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imagej-elphel
Commit 5fc78264 authored by Andrey Filippov's avatar Andrey Filippov
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improving initial plane detection

parent 88f25973
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Showing with 1513 additions and 226 deletions
src/main/java/CLTPass3d.java
View file @ 5fc78264
......@@ -534,6 +534,10 @@ public class CLTPass3d{
double strength_floor,
double strength_pow,
double stBlurSigma,
boolean smplMode, // = true; // Use sample mode (false - regular tile mode)
int smplSide, // = 2; // Sample size (side of a square)
int smplNum, // = 3; // Number after removing worst
double smplRms, // = 0.1; // Maximal RMS of the remaining tiles in a sample
int measSel)
{
this.superTiles = new SuperTiles(
......@@ -546,15 +550,29 @@ public class CLTPass3d{
strength_floor,
strength_pow,
stBlurSigma,
smplMode, // = true; // Use sample mode (false - regular tile mode)
smplSide, // = 2; // Sample size (side of a square)
smplNum, // = 3; // Number after removing worst
smplRms, // = 0.1; // Maximal RMS of the remaining tiles in a sample
measSel);
return this.superTiles;
}
public double [] showDisparityHistogram(int measSel)
public double [] showDisparityHistogram(
boolean smplMode, // = true; // Use sample mode (false - regular tile mode)
int smplSide, // = 2; // Sample size (side of a square)
int smplNum, // = 3; // Number after removing worst
double smplRms, // = 0.1; // Maximal RMS of the remaining tiles in a sample
int measSel)
{
if (this.superTiles == null){
return null;
}
return this.superTiles.showDisparityHistogram(measSel);
return this.superTiles.showDisparityHistogram(
smplMode, // = true; // Use sample mode (false - regular tile mode)
smplSide, // = 2; // Sample size (side of a square)
smplNum, // = 3; // Number after removing worst
smplRms, // = 0.1; // Maximal RMS of the remaining tiles in a sample
measSel);
}
public double [] showDisparityHistogram()
......
src/main/java/EyesisCorrectionParameters.java
View file @ 5fc78264
......@@ -2122,9 +2122,17 @@ public class EyesisCorrectionParameters {
public double stMinBgFract = 0.1; // Minimal fraction of the disparity histogram to use as background
public double stUseDisp = 0.15; // Use background disparity from supertiles if tile strength is less
public double stStrengthScale = 50.0; // Multiply st strength if used instead of regular strength
public boolean stSmplMode = true; // Use sample mode (false - regular tile mode)
public int stSmplSide = 2; // Sample size (side of a square)
public int stSmplNum = 3; // Number after removing worst
public double stSmplRms = 0.1; // Maximal RMS of the remaining tiles in a sample
public int stMeasSel = 1; // Select measurements for supertiles : +1 - combo, +2 - quad +4 - hor +8 - vert
public double stSmallDiff = 0.4; // Consider merging initial planes if disparity difference below
public double stHighMix = 0.4; // Consider merging initial planes if jumps between ratio above
public double outlayerStrength = 0.3; // Outlayer tiles weaker than this may be replaced from neighbors
public double outlayerDiff = 0.4; // Replace weak outlayer tiles that do not have neighbors within this disparity difference
......@@ -2213,7 +2221,8 @@ public class EyesisCorrectionParameters {
public boolean show_neighbors = false; // show 'neighbors'
public boolean show_flaps_dirs = false; // show 'flaps-dirs'
public boolean show_first_clusters = false; // show 'first_N_clusters'
public boolean show_planes = false; // show planes
public boolean show_planes = false; // show planes
public double [] vertical_xyz = {0.0,1.0,0.0}; // real world up unit vector in camera CS (x - right, y - up, z - to camera};
public CLTParameters(){}
public void setProperties(String prefix,Properties properties){
......@@ -2414,7 +2423,16 @@ public class EyesisCorrectionParameters {
properties.setProperty(prefix+"stMinBgFract", this.stMinBgFract +"");
properties.setProperty(prefix+"stUseDisp", this.stUseDisp +"");
properties.setProperty(prefix+"stStrengthScale", this.stStrengthScale +"");
properties.setProperty(prefix+"stMeasSel", this.stMeasSel+"");
properties.setProperty(prefix+"stSmplMode", this.stSmplMode+"");
properties.setProperty(prefix+"stSmplSide", this.stSmplSide+"");
properties.setProperty(prefix+"stSmplNum", this.stSmplNum+"");
properties.setProperty(prefix+"stSmplRms", this.stSmplRms +"");
properties.setProperty(prefix+"stMeasSel", this.stMeasSel+"");
properties.setProperty(prefix+"stSmallDiff", this.stSmallDiff +"");
properties.setProperty(prefix+"stHighMix", this.stHighMix +"");
properties.setProperty(prefix+"outlayerStrength", this.outlayerStrength +"");
properties.setProperty(prefix+"outlayerDiff", this.outlayerDiff +"");
......@@ -2494,7 +2512,11 @@ public class EyesisCorrectionParameters {
properties.setProperty(prefix+"show_flaps_dirs", this.show_flaps_dirs+"");
properties.setProperty(prefix+"show_first_clusters", this.show_first_clusters+"");
properties.setProperty(prefix+"show_planes", this.show_planes+"");
}
properties.setProperty(prefix+"vertical_xyz.x", this.vertical_xyz[0]+"");
properties.setProperty(prefix+"vertical_xyz.y", this.vertical_xyz[1]+"");
properties.setProperty(prefix+"vertical_xyz.z", this.vertical_xyz[2]+"");
}
public void getProperties(String prefix,Properties properties){
if (properties.getProperty(prefix+"transform_size")!=null) this.transform_size=Integer.parseInt(properties.getProperty(prefix+"transform_size"));
if (properties.getProperty(prefix+"clt_window")!=null) this.clt_window=Integer.parseInt(properties.getProperty(prefix+"clt_window"));
......@@ -2687,7 +2709,15 @@ public class EyesisCorrectionParameters {
if (properties.getProperty(prefix+"stMinBgFract")!=null) this.stMinBgFract=Double.parseDouble(properties.getProperty(prefix+"stMinBgFract"));
if (properties.getProperty(prefix+"stUseDisp")!=null) this.stUseDisp=Double.parseDouble(properties.getProperty(prefix+"stUseDisp"));
if (properties.getProperty(prefix+"stStrengthScale")!=null) this.stStrengthScale=Double.parseDouble(properties.getProperty(prefix+"stStrengthScale"));
if (properties.getProperty(prefix+"stSmplMode")!=null) this.stSmplMode=Boolean.parseBoolean(properties.getProperty(prefix+"stSmplMode"));
if (properties.getProperty(prefix+"stSmplSide")!=null) this.stSmplSide=Integer.parseInt(properties.getProperty(prefix+"stSmplSide"));
if (properties.getProperty(prefix+"stSmplNum")!=null) this.stSmplNum=Integer.parseInt(properties.getProperty(prefix+"stSmplNum"));
if (properties.getProperty(prefix+"stSmplRms")!=null) this.stSmplRms=Double.parseDouble(properties.getProperty(prefix+"stSmplRms"));
if (properties.getProperty(prefix+"stMeasSel")!=null) this.stMeasSel=Integer.parseInt(properties.getProperty(prefix+"stMeasSel"));
if (properties.getProperty(prefix+"stSmallDiff")!=null) this.stSmallDiff=Double.parseDouble(properties.getProperty(prefix+"stSmallDiff"));
if (properties.getProperty(prefix+"stHighMix")!=null) this.stHighMix=Double.parseDouble(properties.getProperty(prefix+"stHighMix"));
if (properties.getProperty(prefix+"outlayerStrength")!=null) this.outlayerStrength=Double.parseDouble(properties.getProperty(prefix+"outlayerStrength"));
if (properties.getProperty(prefix+"outlayerDiff")!=null) this.outlayerDiff=Double.parseDouble(properties.getProperty(prefix+"outlayerDiff"));
......@@ -2767,6 +2797,12 @@ public class EyesisCorrectionParameters {
if (properties.getProperty(prefix+"show_flaps_dirs")!=null) this.show_flaps_dirs=Boolean.parseBoolean(properties.getProperty(prefix+"show_flaps_dirs"));
if (properties.getProperty(prefix+"show_first_clusters")!=null) this.show_first_clusters=Boolean.parseBoolean(properties.getProperty(prefix+"show_first_clusters"));
if (properties.getProperty(prefix+"show_planes")!=null) this.show_planes=Boolean.parseBoolean(properties.getProperty(prefix+"show_planes"));
if (properties.getProperty(prefix+"vertical_xyz.x")!=null) this.vertical_xyz[0]=Double.parseDouble(properties.getProperty(prefix+"vertical_xyz.x"));
if (properties.getProperty(prefix+"vertical_xyz.y")!=null) this.vertical_xyz[1]=Double.parseDouble(properties.getProperty(prefix+"vertical_xyz.y"));
if (properties.getProperty(prefix+"vertical_xyz.z")!=null) this.vertical_xyz[2]=Double.parseDouble(properties.getProperty(prefix+"vertical_xyz.z"));
}
public boolean showDialog() {
......@@ -2981,7 +3017,15 @@ public class EyesisCorrectionParameters {
gd.addNumericField("Minimal fraction of the disparity histogram to use as background", this.stMinBgFract, 6);
gd.addNumericField("Use background disparity from supertiles if tile strength is less", this.stUseDisp, 6);
gd.addNumericField("Multiply st strength if used instead of regular strength ", this.stStrengthScale, 6);
gd.addCheckbox ("Use sample mode (false - regular tile mode)", this.stSmplMode);
gd.addNumericField("Sample size (side of a square)", this.stSmplSide, 0);
gd.addNumericField("Number after removing worst", this.stSmplNum, 0);
gd.addNumericField("Maximal RMS of the remaining tiles in a sample", this.stSmplRms, 6);
gd.addNumericField("Select measurements for supertiles : +1 - combo, +2 - quad +4 - hor +8 - vert",this.stMeasSel, 0);
gd.addNumericField("Consider merging initial planes if disparity difference below", this.stSmallDiff, 6);
gd.addNumericField("Consider merging initial planes if jumps between ratio above", this.stHighMix, 6);
gd.addNumericField("Outlayer tiles weaker than this may be replaced from neighbors", this.outlayerStrength, 6);
gd.addNumericField("Replace weak outlayer tiles that do not have neighbors within this disparity difference", this.outlayerDiff, 6);
......@@ -3064,6 +3108,8 @@ public class EyesisCorrectionParameters {
gd.addCheckbox ("Show 'flaps-dirs'", this.show_flaps_dirs);
gd.addCheckbox ("Show 'first_N_clusters'", this.show_first_clusters);
gd.addCheckbox ("Show planes", this.show_planes);
gd.addMessage ("Unity up vector in camera coordinate system (x - right, y - up, z - to camera): {"+
this.vertical_xyz[0]+","+this.vertical_xyz[1]+","+this.vertical_xyz[2]+"}");
WindowTools.addScrollBars(gd);
gd.showDialog();
......@@ -3264,7 +3310,16 @@ public class EyesisCorrectionParameters {
this.stMinBgFract= gd.getNextNumber();
this.stUseDisp= gd.getNextNumber();
this.stStrengthScale= gd.getNextNumber();
this.stSmplMode= gd.getNextBoolean();
this.stSmplSide= (int) gd.getNextNumber();
this.stSmplNum= (int) gd.getNextNumber();
this.stSmplRms= gd.getNextNumber();
this.stMeasSel= (int) gd.getNextNumber();
this.stSmallDiff= gd.getNextNumber();
this.stHighMix= gd.getNextNumber();
this.outlayerStrength= gd.getNextNumber();
this.outlayerDiff= gd.getNextNumber();
this.outlayerDiffPos= gd.getNextNumber();
......
src/main/java/GeometryCorrection.java
View file @ 5fc78264
......@@ -311,6 +311,11 @@ public class GeometryCorrection {
public double getZFromDisparity(double disparity){
return SCENE_UNITS_SCALE * this.focalLength * this.disparityRadius / (disparity * 0.001*this.pixelSize);
}
public double getDisparityFromZ(double z){
return (1000.0 * SCENE_UNITS_SCALE * this.focalLength * this.disparityRadius / this.pixelSize) / z;
}
public double getFOVPix(){ // get ratio of 1 pixel X/Y to Z (distance to object)
return 0.001 * this.pixelSize / this.focalLength;
......
src/main/java/MeasuredLayers.java
View file @ 5fc78264
......@@ -368,6 +368,7 @@ public class MeasuredLayers {
if (null_if_none && (num_selected == 0)) return null;
return selection;
}
/**
* Get selection for the specific measurement layer and supertile X,Y coordinates
......@@ -425,7 +426,80 @@ public class MeasuredLayers {
if (null_if_none && (num_selected == 0)) return null;
return selection;
}
/**
* Get selection when disparity/strength is already calculated. Useful when
* disparity/strength are not just measured values, by sampled over an area
* @param disparityStrength array of {disparity, strength} where each is
* a linescan data of the (2 * superTileSize) * (2 * superTileSize)
* @param sel_in optional input selection array or null - use all
* @param null_if_none return null if selection has no tiles enabled
* @return boolean array of per-tile enabled/disabled values in linescan
* order, (2 * superTileSize) * (2 * superTileSize)
*/
public boolean [] getSupertileSelection(
double [][] disparityStrength,
boolean [] sel_in,
boolean null_if_none)
{
int st2 = 2 * superTileSize;
boolean [] selection = new boolean [st2 * st2];
int num_selected = 0;
for (int i = 0; i < disparityStrength[1].length; i++){
if ( (disparityStrength[1][i] > 0.0) &&
((sel_in == null) || (sel_in[i]))){
selection[i] = true;
num_selected ++;
}
}
if (null_if_none && (num_selected == 0)) return null;
return selection;
}
/**
* Get selection when disparity/strength is already calculated. Useful when
* disparity/strength are not just measured values, by sampled over an area
* Includes low/high limits for disparity values
* @param disparityStrength array of {disparity, strength} where each is
* a linescan data of the (2 * superTileSize) * (2 * superTileSize)
* @param sel_in optional input selection array or null - use all
* @param disp_far low limit for disparity, Double.NaN - do not check
* @param disp_near high limit for disparity, Double.NaN - do not check
* @param null_if_none return null if selection has no tiles enabled
* @return boolean array of per-tile enabled/disabled values in linescan
* order, (2 * superTileSize) * (2 * superTileSize)
* @return
*/
public boolean [] getSupertileSelection(
double [][] disparityStrength,
boolean [] sel_in,
double disp_far,
double disp_near,
boolean null_if_none)
{
int st2 = 2 * superTileSize;
boolean [] selection = new boolean [st2 * st2];
int num_selected = 0;
for (int i = 0; i < disparityStrength[1].length; i++){
if ( (disparityStrength[1][i] > 0.0) &&
((sel_in == null) || (sel_in[i]))){
if ( (Double.isNaN(disp_far) || (disparityStrength[0][i] >= disp_far)) &&
(Double.isNaN(disp_near) || (disparityStrength[0][i] <= disp_near))) {
}
selection[i] = true;
num_selected ++;
}
}
if (null_if_none && (num_selected == 0)) return null;
return selection;
}
/**
* Get number of "true" elements in a boolean array. Null is OK, it results in 0
......@@ -453,6 +527,19 @@ public class MeasuredLayers {
}
return sw;
}
public static double getSumStrength(
double [][] disp_strength,
boolean [] selected)
{
if (disp_strength == null) return 0.0;
double sw = 0.0;
for (int i = 0; i < disp_strength[1].length; i++){
if ((selected == null) || selected[i]) {
sw += disp_strength[1][i];
}
}
return sw;
}
/**
* Get disparity and correlation strength for the specific measurement layer and
......@@ -510,4 +597,153 @@ public class MeasuredLayers {
if (null_if_none && (num_selected == 0)) return null;
return ds;
}
/**
* Get double-size (for overlapping) array of disparities and strengths for the supertile
* Using best (producing lowest disparity variance) subset of neighbor tiles
* @param num_layer number of measurement layer (currently 0 - composite, 1 - quad, 2 - horizontal
* and 3 - vertical piars correlation
* @param stX supertile horizontal index
* @param stY supertile vertical index
* @param sel_in input selection of the output data samples (or null)
* @param strength_floor subtract from the correlation strength (limit by 0) before using as a
* sample weight
* @param strength_pow raise correlation strength (after subtracting strength_floor) to this power
* to use as a sample weight
* @param smplSide size of the square sample side
* @param smplNum number of averaged samples (should be <= smplSide * smplSide and > 1)
* @param smplRms maximal square root of variance (in disparity pixels) to accept the result
* @param null_if_none return null if there are no usable tiles in the result
* @return a pair of arrays (disparity and strengths) in line-scan order each
*/
public double[][] getDisparityStrength (
int num_layer,
int stX,
int stY,
boolean [] sel_in,
double strength_floor,
double strength_pow,
int smplSide, // = 2; // Sample size (side of a square)
int smplNum, // = 3; // Number after removing worst (should be >1)
double smplRms, // = 0.1; // Maximal RMS of the remaining tiles in a sample
boolean null_if_none)
{
if ((layers[num_layer] == null) && null_if_none){
return null;
}
int st2 = 2 * superTileSize;
int st_half = superTileSize/2;
double [][] ds = new double [2][st2*st2];
int num_selected = 0;
int smpl_center = smplSide /2;
int st2e = st2 + smplSide;
int smplLen = smplSide*smplSide;
double [] disp = new double [st2e * st2e];
double [] weight = new double [st2e * st2e];
int st_halfe = st_half + smpl_center;
double smlVar = smplRms * smplRms; // maximal variance (weighted average of the squared difference from the mean)
if (layers[num_layer] != null) {
for (int dy = 0; dy < st2e; dy ++){
int y = superTileSize * stY -st_halfe + dy;
if ((y >= 0) && (y < tilesY)) {
for (int dx = 0; dx < st2e; dx ++){
int x = superTileSize * stX -st_halfe + dx;
if ((x >= 0) && (x < tilesX)) {
int indx = y * tilesX + x;
int indx_ste = dy * st2e + dx;
if (layers[num_layer][indx] != null){ // apply sel_in later
disp[indx_ste] = layers[num_layer][indx].getDisparity();
double w = layers[num_layer][indx].getStrength() - strength_floor;
if (w > 0) {
if (strength_pow != 1.0) w = Math.pow(w, strength_pow);
// w *= lapWeight[dy][dx];
disp[indx_ste] = layers[num_layer][indx].getDisparity();
weight[indx_ste] = w;
num_selected ++;
}
}
}
}
}
}
}
if (null_if_none && (num_selected == 0)) return null;
// now work with disp, strength [st2e*st2de] and filter results to ds[2][st2*st2], applying sel_in
num_selected = 0;
for (int dy = 0; dy < st2; dy ++){
for (int dx = 0; dx < st2; dx ++){
int indx = dy * st2 + dx;
if (((sel_in == null) || sel_in[indx])){
int num_in_sample = 0;
boolean [] smpl_sel = new boolean [smplLen];
double [] smpl_d = new double [smplLen];
double [] smpl_w = new double [smplLen];
for (int sy = 0; sy < smplSide; sy++){
int y = dy + sy; // - smpl_center;
for (int sx = 0; sx < smplSide; sx++){
int x = dx + sx; // - smpl_center;
int indxe = y * st2e + x;
if (weight[indxe] > 0.0){
int indxs = sy * smplSide + sx;
smpl_sel[indxs] = true;
smpl_d[indxs] = disp[indxe];
smpl_w[indxs] = weight[indxe];
num_in_sample ++;
}
}
}
if (num_in_sample >= smplNum){ // try, remove worst
// calculate
double sd=0.0, sd2 = 0.0, sw = 0.0;
for (int i = 0; i < smplLen; i++) if (smpl_sel[i]) {
double dw = smpl_d[i] * smpl_w[i];
sd += dw;
sd2 += dw * smpl_d[i];
sw += smpl_w[i];
}
// remove worst, update sd2, sd and sw
while ((num_in_sample > smplNum) && (sw > 0)){ // try, remove worst
double d_mean = sd/sw;
int iworst = -1;
double dworst2 = 0.0;
for (int i = 0; i < smplLen; i++) if (smpl_sel[i]) {
double d2 = (smpl_d[i] - d_mean);
d2 *=d2;
if (d2 > dworst2) {
iworst = i;
dworst2 = d2;
}
}
if (iworst < 0){
System.out.println("**** this is a BUG in getDisparityStrength() ****");
break;
}
// remove worst sample
smpl_sel[iworst] = false;
double dw = smpl_d[iworst] * smpl_w[iworst];
sd -= dw;
sd2 -= dw * smpl_d[iworst];
sw -= smpl_w[iworst];
num_in_sample --;
}
// calculate variance of the remaining set
if (sw > 0.0) {
sd /= sw;
sd2 /= sw;
double var = sd2 - sd * sd;
if (var < smlVar) { // good, save in the result array
ds[0][indx] = sd;
ds[1][indx] = sw * lapWeight[dy][dx] /num_in_sample; // average weights, multiply by window
}
} else {
num_in_sample = 0;
System.out.println("**** this is a BUG in getDisparityStrength(), shoud not happen ? ****");
}
}
}
}
}
return ds;
}
}
src/main/java/SuperTiles.java
View file @ 5fc78264
This diff is collapsed.
src/main/java/TilePlanes.java
View file @ 5fc78264
This diff is collapsed.
src/main/java/TileProcessor.java
View file @ 5fc78264
This diff is collapsed.
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