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imagej-elphel
Commit 57fb1ef9 authored by Andrey Filippov's avatar Andrey Filippov
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Updating textures together with GPU code

parent 7ccf095c
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Showing with 662 additions and 388 deletions
src/main/java/com/elphel/imagej/gpu/GPUTileProcessor.java
View file @ 57fb1ef9
...@@ -134,17 +134,19 @@ public class GPUTileProcessor { ...@@ -134,17 +134,19 @@ public class GPUTileProcessor {
// static int TPTASK_SIZE = 1+ 1+ NUM_CAMS * 2 + 1 + NUM_CAMS * 4 ; // tp_task structure size in floats // static int TPTASK_SIZE = 1+ 1+ NUM_CAMS * 2 + 1 + NUM_CAMS * 4 ; // tp_task structure size in floats
static int CLTEXTRA_SIZE = 8; static int CLTEXTRA_SIZE = 8;
static int CORR_SIZE = (2* DTT_SIZE - 1) * (2* DTT_SIZE - 1); // 15x15 static int CORR_SIZE = (2* DTT_SIZE - 1) * (2* DTT_SIZE - 1); // 15x15
public static int CORR_NTILE_SHIFT = 8; // also for texture tiles list public static int CORR_NTILE_SHIFT = 8; // also for texture tiles list - not anymore 11/18/2022
// FIXME: CORR_PAIRS_MASK will not work !!! // FIXME: CORR_PAIRS_MASK will not work !!!
public static int CORR_PAIRS_MASK = 0x3f; // lower bits used to address correlation pair for the selected tile public static int CORR_PAIRS_MASK = 0x3f; // lower bits used to address correlation pair for the selected tile
public static int CORR_TEXTURE_BIT = 7; // bit 7 used to request texture for the tile // public static int CORR_TEXTURE_BIT = 7; // bit 7 used to request texture for the tile GET RID !!!
public static int TASK_CORR_BITS = 4; // start of pair mask public static int TASK_CORR_BITS = 4; // start of pair mask
public static int TASK_TEXTURE_N_BIT = 0; // Texture with North neighbor public static int TASK_TEXTURE_N_BIT = 0; // Texture with North neighbor
public static int TASK_TEXTURE_E_BIT = 1; // Texture with East neighbor public static int TASK_TEXTURE_E_BIT = 1; // Texture with East neighbor
public static int TASK_TEXTURE_S_BIT = 2; // Texture with South neighbor public static int TASK_TEXTURE_S_BIT = 2; // Texture with South neighbor
public static int TASK_TEXTURE_W_BIT = 3; // Texture with West neighbor public static int TASK_TEXTURE_W_BIT = 3; // Texture with West neighbor
// public static int TASK_TEXTURE_BIT = 3; // bit to request texture calculation int task field of struct tp_task // public static int TASK_TEXTURE_BIT = 3; // bit to request texture calculation int task field of struct tp_task
public static int LIST_TEXTURE_BIT = 7; // bit to request texture calculation public static int LIST_TEXTURE_BIT = 7; // bit to request texture calculation
public static int TEXT_NTILE_SHIFT = 8; // split from CORR_NTILE_SHIFT
// public static int CORR_OUT_RAD = 4; // output radius of the correlations (implemented) // public static int CORR_OUT_RAD = 4; // output radius of the correlations (implemented)
public static double FAT_ZERO_WEIGHT = 0.0001; // add to port weights to avoid nan public static double FAT_ZERO_WEIGHT = 0.0001; // add to port weights to avoid nan
...@@ -226,13 +228,14 @@ public class GPUTileProcessor { ...@@ -226,13 +228,14 @@ public class GPUTileProcessor {
"#define IMCLT_TILES_PER_BLOCK " + IMCLT_TILES_PER_BLOCK+"\n"+ "#define IMCLT_TILES_PER_BLOCK " + IMCLT_TILES_PER_BLOCK+"\n"+
"#define CORR_NTILE_SHIFT " + CORR_NTILE_SHIFT+"\n"+ "#define CORR_NTILE_SHIFT " + CORR_NTILE_SHIFT+"\n"+
// "#define CORR_PAIRS_MASK " + CORR_PAIRS_MASK+"\n"+ // "#define CORR_PAIRS_MASK " + CORR_PAIRS_MASK+"\n"+
"#define CORR_TEXTURE_BIT " + CORR_TEXTURE_BIT+"\n"+ // "#define CORR_TEXTURE_BIT " + CORR_TEXTURE_BIT+"\n"+
"#define TASK_CORR_BITS " + TASK_CORR_BITS+"\n"+ "#define TASK_CORR_BITS " + TASK_CORR_BITS+"\n"+
"#define TASK_TEXTURE_N_BIT " + TASK_TEXTURE_N_BIT+"\n"+ "#define TASK_TEXTURE_N_BIT " + TASK_TEXTURE_N_BIT+"\n"+
"#define TASK_TEXTURE_E_BIT " + TASK_TEXTURE_E_BIT+"\n"+ "#define TASK_TEXTURE_E_BIT " + TASK_TEXTURE_E_BIT+"\n"+
"#define TASK_TEXTURE_S_BIT " + TASK_TEXTURE_S_BIT+"\n"+ "#define TASK_TEXTURE_S_BIT " + TASK_TEXTURE_S_BIT+"\n"+
"#define TASK_TEXTURE_W_BIT " + TASK_TEXTURE_W_BIT+"\n"+ "#define TASK_TEXTURE_W_BIT " + TASK_TEXTURE_W_BIT+"\n"+
"#define LIST_TEXTURE_BIT " + LIST_TEXTURE_BIT+"\n"+ "#define LIST_TEXTURE_BIT " + LIST_TEXTURE_BIT+"\n"+
"#define TEXT_NTILE_SHIFT " + TEXT_NTILE_SHIFT+"\n"+
// "#define CORR_OUT_RAD " + CORR_OUT_RAD+"\n" + // "#define CORR_OUT_RAD " + CORR_OUT_RAD+"\n" +
"#define FAT_ZERO_WEIGHT " + FAT_ZERO_WEIGHT+"\n"+ "#define FAT_ZERO_WEIGHT " + FAT_ZERO_WEIGHT+"\n"+
"#define THREADS_DYNAMIC_BITS " + THREADS_DYNAMIC_BITS+"\n"+ "#define THREADS_DYNAMIC_BITS " + THREADS_DYNAMIC_BITS+"\n"+
......
src/main/java/com/elphel/imagej/gpu/GpuQuad.java
View file @ 57fb1ef9
...@@ -1304,68 +1304,6 @@ public class GpuQuad{ // quad camera description ...@@ -1304,68 +1304,6 @@ public class GpuQuad{ // quad camera description
} }
/**
* Prepare contents pointers for calculation of the correlation pairs
* @param tp_tasks array of tasks that contain masks of the required pairs
* @return each element has (tile_number << 8) | (pair_number & 0xff)
*/
@Deprecated
public int [] getCorrTasks(
TpTask [] tp_tasks) {
int tilesX = img_width / GPUTileProcessor.DTT_SIZE;
int num_corr = 0;
int num_pairs = Correlation2d.getNumPairs(quadCLT.getNumSensors());
int task_mask = (1 << num_pairs) - 1;
for (TpTask tt: tp_tasks) {
int pm = (tt.task >> GPUTileProcessor.TASK_CORR_BITS) & task_mask;
if (pm != 0) {
for (int b = 0; b < num_pairs; b++) if ((pm & (1 << b)) != 0) {
num_corr++; }
}
}
int [] iarr = new int[num_corr];
num_corr = 0;
for (TpTask tt: tp_tasks) {
int pm = (tt.task >> GPUTileProcessor.TASK_CORR_BITS) & task_mask;
if (pm != 0) {
int tile = (tt.ty * tilesX +tt.tx);
for (int b = 0; b < num_pairs; b++) if ((pm & (1 << b)) != 0) {
iarr[num_corr++] = (tile << GPUTileProcessor.CORR_NTILE_SHIFT) | b;
}
}
}
return iarr;
}
/**
* Prepare contents pointers for calculation of the texture tiles (RGBA, 16x16)
* @param tp_tasks array of tasks that contain masks of the required pairs
* @return each element has (tile_number << 8) | (1 << LIST_TEXTURE_BIT)
*/
@Deprecated
public int [] getTextureTasks(
TpTask [] tp_tasks) {
int tilesX = img_width / GPUTileProcessor.DTT_SIZE;
int num_textures = 0;
for (TpTask tt: tp_tasks) {
if ((tt.task & GPUTileProcessor.TASK_TEXTURE_BITS) !=0) {
num_textures++;
}
}
int [] iarr = new int[num_textures];
num_textures = 0;
int b = (1 << GPUTileProcessor.LIST_TEXTURE_BIT);
for (TpTask tt: tp_tasks) {
if ((tt.task & GPUTileProcessor.TASK_TEXTURE_BITS) !=0) {
int tile = (tt.ty * tilesX +tt.tx);
iarr[num_textures++] = (tile << GPUTileProcessor.CORR_NTILE_SHIFT) | b;
}
}
return iarr;
}
/** /**
* Calculate rotation matrices and their derivatives * Calculate rotation matrices and their derivatives
* Needed after extrinsics changed * Needed after extrinsics changed
...@@ -3284,8 +3222,8 @@ public class GpuQuad{ // quad camera description ...@@ -3284,8 +3222,8 @@ public class GpuQuad{ // quad camera description
int tilesY = img_height / GPUTileProcessor.DTT_SIZE; int tilesY = img_height / GPUTileProcessor.DTT_SIZE;
float [][] extra = new float[num_tile_extra][tilesX*tilesY]; float [][] extra = new float[num_tile_extra][tilesX*tilesY];
for (int i = 0; i < texture_indices.length; i++) { for (int i = 0; i < texture_indices.length; i++) {
if (((texture_indices[i] >> GPUTileProcessor.CORR_TEXTURE_BIT) & 1) != 0) { if (((texture_indices[i] >> GPUTileProcessor.LIST_TEXTURE_BIT) & 1) != 0) {
int ntile = (texture_indices[i] >> GPUTileProcessor.CORR_NTILE_SHIFT); int ntile = (texture_indices[i] >> GPUTileProcessor.TEXT_NTILE_SHIFT);
for (int l = 0; l < num_tile_extra; l++) { for (int l = 0; l < num_tile_extra; l++) {
extra[l][ntile] = diff_rgb_combo[i * num_tile_extra + l]; extra[l][ntile] = diff_rgb_combo[i * num_tile_extra + l];
} }
...@@ -3439,7 +3377,7 @@ public class GpuQuad{ // quad camera description ...@@ -3439,7 +3377,7 @@ public class GpuQuad{ // quad camera description
// double [][][][] textures = new double [woi.height][woi.width][num_slices][texture_slice_size]; // double [][][][] textures = new double [woi.height][woi.width][num_slices][texture_slice_size];
for (int indx = 0; indx < indices.length; indx++) if ((indices[indx] & (1 << GPUTileProcessor.LIST_TEXTURE_BIT)) != 0){ for (int indx = 0; indx < indices.length; indx++) if ((indices[indx] & (1 << GPUTileProcessor.LIST_TEXTURE_BIT)) != 0){
int tile = (indices[indx] >> GPUTileProcessor.CORR_NTILE_SHIFT); int tile = (indices[indx] >> GPUTileProcessor.TEXT_NTILE_SHIFT);
int tileX = tile % full_width; int tileX = tile % full_width;
int tileY = tile / full_width; int tileY = tile / full_width;
int wtileX = tileX - woi.x; int wtileX = tileX - woi.x;
......
src/main/java/com/elphel/imagej/tileprocessor/QuadCLT.java
View file @ 57fb1ef9
...@@ -1782,7 +1782,7 @@ public class QuadCLT extends QuadCLTCPU { ...@@ -1782,7 +1782,7 @@ public class QuadCLT extends QuadCLTCPU {
final QuadCLT ref_scene, // now - may be null - for testing if scene is rotated ref final QuadCLT ref_scene, // now - may be null - for testing if scene is rotated ref
final boolean filter_bg, // remove bg tiles (possibly occluded) final boolean filter_bg, // remove bg tiles (possibly occluded)
final double max_distortion, // maximal neighbor tiles offset as a fraction of tile size (8) final double max_distortion, // maximal neighbor tiles offset as a fraction of tile size (8)
final int [] cluster_index, // final int [] cluster_index, // [tilesX*tilesY]
final boolean [] border, // border tiles final boolean [] border, // border tiles
final boolean keep_channels, final boolean keep_channels,
final int debugLevel){ final int debugLevel){
...@@ -3386,7 +3386,7 @@ public class QuadCLT extends QuadCLTCPU { ...@@ -3386,7 +3386,7 @@ public class QuadCLT extends QuadCLTCPU {
if (debugLevel > -1) { if (debugLevel > -1) {
for (int indx = 0; indx < texture_indices.length; indx++) if ((texture_indices[indx] & (1 << GPUTileProcessor.LIST_TEXTURE_BIT)) != 0){ for (int indx = 0; indx < texture_indices.length; indx++) if ((texture_indices[indx] & (1 << GPUTileProcessor.LIST_TEXTURE_BIT)) != 0){
int tile = texture_indices[indx] >> GPUTileProcessor.CORR_NTILE_SHIFT; int tile = texture_indices[indx] >> GPUTileProcessor.TEXT_NTILE_SHIFT;
int tileX = tile % tilesX; int tileX = tile % tilesX;
int tileY = tile / tilesX; int tileY = tile / tilesX;
if ((tileY == clt_parameters.tileY) && (tileX == clt_parameters.tileX)) { if ((tileY == clt_parameters.tileY) && (tileX == clt_parameters.tileX)) {
......
src/main/java/com/elphel/imagej/tileprocessor/TexturedModel.java
View file @ 57fb1ef9
...@@ -1299,6 +1299,561 @@ public class TexturedModel { ...@@ -1299,6 +1299,561 @@ public class TexturedModel {
} }
public static double [][] processTexture(
final CLTParameters clt_parameters,
final int tilesX,
final double [][] slice_disparities,
final double [][][] sensor_texture, // per-sensor texture value
final double [][] combo_texture_in, // average texture value
final String dbg_prefix) {
final double var_radius = 3.5; // for variance filter of the combo disparity
final double dir_radius = 1.5; // averaging inter-sensor variance to view behind obstacles
final double try_dir_var = 20.0; // try directional if the intersensor variance exceeds this value
final int dir_num_start = 7; // start with this number of consecutive sensors
final int dir_num_restart = 5; // restart (from best direction) with this number of consecutive sensors
final double dir_worsen_rel = 0.15; // add more sensors until variance grows by this relative
final double dir_var_max = 15.0; // do not add more sensors if the variance would exceed this
final double max_disparity_lim = 100.0; // do not allow stray disparities above this
final double min_trim_disparity = 2.0; // do not try to trim texture outlines with lower disparities
final double fg_max_inter = 40.0; // Trim FG tile if inter variance exceeds
final double fg_max_rel = 2.0; // Trim FG tile if inter variance to same variance exceeds
final int trim_shrink = 2;
final int trim_grow = 2;
final int trim_shrink2 = 2;
final int trim_edge = 9;
final int num_slices = sensor_texture.length;
final int ivar_radius = (int) Math.floor(var_radius);
final int idir_radius = (int) Math.floor(dir_radius);
final double [][] var_weights = new double [ivar_radius+1][ivar_radius+1];
final double [][] dir_weights = new double [idir_radius+1][idir_radius+1];
for (int i = 0; i < var_weights.length; i++) {
for (int j = 0; j < var_weights[i].length; j++) {
var_weights[i][j] = Math.cos(0.5*Math.PI*i/var_radius) * Math.cos(0.5*Math.PI*j/var_radius);
}
}
for (int i = 0; i < dir_weights.length; i++) {
for (int j = 0; j < dir_weights[i].length; j++) {
dir_weights[i][j] = Math.cos(0.5*Math.PI*i/dir_radius) * Math.cos(0.5*Math.PI*j/dir_radius);
}
}
final int transform_size = clt_parameters.transform_size;
final int width = tilesX * transform_size;
final int img_size = sensor_texture[0][0].length;
final int height = img_size/width;
final int tilesY = height / transform_size;
final int tiles = tilesX * tilesY;
final int offset_tile_center = transform_size * transform_size / 2;
final int num_sensors = sensor_texture[0].length;
final double [][] gcombo_texture = (combo_texture_in != null) ? combo_texture_in : new double [num_slices][img_size];
final double [][] gvars_same = new double [num_slices][];
final double [][] gvars_inter = new double [num_slices][];
final double [][] out_textures = new double [num_slices][];
final Thread[] threads = ImageDtt.newThreadArray(THREADS_MAX);
final AtomicInteger ai = new AtomicInteger(0);
if (combo_texture_in == null) {
for (int nslice = 0; nslice < num_slices; nslice++) {
final int fnslice = nslice;
Arrays.fill(gcombo_texture[fnslice], Double.NaN);
ai.set(0);
// calculate total number of connections (w/o fof) by combining opposite directions
for (int ithread = 0; ithread < threads.length; ithread++) {
threads[ithread] = new Thread() {
public void run() {
for (int indx = ai.getAndIncrement(); indx < img_size; indx = ai.getAndIncrement()) if (!Double.isNaN(sensor_texture[fnslice][0][indx])) {
double d = 0;
for (int nsens = 0; nsens < num_sensors; nsens++) {
d += sensor_texture[fnslice][nsens][indx];
}
gcombo_texture[fnslice][indx] = d/num_sensors;
}
}
};
}
ImageDtt.startAndJoin(threads);
}
}
// get max disparity
final TileNeibs tn = new TileNeibs(tilesX, tilesY);
final double [] th_max_disp = new double [threads.length];
final int tile_slices = tiles*num_slices;
final AtomicInteger ati = new AtomicInteger(0);
ai.set(0);
// calculate total number of connections (w/o fof) by combining opposite directions
for (int ithread = 0; ithread < threads.length; ithread++) {
threads[ithread] = new Thread() {
public void run() {
int ti = ati.getAndIncrement();
for (int indx = ai.getAndIncrement(); indx < tile_slices; indx = ai.getAndIncrement()) {
int nslice = indx / tiles;
int tile = indx % tiles;
if (!Double.isNaN(slice_disparities[nslice][tile])) {
if ((slice_disparities[nslice][tile] > th_max_disp[ti]) &&
(slice_disparities[nslice][tile] < max_disparity_lim)){
th_max_disp[ti] = slice_disparities[nslice][tile];
}
}
}
}
};
}
ImageDtt.startAndJoin(threads);
double disparity_max0 = 0.0;
for (int i = 0; i < th_max_disp.length; i++) {
disparity_max0 = Math.max(disparity_max0, th_max_disp[i]);
}
final double disparity_max = disparity_max0;
// int getNeibIndex(int indx, int dx, int dy) {
final boolean [][] is_fg_tile = new boolean [num_slices][tiles]; // nothing obscures this
final boolean [][] has_bg_tile = new boolean [num_slices][tiles]; // has tiles behind (at least directly)
for (int nslice = 0; nslice < num_slices; nslice++) {
int fnslice = nslice;
ai.set(0);
// calculate total number of connections (w/o fof) by combining opposite directions
for (int ithread = 0; ithread < threads.length; ithread++) {
threads[ithread] = new Thread() {
public void run() {
for (int tile = ai.getAndIncrement(); tile < tiles; tile = ai.getAndIncrement()) if (slice_disparities[fnslice][tile] > min_trim_disparity){ // checks for NaN too !
// may be a FG tile that needs trimming (not considering yet tiles that both can be obscured and obscure).
if ((fnslice == 6) && (tile==2333)) {
System.out.println("fnslice="+fnslice+", tile="+tile);
System.out.println("fnslice="+fnslice+", tile="+tile);
}
is_fg_tile[fnslice][tile] = true;
for (int ns = 0; ns < num_slices; ns++)
if ((ns != fnslice) &&
(slice_disparities[ns][tile] < slice_disparities[fnslice][tile])) {
has_bg_tile[fnslice][tile] = true;
break;
}
search_obscuring:
{
int tile_range = (int) Math.ceil((disparity_max - slice_disparities[fnslice][tile])/Math.sqrt(2)/transform_size);
for (int dty = -tile_range; dty <= tile_range; dty++) {
for (int dtx = -tile_range; dtx <= tile_range; dtx++) {
int tile1 = tn.getNeibIndex(tile, dtx, dty);
if (tile1 >= 0) {
double dd = (Math.sqrt(dty*dty + dtx*dtx) + 0.0)*transform_size + slice_disparities[fnslice][tile]; // is it correct?
for (int ns = 0; ns < num_slices; ns++) if ((ns != fnslice) || (dty !=0 ) || (dtx != 0)) {
if (slice_disparities[ns][tile1] > dd) {
is_fg_tile[fnslice][tile] = false;
break search_obscuring;
}
}
}
}
}
}
}
}
};
}
ImageDtt.startAndJoin(threads);
}
if (dbg_prefix != null) {
String [] dbg_titles = new String[num_slices];
for (int i = 0; i < dbg_titles.length; i++) {
dbg_titles[i] = String.format("slice-%02d",i);
}
ShowDoubleFloatArrays.showArrays(
slice_disparities,
tilesX,
tilesY,
true,
dbg_prefix+"-slice_disparities",
dbg_titles);
double [][] dbg_fgbg= new double [num_slices][tiles];
for (int ns = 0; ns < num_slices; ns++) {
Arrays.fill(dbg_fgbg[ns],Double.NaN);
for (int tile = 0; tile< tiles; tile++) {
dbg_fgbg[ns][tile] = (is_fg_tile[ns][tile]?2:0) + (has_bg_tile[ns][tile]?1:0);
}
}
ShowDoubleFloatArrays.showArrays(
dbg_fgbg,
tilesX,
tilesY,
true,
dbg_prefix+"-fgbg",
dbg_titles);
}
/*
final boolean [] is_bg = (is_bg_in != null) ? is_bg_in : new boolean [img_size];
if (is_bg_in == null) { Arrays.fill(is_bg, true);}
final boolean [] is_fg = (is_fg_in != null) ? is_fg_in : new boolean [img_size];
if (is_fg_in == null) { Arrays.fill(is_fg, true);}
final double [][] gvars_same = new double [num_slices][];
final double [][] gvars_inter = new double [num_slices][];
*/
final TileNeibs pn = new TileNeibs(width, height);
for (int nslice = 0; nslice < num_slices; nslice++) {
final int fnslice = nslice;
gvars_same[fnslice] = new double [img_size];
gvars_inter[fnslice] = new double [img_size];
final double [] combo_texture = gcombo_texture[fnslice];
final double [] vars_same = gvars_same[fnslice]; // new double [img_size];
final double [] vars_inter = gvars_inter[fnslice]; // new double [img_size];
final double [] vars_ratio = new double [img_size];
final double [] vars_dir_initial = new double [img_size];
final double [] dirs_initial = new double [img_size];
final double [] vars_dir_final = new double [img_size];
final double [] dirs_final = new double [img_size];
final double [] dirs_len = new double [img_size];
final double [] vars_dir_ratio = new double [img_size];
final double [] dirs_avg = new double [img_size];
final double [] dbg_is_fg = (dbg_prefix != null) ? new double [img_size] : null;
System.arraycopy(combo_texture, 0, dirs_avg, 0, img_size);
Arrays.fill(vars_same, Double.NaN);
Arrays.fill(vars_inter, Double.NaN);
Arrays.fill(vars_ratio, Double.NaN);
System.arraycopy(vars_inter, 0, vars_dir_initial, 0, img_size);
Arrays.fill(dirs_initial, Double.NaN);
Arrays.fill(dirs_final, Double.NaN);
Arrays.fill(dirs_len, Double.NaN);
if (dbg_is_fg != null) Arrays.fill(dbg_is_fg, Double.NaN);
ai.set(0);
for (int ithread = 0; ithread < threads.length; ithread++) {
threads[ithread] = new Thread() {
public void run() {
for (int cindx = ai.getAndIncrement(); cindx < img_size; cindx = ai.getAndIncrement())
if (!Double.isNaN(combo_texture[cindx])) {
int y0 = cindx / width;
int x0 = cindx % width;
double var_same = Double.NaN;
double var_inter = Double.NaN;
// calculate weighted variance
double sw = 0.0, swd=0.0, swd2 = 0.0;
for (int dvy = -ivar_radius; dvy <= ivar_radius; dvy++) {
for (int dvx = -ivar_radius; dvx <= ivar_radius; dvx++) {
int indx = pn.getIndex(x0+dvx, y0+dvy);
if ((indx >= 0) && !Double.isNaN(combo_texture[indx])) {
double w = var_weights[Math.abs(dvy)][Math.abs(dvx)]; // 1.0;
double d = combo_texture[indx];
sw += w;
swd += w * d;
swd2 += w * d*d;
}
}
}
if (sw > 0.0) { // always
double avg = swd/sw;
double avg2 = swd2/sw;
var_same = Math.sqrt(avg2-avg*avg);
vars_same[cindx] = var_same;
}
// calculate inter-sensor variance (add local normalization?)
sw = 0.0; swd=0.0; swd2 = 0.0;
for (int nsens = 0; nsens< num_sensors; nsens++) {
double w = 1.0;
double d = sensor_texture[fnslice][nsens][cindx];
sw += w;
swd += w * d;
swd2 += w * d*d;
}
if (sw > 0.0) { // always
double avg = swd/sw;
double avg2 = swd2/sw;
var_inter = Math.sqrt(avg2-avg*avg);
vars_inter[cindx] = var_inter;
}
vars_ratio[cindx] = var_same/var_inter;
}
}
};
}
ImageDtt.startAndJoin(threads);
System.arraycopy(vars_inter, 0, vars_dir_final, 0, img_size);
System.arraycopy(vars_ratio, 0, vars_dir_ratio, 0, img_size);
final int dir_samples = (2 * idir_radius + 1) * (2 * idir_radius + 1);
ai.set(0);
for (int ithread = 0; ithread < threads.length; ithread++) {
threads[ithread] = new Thread() {
public void run() {
double [] dirvar = new double [num_sensors];
double [] sw = new double[dir_samples];
double [] swd = new double[dir_samples];
double [] swd2 = new double[dir_samples];
for (int cindx = ai.getAndIncrement(); cindx < img_size; cindx = ai.getAndIncrement())
// is_fg_tile[fnslice][tile]
if (!Double.isNaN(combo_texture[cindx])) {
int y0 = cindx / width;
int x0 = cindx % width;
int tileX = x0 / transform_size;
int tileY = y0 / transform_size;
int tile = tileX + tilesX * tileY;
if (dbg_is_fg != null) {
dbg_is_fg[cindx] =
(is_fg_tile[fnslice][tile]?2:0) + (has_bg_tile[fnslice][tile]?1:0);
}
// only trim if nothing obscures this and has some BG
if (is_fg_tile[fnslice][tile] && has_bg_tile[fnslice][tile]) {
if (dbg_is_fg != null) {
dbg_is_fg[cindx] = 1000.0;
}
if (vars_inter[cindx] > fg_max_inter) {
dirs_avg[cindx] = Double.NaN;
}
} else if (vars_inter[cindx] > try_dir_var) { // try obscuring by others
Arrays.fill(sw, 0.0);
Arrays.fill(swd, 0.0);
Arrays.fill(swd2,0.0);
for (int dvy = -idir_radius; dvy <= idir_radius; dvy++) {
for (int dvx = -idir_radius; dvx <= idir_radius; dvx++) {
int pindx = pn.getIndex(x0+dvx, y0+dvy);
if ((pindx >= 0) && !Double.isNaN(combo_texture[pindx])) {
int vindx = (dvy + idir_radius) * (2 * idir_radius + 1) + (dvx + idir_radius);
for (int nsens = 0; nsens < dir_num_start; nsens++) {
double w = 1.0;
double d = sensor_texture[fnslice][nsens][pindx];
sw[vindx] += w;
swd[vindx] += w * d;
swd2[vindx] += w * d * d;
}
}
}
}
double svw = 0.0, svwd = 0.0;
for (int start_dir = 0; start_dir < num_sensors; start_dir++) {
for (int dvy = -idir_radius; dvy <= idir_radius; dvy++) {
for (int dvx = -idir_radius; dvx <= idir_radius; dvx++) {
int vindx = (dvy + idir_radius) * (2 * idir_radius + 1) + (dvx + idir_radius);
if (sw[vindx] > 0.0) {
double avg = swd[vindx]/sw[vindx];
double avg2 = swd2[vindx]/sw[vindx];
double v = Math.sqrt(avg2-avg*avg);
double w = dir_weights[Math.abs(dvy)][Math.abs(dvx)];
svw += w;
svwd += w * v;
}
}
}
dirvar[start_dir] = svwd/svw; // weighted
if (start_dir == (num_sensors - 1)) {
break;
}
// remove previous values pointed by start_dir
// and add new values pointed by start_dir+dir_num_start
for (int dvy = -idir_radius; dvy <= idir_radius; dvy++) {
for (int dvx = -idir_radius; dvx <= idir_radius; dvx++) {
int pindx = pn.getIndex(x0+dvx, y0+dvy);
if ((pindx >= 0) && !Double.isNaN(combo_texture[pindx])) {
int vindx = (dvy + idir_radius) * (2 * idir_radius + 1) + (dvx + idir_radius);
double w0 = 1.0;
double d0 = sensor_texture[fnslice][start_dir][pindx];
sw[vindx] -= w0;
swd[vindx] -= w0 * d0;
swd2[vindx] -= w0 * d0 * d0;
int dir1 = (start_dir + dir_num_start) % num_sensors;
double w1 = 1.0;
sw[vindx] += w1;
double d1 = sensor_texture[fnslice][dir1][pindx];
swd[vindx] += w1 * d1;
swd2[vindx] += w1 * d1 * d1;
}
}
}
}
// find best direction
int best_dir = 0;
for (int dir = 1; dir < num_sensors; dir++) {
if (dirvar[dir] < dirvar[best_dir]) {
best_dir = dir;
}
}
double center_dir = best_dir + 0.5 * (dir_num_start - 1);
if (center_dir >= num_sensors) {
center_dir -= num_sensors;
}
vars_dir_initial[cindx] = dirvar[best_dir];
dirs_initial[cindx] = center_dir;
// recalculate variance for the same direction but maybe different number of sensors
// dir_num_restart
// Use only center pixel, do not average variance
int dir_start = (int) Math.round(center_dir - 0.5 * (dir_num_restart - 1));
if (dir_start < 0) {
dir_start += num_sensors;
}
double scw = 0.0, scwd = 0.0, scwd2 = 0.0;
for (int i = 0; i < dir_num_restart; i++) {
int dir = dir_start +i;
if (dir >= num_sensors) {
dir -= num_sensors;
}
double w = 1.0;
double d = sensor_texture[fnslice][dir][cindx];
scw += w;
scwd += w * d;
scwd2 += w * d*d;
}
double avg = scwd/scw;
double avg2 = scwd2/scw;
double dir_var = Math.sqrt(avg2-avg*avg);
double max_var = Math.min(dir_var_max, dir_var*(1.0+dir_worsen_rel));
// add sensors from both ends (which is better) while variance stays below max_var
int dir_len ;
for (dir_len = dir_num_start; dir_len < num_sensors; dir_len++) {
// try CCW
int nsens0 = dir_start - 1; //) % num_sensors;
if (nsens0 < 0) {
nsens0 += num_sensors;
}
double w = 1.0;
double d = sensor_texture[fnslice][nsens0][cindx];
double sw_0 = scw + w;
double swd_0 = scwd + w*d;
double swd2_0 = scwd2 + w*d*d;
avg = swd_0 / sw_0;
avg2 = swd2_0 / sw_0;
double var_0 = Math.sqrt(avg2 - avg * avg);
// try CW
int nsens1 = dir_start + dir_len;
if (nsens1 >=num_sensors) {
nsens1 -= num_sensors ;
}
w = 1.0;
d = sensor_texture[fnslice][nsens1][cindx];
double sw_1 = scw + w;
double swd_1 = scwd + w*d;
double swd2_1 = scwd2 + w*d*d;
avg = swd_1 / sw_1;
avg2 = swd2_1 / sw_1;
double var_1 = Math.sqrt(avg2 - avg * avg);
if (Math.min(var_0, var_1) > max_var) {
break;
}
if (var_0 < var_1) {
dir_start = nsens0;
scw = sw_0;
scwd = swd_0;
scwd2 = swd2_0;
dir_var = var_0;
} else {
// dir_start stays the same
scw = sw_1;
scwd = swd_1;
scwd2 = swd2_1;
dir_var = var_1;
}
}
double dir_avg = scwd/scw;
double ddir = dir_start + 0.5 * (dir_len - 1);
if (ddir >= num_sensors) {
ddir -= num_sensors;
}
// fill arrays
dirs_final[cindx] = ddir;
dirs_len[cindx] = dir_len;
vars_dir_final[cindx] = dir_var;
vars_dir_ratio[cindx] = vars_same[cindx]/dir_var;
dirs_avg[cindx] = dir_avg;
} // } else if (vars_inter[cindx] > try_dir_var) { // try obscuring by others
}
}
};
}
ImageDtt.startAndJoin(threads);
if (dbg_prefix != null) {
double [][] dbg_img = {
vars_same,
vars_inter,
vars_dir_initial,
vars_dir_final,
dirs_initial,
dirs_final,
dirs_len,
vars_ratio,
vars_dir_ratio,
dbg_is_fg,
combo_texture,
dirs_avg,
sensor_texture[fnslice][ 0],
sensor_texture[fnslice][ 1],
sensor_texture[fnslice][ 2],
sensor_texture[fnslice][ 3],
sensor_texture[fnslice][ 4],
sensor_texture[fnslice][ 5],
sensor_texture[fnslice][ 6],
sensor_texture[fnslice][ 7],
sensor_texture[fnslice][ 8],
sensor_texture[fnslice][ 9],
sensor_texture[fnslice][10],
sensor_texture[fnslice][11],
sensor_texture[fnslice][12],
sensor_texture[fnslice][13],
sensor_texture[fnslice][14],
sensor_texture[fnslice][15]
};
String [] dbg_titles = {
"VAR_SAME",
"VAR_INTER",
"VAR_DIR_INITIAL",
"VAR_DIR_FINAL",
"DIR_INITIAL",
"DIR_FINAL",
"LEN",
"VAR_RATIO",
"DIR_RATIO",
"IS_FG",
"COMBO_TEXTURE",
"OUT_TEXTURE",
"T00",
"T01",
"T02",
"T03",
"T04",
"T05",
"T06",
"T07",
"T08",
"T09",
"T10",
"T11",
"T12",
"T13",
"T14",
"T15"
};
ShowDoubleFloatArrays.showArrays(
dbg_img,
width,
height,
true,
dbg_prefix+"-textures-"+fnslice,
dbg_titles);
}
out_textures[fnslice] = dirs_avg;
}
return out_textures;
}
public static ImagePlus[] getInterCombinedTexturesNew( // return ImagePlus[] matching tileClusters[], with alpha public static ImagePlus[] getInterCombinedTexturesNew( // return ImagePlus[] matching tileClusters[], with alpha
final CLTParameters clt_parameters, final CLTParameters clt_parameters,
...@@ -1371,12 +1926,10 @@ public class TexturedModel { ...@@ -1371,12 +1926,10 @@ public class TexturedModel {
image_dtt.getCorrelation2d(); // initiate image_dtt.correlation2d, needed if disparity_map != null image_dtt.getCorrelation2d(); // initiate image_dtt.correlation2d, needed if disparity_map != null
final int num_slices = tileClusters.length; final int num_slices = tileClusters.length;
double [][][] inter_weights = new double [num_slices][tilesY][tilesX]; // per-tile texture weights for inter-scene accumulation; double [][][] inter_weights = new double [num_slices][tilesY][tilesX]; // per-tile texture weights for inter-scene accumulation;
// double [][][][][] inter_textures= new double [num_slices][tilesY][tilesX][][]; // [channel][256] - non-overlapping textures
// weighted sum // weighted sum
double [][][][][] inter_textures_wd= new double [num_slices][tilesY][tilesX][][]; // [channel][64] - overlapping textures double [][][][][] inter_textures_wd= new double [num_slices][tilesY][tilesX][][]; // [channel][64] - overlapping textures
// weighted sum of squares // weighted sum of squares
double [][][][][] inter_textures_wd2= new double [num_slices][tilesY][tilesX][][]; // [channel][64] - overlapping textures /// double [][][][][] inter_textures_wd2= new double [num_slices][tilesY][tilesX][][]; // [channel][64] - overlapping textures
double [][][] ref_pXpYDs = new double [num_slices][][]; // individual for each slice double [][][] ref_pXpYDs = new double [num_slices][][]; // individual for each slice
int [][] cluster_indices = (max_distortion > 0.0) ? (new int [num_slices][]): null; int [][] cluster_indices = (max_distortion > 0.0) ? (new int [num_slices][]): null;
boolean [][] borders = new boolean [num_slices][]; boolean [][] borders = new boolean [num_slices][];
...@@ -1398,6 +1951,8 @@ public class TexturedModel { ...@@ -1398,6 +1951,8 @@ public class TexturedModel {
final int num_sensors = parameter_scene.getNumSensors(); final int num_sensors = parameter_scene.getNumSensors();
final int num_colors = parameter_scene.isMonochrome()?1:3; final int num_colors = parameter_scene.isMonochrome()?1:3;
final double [][][] sensor_textures = new double [num_slices][num_sensors][];
final double [][] combo_textures = new double [num_slices][];
for (int nscene = earliestScene; nscene < scenes.length; nscene++) if ((scenes_sel == null) || scenes_sel[nscene]){ for (int nscene = earliestScene; nscene < scenes.length; nscene++) if ((scenes_sel == null) || scenes_sel[nscene]){
String ts = scenes[nscene].getImageName(); String ts = scenes[nscene].getImageName();
double [] scene_xyz = OpticalFlow.ZERO3; double [] scene_xyz = OpticalFlow.ZERO3;
...@@ -1466,7 +2021,7 @@ public class TexturedModel { ...@@ -1466,7 +2021,7 @@ public class TexturedModel {
true, //keep_channels, // final boolean keep_channels, true, //keep_channels, // final boolean keep_channels,
debug_level); // final int debugLevel); debug_level); // final int debugLevel);
if (slice_texture88 != null) { if (slice_texture88 != null) { // will just accumulate
// Use MB vectors for texture weights // Use MB vectors for texture weights
final Thread[] threads = ImageDtt.newThreadArray(THREADS_MAX); final Thread[] threads = ImageDtt.newThreadArray(THREADS_MAX);
final AtomicInteger ai = new AtomicInteger(0); final AtomicInteger ai = new AtomicInteger(0);
...@@ -1491,13 +2046,13 @@ public class TexturedModel { ...@@ -1491,13 +2046,13 @@ public class TexturedModel {
inter_weights[fnslice][tileY][tileX] +=w; inter_weights[fnslice][tileY][tileX] +=w;
if (inter_textures_wd[fnslice][tileY][tileX] == null) { // create if it did not exist if (inter_textures_wd[fnslice][tileY][tileX] == null) { // create if it did not exist
inter_textures_wd[fnslice][tileY][tileX] = new double [slice_texture88[tileY][tileX].length + num_colors][slice_texture88[tileY][tileX][0].length]; inter_textures_wd[fnslice][tileY][tileX] = new double [slice_texture88[tileY][tileX].length + num_colors][slice_texture88[tileY][tileX][0].length];
inter_textures_wd2[fnslice][tileY][tileX] = new double [slice_texture88[tileY][tileX].length + num_colors][slice_texture88[tileY][tileX][0].length]; /// inter_textures_wd2[fnslice][tileY][tileX] = new double [slice_texture88[tileY][tileX].length + num_colors][slice_texture88[tileY][tileX][0].length];
} }
for (int nchn = 0; nchn < slice_texture88[tileY][tileX].length; nchn++) { for (int nchn = 0; nchn < slice_texture88[tileY][tileX].length; nchn++) {
for (int i = 0; i < slice_texture88[tileY][tileX][nchn].length; i++) { for (int i = 0; i < slice_texture88[tileY][tileX][nchn].length; i++) {
double d = slice_texture88[tileY][tileX][nchn][i]; double d = slice_texture88[tileY][tileX][nchn][i];
inter_textures_wd [fnslice][tileY][tileX][nchn][i] += w * d; inter_textures_wd [fnslice][tileY][tileX][nchn][i] += w * d;
inter_textures_wd2[fnslice][tileY][tileX][nchn][i] += w * d *d; /// inter_textures_wd2[fnslice][tileY][tileX][nchn][i] += w * d *d;
} }
} }
} }
...@@ -1521,13 +2076,25 @@ public class TexturedModel { ...@@ -1521,13 +2076,25 @@ public class TexturedModel {
double [][][] faded_textures = new double [num_slices][][]; double [][][] faded_textures = new double [num_slices][][];
final double [][] dbg_weights = (debug_level > 0 )?(new double [num_slices][tiles]) : null; final double [][] dbg_weights = (debug_level > 0 )?(new double [num_slices][tiles]) : null;
final double [][] dbg_overlap = (debug_level > 0 )?(new double [num_slices*(num_colors+1)][]) : null; final double [][] dbg_overlap = (debug_level > 0 )?(new double [num_slices*(num_colors+1)][]) : null;
final int width = tilesX * transform_size;
final int height = tilesY * transform_size;
final int y_color = num_colors-1;
final Thread[] threads = ImageDtt.newThreadArray(THREADS_MAX);
final AtomicInteger ai = new AtomicInteger(0);
for (int nslice = 0; nslice < num_slices; nslice++) { for (int nslice = 0; nslice < num_slices; nslice++) {
for (int nsens = 0; nsens < num_sensors; nsens++) {
sensor_textures[nslice][nsens] = new double [width*height];
Arrays.fill(sensor_textures[nslice][nsens], Double.NaN);
}
combo_textures[nslice] = new double [width*height];
Arrays.fill(combo_textures[nslice], Double.NaN);
final int fnslice = nslice; final int fnslice = nslice;
if (dbg_weights != null) { if (dbg_weights != null) {
Arrays.fill(dbg_weights[nslice], Double.NaN); Arrays.fill(dbg_weights[nslice], Double.NaN);
} }
final Thread[] threads = ImageDtt.newThreadArray(THREADS_MAX); // final Thread[] threads = ImageDtt.newThreadArray(THREADS_MAX);
final AtomicInteger ai = new AtomicInteger(0); // final AtomicInteger ai = new AtomicInteger(0);
ai.set(0);
for (int ithread = 0; ithread < threads.length; ithread++) { for (int ithread = 0; ithread < threads.length; ithread++) {
threads[ithread] = new Thread() { threads[ithread] = new Thread() {
public void run() { public void run() {
...@@ -1542,38 +2109,54 @@ public class TexturedModel { ...@@ -1542,38 +2109,54 @@ public class TexturedModel {
for (int nchn = 0; nchn < inter_textures_wd[fnslice][tileY][tileX].length - num_colors; nchn++) { for (int nchn = 0; nchn < inter_textures_wd[fnslice][tileY][tileX].length - num_colors; nchn++) {
for (int i = 0; i < inter_textures_wd[fnslice][tileY][tileX][nchn].length; i++) { for (int i = 0; i < inter_textures_wd[fnslice][tileY][tileX][nchn].length; i++) {
double d = inter_textures_wd[fnslice][tileY][tileX][nchn][i] * w; // average double d = inter_textures_wd[fnslice][tileY][tileX][nchn][i] * w; // average
double d2= inter_textures_wd2[fnslice][tileY][tileX][nchn][i] * w; // average of squared /// double d2= inter_textures_wd2[fnslice][tileY][tileX][nchn][i] * w; // average of squared
inter_textures_wd[fnslice][tileY][tileX][nchn][i] = d; inter_textures_wd[fnslice][tileY][tileX][nchn][i] = d;
inter_textures_wd2[fnslice][tileY][tileX][nchn][i] = Math.sqrt(d2- d * d); /// inter_textures_wd2[fnslice][tileY][tileX][nchn][i] = Math.sqrt(d2- d * d);
} }
} }
for (int ncol = 0; ncol < num_colors; ncol++) { for (int ncol = 0; ncol < num_colors; ncol++) {
int navg = inter_textures_wd[fnslice][tileY][tileX].length - num_colors + ncol; int navg = inter_textures_wd[fnslice][tileY][tileX].length - num_colors + ncol;
for (int i = 0; i < tile_len; i++) { for (int i = 0; i < tile_len; i++) {
inter_textures_wd[fnslice][tileY][tileX][navg][i] = 0; inter_textures_wd[fnslice][tileY][tileX][navg][i] = 0;
inter_textures_wd2[fnslice][tileY][tileX][navg][i] = 0; /// inter_textures_wd2[fnslice][tileY][tileX][navg][i] = 0;
for (int nsens = 0; nsens < num_sensors; nsens++) { for (int nsens = 0; nsens < num_sensors; nsens++) {
inter_textures_wd[fnslice][tileY][tileX][navg][i] += inter_textures_wd[fnslice][tileY][tileX][navg][i] +=
inter_textures_wd[fnslice][tileY][tileX][1 + (nsens + 1) * num_colors][i]/num_sensors; inter_textures_wd[fnslice][tileY][tileX][1 + (nsens + 1) * num_colors][i]/num_sensors;
inter_textures_wd2[fnslice][tileY][tileX][navg][i] += /// inter_textures_wd2[fnslice][tileY][tileX][navg][i] +=
inter_textures_wd2[fnslice][tileY][tileX][1 + (nsens + 1) * num_colors][i]/num_sensors; /// inter_textures_wd2[fnslice][tileY][tileX][1 + (nsens + 1) * num_colors][i]/num_sensors;
} }
} }
} }
// important that texture is not overlapped here!
for (int row = 0; row < transform_size; row++) {
for (int nsens = 0; nsens < num_sensors; nsens++) {
System.arraycopy(
inter_textures_wd[fnslice][tileY][tileX][num_colors* (nsens + 1) + 1 + y_color],
row*transform_size,
sensor_textures[fnslice][nsens] ,// dbg_textures[n],
(tileY * transform_size + row) * width + (tileX * transform_size),
transform_size);
}
int navg = inter_textures_wd[fnslice][tileY][tileX].length - num_colors + y_color;
System.arraycopy(
inter_textures_wd[fnslice][tileY][tileX][navg],
row*transform_size,
combo_textures[fnslice] ,// dbg_textures[n],
(tileY * transform_size + row) * width + (tileX * transform_size),
transform_size);
}
} }
} }
} }
}; };
} }
ImageDtt.startAndJoin(threads); ImageDtt.startAndJoin(threads);
ai.set(0);
/*
// debug-display this slice here // debug-display this slice here
if (debug_level > -10) { if (debug_level > -10) {
int var_radius = 3;
double try_dir_var = 30.0; // try directional if the intersensor variance exceeds this value
int dir_num_start = 5; // start with this number of consecutive sensors
double dir_worsen_rel = 0.15; // add more sensors until variance grows by this relative
double dir_var_max = 20.0; // do not add more sensors if the variance would exceed this
int dbg_slices = num_colors + 1 +num_colors*num_sensors + num_colors; int dbg_slices = num_colors + 1 +num_colors*num_sensors + num_colors;
int dbg_width = tilesX * transform_size; int dbg_width = tilesX * transform_size;
int dbg_height = tilesY * transform_size; int dbg_height = tilesY * transform_size;
...@@ -1611,313 +2194,63 @@ public class TexturedModel { ...@@ -1611,313 +2194,63 @@ public class TexturedModel {
dbg_textures[n], dbg_textures[n],
(tileY * transform_size + row) * dbg_width + (tileX * transform_size), (tileY * transform_size + row) * dbg_width + (tileX * transform_size),
transform_size); transform_size);
System.arraycopy( /// System.arraycopy(
inter_textures_wd2[fnslice][tileY][tileX][n], /// inter_textures_wd2[fnslice][tileY][tileX][n],
row*transform_size, /// row*transform_size,
dbg_textures2[n], /// dbg_textures2[n],
(tileY * transform_size + row) * dbg_width + (tileX * transform_size), /// (tileY * transform_size + row) * dbg_width + (tileX * transform_size),
transform_size); /// transform_size);
}
}
}
}
ShowDoubleFloatArrays.showArrays(
dbg_textures,
dbg_width,
dbg_height,
true,
ref_scene.getImageName()+"-combined_textures88-"+String.format("%02d", nslice),
dbg_titles);
ShowDoubleFloatArrays.showArrays(
dbg_textures2,
dbg_width,
dbg_height,
true,
ref_scene.getImageName()+"-combined_textures88-rmse-"+String.format("%02d", nslice),
dbg_titles);
// get variance-same, variance-inter, variance-seme/variance-inter
tindx = 0;
for (int ncol = 0; ncol < num_colors; ncol++) {
dbg_titles_v[tindx++] = "C"+ncol;
}
dbg_titles_v[tindx++] = "ALPHA";
for (int nsens = 0; nsens < num_sensors; nsens++) {
for (int ncol = 0; ncol < num_colors; ncol++) {
dbg_titles_v[tindx++] = "T"+nsens+((num_colors>1)?(":"+ncol):"");
}
}
for (int ncol = 0; ncol < num_colors; ncol++) {
dbg_titles_v[tindx++] = "AVG"+((num_colors>1)?(ncol):"");
}
for (int ncol = 0; ncol < num_colors; ncol++) {
dbg_titles_v[tindx++] = "VAR_SAME"+((num_colors>1)?(ncol):"");
}
for (int ncol = 0; ncol < num_colors; ncol++) {
dbg_titles_v[tindx++] = "VAR_INTER"+((num_colors>1)?(ncol):"");
}
for (int ncol = 0; ncol < num_colors; ncol++) {
dbg_titles_v[tindx++] = "VAR_RATIO"+((num_colors>1)?(ncol):"");
} }
// debugging BG pixels obscured by the FG ones
for (int ncol = 0; ncol < num_colors; ncol++) {
dbg_titles_v[tindx++] = "DIR"+((num_colors>1)?(ncol):""); // direction (center, step 0.5)
} }
for (int ncol = 0; ncol < num_colors; ncol++) {
dbg_titles_v[tindx++] = "LEN"+((num_colors>1)?(ncol):""); // number of consecutive sensors
}
for (int ncol = 0; ncol < num_colors; ncol++) {
dbg_titles_v[tindx++] = "DIRTEX"+((num_colors>1)?(ncol):""); // average texture value with subset of sensors
}
for (int ncol = 0; ncol < num_colors; ncol++) {
dbg_titles_v[tindx++] = "DIRVAR"+((num_colors>1)?(ncol):""); // variance for the subset of sensors
}
for (int ncol = 0; ncol < num_colors; ncol++) {
dbg_titles_v[tindx++] = "DIRRATIO"+((num_colors>1)?(ncol):""); // ratio of space variance to directional variance
}
for (int n = 0; n < dbg_slices; n++) {
dbg_textures_v[n] = dbg_textures[n];
} }
for (int n = dbg_slices; n < dbg_slices_v; n++) {
dbg_textures_v[n] = new double[dbg_width*dbg_height];
Arrays.fill(dbg_textures_v[n], Double.NaN);
} }
final TileNeibs pn = new TileNeibs(tilesX*transform_size, tilesY*transform_size);
for (int ncol = 0; ncol < num_colors; ncol++) {
final int indx_mean = num_colors + 1 + num_sensors*num_colors; // average of channels // ncol; //
final int indx_chn0 = num_colors + 1 + ncol; // + nsens*num_colors
final int indx_var_same = num_colors + 1 + num_sensors*num_colors + 1 + ncol;
final int indx_var_inter = indx_var_same + num_colors;
final int indx_var_ratio = indx_var_inter + num_colors;
final int indx_dir = indx_var_ratio + 1 * num_colors;
final int indx_len = indx_var_ratio + 2 * num_colors;
final int indx_dir_tex = indx_var_ratio + 3 * num_colors;
final int indx_dir_var = indx_var_ratio + 4 * num_colors;
final int indx_dir_ratio = indx_var_ratio + 5 * num_colors;
ai.set(0); int ncol = 0; // 2 for color
for (int ithread = 0; ithread < threads.length; ithread++) { double [][] sensor_texture = new double [num_sensors][];
threads[ithread] = new Thread() { for (int nsens = 0; nsens < num_sensors; nsens++){
public void run() { sensor_texture[nsens] = dbg_textures[num_colors + 1 + ncol + nsens * num_colors];
for (int nTile = ai.getAndIncrement(); nTile < tiles; nTile = ai.getAndIncrement()) {
int tileX = nTile % tilesX;
int tileY = nTile / tilesX;
for (int dy = 0; dy < transform_size; dy++) {
int y0 = tileY * transform_size + dy;
for (int dx = 0; dx < transform_size; dx++) {
int x0 = tileX * transform_size + dx;
int indx0 = pn.getIndex(x0, y0);
double var_same = Double.NaN;
double var_inter = Double.NaN;
if ((indx0 >= 0) && !Double.isNaN(dbg_textures_v[indx_mean][indx0])) {
// calculate unweighted variance
double sw = 0.0, swd=0.0, swd2 = 0.0;
for (int dvy = -var_radius; dvy <= var_radius; dvy++) {
for (int dvx = -var_radius; dvx <= var_radius; dvx++) {
int indx = pn.getIndex(x0+dvx, y0+dvy);
if ((indx >= 0) && !Double.isNaN(dbg_textures_v[indx_mean][indx])) {
double w = 1.0;
double d = dbg_textures_v[indx_mean][indx];
sw += w;
swd += w * d;
swd2 += w * d*d;
}
}
}
if (sw > 0.0) { // always
double avg = swd/sw;
double avg2 = swd2/sw;
var_same = Math.sqrt(avg2-avg*avg);
dbg_textures_v[indx_var_same][indx0] = var_same;
} }
// calculate inter-sensor variance (add local normalization?) // nslice
sw = 0.0; swd=0.0; swd2 = 0.0; double [] processed_texture = processTexture(
for (int nsens = 0; nsens< num_sensors; nsens++) { clt_parameters, // final CLTParameters clt_parameters,
double w = 1.0; tilesX, // final int tilesX,
double d = dbg_textures_v[indx_chn0 + nsens*num_colors][indx0]; sensor_texture, // final double [][] sensor_texture, // per-sensor texture value
sw += w; null, // final double [] combo_texture_in, // average texture value
swd += w * d; null, // final boolean [] is_bg_in, // pixel may be background - try to look from one side
swd2 += w * d*d; null, // final boolean [] is_fg_in, // pixel is foreground - generate transparency (just NaN here?)
} ref_scene.getImageName()+"-"+nslice); // final String dbg_prefix);
if (sw > 0.0) { // always
double avg = swd/sw;
double avg2 = swd2/sw;
var_inter = Math.sqrt(avg2-avg*avg);
dbg_textures_v[indx_var_inter][indx0] = var_inter;
}
dbg_textures_v[indx_var_ratio][indx0] = var_same/var_inter;
// try to improve var_inter for BG tiles by selecting sensor to look behind from one side
dbg_textures_v[indx_dir_tex][indx0] = dbg_textures_v[indx_mean][indx0];
dbg_textures_v[indx_dir_var][indx0] = var_inter;
dbg_textures_v[indx_dir_ratio][indx0] = var_same/var_inter;
double [] dirvar = new double [num_sensors];
// extract to a separate method
// move color to outer cycle
// pass color-dependent array of relevant slices
// calculate array of variances dependent on dir_start and
// dir_len, and mix them according to neighbor weights, then find
// the best dir and length. Then use only for the center pixel.
// For BG tiles - only change Y, keep alpha = 1.0, for FG - cut transparent and maybe remove texture tiles at all?
if (var_inter > try_dir_var) {
sw = 0.0; swd=0.0; swd2 = 0.0;
for (int i = 0; i < dir_num_start; i++) {
double w = 1.0;
double d = dbg_textures_v[indx_chn0 + i*num_colors][indx0];
sw += w;
swd += w * d;
swd2 += w * d*d;
}
double [] sw_dir = new double[num_sensors];
double [] swd_dir = new double[num_sensors];
double [] swd2_dir = new double[num_sensors];
for (int nsens = 0; nsens < num_sensors; nsens++) {
double avg = swd/sw;
double avg2 = swd2/sw;
dirvar[nsens] = Math.sqrt(avg2-avg*avg);
sw_dir[nsens] = sw;
swd_dir[nsens] = swd;
swd2_dir[nsens] = swd2;
double w0 = 1.0;
double d0 = dbg_textures_v[indx_chn0 + nsens*num_colors][indx0];
sw -= w0;
swd -= w0 * d0;
swd2 -= w0 * d0 * d0;
int nsens1 = (nsens + dir_num_start) % num_sensors;
double w1 = 1.0;
double d1 = dbg_textures_v[indx_chn0 + nsens1 * num_colors][indx0];
sw += w1;
swd += w1 * d1;
swd2 += w1 * d1 * d1;
}
int dir_best = 0; // start of consecutive sensor numbers
for (int i = 1; i < num_sensors; i++) {
if (dirvar[i] < dirvar[dir_best]) {
dir_best = i;
}
}
// now try to increase number of averaged sensors
// try forward and backward, select best, verify it fits.
double dir_var = dirvar[dir_best];
double max_var = Math.min(dir_var_max, dir_var*(1.0+dir_worsen_rel));
sw = sw_dir [dir_best];
swd = swd_dir [dir_best];
swd2 = swd2_dir[dir_best];
int dir_start = dir_best;
int dir_len ;
for (dir_len = dir_num_start; dir_len < num_sensors; dir_len++) {
int nsens0 = dir_start - 1; //) % num_sensors;
if (nsens0 < 0) {
nsens0 += num_sensors;
}
double w = 1.0;
double d = dbg_textures_v[indx_chn0 + nsens0 * num_colors][indx0];
double sw_0 = sw + w;
double swd_0 = swd + w*d;
double swd2_0 = swd2 + w*d*d;
double avg = swd_0 / sw_0;
double avg2 = swd2_0 / sw_0;
double var_0 = Math.sqrt(avg2 - avg * avg);
int nsens1 = dir_start + dir_len;
if (nsens1 >=num_sensors) {
nsens1 -= num_sensors ;
}
w = 1.0;
d = dbg_textures_v[indx_chn0 + nsens1 * num_colors][indx0];
double sw_1 = sw + w;
double swd_1 = swd + w*d;
double swd2_1 = swd2 + w*d*d;
avg = swd_1 / sw_1;
avg2 = swd2_1 / sw_1;
double var_1 = Math.sqrt(avg2 - avg * avg);
if (Math.min(var_0, var_1) > max_var) {
break;
}
if (var_0 < var_1) {
dir_start = nsens0;
sw = sw_0;
swd = swd_0;
swd2 = swd2_0;
dir_var = var_0;
} else {
// dir_start stays the same
sw = sw_1;
swd = swd_1;
swd2 = swd2_1;
dir_var = var_1;
}
}
double dir_avg = swd/sw;
double ddir = dir_start + 0.5 * (dir_len - 1);
if (ddir >= num_sensors) {
ddir -= num_sensors;
}
// fill arrays
dbg_textures_v[indx_dir][indx0] = ddir;
dbg_textures_v[indx_len][indx0] = dir_len;
dbg_textures_v[indx_dir_tex][indx0] = dir_avg;
dbg_textures_v[indx_dir_var][indx0] = dir_var;
dbg_textures_v[indx_dir_ratio][indx0] = var_same/dir_var;
}
}
}
}
}
}
};
} }
ImageDtt.startAndJoin(threads); */
} // for (int nslice = 0; nslice < num_slices; nslice++) {
ShowDoubleFloatArrays.showArrays( final double [][] slice_disparities = new double [num_slices][];
dbg_textures_v, for (int nslice = 0; nslice < num_slices; nslice++) {
dbg_width, slice_disparities[nslice] = tileClusters[nslice].getDisparity(); // disparity in the reference view tiles (Double.NaN - invalid)
dbg_height,
true,
ref_scene.getImageName()+"-textures88-variances-"+String.format("%02d", nslice),
dbg_titles_v);
} }
/*
for (int nslice = 0; nslice < num_slices; nslice++) {
final double [] disparity_ref = tileClusters[nslice].getDisparity(); // disparity in the reference view tiles (Double.NaN - invalid)
double [] processed_texture = processTexture(
clt_parameters, // final CLTParameters clt_parameters,
tilesX, // final int tilesX,
sensor_textures[nslice], // final double [][] sensor_texture, // per-sensor texture value
combo_textures[nslice], // null, // final double [] combo_texture_in, // average texture value
null, // final boolean [] is_bg_in, // pixel may be background - try to look from one side
null, // final boolean [] is_fg_in, // pixel is foreground - generate transparency (just NaN here?)
ref_scene.getImageName()+"-"+nslice); // final String dbg_prefix);
} }
*/
double [][] processed_textures = processTexture(
clt_parameters, // final CLTParameters clt_parameters,
tilesX, // final int tilesX,
slice_disparities, // final double [][] slice_disparities,
sensor_textures, // final double [][] sensor_texture, // per-sensor texture value
combo_textures, // null, // final double [] combo_texture_in, // average texture value
ref_scene.getImageName()); // final String dbg_prefix);
// Process slice of textures: apply borders, convert to color or apply UM, add synthetic mesh, ...
// 2 layers for mono, 4 layers - for color
// First - merge overlapped and apply borders, alpha is the last slice
/*
faded_textures[nslice] = getFadedTextures( // get image from a single pass, return relative path for x3d // USED in lwir
clt_parameters, // CLTParameters clt_parameters,
inter_textures[fnslice], // final double [][][][] texture_tiles, // array [tilesY][tilesX][4][4*transform_size] or [tilesY][tilesX]{null}
tileClusters[fnslice], // final TileCluster tileCluster, // disparities, borders, selections for texture passes
sharp_alpha, // final boolean sharp_alpha, // combining mode for alpha channel: false - treat as RGB, true - apply center 8x8 only
transform_size, // final int transform_size, //
(num_colors+1), // final int num_channels, // 4 for RGBA, 2 for Y (should match textures)
debug_level); // final int debugLevel)
if (dbg_overlap != null) {
double [][] non_overlap = combineYRBGATiles(
inter_textures[fnslice], // final double [][][][] texture_tiles, // array [tilesY][tilesX][4][4*transform_size] or [tilesY][tilesX]{null}
false, // final boolean overlap, // when false - output each tile as 16x16, true - overlap to make 8x8
sharp_alpha, // final boolean sharp_alpha, // combining mode for alpha channel: false - treat as RGB, true - apply center 8x8 only
transform_size, // final int transform_size, //
(num_colors+1), //final int num_channels, // 4 for RGBA, 2 for Y (should match textures)
debug_level); // final int debugLevel)
for (int i = 0; i < num_channels; i++) {
dbg_overlap[fnslice*(num_colors+1)+i] = non_overlap[i];
}
}
*/
}
if (debug_level > -1000) { if (debug_level > -1000) {
return null; return null;
} }
......
src/main/java/com/elphel/imagej/tileprocessor/TileNeibs.java
View file @ 57fb1ef9
...@@ -117,7 +117,7 @@ public class TileNeibs{ ...@@ -117,7 +117,7 @@ public class TileNeibs{
} }
/** /**
* Get 2d element index after step N, NE, ... NW. Returns -1 if leaving array * Get element index offset by dx and dy from the indx
* @param indx start index * @param indx start index
* @param dx offset in x direction * @param dx offset in x direction
* @param dy offset in y direction * @param dy offset in y direction
......
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