [][] planes = st.getNeibPlanes(
dr,
clt_parameters.plDbgMerge);
plane_data_nonan = st.getShowPlanes(
planes,
clt_parameters.plMinStrength, // minWeight,
clt_parameters.plMaxEigen, // maxEigen,
clt_parameters.plDispNorm,
false); //boolean use_NaN)
plane_data_nan = st.getShowPlanes(
planes,
clt_parameters.plMinStrength, // minWeight,
clt_parameters.plMaxEigen, // maxEigen,
clt_parameters.plDispNorm,
true); //boolean use_NaN)
plane_data = new double [plane_data_nonan.length + plane_data_nan.length][];
indx = 0;
for (int i = 0; i < plane_data_nonan.length; i++){
plane_data[indx++] = plane_data_nonan[i];
}
for (int i = 0; i < plane_data_nan.length; i++){
plane_data[indx++] = plane_data_nan[i];
}
sdfa_instance.showArrays(plane_data, wh[0], wh[1], true, "plane_data_"+dr);
}
}
*/
/*
st.processPlanes1(
null, // final boolean [] selected, // or null
0.3, // final double min_disp,
false, // final boolean invert_disp, // use 1/disparity
clt_parameters.plDispNorm, // = 2.0; // Normalize disparities to the average if above
debugLevel); // final int debugLevel)
st.processPlanes(
null, // final boolean [] selected, // or null
0.3, // final double min_disp,
true, // final boolean invert_disp, // use 1/disparity
clt_parameters.plDispNorm, // = 2.0; // Normalize disparities to the average if above - here wrong
debugLevel); // final int debugLevel)
*/
if (debugLevel < 100) {
return; // just temporarily
......
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