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Commit 65d5cd7b authored by Andrey Filippov's avatar Andrey Filippov
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minor disparity correction for infinity for disturbed camera

parent c8348852
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Showing with 328 additions and 11 deletions
src/main/java/Eyesis_Correction.java
View file @ 65d5cd7b
...@@ -535,6 +535,8 @@ private Panel panel1, ...@@ -535,6 +535,8 @@ private Panel panel1,
addButton("CLT apply fine corr", panelClt2, color_process); addButton("CLT apply fine corr", panelClt2, color_process);
addButton("CLT test fine corr", panelClt2, color_process); addButton("CLT test fine corr", panelClt2, color_process);
addButton("CLT process fine corr", panelClt2, color_conf_process); addButton("CLT process fine corr", panelClt2, color_conf_process);
addButton("CLT infinity corr", panelClt2, color_conf_process);
addButton("CLT ext infinity corr", panelClt2, color_conf_process);
addButton("CLT reset 3D", panelClt2, color_stop); addButton("CLT reset 3D", panelClt2, color_stop);
addButton("CLT 3D", panelClt2, color_process); addButton("CLT 3D", panelClt2, color_process);
addButton("CLT planes", panelClt2, color_conf_process); addButton("CLT planes", panelClt2, color_conf_process);
...@@ -4472,8 +4474,9 @@ private Panel panel1, ...@@ -4472,8 +4474,9 @@ private Panel panel1,
return; return;
} else if (label.equals("CLT process corr") || label.equals("CLT apply fine corr")) { } else if (label.equals("CLT process corr") || label.equals("CLT apply fine corr") || label.equals("CLT infinity corr")) {
boolean apply_corr = label.equals("CLT apply fine corr"); boolean apply_corr = label.equals("CLT apply fine corr");
boolean infinity_corr = label.equals("CLT infinity corr");
DEBUG_LEVEL=MASTER_DEBUG_LEVEL; DEBUG_LEVEL=MASTER_DEBUG_LEVEL;
EYESIS_CORRECTIONS.setDebug(DEBUG_LEVEL); EYESIS_CORRECTIONS.setDebug(DEBUG_LEVEL);
if (QUAD_CLT == null){ if (QUAD_CLT == null){
...@@ -4556,6 +4559,7 @@ private Panel panel1, ...@@ -4556,6 +4559,7 @@ private Panel panel1,
EQUIRECTANGULAR_PARAMETERS, // EyesisCorrectionParameters.EquirectangularParameters equirectangularParameters, EQUIRECTANGULAR_PARAMETERS, // EyesisCorrectionParameters.EquirectangularParameters equirectangularParameters,
CONVOLVE_FFT_SIZE, //int convolveFFTSize, // 128 - fft size, kernel size should be size/2 CONVOLVE_FFT_SIZE, //int convolveFFTSize, // 128 - fft size, kernel size should be size/2
apply_corr, apply_corr,
infinity_corr, // calculate and apply geometry correction at infinity
THREADS_MAX, //final int threadsMax, // maximal number of threads to launch THREADS_MAX, //final int threadsMax, // maximal number of threads to launch
UPDATE_STATUS, //final boolean updateStatus, UPDATE_STATUS, //final boolean updateStatus,
DEBUG_LEVEL); //final int debugLevel); DEBUG_LEVEL); //final int debugLevel);
...@@ -4611,6 +4615,25 @@ private Panel panel1, ...@@ -4611,6 +4615,25 @@ private Panel panel1,
DEBUG_LEVEL); DEBUG_LEVEL);
return; return;
} else if (label.equals("CLT ext infinity corr")) {
// boolean dry_run = label.equals("CLT test fine corr");
DEBUG_LEVEL=MASTER_DEBUG_LEVEL;
if (QUAD_CLT == null){
QUAD_CLT = new QuadCLT (
PROPERTIES,
EYESIS_CORRECTIONS,
CORRECTION_PARAMETERS);
if (DEBUG_LEVEL > 0){
System.out.println("Created new QuadCLT instance, will need to read CLT kernels");
}
}
QUAD_CLT.process_infinity_corr(
CLT_PARAMETERS,
DEBUG_LEVEL);
return;
} else if (label.equals("CLT disparity scan")) { } else if (label.equals("CLT disparity scan")) {
DEBUG_LEVEL=MASTER_DEBUG_LEVEL; DEBUG_LEVEL=MASTER_DEBUG_LEVEL;
EYESIS_CORRECTIONS.setDebug(DEBUG_LEVEL); EYESIS_CORRECTIONS.setDebug(DEBUG_LEVEL);
......
src/main/java/QuadCLT.java
View file @ 65d5cd7b
...@@ -21,6 +21,7 @@ ...@@ -21,6 +21,7 @@
** -----------------------------------------------------------------------------** ** -----------------------------------------------------------------------------**
** **
*/ */
import java.awt.Point;
import java.awt.Polygon; import java.awt.Polygon;
import java.awt.Rectangle; import java.awt.Rectangle;
import java.util.ArrayList; import java.util.ArrayList;
...@@ -2844,6 +2845,7 @@ public class QuadCLT { ...@@ -2844,6 +2845,7 @@ public class QuadCLT {
EyesisCorrectionParameters.EquirectangularParameters equirectangularParameters, EyesisCorrectionParameters.EquirectangularParameters equirectangularParameters,
int convolveFFTSize, // 128 - fft size, kernel size should be size/2 int convolveFFTSize, // 128 - fft size, kernel size should be size/2
final boolean apply_corr, // calculate and apply additional fine geometry correction final boolean apply_corr, // calculate and apply additional fine geometry correction
final boolean infinity_corr, // calculate and apply geometry correction at infinity
final int threadsMax, // maximal number of threads to launch final int threadsMax, // maximal number of threads to launch
final boolean updateStatus, final boolean updateStatus,
final int debugLevel) final int debugLevel)
...@@ -3051,6 +3053,7 @@ public class QuadCLT { ...@@ -3051,6 +3053,7 @@ public class QuadCLT {
convolveFFTSize, // 128 - fft size, kernel size should be size/2 convolveFFTSize, // 128 - fft size, kernel size should be size/2
scaleExposures, scaleExposures,
apply_corr, // calculate and apply additional fine geometry correction apply_corr, // calculate and apply additional fine geometry correction
infinity_corr, // calculate and apply geometry correction at infinity
threadsMax, // maximal number of threads to launch threadsMax, // maximal number of threads to launch
updateStatus, updateStatus,
debugLevel); debugLevel);
...@@ -3147,6 +3150,7 @@ public class QuadCLT { ...@@ -3147,6 +3150,7 @@ public class QuadCLT {
int convolveFFTSize, // 128 - fft size, kernel size should be size/2 int convolveFFTSize, // 128 - fft size, kernel size should be size/2
double [] scaleExposures, // probably not needed here double [] scaleExposures, // probably not needed here
final boolean apply_corr, // calculate and apply additional fine geometry correction final boolean apply_corr, // calculate and apply additional fine geometry correction
final boolean infinity_corr, // calculate and apply geometry correction at infinity
final int threadsMax, // maximal number of threads to launch final int threadsMax, // maximal number of threads to launch
final boolean updateStatus, final boolean updateStatus,
final int debugLevel){ final int debugLevel){
...@@ -3415,6 +3419,44 @@ public class QuadCLT { ...@@ -3415,6 +3419,44 @@ public class QuadCLT {
debugLevel + 1); debugLevel + 1);
} }
} }
if (infinity_corr && (disparity_map != null)){
System.out.println("=== applying geometry correction coefficients to correct disparity at infinity ===");
double [][] inf_ds = {
disparity_map[ImageDtt.DISPARITY_INDEX_CM],
disparity_map[ ImageDtt.DISPARITY_STRENGTH_INDEX]};
String [] titles = {"disp_cm", "strength"};
if (sdfa_instance != null){
sdfa_instance.showArrays(
inf_ds,
tilesX,
tilesY,
true,
name + "-inf_corr",
titles );
}
double [][][] new_corr = infinityCorrection(
clt_parameters, // EyesisCorrectionParameters.CLTParameters clt_parameters,
inf_ds, // double [][] disp_strength,
tilesX, // int tilesX,
clt_parameters.corr_magic_scale, // double magic_coeff, // still not understood coefficent that reduces reported disparity value. Seems to be around 8.5
debugLevel + 1); // int debugLevel)
if (debugLevel > -1){
System.out.println("Ready to apply infinity correction");
show_fine_corr(
new_corr, // double [][][] corr,
"");// String prefix)
}
if (debugLevel > 100) {
apply_fine_corr(
new_corr,
debugLevel + 1);
}
}
if (clt_parameters.corr_show){ if (clt_parameters.corr_show){
...@@ -3931,7 +3973,7 @@ public class QuadCLT { ...@@ -3931,7 +3973,7 @@ public class QuadCLT {
EyesisCorrectionParameters.CLTParameters clt_parameters, EyesisCorrectionParameters.CLTParameters clt_parameters,
double [][] clt_mismatch, double [][] clt_mismatch,
int tilesX, int tilesX,
double magic_coeff, // still not understood coefficent that reduces reported disparity value. Seems to be around 8.5 double magic_coeff, // still not understood coefficent that reduces reported disparity value. Seems to be around 0.85
int debugLevel) int debugLevel)
{ {
// TODO: update the following indices when format of the arrays will change (removed unneeded data) // TODO: update the following indices when format of the arrays will change (removed unneeded data)
...@@ -4079,8 +4121,214 @@ public class QuadCLT { ...@@ -4079,8 +4121,214 @@ public class QuadCLT {
} }
return coeff_full; return coeff_full;
} }
/**
* Calculate quadratic polynomials for each subcamera X/Y correction to match disparity = 0 at infinity
* @param clt_parameters CLT parameters
* @param disp_strength array of a single or multiple disparity/strength pairs (0,2, .. - disparity,
* 1,3,.. - corresponding strengths
* @param tilesX number of tiles in each data line
* @param magic_coeff still not understood coefficient that reduces reported disparity value. Seems to be around 0.85
* @param debugLevel debug level
* @return per sub-camera, per direction (x,y) 6 quadratic polynomial coefficients, same format as fine_geometry_correction()
*/
public double [][][] infinityCorrection(
EyesisCorrectionParameters.CLTParameters clt_parameters,
double [][] disp_strength,
int tilesX,
double magic_coeff, // still not understood coefficient that reduces reported disparity value. Seems to be around 8.5
int debugLevel)
{
ArrayList<Point> samples_list = new ArrayList<Point>();
final int numTiles = disp_strength[0].length;
final int tilesY = numTiles/tilesX;
for (int num_set = 0; num_set < disp_strength.length/2; num_set++){
int disp_index = 2 * num_set;
int str_index = 2 * num_set+1;
for (int nTile = 0; nTile < numTiles; nTile++){
if ((disp_strength[str_index][nTile] >= clt_parameters.fcorr_inf_strength) &&
(Math.abs(disp_strength[disp_index][nTile]) < clt_parameters.fcorr_inf_diff)){
samples_list.add(new Point(num_set, nTile));
}
}
}
PolynomialApproximation pa = new PolynomialApproximation();
double thresholdLin = 1.0E-20; // threshold ratio of matrix determinant to norm for linear approximation (det too low - fail)
double thresholdQuad = 1.0E-30; // threshold ratio of matrix determinant to norm for quadratic approximation (det too low - fail)
double [][][] mdata;
if (clt_parameters.fcorr_inf_vert) {
mdata = new double[samples_list.size()][3][];
} else {
mdata = new double [8][samples_list.size()][3];
}
int indx = 0;
for (Point p: samples_list){
int tileX = p.y % tilesX;
int tileY = p.y / tilesX;
double centerX = tileX * tp.getTileSize() + tp.getTileSize()/2;// - shiftX;
double centerY = tileY * tp.getTileSize() + tp.getTileSize()/2;//- shiftY;
double [][] centersXY_disp = geometryCorrection.getPortsCoordinates(
centerX,
centerY,
disp_strength[2 * p.x + 0][p.y]/magic_coeff); // disparity
double [][] centersXY_inf = geometryCorrection.getPortsCoordinates(
centerX,
centerY,
0.0); // disparity
for (int i = 0; i < centersXY_disp.length;i++){
centersXY_disp[i][0] -= centersXY_inf[i][0];
centersXY_disp[i][1] -= centersXY_inf[i][1];
}
if (clt_parameters.fcorr_inf_vert) {
mdata[indx][0] = new double [2];
mdata[indx][0][0] = (2.0 * tileX)/tilesX - 1.0; // -1.0 to +1.0;
mdata[indx][0][1] = (2.0 * tileY)/tilesY - 1.0; // -1.0 to +1.0
mdata[indx][1] = new double [8];
for (int n = 0; n < 8; n++){
// mdata[indx][1][n] = centersXY_disp[n / 2][n % 2];
mdata[indx][1][n] = -centersXY_disp[n / 2][n % 2];
}
mdata[indx][2] = new double [1];
mdata[indx][2][0] = disp_strength[2 * p.x + 1][p.y]; // strength
} else {
for (int n = 0; n < 8; n++){
mdata[n][indx][0] = (2.0 * tileX)/tilesX - 1.0; // -1.0 to +1.0;
// mdata[n][indx][1] = centersXY_disp[n / 2][n % 2];
mdata[n][indx][1] = -centersXY_disp[n / 2][n % 2];
mdata[n][indx][2] = disp_strength[2 * p.x + 1][p.y]; // strength
}
}
indx ++;
}
double [][] coeffs = new double[8][6];
if (clt_parameters.fcorr_inf_vert){
double [][] approx2d = pa.quadraticApproximation(
mdata,
!clt_parameters.fcorr_inf_quad, // boolean forceLinear, // use linear approximation
thresholdLin, // threshold ratio of matrix determinant to norm for linear approximation (det too low - fail)
thresholdQuad, // threshold ratio of matrix determinant to norm for quadratic approximation (det too low - fail)
debugLevel);
for (int n = 0; n < 8; n++){
if (approx2d[n].length == 6) {
coeffs[n] = approx2d[n];
} else {
for (int i = 0; i < 3; i++){
coeffs[n][3+i] = approx2d[n][i];
}
}
}
// disparity_approximation = coeffs[0];
} else {
for (int n = 0; n < 8; n++){
double [] approx1d = pa.polynomialApproximation1d(mdata[n], clt_parameters.fcorr_inf_quad ? 2 : 1);
// disparity_approximation = new double[6];
coeffs[n][5] = approx1d[0];
coeffs[n][3] = approx1d[1];
if (approx1d.length > 2){
coeffs[n][0] = approx1d[2];
}
}
}
double [][][] inf_corr = new double [4][2][];
for (int n = 0; n < 8; n++){
inf_corr[n / 2][n % 2] = coeffs[n];
}
if (debugLevel > 0) {
indx = 0;
for (Point p: samples_list){
int tileX = p.y % tilesX;
int tileY = p.y / tilesX;
if (clt_parameters.fcorr_inf_vert) {
mdata[indx][0] = new double [2];
mdata[indx][0][0] = (2.0 * tileX)/tilesX - 1.0; // -1.0 to +1.0;
mdata[indx][0][1] = (2.0 * tileY)/tilesY - 1.0; // -1.0 to +1.0
mdata[indx][1] = new double [1];
mdata[indx][1][0] = disp_strength[2 * p.x + 0][p.y]/magic_coeff; // disparity
mdata[indx][2][0] = disp_strength[2 * p.x + 1][p.y]; // strength
} else {
mdata[0][indx][0] = (2.0 * tileX)/tilesX - 1.0; // -1.0 to +1.0;
mdata[0][indx][1] = disp_strength[2 * p.x + 0][p.y]/magic_coeff; // disparity
mdata[0][indx][2] = disp_strength[2 * p.x + 1][p.y]; // strength
}
indx ++;
}
coeffs = new double[1][6];
if (clt_parameters.fcorr_inf_vert){
double[][] approx2d = pa.quadraticApproximation(
mdata,
!clt_parameters.fcorr_inf_quad, // boolean forceLinear, // use linear approximation
thresholdLin, // threshold ratio of matrix determinant to norm for linear approximation (det too low - fail)
thresholdQuad, // threshold ratio of matrix determinant to norm for quadratic approximation (det too low - fail)
debugLevel); {
}
if (approx2d[0].length == 6) {
coeffs = approx2d;
} else {
for (int i = 0; i < 3; i++){
coeffs[0][3+i] = approx2d[0][i];
}
}
// disparity_approximation = coeffs[0];
} else {
double [] approx1d = pa.polynomialApproximation1d(mdata[0], clt_parameters.fcorr_inf_quad ? 2 : 1);
// disparity_approximation = new double[6];
coeffs[0][5] = approx1d[0];
coeffs[0][3] = approx1d[1];
if (approx1d.length > 2){
coeffs[0][0] = approx1d[2];
}
}
String [] titles = {"disparity","approx","diff", "strength"};
double [][] dbg_img = new double [titles.length][numTiles];
for (int nTile = 0; nTile < numTiles; nTile++){
int tileX = nTile % tilesX;
int tileY = nTile / tilesX;
double x = (2.0 * tileX)/tilesX - 1.0; // -1.0 to +1.0;
double y = (2.0 * tileY)/tilesY - 1.0; // -1.0 to +1.0
dbg_img[1][nTile] =
coeffs[0][0] * x * x +
coeffs[0][1] * y * y +
coeffs[0][2] * x * y +
coeffs[0][3] * x +
coeffs[0][4] * y +
coeffs[0][5];
}
for (Point p: samples_list){
dbg_img[0][p.y] += disp_strength[2 * p.x][p.y] * disp_strength[2 * p.x + 1][p.y];
dbg_img[3][p.y] += disp_strength[2 * p.x + 1][p.y];
}
for (int nTile = 0; nTile < numTiles; nTile++) {
if (dbg_img[3][nTile] > 0.0) {
dbg_img[0][nTile] /=dbg_img[3][nTile];
} else {
dbg_img[0][nTile] = Double.NaN;
}
}
for (int nTile = 0; nTile < numTiles; nTile++) {
if (dbg_img[3][nTile] > 0.0) {
dbg_img[2][nTile] = dbg_img[0][nTile] - dbg_img[1][nTile];
} else {
dbg_img[2][nTile] = Double.NaN;
}
}
(new showDoubleFloatArrays()).showArrays(dbg_img, tilesX, tilesY, true, "infinityCorrection", titles);
}
return inf_corr;
}
public void apply_fine_corr( public void apply_fine_corr(
...@@ -4818,7 +5066,52 @@ public class QuadCLT { ...@@ -4818,7 +5066,52 @@ public class QuadCLT {
return combo_mismatch; return combo_mismatch;
} }
public void process_infinity_corr(
EyesisCorrectionParameters.CLTParameters clt_parameters,
int debugLevel
) {
ImagePlus imp_src = WindowManager.getCurrentImage();
if (imp_src==null){
IJ.showMessage("Error","2*n-layer file with disparities/strengthspairs measured at infinity is required");
return;
}
ImageStack disp_strength_stack= imp_src.getStack();
final int tilesX = disp_strength_stack.getWidth(); // tp.getTilesX();
final int tilesY = disp_strength_stack.getHeight(); // tp.getTilesY();
final int nTiles =tilesX * tilesY;
final int num_scans = disp_strength_stack.getSize()/2;
final double [][] inf_disp_strength = new double [2 * num_scans][nTiles];
for (int n = 0; n < disp_strength_stack.getSize(); n++){
float [] fpixels = (float[]) disp_strength_stack.getPixels(n +1);
for (int i = 0; i < nTiles; i++){
inf_disp_strength[n][i] = fpixels[i];
}
}
if (debugLevel > -1){
System.out.println("process_infinity_corr(): proocessing "+num_scans+" disparity/strength pairs");
}
double [][][] new_corr = infinityCorrection(
clt_parameters, // EyesisCorrectionParameters.CLTParameters clt_parameters,
inf_disp_strength, // double [][] disp_strength,
tilesX, // int tilesX,
clt_parameters.corr_magic_scale, // double magic_coeff, // still not understood coefficent that reduces reported disparity value. Seems to be around 8.5
debugLevel + 1); // int debugLevel)
if (debugLevel > -1){
System.out.println("process_infinity_corr(): ready to apply infinity correction");
show_fine_corr(
new_corr, // double [][][] corr,
"");// String prefix)
}
if (debugLevel > -100){
apply_fine_corr(
new_corr,
debugLevel + 2);
}
}
public void process_fine_corr( public void process_fine_corr(
boolean dry_run, boolean dry_run,
EyesisCorrectionParameters.CLTParameters clt_parameters, EyesisCorrectionParameters.CLTParameters clt_parameters,
...@@ -4901,11 +5194,12 @@ public class QuadCLT { ...@@ -4901,11 +5194,12 @@ public class QuadCLT {
// TODO: Add/use composite disparity calculation from the multi-scan data and use it to filter? // TODO: Add/use composite disparity calculation from the multi-scan data and use it to filter?
Roi roi = imp_src.getRoi(); Roi roi = imp_src.getRoi();
if (roi != null) {
Polygon p = roi.getPolygon(); Polygon p = roi.getPolygon();
for (int i = 0; i < p.npoints; i++){ for (int i = 0; i < p.npoints; i++){
System.out.println(i+": "+p.xpoints[i]+"/"+p.ypoints[i]); System.out.println(i+": "+p.xpoints[i]+"/"+p.ypoints[i]);
} }
}
double [][] combo_mismatch = calcMismatchFromScan( double [][] combo_mismatch = calcMismatchFromScan(
clt_parameters, // final EyesisCorrectionParameters.CLTParameters clt_parameters, clt_parameters, // final EyesisCorrectionParameters.CLTParameters clt_parameters,
clt_mismatches, // final double [][][] clt_mismatches, clt_mismatches, // final double [][][] clt_mismatches,
......
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