implemented synthetic stereo video generation (77684393) · Commits · Elphel / imagej-elphel

src/main/java/com/elphel/imagej/cameras/EyesisCorrectionParameters.java

+6 −0

Original line number	Diff line number	Diff line
		@@ -2227,6 +2227,9 @@ public class EyesisCorrectionParameters {
		null, // filter
		this.x3dDirectory); //this.sourceDirectory);
		if (dir!=null) {
		while (dir.endsWith(Prefs.getFileSeparator())) {
		dir = dir.substring(0, dir.length()-1);
		}
		this.x3dDirectory=dir;
		if (this.use_x3d_subdirs && (name != null) && !name.equals("")) {
		// name = this.x3dDirectory + Prefs.getFileSeparator(); // +this.x3dSubdirPrefix + name + this.x3dSubdirSuffix;
		@@ -2243,6 +2246,9 @@ public class EyesisCorrectionParameters {
		name); //this.x3dDirectory + Prefs.getFileSeparator()+name); //this.sourceDirectory);
		}
		}
		while (dir.endsWith(Prefs.getFileSeparator())) {
		dir = dir.substring(0, dir.length()-1);
		}
		return dir;
		}

src/main/java/com/elphel/imagej/tileprocessor/IntersceneMatchParameters.java

+55 −12

Original line number	Diff line number	Diff line
		@@ -51,6 +51,9 @@ public class IntersceneMatchParameters {
		public boolean generate_mapped = true;
		public boolean generate_stereo = false;
		public double stereo_baseline = 500.0;// mm
		public boolean stereo_merge = true;
		public int stereo_gap = 30; // pixels between right and left frames

		public int extra_hor_tile = 15;
		public int extra_vert_tile = 10;
		public boolean crop_3d = true; // do not show extra of FG/BG views (currently they only ref scene has disparity)
		@@ -74,7 +77,9 @@ public class IntersceneMatchParameters {
		public boolean remove_avi = true; // remove avi after conversion to webm
		public boolean um_mono = true; // applies to both TIFF and AVI
		public double um_sigma = 10;
		public double um_weight = 0.9; //
		public double um_weight = 0.97; //
		public boolean mono_fixed = true; // normalize to fixed range when converting to 8 bits
		public double mono_range = 500.0; // monochrome full-scale range (+/- half)
		public boolean annotate_color = true; // annotate pseudo-color video frames with timestamps
		public boolean annotate_mono = true; // annotate monochrome video frames with timestamps
		public Color annotate_color_color = new Color( 255, 255, 255); // greenish over "fire"
		@@ -306,7 +311,16 @@ public class IntersceneMatchParameters {

		gd.addMessage ("Generate/show scene sequences");
		gd.addCheckbox ("Generate mapped scene sequence", this.generate_mapped,
		"Generate scene sequence mapped to the reference scene");
		"Generate scene sequence mapped to the reference scene.");
		gd.addCheckbox ("Generate right/left pairs", this.generate_stereo,
		"Generate stereo-pairs for 3D-corrected videos (FG,BG).");
		gd.addNumericField("Stereo baseline", this.stereo_baseline, 5,7,"mm",
		"Synthetic 3D with possibly exagerrated stereo baseline");
		gd.addCheckbox ("Stereo merge right, left", this.stereo_merge,
		"Combine stereo pair in a single (wide) frame. Unchecked - generate separate videos.");
		gd.addNumericField("Stereo gap", this.stereo_gap, 0,3,"pix",
		"Distance (pixels) between right and left sub-images in a stereo frame.");

		gd.addNumericField("Scene sequence horizontal extra", this.extra_hor_tile, 0,3,"tiles",
		"Enlarge reference scene window horizontally in each direction to accommodate other scenes in a sequence");
		gd.addNumericField("Scene sequence vertical extra", this.extra_vert_tile, 0,3,"tiles",
		@@ -358,10 +372,17 @@ public class IntersceneMatchParameters {
		gd.addCheckbox ("Apply unsharp mask to mono", this.um_mono,
		"Apply unsharp mask to monochrome image sequences/video. Applies to TIFF generatiojn too");
		gd.addNumericField("Unsharp mask sigma (radius)", this.um_sigma, 5,7,"pix",
		"");
		"Unsharp mask Gaussian sigma.");
		gd.addNumericField("Unsharp mask weight", this.um_weight, 5,7,"",
		"Unsharp mask weightt (multiply blurred version before subtraction from the original).");

		gd.addCheckbox ("Fixed monochrome range", this.mono_fixed,
		"Normalize monochrome (after UM) to a fixed range when converting to 8 bit RGB.");
		gd.addNumericField("Monochrome full range", this.mono_range, 5,7,"",
		"Monochrome full range to convert to 0..255.");



		gd.addCheckbox ("Timestamp color videos", this.annotate_color,
		"Annotate pseudo-color video frames with timestamps.");
		gd.addCheckbox ("Timestamp monochrome videos", this.annotate_mono,
		@@ -547,8 +568,12 @@ public class IntersceneMatchParameters {
		this.diff_from_lma_neg = gd.getNextNumber();
		this.outliers_lma_nth_fromextrem=(int)gd.getNextNumber();
		this.filter_margin = (int) gd.getNextNumber();

		this.generate_mapped = gd.getNextBoolean();
		this.generate_stereo = gd.getNextBoolean();
		this.stereo_baseline = gd.getNextNumber();
		this.stereo_merge = gd.getNextBoolean();
		this.stereo_gap = (int) gd.getNextNumber();

		this.extra_hor_tile = (int) gd.getNextNumber();
		this.extra_vert_tile = (int) gd.getNextNumber();
		this.crop_3d = gd.getNextBoolean();
		@@ -574,7 +599,8 @@ public class IntersceneMatchParameters {
		this.um_mono = gd.getNextBoolean();
		this.um_sigma = gd.getNextNumber();
		this.um_weight = gd.getNextNumber();

		this.mono_fixed = gd.getNextBoolean();
		this.mono_range = gd.getNextNumber();
		this.annotate_color = gd.getNextBoolean();
		this.annotate_mono = gd.getNextBoolean();
		{
		@@ -707,8 +733,12 @@ public class IntersceneMatchParameters {
		properties.setProperty(prefix+"diff_from_lma_neg", this.diff_from_lma_neg+""); // double
		properties.setProperty(prefix+"outliers_lma_nth_fromextrem", this.outliers_lma_nth_fromextrem+""); // int
		properties.setProperty(prefix+"filter_margin", this.filter_margin+""); // int

		properties.setProperty(prefix+"generate_mapped", this.generate_mapped+""); // boolean
		properties.setProperty(prefix+"generate_stereo", this.generate_stereo+""); // boolean
		properties.setProperty(prefix+"stereo_baseline", this.stereo_baseline+""); // double
		properties.setProperty(prefix+"stereo_merge", this.stereo_merge+""); // boolean
		properties.setProperty(prefix+"stereo_gap", this.stereo_gap+""); // int

		properties.setProperty(prefix+"extra_hor_tile", this.extra_hor_tile+""); // int
		properties.setProperty(prefix+"extra_vert_tile", this.extra_vert_tile+""); // int
		properties.setProperty(prefix+"crop_3d", this.crop_3d+""); // boolean
		@@ -733,7 +763,8 @@ public class IntersceneMatchParameters {
		properties.setProperty(prefix+"um_mono", this.um_mono+""); // boolean
		properties.setProperty(prefix+"um_sigma", this.um_sigma+""); // double
		properties.setProperty(prefix+"um_weight", this.um_weight+""); // double

		properties.setProperty(prefix+"mono_fixed", this.mono_fixed+""); // boolean
		properties.setProperty(prefix+"mono_range", this.mono_range+""); // double
		properties.setProperty(prefix+"annotate_color", this.annotate_color+""); // boolean
		properties.setProperty(prefix+"annotate_mono", this.annotate_mono+""); // boolean
		{
		@@ -849,8 +880,13 @@ public class IntersceneMatchParameters {
		if (properties.getProperty(prefix+"diff_from_lma_neg")!=null) this.diff_from_lma_neg=Double.parseDouble(properties.getProperty(prefix+"diff_from_lma_neg"));
		if (properties.getProperty(prefix+"outliers_lma_nth_fromextrem")!=null) this.outliers_lma_nth_fromextrem=Integer.parseInt(properties.getProperty(prefix+"outliers_lma_nth_fromextrem"));
		if (properties.getProperty(prefix+"filter_margin")!=null) this.filter_margin=Integer.parseInt(properties.getProperty(prefix+"filter_margin"));

		if (properties.getProperty(prefix+"generate_mapped")!=null) this.generate_mapped=Boolean.parseBoolean(properties.getProperty(prefix+"generate_mapped"));
		if (properties.getProperty(prefix+"generate_stereo")!=null) this.generate_stereo=Boolean.parseBoolean(properties.getProperty(prefix+"generate_stereo"));
		if (properties.getProperty(prefix+"stereo_baseline")!=null) this.stereo_baseline=Double.parseDouble(properties.getProperty(prefix+"stereo_baseline"));
		if (properties.getProperty(prefix+"stereo_merge")!=null) this.stereo_merge=Boolean.parseBoolean(properties.getProperty(prefix+"stereo_merge"));
		if (properties.getProperty(prefix+"stereo_gap")!=null) this.stereo_gap=Integer.parseInt(properties.getProperty(prefix+"stereo_gap"));


		if (properties.getProperty(prefix+"extra_hor_tile")!=null) this.extra_hor_tile=Integer.parseInt(properties.getProperty(prefix+"extra_hor_tile"));
		if (properties.getProperty(prefix+"extra_vert_tile")!=null) this.extra_vert_tile=Integer.parseInt(properties.getProperty(prefix+"extra_vert_tile"));
		if (properties.getProperty(prefix+"crop_3d")!=null) this.crop_3d=Boolean.parseBoolean(properties.getProperty(prefix+"crop_3d"));
		@@ -875,6 +911,8 @@ public class IntersceneMatchParameters {
		if (properties.getProperty(prefix+"um_mono")!=null) this.um_mono=Boolean.parseBoolean(properties.getProperty(prefix+"um_mono"));
		if (properties.getProperty(prefix+"um_sigma")!=null) this.um_sigma=Double.parseDouble(properties.getProperty(prefix+"um_sigma"));
		if (properties.getProperty(prefix+"um_weight")!=null) this.um_weight=Double.parseDouble(properties.getProperty(prefix+"um_weight"));
		if (properties.getProperty(prefix+"mono_fixed")!=null) this.mono_fixed=Boolean.parseBoolean(properties.getProperty(prefix+"mono_fixed"));
		if (properties.getProperty(prefix+"mono_range")!=null) this.mono_range=Double.parseDouble(properties.getProperty(prefix+"mono_range"));
		if (properties.getProperty(prefix+"annotate_color")!=null) this.annotate_color=Boolean.parseBoolean(properties.getProperty(prefix+"annotate_color"));
		if (properties.getProperty(prefix+"annotate_mono")!=null) this.annotate_mono=Boolean.parseBoolean(properties.getProperty(prefix+"annotate_mono"));

		@@ -995,8 +1033,12 @@ public class IntersceneMatchParameters {
		imp.diff_from_lma_neg = this.diff_from_lma_neg;
		imp.outliers_lma_nth_fromextrem = this.outliers_lma_nth_fromextrem;
		imp.filter_margin = this.filter_margin;

		imp.generate_mapped = this.generate_mapped;
		imp.generate_stereo = this.generate_stereo;
		imp.stereo_baseline = this.stereo_baseline;
		imp.stereo_merge = this.stereo_merge;
		imp.stereo_gap = this.stereo_gap;

		imp.extra_hor_tile = this.extra_hor_tile;
		imp.extra_vert_tile = this.extra_vert_tile;
		imp.crop_3d = this.crop_3d;
		@@ -1022,7 +1064,8 @@ public class IntersceneMatchParameters {
		imp.um_mono = this. um_mono;
		imp.um_sigma = this. um_sigma;
		imp.um_weight = this. um_weight;

		imp.mono_fixed = this. mono_fixed;
		imp.mono_range = this. mono_range;

		imp.annotate_color = this. annotate_color;
		imp.annotate_mono = this. annotate_mono;

src/main/java/com/elphel/imagej/tileprocessor/OpticalFlow.java

+200 −101

Original line number	Diff line number	Diff line
		@@ -2780,6 +2780,9 @@ public class OpticalFlow {
		}
		}
		}
		final boolean ref_is_identity =
		(scene_xyz[0]==0.0) && (scene_xyz[1]==0.0) && (scene_xyz[1]==0.0) &&
		(scene_atr[0]==0.0) && (scene_atr[1]==0.0) && (scene_atr[1]==0.0);
		final double [] disparity_ref = dref;
		// final int tilesX_ref = ref_w;
		// final int tilesY_ref = ref_h;
		@@ -2806,7 +2809,7 @@ public class OpticalFlow {
		if (disparity < 0) {
		disparity = 1.0* disparity; // 0.0;
		}
		if (scene_QuadClt == reference_QuadClt) {
		if ((scene_QuadClt == reference_QuadClt) && (ref_is_identity)) {
		pXpYD[nTile] = new double [] {centerX, centerY, disparity};
		} else {
		pXpYD[nTile] = ersReferenceCorrection.getImageCoordinatesERS( // ersCorrection - reference
		@@ -3982,6 +3985,12 @@ public class OpticalFlow {
		double range_max = clt_parameters.imp.range_max ; // 5000.0;

		boolean generate_mapped = clt_parameters.imp.generate_mapped;
		boolean generate_stereo = clt_parameters.imp.generate_stereo;
		double stereo_baseline = clt_parameters.imp.stereo_baseline;
		double stereo_baseline_meters = 0.001 * stereo_baseline;
		boolean stereo_merge = clt_parameters.imp.stereo_merge;
		int stereo_gap = clt_parameters.imp.stereo_gap;

		int extra_hor_tile = clt_parameters.imp.extra_hor_tile;
		int extra_vert_tile = clt_parameters.imp.extra_vert_tile;
		boolean crop_3d = clt_parameters.imp.crop_3d;
		@@ -4005,6 +4014,9 @@ public class OpticalFlow {
		boolean um_mono = clt_parameters.imp.um_mono;
		double um_sigma = clt_parameters.imp.um_sigma;
		double um_weight = clt_parameters.imp.um_weight;
		boolean mono_fixed = clt_parameters.imp.mono_fixed;
		double mono_range = clt_parameters.imp.mono_range;


		boolean annotate_color = clt_parameters.imp.annotate_color;
		boolean annotate_mono = clt_parameters.imp.annotate_mono;
		@@ -4438,11 +4450,27 @@ public class OpticalFlow {
		if (!toRGB && um_mono) {
		scenes_suffix+=String.format("-UM%.1f_%.2f",um_sigma,um_weight);
		}
		ImagePlus imp_scenes = renderSceneSequence(
		int num_stereo = (generate_stereo && (mode3d > 0))? 2:1; // only for 3D views
		boolean combine_left_right = (num_stereo > 1) && stereo_merge;
		ImagePlus [] imp_scenes_pair = new ImagePlus[num_stereo];
		String scenes_suffix_pair = scenes_suffix;
		for (int nstereo = 0; nstereo < num_stereo; nstereo++) {
		double [] xyz_offset = {
		-stereo_baseline_meters * (nstereo - 0.5) * (num_stereo - 1), // x offset
		0.0, // Y offset
		0.0}; // Z offset
		if (num_stereo > 1) {
		// scenes_suffix = scenes_suffix_pair + ((nstereo > 0)?(combine_left_right?"-STEREO":"-RIGHT"):"-LEFT"); // check if opposite
		scenes_suffix = scenes_suffix_pair + ((nstereo > 0)?"-RIGHT":"-LEFT"); // check if opposite
		scenes_suffix += stereo_baseline;
		}
		// ImagePlus imp_scenes
		imp_scenes_pair[nstereo]= renderSceneSequence(
		clt_parameters, // CLTParameters clt_parameters,
		fov_tiles, // Rectangle fov_tiles,
		mode3d, // int mode3d,
		toRGB, // boolean toRGB,
		xyz_offset, // double [] stereo_offset, // offset reference camera {x,y,z}
		sensor_mask, // int sensor_mask,
		scenes_suffix, // String suffix,
		selected_disparity, // double [] ref_disparity,
		@@ -4451,19 +4479,27 @@ public class OpticalFlow {
		if (toRGB ? save_mapped_color: save_mapped_mono) {
		quadCLTs[ref_index].saveImagePlusInModelDirectory(
		null, // "GPU-SHIFTED-D"+clt_parameters.disparity, // String suffix,
		imp_scenes); // ImagePlus imp)
		imp_scenes_pair[nstereo]); // imp_scenes); // ImagePlus imp)
		}
		// Save as AVI
		if (toRGB ? gen_avi_color: gen_avi_mono) {
		if (toRGB ? annotate_color: annotate_mono) {
		if (!toRGB) {
		// If it is mono, first convert to color
		ImageConverter imageConverter = new ImageConverter(imp_scenes);
		if (mono_fixed && um_mono) {
		// imp_scenes.getProcessor().setMinAndMax(-mono_range/2, mono_range/2);
		imp_scenes_pair[nstereo].getProcessor().setMinAndMax(-mono_range/2, mono_range/2);
		}

		// ImageConverter imageConverter = new ImageConverter(imp_scenes);
		ImageConverter imageConverter = new ImageConverter(imp_scenes_pair[nstereo]);
		imageConverter.convertToRGB(); // Did it convert imp_scenes ?
		}

		final Color fcolor = toRGB ? annotate_color_color: annotate_color_mono;
		final ImageStack fstack_scenes = imp_scenes.getImageStack();
		final int width = imp_scenes.getWidth();
		final int height = imp_scenes.getHeight();
		final ImageStack fstack_scenes = imp_scenes_pair[nstereo].getImageStack();
		final int width = imp_scenes_pair[nstereo].getWidth();
		final int height = imp_scenes_pair[nstereo].getHeight();
		final int posX= width - 119; // 521;
		final int posY= height + 1; // 513;
		final Font font = new Font("Monospaced", Font.PLAIN, 12);
		@@ -4488,6 +4524,58 @@ public class OpticalFlow {
		};
		}
		ImageDtt.startAndJoin(threads);
		}
		if (combine_left_right && (nstereo == 0)) {
		continue;
		}
		if (combine_left_right) { // combine pairs multi-threaded
		// stack_scenes = new ImageStack(imp_scene.getWidth(),imp_scene.getHeight());
		final int left_width = imp_scenes_pair[0].getWidth();
		final int right_width = imp_scenes_pair[1].getWidth();
		final int stereo_width = left_width + right_width+stereo_gap;
		final int stereo_height = imp_scenes_pair[0].getHeight();
		final ImageStack stereo_stack = new ImageStack(stereo_width, stereo_height);
		final int nSlices = imp_scenes_pair[0].getStack().getSize();
		for (int i = 0; i < nSlices; i++) {
		stereo_stack.addSlice(
		imp_scenes_pair[0].getStack().getSliceLabel(i+1),
		new int[stereo_width * stereo_height]);
		}
		final Thread[] threads = ImageDtt.newThreadArray(QuadCLT.THREADS_MAX);
		final AtomicInteger ai = new AtomicInteger(0);
		for (int ithread = 0; ithread < threads.length; ithread++) {
		threads[ithread] = new Thread() {
		public void run() {
		for (int nSlice = ai.getAndIncrement(); nSlice < nSlices; nSlice = ai.getAndIncrement()) {
		int[] pixels_stereo = (int[]) stereo_stack.getPixels(nSlice+1);
		int[] pixels_left = (int[]) imp_scenes_pair[0].getStack().getPixels(nSlice+1);
		int[] pixels_right = (int[]) imp_scenes_pair[1].getStack().getPixels(nSlice+1);
		for (int row = 0; row < stereo_height; row++) {
		System.arraycopy(
		pixels_left,
		left_width * row,
		pixels_stereo,
		stereo_width * row,
		left_width);
		System.arraycopy(
		pixels_right,
		right_width * row,
		pixels_stereo,
		stereo_width * row + left_width + stereo_gap,
		right_width);
		}
		}
		}
		};
		}
		ImageDtt.startAndJoin(threads);
		// convert stereo_stack to imp_scenes_pair[1], keeping calibration and fps?
		imp_scenes_pair[1].setStack(stereo_stack);
		String title = imp_scenes_pair[1].getTitle();
		imp_scenes_pair[1].setTitle(title.replace("-RIGHT","-STEREO"));

		}

		String avi_path=null;
		video:
		{
		@@ -4497,7 +4585,7 @@ public class OpticalFlow {
		mode_avi, // int avi_mode,
		avi_JPEG_quality, // int avi_JPEG_quality,
		video_fps, // double fps,
		imp_scenes); // ImagePlus imp)
		imp_scenes_pair[nstereo]); // ImagePlus imp)
		} catch (IOException e) {
		// TODO Auto-generated catch block
		e.printStackTrace();
		@@ -4534,15 +4622,13 @@ public class OpticalFlow {
		(new File(avi_path)).delete();
		System.out.println("Deleted AVI video file: \""+avi_path+"\"");
		}
		//ffmpeg -i 1654629772_573400-SEQ-FG-COLOR.avi -c vp8 -b:v 0 -crf 40 1654629772_573400-SEQ-FG-COLOR-VP8.webm
		}
		// String video_extra = clt_parameters.imp.video_extra;

		}
		if (toRGB ? show_mapped_color: show_mapped_mono) {
		imp_scenes.show();
		}
		imp_scenes_pair[nstereo].show();
		}
		} // for (int nstereo = 0; nstereo < num_stereo; nstereo++)
		} // for (int col_mode = 0; col_mode<2; col_mode++) {
		}
		if (export_images) {
		if (combo_dsn_final == null) {
		@@ -5105,13 +5191,15 @@ public class OpticalFlow {
		Rectangle fov_tiles,
		int mode3d,
		boolean toRGB,
		double [] stereo_xyz, // offset reference camera {x,y,z}
		int sensor_mask,
		String suffix_in,
		double [] ref_disparity,
		QuadCLT [] quadCLTs,
		int debugLevel) {

		double [] stereo_atr = ZERO3; // maybe later play with rotated camera
		// video
		/*
		boolean gen_avi_color = clt_parameters.imp.gen_avi_color;
		boolean gen_avi_mono = clt_parameters.imp.gen_avi_mono;
		double video_fps = clt_parameters.imp.video_fps;
		@@ -5120,6 +5208,7 @@ public class OpticalFlow {
		String video_ext = clt_parameters.imp.video_ext;
		String video_codec = clt_parameters.imp.video_codec;
		boolean remove_avi = clt_parameters.imp.remove_avi;
		*/
		boolean um_mono = clt_parameters.imp.um_mono;
		double um_sigma = clt_parameters.imp.um_sigma;
		double um_weight = clt_parameters.imp.um_weight;
		@@ -5159,6 +5248,15 @@ public class OpticalFlow {
		scene_ers_xyz_dt, // double [] ers_xyz_dt,
		scene_ers_atr_dt); // double [] ers_atr_dt)(ers_scene_original_xyz_dt);
		}
		if (stereo_xyz != null) { // offset all, including reference scene
		double [][] combo_xyzatr = ErsCorrection.combineXYZATR(
		stereo_xyz, // double [] reference_xyz,
		stereo_atr, // double [] reference_atr,
		scene_xyz, // double [] scene_xyz,
		scene_atr); // double [] scene_atr)
		scene_xyz = combo_xyzatr[0];
		scene_atr = combo_xyzatr[1];
		}
		int sm = merge_all? -1: sensor_mask;
		ImagePlus imp_scene = QuadCLT.renderGPUFromDSI(
		sm, // final int sensor_mask,
		@@ -5166,6 +5264,7 @@ public class OpticalFlow {
		fov_tiles, // testr, // null, // final Rectangle full_woi_in, // show larger than sensor WOI (or null)
		clt_parameters, // CLTParameters clt_parameters,
		ref_disparity, // double [] disparity_ref,
		// not used, just as null/not null now
		scene_xyz, // final double [] scene_xyz, // camera center in world coordinates
		scene_atr, // final double [] scene_atr, // camera orientation relative to world frame
		quadCLTs[nscene], // final QuadCLT scene,

src/main/java/com/elphel/imagej/tileprocessor/QuadCLT.java

+4 −2

Original line number	Diff line number	Diff line
		@@ -2043,6 +2043,8 @@ public class QuadCLT extends QuadCLTCPU {
		final Rectangle full_woi_in, // show larger than sensor WOI in tiles (or null)
		CLTParameters clt_parameters,
		double [] disparity_ref,
		// not used, just as null/not null now. All offsets are already in scene_xyz, scene_atr (including ref)
		// double [] stereo_offset, // offset reference camera {x,y,z} or null
		final double [] scene_xyz, // camera center in world coordinates
		final double [] scene_atr, // camera orientation relative to world frame
		final QuadCLT scene,
		@@ -2052,7 +2054,7 @@ public class QuadCLT extends QuadCLTCPU {
		int threadsMax,
		final int debugLevel){
		boolean show_nan = toRGB? clt_parameters.imp.show_color_nan : clt_parameters.imp.show_mono_nan;
		double [][] pXpYD =OpticalFlow.transformToScenePxPyD(
		double [][] pXpYD =OpticalFlow.transformToScenePxPyD( // now should work with offset ref_scene
		full_woi_in, // final Rectangle [] extra_woi, // show larger than sensor WOI (or null)
		disparity_ref, // final double [] disparity_ref, // invalid tiles - NaN in disparity
		scene_xyz, // final double [] scene_xyz, // camera center in world coordinates
		@@ -2065,7 +2067,7 @@ public class QuadCLT extends QuadCLTCPU {
		rendered_width = full_woi_in.width * GPUTileProcessor.DTT_SIZE;
		}
		//scene_QuadClt.getTileProcessor().getTileSize();
		TpTask[] tp_tasks_ref = GpuQuad.setInterTasks( // inter?
		TpTask[] tp_tasks_ref = GpuQuad.setInterTasks( // "true" reference, with stereo actual reference will be offset
		scene.getNumSensors(),
		rendered_width, // should match output size, pXpYD.length
		!scene.hasGPU(), // final boolean calcPortsCoordinatesAndDerivatives, // GPU can calculate them centreXY

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