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Commit 7b84dba6 authored by Andrey Filippov's avatar Andrey Filippov
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setup directories in a list file

parent ee4732b5
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Showing with 247 additions and 79 deletions
src/main/java/com/elphel/imagej/cameras/EyesisCorrectionParameters.java
View file @ 7b84dba6
......@@ -34,6 +34,7 @@ import java.nio.file.Path;
import java.nio.file.Paths;
import java.util.ArrayList;
import java.util.Collections;
import java.util.HashMap;
import java.util.HashSet;
import java.util.List;
import java.util.Properties;
......@@ -53,6 +54,8 @@ import ij.gui.GenericDialog;
public class EyesisCorrectionParameters {
public static class CorrectionParameters{
public static final String [] KEY_DIRS= {"rootDirectory",
"sourceDirectory","linkedModels","videoDirectory","x3dDirectory","resultsDirectory"};
public static final String AUX_PREFIX = "AUX-";
public boolean swapSubchannels01= true; // false; // (false: 0-1-2, true - 1-0-2)
public boolean split= true;
......@@ -855,40 +858,40 @@ public class EyesisCorrectionParameters {
gd.addCheckbox ("Save current settings with results", this.saveSettings);
gd.addTab("Directories","Direcories paths");
gd.addStringField ("Source files directory", this.sourceDirectory, 60);
gd.addStringField ("Source files directory", this.sourceDirectory, 80);
gd.addCheckbox ("Select source directory", false);
gd.addCheckbox ("Use individual subdirectory for image set", this.use_set_dirs);
gd.addStringField ("Source sequences list file", this.sourceSequencesList, 60);
gd.addStringField ("Source sequences list file", this.sourceSequencesList, 80);
gd.addCheckbox ("Select source sequences file", false);
gd.addCheckbox ("Use source list to iterate multiple sequences", this.useSourceList);
gd.addStringField ("Sensor calibration directory", this.sensorDirectory, 60);
gd.addStringField ("Sensor calibration directory", this.sensorDirectory, 80);
gd.addCheckbox ("Select sensor calibration directory", false);
gd.addStringField ("Aberration kernels (sharp) directory", this.sharpKernelDirectory, 60);
gd.addStringField ("Aberration kernels (sharp) directory", this.sharpKernelDirectory, 80);
gd.addCheckbox ("Select aberration kernels (sharp) directory", false);
gd.addStringField ("Aberration kernels (smooth) directory", this.smoothKernelDirectory, 60);
gd.addStringField ("Aberration kernels (smooth) directory", this.smoothKernelDirectory, 80);
gd.addCheckbox ("Select aberration kernels (smooth) directory", false);
gd.addStringField ("Aberration kernels for DCT directory", this.dctKernelDirectory, 60);
gd.addStringField ("Aberration kernels for DCT directory", this.dctKernelDirectory, 80);
gd.addCheckbox ("Select aberration kernels for DCT directory", false);
gd.addStringField ("Aberration kernels for CLT directory", this.cltKernelDirectory, 60);
gd.addStringField ("Aberration kernels for CLT directory", this.cltKernelDirectory, 80);
gd.addCheckbox ("Select aberration kernels for CLT directory", false);
gd.addStringField ("x3d model version", this.x3dModelVersion, 20); // 10a
gd.addStringField ("JP4 source image copy model subdirectory", this.jp4SubDir, 20); // 10b
gd.addStringField ("Linked reference models", this.linkedModels, 60,
gd.addStringField ("Linked reference models", this.linkedModels, 80,
"Directory where links to reference models directories will be created.");
gd.addCheckbox ("Select linked reference models directory", false);
gd.addStringField ("Video directory", this.videoDirectory, 60,
gd.addStringField ("Video directory", this.videoDirectory, 80,
"Directory to store combined video files.");
gd.addCheckbox ("Select video directory", false);
gd.addStringField ("x3d output directory", this.x3dDirectory, 60);
gd.addStringField ("x3d output directory", this.x3dDirectory, 80);
gd.addCheckbox ("Select x3d output directory", false);
gd.addCheckbox ("Use individual subdirectory for each 3d model (timestamp as name)", this.use_x3d_subdirs);
......@@ -897,18 +900,18 @@ public class EyesisCorrectionParameters {
"When using timestamp as a subdirectory, add this prefix");
gd.addStringField ("x3d subdirectory suffix", this.x3dSubdirSuffix, 10,
"When using timestamp as a subdirectory, add this suffix");
gd.addStringField ("ML output directory", this.mlDirectory, 60,
gd.addStringField ("ML output directory", this.mlDirectory, 80,
"Non-empty directory with no \"/\" separator makes it a subdirectory of the model version directory");
gd.addCheckbox ("Select ML output directory", false,"Erase text field or use \"/\" in it to enable absolute directory path selection");
gd.addStringField("Equirectangular maps directory (may be empty)", this.equirectangularDirectory, 60);
gd.addStringField("Equirectangular maps directory (may be empty)", this.equirectangularDirectory, 80);
gd.addCheckbox("Select equirectangular maps directory", false);
gd.addStringField("Results directory", this.resultsDirectory, 60);
gd.addStringField("Results directory", this.resultsDirectory, 80);
gd.addCheckbox("Select results directory", false);
gd.addTab("Prefix/suffix","Prefixes and suffixes for various file types");
gd.addStringField("Source files prefix", this.sourcePrefix, 60);
gd.addStringField("Source files suffix", this.sourceSuffix, 60);
gd.addStringField("Source files prefix", this.sourcePrefix, 80);
gd.addStringField("Source files suffix", this.sourceSuffix, 80);
gd.addNumericField("First subcamera (in the source filenames)", this.firstSubCamera, 0);
gd.addNumericField("First subcamera (in config (clt, sensor) directories)", this.firstSubCameraConfig, 0);
gd.addNumericField("Number of subcameras in this camera", this.numSubCameras, 0);
......@@ -1071,58 +1074,58 @@ public class EyesisCorrectionParameters {
gd.addTab ("File paths", "Select files and directories paths (common to main and optional auxiliary)");
gd.addMessage ("============ Common to the main and optional auxiliary camera============");
gd.addStringField ("GPU tile_processor_gpu project absolute path", this.tile_processor_gpu, 60,
gd.addStringField ("GPU tile_processor_gpu project absolute path", this.tile_processor_gpu, 80,
"Keep empty to use default GPU kernels");
gd.addCheckbox ("Select GPU directory", false);
gd.addCheckbox ("Save current settings with results", this.saveSettings); // 1
gd.addStringField ("Source files directory", this.sourceDirectory, 60); // 2
gd.addStringField ("Source files directory", this.sourceDirectory, 80); // 2
gd.addCheckbox ("Select source directory", false); // 3
gd.addCheckbox ("Use individual subdirectory for each image set (timestamp as name)", this.use_set_dirs); //10
gd.addStringField ("Source sequences list file", this.sourceSequencesList, 60); // 10x
gd.addStringField ("Source sequences list file", this.sourceSequencesList, 80); // 10x
gd.addCheckbox ("Select source sequences file", false); // 10y
gd.addCheckbox ("Use source list to iterate multiple sequences", this.useSourceList); // 10z
gd.addStringField ("x3d model version", this.x3dModelVersion, 60); // 10a
gd.addStringField ("jp4 source copy subdirectory", this.jp4SubDir, 60); // 10b
gd.addStringField ("x3d model version", this.x3dModelVersion, 80); // 10a
gd.addStringField ("jp4 source copy subdirectory", this.jp4SubDir, 80); // 10b
gd.addStringField ("Linked reference models", this.linkedModels, 60,
gd.addStringField ("Linked reference models", this.linkedModels, 80,
"Directory where links to reference models directories will be created.");
gd.addCheckbox ("Select linked reference models directory", false);
gd.addStringField ("Video directory", this.videoDirectory, 60,
gd.addStringField ("Video directory", this.videoDirectory, 80,
"Directory to store combined video files.");
gd.addCheckbox ("Select video directory", false);
gd.addStringField ("x3d output directory", this.x3dDirectory, 60); // 8
gd.addStringField ("x3d output directory", this.x3dDirectory, 80); // 8
gd.addCheckbox ("Select x3d output (top model) directory", false); // 9
gd.addCheckbox ("Use individual subdirectory for each 3d model (timestamp as name)", this.use_x3d_subdirs); //10
// gd.addStringField ("Source files prefix", this.sourcePrefix, 60); // 13
// gd.addStringField ("Source files suffix", this.sourceSuffix, 60); // 14
// gd.addStringField ("Source files prefix", this.sourcePrefix, 80); // 13
// gd.addStringField ("Source files suffix", this.sourceSuffix, 80); // 14
gd.addStringField ("x3d subdirectory prefix", this.x3dSubdirPrefix, 10, // 14a
"When using timestamp as a subdirectory, add this prefix");
gd.addStringField ("ML output directory", this.mlDirectory, 60,
gd.addStringField ("ML output directory", this.mlDirectory, 80,
"Non-empty directory with no \"/\" separator makes it a subdirectory of the model version directory");
gd.addCheckbox ("Select ML output directory", false,"Erase text field or use \"/\" in it to enable absolute directory path selection");
gd.addMessage ("============ Main camera============");
gd.addStringField ("Sensor calibration directory", this.sensorDirectory, 60); // 4
gd.addStringField ("Sensor calibration directory", this.sensorDirectory, 80); // 4
gd.addCheckbox ("Select sensor calibration directory", false); // 5
gd.addStringField ("Aberration kernels for CLT directory", this.cltKernelDirectory, 60); // 6
gd.addStringField ("Aberration kernels for CLT directory", this.cltKernelDirectory, 80); // 6
gd.addCheckbox ("Select aberration kernels for CLT directory", false); // 7
gd.addStringField ("Results directory", this.resultsDirectory, 60); // 11
gd.addStringField ("Results directory", this.resultsDirectory, 80); // 11
gd.addCheckbox ("Select results directory", false); // 12
gd.addNumericField("First subcamera (in the source filename)", this.firstSubCamera, 0); // 15
gd.addNumericField("First subcamera (in config (clt, sensor) directories)", this.firstSubCameraConfig, 0);
gd.addNumericField("Number of subcameras in this camera ", this.numSubCameras, 0); // 16
gd.addStringField ("Source files prefix", this.sourcePrefix, 60); // 13
gd.addStringField ("Source files suffix", this.sourceSuffix, 60); // 14
gd.addStringField ("Source files prefix", this.sourcePrefix, 80); // 13
gd.addStringField ("Source files suffix", this.sourceSuffix, 80); // 14
gd.addStringField ("Sensor files prefix", this.sensorPrefix, 40); // 17
gd.addStringField ("Sensor files suffix", this.sensorSuffix, 40); // 18
......@@ -1132,17 +1135,17 @@ public class EyesisCorrectionParameters {
"When using timestamp as a subdirectory, add this suffix");
gd.addMessage ("============ Auxiliary camera============");
gd.addStringField ("Aux sensor calibration directory", this.aux_camera.sensorDirectory, 60); // 4b
gd.addStringField ("Aux sensor calibration directory", this.aux_camera.sensorDirectory, 80); // 4b
gd.addCheckbox ("Select aux sensor calibration directory", false); // 5b
gd.addStringField ("Aberration kernels for aux CLT directory", this.aux_camera.cltKernelDirectory, 60); // 6b
gd.addStringField ("Aberration kernels for aux CLT directory", this.aux_camera.cltKernelDirectory, 80); // 6b
gd.addCheckbox ("Select aberration kernels for aux CLT directory", false); // 7b
gd.addStringField ("Aux results directory", this.aux_camera.resultsDirectory, 60); // 11b
gd.addStringField ("Aux results directory", this.aux_camera.resultsDirectory, 80); // 11b
gd.addCheckbox ("Select aux results directory", false); // 12b
gd.addNumericField("First aux subcamera (in the source filename)", this.aux_camera.firstSubCamera, 0); // 15b
gd.addNumericField("First aux subcamera (in config (clt, sensor) directories)",this.aux_camera.firstSubCameraConfig, 0);
gd.addNumericField("Number of aux subcameras in this camera ", this.aux_camera.numSubCameras, 0); // 16b
gd.addStringField ("Aux Source files prefix", this.aux_camera.sourcePrefix, 60); // 13
gd.addStringField ("Aux Source files suffix", this.aux_camera.sourceSuffix, 60); // 14
gd.addStringField ("Aux Source files prefix", this.aux_camera.sourcePrefix, 80); // 13
gd.addStringField ("Aux Source files suffix", this.aux_camera.sourceSuffix, 80); // 14
gd.addStringField ("Aux sensor files prefix", this.aux_camera.sensorPrefix, 40); // 17b
gd.addStringField ("Aux sensor files suffix", this.aux_camera.sensorSuffix, 40); // 18b
gd.addStringField ("Aux CLT kernel files prefix", this.aux_camera.cltKernelPrefix, 40); // 19b
......@@ -1541,12 +1544,83 @@ public class EyesisCorrectionParameters {
e.printStackTrace();
return null;
}
Path basedir = seq_path.getParent();
Path base_path = seq_path.getParent();
// first - scan all file and set sourceDirectory, x3dDirectory, linkedModels,videoDirectory,resultsDirectory
// String [] dir_paths = new String[KEY_DIRS.length];
HashMap<String,String> dir_map = new HashMap<String,String>();
for (String line:lines){
String[] tokens = line.split("#")[0].trim().split("[\\s,;=]+");
if ((tokens.length > 2) && (tokens[0].toUpperCase().equals("SET"))) {
parse_set:
{
for (String dir_name:KEY_DIRS) if (dir_name.equals(tokens[1])) {
dir_map.put(dir_name,tokens[2]);
System.out.println("Parsed SET: "+tokens[1]+" in line: "+line);
break parse_set;
}
System.out.println("*********** Unknown SET: "+tokens[1]+" in line: "+line);
}
}
}
if (dir_map.containsKey("rootDirectory")) {
base_path=base_path.resolve(Paths.get(dir_map.get("rootDirectory")));
File base_dir = new File(base_path.toString());
if (!base_dir.exists()) {
base_dir.mkdirs();
}
}
// set sourceDirectory:
if (dir_map.containsKey("sourceDirectory")) {
this.sourceDirectory=(base_path.resolve(Paths.get(dir_map.get("sourceDirectory")))).toString();
}
if ((this.sourceDirectory == null) ||
(this.sourceDirectory.trim().length() == 0) ||
!(new File(this.sourceDirectory).exists())) {
System.out.println("Problem with source scenes directory ("+this.sourceDirectory+", using current: "+seq_path.getParent());
this.sourceDirectory = seq_path.getParent().toString();
}
Path source_path = Paths.get(this.sourceDirectory);
File source_dir = new File(source_path.toString());
if (!source_dir.exists()) {
source_dir.mkdirs();
}
// Set other directories (possibly relative to base_path)
for (int i = 2; i < KEY_DIRS.length; i++) { // skip "rootDirectory" and "sourceDirectory"
if (dir_map.containsKey(KEY_DIRS[i])) {
Path dir_path=base_path.resolve(Paths.get(dir_map.get(KEY_DIRS[i])));
File dir_file = new File(dir_path.toString());
if (!dir_file.exists()) {
dir_file.mkdirs();
}
switch (i) {
case 2:
this.linkedModels = dir_path.toString();
System.out.println("this.linkedModels="+this.linkedModels);
break;
case 3:
this.videoDirectory = dir_path.toString();
System.out.println("this.videoDirectory="+this.videoDirectory);
break;
case 4:
this.x3dDirectory = dir_path.toString();
System.out.println("this.x3dDirectory="+this.x3dDirectory);
break;
case 5:
this.resultsDirectory = dir_path.toString();
System.out.println("this.resultsDirectory="+this.resultsDirectory);
break;
}
}
}
// process source sequence directories
ArrayList<PathFirstLast> path_list= new ArrayList<PathFirstLast>();
for (String line:lines){
String[] tokens = line.split("#")[0].trim().split("[\\s,;]+");
if ((tokens.length > 0) && (tokens[0].length() > 0)) {
Path dir_path = basedir.resolve(Paths.get(tokens[0]));
String[] tokens = line.split("#")[0].trim().split("[\\s,;=]+");
if ((tokens.length > 0) &&
(tokens[0].length() > 0) &&
(!tokens[0].toUpperCase().equals("SET"))
) {
Path dir_path = source_path.resolve(Paths.get(tokens[0]));
path_list.add(new PathFirstLast(
dir_path.toString(),
((tokens.length > 1)? Integer.parseInt(tokens[1]):0),
......@@ -1555,14 +1629,7 @@ public class EyesisCorrectionParameters {
}
return path_list.toArray(new PathFirstLast[0]);
}
//Path newPath = path.resolve(childPath);
/*
public static File [] getSeqScenes(String seq_path) {
File seq_file = new File(seq_path);
File [] scene_files =seq_file.listFiles();
return scene_files; // may contain non-directories, will be filtered by filterScenes
}
*/
public boolean selectSourceSets(int debugLevel) {
// PathFirstLast [] pfl=getSourceSets(this.sourceSequencesList);
......
src/main/java/com/elphel/imagej/tileprocessor/OpticalFlow.java
View file @ 7b84dba6
......@@ -2248,6 +2248,7 @@ public class OpticalFlow {
String title = reference_QuadCLT.getImageName()+"-"+scene_QuadCLT.image_name+suffix;
double [][] dsrbg = transformCameraVew( // shifts previous image correctly (right)
title, // final String title,
null, // final double [][] dsrbg_camera_in,
camera_xyz0, // double [] camera_xyz, // camera center in world coordinates
camera_atr0, //double [] camera_atr, // camera orientation relative to world frame
scene_QuadCLT, // QuadCLT camera_QuadClt,
......@@ -2257,6 +2258,7 @@ public class OpticalFlow {
if (blur_reference) {
dsrbg_ref = transformCameraVew( // shifts previous image correctly (right)
title+"-reference", // final String title,
null, // final double [][] dsrbg_camera_in,
ZERO3, // camera_xyz0, // double [] camera_xyz, // camera center in world coordinates
ZERO3, // camera_atr0, // double [] camera_atr, // camera orientation relative to world frame
reference_QuadCLT, // scene_QuadCLT, // QuadCLT camera_QuadClt,
......@@ -2266,7 +2268,6 @@ public class OpticalFlow {
dsrbg_ref= reference_QuadCLT.getDSRBG();
}
double [][][] pair = {dsrbg_ref, dsrbg};
TileProcessor tp = reference_QuadCLT.getTileProcessor();
int tilesX = tp.getTilesX();
int tilesY = tp.getTilesY();
......@@ -2321,6 +2322,7 @@ public class OpticalFlow {
ers_scene.setupERS();
dsrbg[i] = transformCameraVew( // shifts previous image correctly (right) null pointer
title, // final String title,
null, // final double [][] dsrbg_camera_in,
scene_xyzatr[indx][0], // double [] camera_xyz, // camera center in world coordinates
scene_xyzatr[indx][1], //double [] camera_atr, // camera orientation relative to world frame
scenes[indx], // QuadCLT camera_QuadClt,
......@@ -2497,6 +2499,7 @@ public class OpticalFlow {
scene_ers_xyz_dt, // double [] ers_xyz_dt,
scene_ers_atr_dt); // double [] ers_atr_dt)(ers_scene_original_xyz_dt);
//setupERS() will be inside transformToScenePxPyD()
// OK to use the same reference_QuadClt for both reference_QuadClt and scene_QuadClt
double [][] scene_pXpYD = transformToScenePxPyD( // will be null for disparity == NaN
null, // final Rectangle [] extra_woi, // show larger than sensor WOI (or null)
disparity_ref, // final double [] disparity_ref, // invalid tiles - NaN in disparity (maybe it should not be masked by margins?)
......@@ -2505,7 +2508,7 @@ public class OpticalFlow {
scene_QuadClt, // final QuadCLT scene_QuadClt,
reference_QuadClt); // final QuadCLT reference_QuadClt)
TpTask[] tp_tasks = GpuQuad.setInterTasks(
TpTask[] tp_tasks = GpuQuad.setInterTasks( // just to calculate valid_tiles
scene_QuadClt.getNumSensors(),
scene_QuadClt.getGeometryCorrection().getSensorWH()[0],
!scene_QuadClt.hasGPU(), // final boolean calcPortsCoordinatesAndDerivatives, // GPU can calculate them centreXY
......@@ -2516,7 +2519,7 @@ public class OpticalFlow {
margin, // final int margin, // do not use tiles if their centers are closer to the edges
valid_tiles, // final boolean [] valid_tiles,
threadsMax); // final int threadsMax) // maximal number of threads to launch
//FIXME: not clear here tp_tasks was supposed to go?
//FIXME: not clear here tp_tasks was supposed to go? no
/*
scene_QuadClt.getGPU().setInterTasks(
scene_pXpYD, // final double [][] pXpYD, // per-tile array of pX,pY,disparity triplets (or nulls)
......@@ -2646,7 +2649,7 @@ public class OpticalFlow {
};
}
ImageDtt.startAndJoin(threads);
double [][] toref_pXpYD = transformFromScenePxPyD(
double [][] toref_pXpYD = transformFromScenePxPyD( // does not look at identity scene_xyz, scene_atr
scene_pXpYD, // final double [][] pXpYD_scene, // tiles correspond to reference, pX,pY,D - for scene
scene_xyz, // final double [] scene_xyz, // camera center in world coordinates
scene_atr, // final double [] scene_atr, // camera orientation relative to world frame
......@@ -2780,9 +2783,9 @@ public class OpticalFlow {
}
}
}
final boolean ref_is_identity = false;
/// (scene_xyz[0]==0.0) && (scene_xyz[1]==0.0) && (scene_xyz[2]==0.0) &&
/// (scene_atr[0]==0.0) && (scene_atr[1]==0.0) && (scene_atr[2]==0.0);
final boolean ref_is_identity =
(scene_xyz[0]==0.0) && (scene_xyz[1]==0.0) && (scene_xyz[2]==0.0) &&
(scene_atr[0]==0.0) && (scene_atr[1]==0.0) && (scene_atr[2]==0.0);
final double [] disparity_ref = dref;
// final int tilesX_ref = ref_w;
// final int tilesY_ref = ref_h;
......@@ -3243,6 +3246,7 @@ public class OpticalFlow {
* Transform scene view to visually match with a reference scene. It is not accurate as it uses resampling and
* related low pass filtering.
* @param title image title to print
* @param dsrbg_camera_in - null (old compatibility) or [variable_length][tiles] array of disparity, strength, ... for the camera tiles
* @param scene_xyz Scene X (right),Y (up), Z (negative away form camera) in the reference camera coordinates
* or null to use scene instance coordinates.
* @param scene_atr Scene azimuth, tilt and roll (or null to use scene instance).
......@@ -3253,12 +3257,14 @@ public class OpticalFlow {
*/
public double [][] transformCameraVew(
final String title,
final double [][] dsrbg_camera_in,
final double [] scene_xyz, // camera center in world coordinates
final double [] scene_atr, // camera orientation relative to world frame
final QuadCLT scene_QuadClt,
final QuadCLT reference_QuadClt,
final int iscale)
{
boolean debug = (title != null) && (title.length() > 0);
final double line_error = 0.5;
TileProcessor tp = reference_QuadClt.getTileProcessor();
final int tilesX = tp.getTilesX();
......@@ -3271,9 +3277,9 @@ public class OpticalFlow {
final int stilesX = iscale*tilesX;
final int stilesY = iscale*tilesY;
final int stiles = stilesX*stilesY;
final double sigma = 0.5 * iscale;
final double sigma = 0.5 * iscale; // was 0.5
final double scale = 1.0 * iscale/transform_size;
final double [][] dsrbg_camera = scene_QuadClt.getDSRBG();
final double [][] dsrbg_camera = (dsrbg_camera_in == null) ? scene_QuadClt.getDSRBG() : dsrbg_camera_in;
if (dsrbg_camera == null) {
return null;
}
......@@ -3288,14 +3294,15 @@ public class OpticalFlow {
final ErsCorrection ersSceneCorrection = scene_QuadClt.getErsCorrection();
ersReferenceCorrection.setupERS(); // just in case - setUP using instance paRAMETERS
ersSceneCorrection.setupERS();
System.out.println("\ntransformCameraVew(): >> "+title +" <<");
System.out.println("Reference scene ("+reference_QuadClt.getImageName()+"):");
if (debug) {
System.out.println("\ntransformCameraVew(): transformCameraVew(): >> "+title +" <<");
System.out.println("transformCameraVew(): Reference scene ("+reference_QuadClt.getImageName()+"):");
ersReferenceCorrection.printVectors(null, null);
System.out.println("Target scene ("+scene_QuadClt.getImageName()+"):");
System.out.println("transformCameraVew(): Target scene ("+scene_QuadClt.getImageName()+"):");
ersSceneCorrection.printVectors (scene_xyz, scene_atr);
}
final Thread[] threads = ImageDtt.newThreadArray(threadsMax);
final AtomicInteger ai = new AtomicInteger(0);
// final double [] zbuffer = new double [tiles];
DoubleAccumulator [] azbuffer = new DoubleAccumulator[tiles];
for (int ithread = 0; ithread < threads.length; ithread++) {
threads[ithread] = new Thread() {
......@@ -3360,6 +3367,15 @@ public class OpticalFlow {
}
ImageDtt.startAndJoin(threads);
ai.set(0);
if (debug) {
(new ShowDoubleFloatArrays()).showArrays(
ds,
stilesX,
stilesY,
true,
"ds-0",
new String[] {"D","S"});
}
for (int ithread = 0; ithread < threads.length; ithread++) {
threads[ithread] = new Thread() {
......@@ -3379,6 +3395,15 @@ public class OpticalFlow {
}
ImageDtt.startAndJoin(threads);
ai.set(0);
if (debug) {
(new ShowDoubleFloatArrays()).showArrays(
ds,
stilesX,
stilesY,
true,
"ds-1",
new String[] {"D","S"});
}
final double [][] dsrbg_out = new double [dsrbg_camera.length][tiles];
final int [][] num_non_nan = new int [dsrbg_out.length] [tiles];
......@@ -3411,6 +3436,15 @@ public class OpticalFlow {
};
}
ImageDtt.startAndJoin(threads);
if (debug) {
(new ShowDoubleFloatArrays()).showArrays(
dsrbg_out,
tilesX,
tilesY,
true,
"dsrbg_out-0");
}
for (int i = 0; i < dsrbg_out.length; i++) {
for (int j = 0; j < tiles; j++) {
......@@ -3421,7 +3455,15 @@ public class OpticalFlow {
}
}
}
if (debug) {
(new ShowDoubleFloatArrays()).showArrays(
dsrbg_out,
tilesX,
tilesY,
true,
"dsrbg_out-1");
}
/*
if (num_passes > 0) {
for (int i = 0; i < dsrbg_out.length; i++) {
dsrbg_out[i] = tp.fillNaNs(
......@@ -3433,6 +3475,15 @@ public class OpticalFlow {
threadsMax); // final int threadsMax) // maximal number of threads to launch
}
}
if (debug) {
(new ShowDoubleFloatArrays()).showArrays(
dsrbg_out,
tilesX,
tilesY,
true,
"dsrbg_out-2");
}
*/
return dsrbg_out;
}
......@@ -4444,7 +4495,9 @@ public class OpticalFlow {
int tilesX = quadCLTs[ref_index].getTileProcessor().getTilesX();
int tilesY = quadCLTs[ref_index].getTileProcessor().getTilesY();
double [] disparity_fg = null;
double [] strength_fg = null;
double [] disparity_bg = null;
double [] strength_bg = null;
double [] disparity_raw = null;
if (generate_mapped) {
disparity_raw = new double [tilesX * tilesY];
......@@ -4468,6 +4521,7 @@ public class OpticalFlow {
debugLevel);
disparity_fg = ds[0]; // combo_dsn_final[COMBO_DSN_INDX_DISP_FG];
strength_fg = ds[1];
// BG mode
double [] bg_lma = combo_dsn_final[COMBO_DSN_INDX_DISP_BG_ALL].clone();
double [] bg_str = combo_dsn_final[COMBO_DSN_INDX_STRENGTH].clone();
......@@ -4495,7 +4549,7 @@ public class OpticalFlow {
quadCLTs[ref_index], // QuadCLT scene,
debugLevel);
disparity_bg = ds_bg[0]; // combo_dsn_final[COMBO_DSN_INDX_DISP_FG];
strength_bg = ds_bg[1];
// for now using disparity for just standard size (90x64), later may use full size and at
// minimum fill peripheral areas with Laplassian?
double [][] dxyzatr_dt = new double [quadCLTs.length][];
......@@ -4568,6 +4622,12 @@ public class OpticalFlow {
// col_mode: 0 - mono, 1 - color
for (int col_mode = 0; col_mode < 2; col_mode++) if (gen_seq_mono_color[col_mode]){ // skip if not needed
double[] selected_disparity = (mode3d > 1)?disparity_bg:((mode3d > 0)?disparity_fg: disparity_raw);
double[] selected_strength = (mode3d > 1)?strength_bg:((mode3d > 0)?strength_fg: null);
if (selected_strength != null) { // for FG/BG only, fixing for transformCameraVew()
for (int i = 0; i < selected_disparity.length; i++) {
if (!Double.isNaN(selected_disparity[i]) && (selected_strength[i] == 0)) selected_strength[i] = 0.01; // transformCameraVew ignores strength= 0
}
}
final boolean toRGB = col_mode > 0;
String scenes_suffix = quadCLTs[quadCLTs.length-1].getImageName()+
"-SEQ-" + IntersceneMatchParameters.MODES3D[mode3d+1] + "-"+(toRGB?"COLOR":"MONO");
......@@ -4593,7 +4653,17 @@ public class OpticalFlow {
if (views[ibase][2] != 0) {
scenes_suffix += "-Z"+views[ibase][2];
}
double [][] ds_vantage = new double[][] {selected_disparity,selected_strength};
if ((views[ibase][0] != 0) || (views[ibase][1] != 0) || (views[ibase][2] != 0)) {
ds_vantage = transformCameraVew(
null, // (debug_ds_fg_virt?"transformCameraVew":null), // final String title,
ds_vantage, // final double [][] dsrbg_camera_in,
xyz_offset, // _inverse[0], // final double [] scene_xyz, // camera center in world coordinates
ZERO3, // _inverse[1], // final double [] scene_atr, // camera orientation relative to world frame
quadCLTs[ref_index], // final QuadCLT scene_QuadClt,
quadCLTs[ref_index], // final QuadCLT reference_QuadClt,
8); // iscale); // final int iscale);
}
if (generate_mapped) {
imp_scenes_pair[nstereo]= renderSceneSequence(
clt_parameters, // CLTParameters clt_parameters,
......@@ -4603,7 +4673,7 @@ public class OpticalFlow {
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,
ds_vantage[0], // selected_disparity, // double [] ref_disparity,
quadCLTs, // QuadCLT [] quadCLTs,
debugLevel); // int debugLevel);
if (save_mapped_mono_color[col_mode]) {
......@@ -4870,14 +4940,14 @@ public class OpticalFlow {
combo_dsn_final[COMBO_DSN_INDX_LMA],
combo_dsn_final[COMBO_DSN_INDX_STRENGTH]
};
double [][] ds = conditionInitialDS(
double [][] ds_fg = conditionInitialDS(
true, // boolean use_conf, // use configuration parameters, false - use following
clt_parameters, // CLTParameters clt_parameters,
dls, // double [][] dls
quadCLTs[ref_index], // QuadCLT scene,
debugLevel);
double [] fg_disparity = ds[0]; // combo_dsn_final[COMBO_DSN_INDX_DISP_FG];
double [] fg_disparity = ds_fg[0]; // combo_dsn_final[COMBO_DSN_INDX_DISP_FG];
double [] bg_lma = combo_dsn_final[COMBO_DSN_INDX_DISP_BG_ALL].clone();
double [] bg_str = combo_dsn_final[COMBO_DSN_INDX_STRENGTH].clone();
......@@ -4951,8 +5021,13 @@ public class OpticalFlow {
}
}
boolean offset_fg_image = true; // config later, generate FG image for all stereo views
boolean offset_fg_image = false; // true; // config later, generate FG image for all stereo views
double [][] img_views = offset_fg_image ? stereo_views : (new double [][] {{0,0,0}});
double min_str = 0.01;
for (int i = 0; i < ds_fg[0].length; i++) {
if (!Double.isNaN(ds_fg[0][i]) && (ds_fg[1][i] == 0)) ds_fg[1][i] = min_str; // transformCameraVew ignores strength= 0
if (!Double.isNaN(ds_bg[0][i]) && (ds_bg[1][i] == 0)) ds_bg[1][i] = min_str;
}
for (int ibase = 0; ibase < img_views.length; ibase++) if (!offset_fg_image || generate_stereo_var[ibase]) {
double stereo_baseline_meters = 0.001 * img_views[ibase][0];
double view_height_meters = 0.001 * img_views[ibase][1];
......@@ -4961,7 +5036,7 @@ public class OpticalFlow {
-stereo_baseline_meters, // x offset
-view_height_meters, // Y offset
-view_back_meters}; // Z offset
double [] atr_offset = ZERO3;
String scenes_suffix = "";
if (img_views[ibase][0] != 0) {
scenes_suffix += "-B"+img_views[ibase][0];
......@@ -4972,13 +5047,38 @@ public class OpticalFlow {
if (img_views[ibase][2] != 0) {
scenes_suffix += "-Z"+img_views[ibase][2];
}
// calculate virtual view fg_ds_virt from the reference ds_fg;
boolean debug_ds_fg_virt = false; // false;
double [][] ds_fg_virt = ds_fg;
if ((img_views[ibase][0] != 0) || (img_views[ibase][1] != 0) || (img_views[ibase][2] != 0)) {
ds_fg_virt = transformCameraVew(
(debug_ds_fg_virt?"transformCameraVew":null), // final String title,
ds_fg, // final double [][] dsrbg_camera_in,
xyz_offset, // _inverse[0], // final double [] scene_xyz, // camera center in world coordinates
atr_offset, // _inverse[1], // final double [] scene_atr, // camera orientation relative to world frame
quadCLTs[ref_index], // final QuadCLT scene_QuadClt,
quadCLTs[ref_index], // final QuadCLT reference_QuadClt,
8); // iscale); // final int iscale);
if (debug_ds_fg_virt){
int dbgX = quadCLTs[ref_index].getTileProcessor().getTilesX();
int dbgY = quadCLTs[ref_index].getTileProcessor().getTilesY();
double [][] dbg_img = new double[][] {ds_fg[0],ds_fg_virt[0],ds_fg[1],ds_fg_virt[1]};
(new ShowDoubleFloatArrays()).showArrays(
dbg_img,
dbgX,
dbgY,
true,
"virtual-view-ds",
new String[] {"d-ref","d-virt","s-ref","s-virt"}); // dsrbg_titles);
}
}
ImagePlus imp_fg = QuadCLT.renderGPUFromDSI(
-1, // final int sensor_mask,
false, // final boolean merge_channels,
null, // final Rectangle full_woi_in, // show larger than sensor WOI (or null)
clt_parameters, // CLTParameters clt_parameters,
fg_disparity, // double [] disparity_ref,
ds_fg_virt[0], // fg_disparity, // double [] disparity_ref,
xyz_offset, // ZERO3, // final double [] scene_xyz, // camera center in world coordinates
ZERO3, // final double [] scene_atr, // camera orientation relative to world frame
quadCLTs[ref_index], // final QuadCLT scene,
......@@ -4995,7 +5095,7 @@ public class OpticalFlow {
false, // final boolean merge_channels,
null, // final Rectangle full_woi_in, // show larger than sensor WOI (or null)
clt_parameters, // CLTParameters clt_parameters,
fg_disparity, // double [] disparity_ref,
ds_fg_virt[0], // fg_disparity, // double [] disparity_ref,
xyz_offset, // ZERO3, // final double [] scene_xyz, // camera center in world coordinates
ZERO3, // final double [] scene_atr, // camera orientation relative to world frame
quadCLTs[ref_index], // final QuadCLT scene,
......@@ -12896,6 +12996,7 @@ public double[][] correlateIntersceneDebug( // only uses GPU and quad
String title = this_image_name+"-"+scene_QuadCLT.image_name+"-dt"+dt;
double [][] dsrbg = transformCameraVew( // shifts previous image correctly (right)
title, // final String title,
null, // final double [][] dsrbg_camera_in,
camera_xyz0, // double [] camera_xyz, // camera center in world coordinates
camera_atr0, //double [] camera_atr, // camera orientation relative to world frame
scene_QuadCLT, // QuadCLT camera_QuadClt,
......
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