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Elphel
imagej-elphel
Commits
7d6fb681
Commit
7d6fb681
authored
Aug 09, 2022
by
Andrey Filippov
Browse files
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Plain Diff
First version of MB correction, changing format
parent
e4c6d901
Changes
7
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Showing
7 changed files
with
609 additions
and
178 deletions
+609
-178
GpuQuad.java
src/main/java/com/elphel/imagej/gpu/GpuQuad.java
+159
-5
TpTask.java
src/main/java/com/elphel/imagej/gpu/TpTask.java
+19
-3
ImageDtt.java
src/main/java/com/elphel/imagej/tileprocessor/ImageDtt.java
+47
-3
IntersceneLma.java
...n/java/com/elphel/imagej/tileprocessor/IntersceneLma.java
+35
-21
IntersceneMatchParameters.java
...lphel/imagej/tileprocessor/IntersceneMatchParameters.java
+38
-12
OpticalFlow.java
...ain/java/com/elphel/imagej/tileprocessor/OpticalFlow.java
+198
-101
QuadCLT.java
src/main/java/com/elphel/imagej/tileprocessor/QuadCLT.java
+113
-33
No files found.
src/main/java/com/elphel/imagej/gpu/GpuQuad.java
View file @
7d6fb681
...
@@ -3719,7 +3719,6 @@ public class GpuQuad{ // quad camera description
...
@@ -3719,7 +3719,6 @@ public class GpuQuad{ // quad camera description
//change to fixed 511?
//change to fixed 511?
final
int
task_code
=
((
1
<<
num_pairs
)-
1
)
<<
GPUTileProcessor
.
TASK_CORR_BITS
;
// correlation only
final
int
task_code
=
((
1
<<
num_pairs
)-
1
)
<<
GPUTileProcessor
.
TASK_CORR_BITS
;
// correlation only
final
double
min_px
=
margin
;
final
double
min_px
=
margin
;
// final double max_px = img_width - 1 - margin;
final
double
max_px
=
geometryCorrection
.
getSensorWH
()[
0
]
-
1
-
margin
;
// sensor width here, not window width
final
double
max_px
=
geometryCorrection
.
getSensorWH
()[
0
]
-
1
-
margin
;
// sensor width here, not window width
final
double
[]
min_py
=
new
double
[
num_cams
]
;
final
double
[]
min_py
=
new
double
[
num_cams
]
;
final
double
[]
max_py
=
new
double
[
num_cams
]
;
final
double
[]
max_py
=
new
double
[
num_cams
]
;
...
@@ -3727,7 +3726,6 @@ public class GpuQuad{ // quad camera description
...
@@ -3727,7 +3726,6 @@ public class GpuQuad{ // quad camera description
min_py
[
i
]
=
margin
+
(
calcPortsCoordinatesAndDerivatives
?
geometryCorrection
.
getWOITops
()[
i
]
:
0
);
min_py
[
i
]
=
margin
+
(
calcPortsCoordinatesAndDerivatives
?
geometryCorrection
.
getWOITops
()[
i
]
:
0
);
// camera_heights array is only set during conditionImageSet(), not called by the intersceneAccumulate()
// camera_heights array is only set during conditionImageSet(), not called by the intersceneAccumulate()
// That was correct, as all scenes should be conditioned
// That was correct, as all scenes should be conditioned
// max_py [i] = geometryCorrection.getWOITops()[i] + geometryCorrection.getCameraHeights()[i] - 1 - margin;
max_py
[
i
]
=
geometryCorrection
.
getSensorWH
()[
1
]
-
1
-
margin
;
// same for all channels?
max_py
[
i
]
=
geometryCorrection
.
getSensorWH
()[
1
]
-
1
-
margin
;
// same for all channels?
//.getSensorWH()[0]
//.getSensorWH()[0]
}
}
...
@@ -3807,11 +3805,167 @@ public class GpuQuad{ // quad camera description
...
@@ -3807,11 +3805,167 @@ public class GpuQuad{ // quad camera description
public
static
TpTask
[][]
setInterTasksMotionBlur
(
final
int
num_cams
,
final
int
img_width
,
// should match pXpYD
final
boolean
calcPortsCoordinatesAndDerivatives
,
// GPU can calculate them centreXY
final
double
[][]
pXpYD
,
// per-tile array of pX,pY,disparity triplets (or nulls)
final
boolean
[]
selection
,
// may be null, if not null do not process unselected tiles
// motion blur compensation
final
double
mb_tau
,
// 0.008; // time constant, sec
final
double
mb_max_gain
,
// 5.0; // motion blur maximal gain (if more - move second point more than a pixel
final
double
[][]
mb_vectors
,
//
final
GeometryCorrection
geometryCorrection
,
final
double
disparity_corr
,
final
int
margin
,
// do not use tiles if their centers are closer to the edges
final
boolean
[]
valid_tiles
,
final
int
threadsMax
)
// maximal number of threads to launch
{
int
num_pairs
=
Correlation2d
.
getNumPairs
(
num_cams
);
//change to fixed 511?
final
int
task_code
=
((
1
<<
num_pairs
)-
1
)
<<
GPUTileProcessor
.
TASK_CORR_BITS
;
// correlation only
final
double
min_px
=
margin
;
final
double
max_px
=
geometryCorrection
.
getSensorWH
()[
0
]
-
1
-
margin
;
// sensor width here, not window width
final
double
[]
min_py
=
new
double
[
num_cams
]
;
final
double
[]
max_py
=
new
double
[
num_cams
]
;
for
(
int
i
=
0
;
i
<
num_cams
;
i
++)
{
min_py
[
i
]
=
margin
+
(
calcPortsCoordinatesAndDerivatives
?
geometryCorrection
.
getWOITops
()[
i
]
:
0
);
// camera_heights array is only set during conditionImageSet(), not called by the intersceneAccumulate()
// That was correct, as all scenes should be conditioned
max_py
[
i
]
=
geometryCorrection
.
getSensorWH
()[
1
]
-
1
-
margin
;
// same for all channels?
//.getSensorWH()[0]
}
if
(
valid_tiles
!=
null
)
{
Arrays
.
fill
(
valid_tiles
,
false
);
}
final
int
tilesX
=
img_width
/
GPUTileProcessor
.
DTT_SIZE
;
final
int
tiles
=
pXpYD
.
length
;
final
Matrix
[]
corr_rots
=
geometryCorrection
.
getCorrVector
().
getRotMatrices
();
// get array of per-sensor rotation matrices
final
int
quad_main
=
(
geometryCorrection
!=
null
)?
num_cams:
0
;
final
Thread
[]
threads
=
ImageDtt
.
newThreadArray
(
threadsMax
);
final
AtomicInteger
ai
=
new
AtomicInteger
(
00
);
final
AtomicInteger
aTiles
=
new
AtomicInteger
(
0
);
final
TpTask
[][]
tp_tasks
=
new
TpTask
[
2
][
tiles
];
// aTiles.get()]; // [0] - main, [1] - shifted
final
double
mb_len_scale
=
-
Math
.
log
(
1.0
-
1.0
/
mb_max_gain
);
for
(
int
ithread
=
0
;
ithread
<
threads
.
length
;
ithread
++)
{
threads
[
ithread
]
=
new
Thread
()
{
@Override
public
void
run
()
{
for
(
int
nTile
=
ai
.
getAndIncrement
();
nTile
<
tiles
;
nTile
=
ai
.
getAndIncrement
())
if
((
pXpYD
[
nTile
]
!=
null
)
&&
(
mb_vectors
[
nTile
]
!=
null
)
&&
((
selection
==
null
)
||
selection
[
nTile
]))
{
int
tileY
=
nTile
/
tilesX
;
int
tileX
=
nTile
%
tilesX
;
TpTask
tp_task
=
new
TpTask
(
num_cams
,
tileX
,
tileY
);
TpTask
tp_task_sub
=
new
TpTask
(
num_cams
,
tileX
,
tileY
);
tp_task
.
task
=
task_code
;
tp_task_sub
.
task
=
task_code
;
double
disparity
=
pXpYD
[
nTile
][
2
]
+
disparity_corr
;
tp_task
.
target_disparity
=
(
float
)
disparity
;
// will it be used?
tp_task_sub
.
target_disparity
=
tp_task
.
target_disparity
;
// will it be used?
double
[]
centerXY
=
pXpYD
[
nTile
];
tp_task
.
setCenterXY
(
centerXY
);
// this pair of coordinates will be used by GPU to set tp_task.xy and task.disp_dist!
// calculate offset for the secondary tile and weigh
double
dx
=
mb_vectors
[
nTile
][
0
];
double
dy
=
mb_vectors
[
nTile
][
1
];
double
mb_len
=
Math
.
sqrt
(
dx
*
dx
+
dy
*
dy
);
// in pixels/s
dx
/=
mb_len
;
// unit vector
dy
/=
mb_len
;
mb_len
*=
mb_tau
;
// now in pixels
double
mb_offs
=
1.0
;
// try 1 pixel. Maybe adjust for non-ortho, e.g. sqrt(2) for diagonal?
double
min_offs
=
mb_len_scale
*
mb_len
;
if
(
mb_offs
<
min_offs
)
{
mb_offs
=
min_offs
;
}
dx
*=
mb_offs
;
dy
*=
mb_offs
;
double
[]
centerXY_sub
=
{
centerXY
[
0
]+
dx
,
centerXY
[
1
]+
dy
};
tp_task_sub
.
setCenterXY
(
centerXY_sub
);
double
exp_offs
=
Math
.
exp
(-
mb_offs
/
mb_len
);
double
gain
=
1.0
/(
1.0
-
exp_offs
);
double
gain_sub
=
-
gain
*
exp_offs
;
tp_task
.
setScale
(
gain
);
tp_task_sub
.
setScale
(
gain_sub
);
boolean
bad_margins
=
false
;
if
(
calcPortsCoordinatesAndDerivatives
)
{
// for non-GPU?
double
[][]
disp_dist
=
new
double
[
quad_main
][];
// used to correct 3D correlations (not yet used here)
double
[][]
centersXY_main
=
geometryCorrection
.
getPortsCoordinatesAndDerivatives
(
geometryCorrection
,
// GeometryCorrection gc_main,
false
,
// boolean use_rig_offsets,
corr_rots
,
// Matrix [] rots,
null
,
// Matrix [][] deriv_rots,
null
,
// double [][] pXYderiv, // if not null, should be double[8][]
disp_dist
,
// used to correct 3D correlations
centerXY
[
0
],
centerXY
[
1
],
disparity
);
// + disparity_corr);
tp_task
.
setDispDist
(
disp_dist
);
tp_task
.
xy
=
new
float
[
centersXY_main
.
length
][
2
];
for
(
int
i
=
0
;
i
<
centersXY_main
.
length
;
i
++)
{
if
(
(
centersXY_main
[
i
][
0
]
<
min_px
)
||
(
centersXY_main
[
i
][
0
]
>
max_px
)
||
(
centersXY_main
[
i
][
1
]
<
min_py
[
i
])
||
(
centersXY_main
[
i
][
1
]
>
max_py
[
i
]))
{
bad_margins
=
true
;
break
;
}
tp_task
.
xy
[
i
][
0
]
=
(
float
)
centersXY_main
[
i
][
0
];
tp_task
.
xy
[
i
][
1
]
=
(
float
)
centersXY_main
[
i
][
1
];
}
// same for the second entry
double
[][]
disp_dist_sub
=
new
double
[
quad_main
][];
// used to correct 3D correlations (not yet used here)
double
[][]
centersXY_main_sub
=
geometryCorrection
.
getPortsCoordinatesAndDerivatives
(
geometryCorrection
,
// GeometryCorrection gc_main,
false
,
// boolean use_rig_offsets,
corr_rots
,
// Matrix [] rots,
null
,
// Matrix [][] deriv_rots,
null
,
// double [][] pXYderiv, // if not null, should be double[8][]
disp_dist_sub
,
// used to correct 3D correlations
centerXY_sub
[
0
],
centerXY_sub
[
1
],
disparity
);
// + disparity_corr);
tp_task_sub
.
setDispDist
(
disp_dist
);
tp_task_sub
.
xy
=
new
float
[
centersXY_main
.
length
][
2
];
for
(
int
i
=
0
;
i
<
centersXY_main
.
length
;
i
++)
{
if
(
(
centersXY_main
[
i
][
0
]
<
min_px
)
||
(
centersXY_main
[
i
][
0
]
>
max_px
)
||
(
centersXY_main
[
i
][
1
]
<
min_py
[
i
])
||
(
centersXY_main
[
i
][
1
]
>
max_py
[
i
]))
{
bad_margins
=
true
;
break
;
}
tp_task_sub
.
xy
[
i
][
0
]
=
(
float
)
centersXY_main_sub
[
i
][
0
];
tp_task_sub
.
xy
[
i
][
1
]
=
(
float
)
centersXY_main_sub
[
i
][
1
];
}
}
else
{
// only check center for margins
if
(
(
centerXY
[
0
]
<
min_px
)
||
(
centerXY
[
0
]
>
max_px
)
||
(
centerXY
[
1
]
<
min_py
[
0
])
||
(
centerXY
[
1
]
>
max_py
[
0
])
||
(
centerXY_sub
[
0
]
<
min_px
)
||
(
centerXY_sub
[
0
]
>
max_px
)
||
(
centerXY_sub
[
1
]
<
min_py
[
0
])
||
(
centerXY_sub
[
1
]
>
max_py
[
0
]))
{
bad_margins
=
true
;
// break;
}
}
if
(
bad_margins
)
{
continue
;
}
int
tp_task_index
=
aTiles
.
getAndIncrement
();
tp_tasks
[
0
][
tp_task_index
]
=
tp_task
;
tp_tasks
[
1
][
tp_task_index
]
=
tp_task_sub
;
if
(
valid_tiles
!=
null
)
{
valid_tiles
[
nTile
]
=
true
;
}
}
}
};
}
ImageDtt
.
startAndJoin
(
threads
);
final
TpTask
[][]
tp_tasks_out
=
new
TpTask
[
2
][
aTiles
.
get
()];
System
.
arraycopy
(
tp_tasks
[
0
],
0
,
tp_tasks_out
[
0
],
0
,
tp_tasks_out
[
0
].
length
);
System
.
arraycopy
(
tp_tasks
[
1
],
0
,
tp_tasks_out
[
1
],
0
,
tp_tasks_out
[
1
].
length
);
return
tp_tasks_out
;
}
public
void
setLpfRbg
(
public
void
setLpfRbg
(
float
[][]
lpf_rbg
,
// 4 64-el. arrays: r,b,g,m
float
[][]
lpf_rbg
,
// 4 64-el. arrays: r,b,g,m
...
...
src/main/java/com/elphel/imagej/gpu/TpTask.java
View file @
7d6fb681
...
@@ -11,13 +11,28 @@ public class TpTask {
...
@@ -11,13 +11,28 @@ public class TpTask {
public
float
[][]
xy_aux
=
null
;
public
float
[][]
xy_aux
=
null
;
public
float
[][]
disp_dist
=
null
;
public
float
[][]
disp_dist
=
null
;
// public float weight;
// public float weight;
public
float
scale
=
0.0f
;
// for motion blur correction
// 0.0 - set (as it was). >0 multiply and set. <0 multiply and accumulate
public
static
int
getSize
(
int
num_sensors
)
{
public
static
int
getSize
(
int
num_sensors
)
{
return
5
+
2
*
num_sensors
+
4
*
num_sensors
;
// return 5 + 2* num_sensors + 4 * num_sensors;
return
6
+
2
*
num_sensors
+
4
*
num_sensors
;
// added scale
}
}
public
int
getSize
()
{
public
int
getSize
()
{
return
5
+
2
*
num_sensors
+
4
*
num_sensors
;
// return 5 + 2* num_sensors + 4 * num_sensors;
return
getSize
(
num_sensors
);
}
}
public
void
setScale
(
float
scale
)
{
this
.
scale
=
scale
;
}
public
void
setScale
(
double
scale
)
{
this
.
scale
=
(
float
)
scale
;
}
public
float
getScale
()
{
return
scale
;
}
public
TpTask
(
public
TpTask
(
int
num_sensors
,
int
num_sensors
,
...
@@ -54,6 +69,7 @@ public class TpTask {
...
@@ -54,6 +69,7 @@ public class TpTask {
target_disparity
=
flt
[
indx
++];
// 2
target_disparity
=
flt
[
indx
++];
// 2
centerXY
[
0
]
=
flt
[
indx
++];
// 3
centerXY
[
0
]
=
flt
[
indx
++];
// 3
centerXY
[
1
]
=
flt
[
indx
++];
// 4
centerXY
[
1
]
=
flt
[
indx
++];
// 4
scale
=
flt
[
indx
++];
// 5
if
(
use_aux
)
{
if
(
use_aux
)
{
xy_aux
=
new
float
[
num_sensors
][
2
];
xy_aux
=
new
float
[
num_sensors
][
2
];
for
(
int
i
=
0
;
i
<
num_sensors
;
i
++)
{
for
(
int
i
=
0
;
i
<
num_sensors
;
i
++)
{
...
@@ -165,7 +181,7 @@ public class TpTask {
...
@@ -165,7 +181,7 @@ public class TpTask {
flt
[
indx
++]
=
this
.
target_disparity
;
// 2
flt
[
indx
++]
=
this
.
target_disparity
;
// 2
flt
[
indx
++]
=
centerXY
[
0
];
// 3
flt
[
indx
++]
=
centerXY
[
0
];
// 3
flt
[
indx
++]
=
centerXY
[
1
];
// 4
flt
[
indx
++]
=
centerXY
[
1
];
// 4
flt
[
indx
++]
=
scale
;
// 5
float
[][]
offsets
=
use_aux
?
this
.
xy_aux
:
this
.
xy
;
float
[][]
offsets
=
use_aux
?
this
.
xy_aux
:
this
.
xy
;
for
(
int
i
=
0
;
i
<
num_sensors
;
i
++)
{
for
(
int
i
=
0
;
i
<
num_sensors
;
i
++)
{
if
(
offsets
!=
null
)
{
if
(
offsets
!=
null
)
{
...
...
src/main/java/com/elphel/imagej/tileprocessor/ImageDtt.java
View file @
7d6fb681
...
@@ -1199,12 +1199,56 @@ public class ImageDtt extends ImageDttCPU {
...
@@ -1199,12 +1199,56 @@ public class ImageDtt extends ImageDttCPU {
gpuQuad
.
updateTasks
(
gpuQuad
.
updateTasks
(
tp_tasks
,
tp_tasks
,
false
);
// boolean use_aux // while is it in class member? - just to be able to free
false
);
// boolean use_aux // while is it in class member? - just to be able to free
// Skipping if ((fdisp_dist != null) || (fpxpy != null)) {...
// int [] wh = null;
// int erase_clt = 1; // NaN;
gpuQuad
.
execConvertDirect
(
use_reference_buffer
,
wh
,
erase_clt
);
// put results into a "reference" buffer
gpuQuad
.
execConvertDirect
(
use_reference_buffer
,
wh
,
erase_clt
);
// put results into a "reference" buffer
}
}
public
void
setReferenceTDMotionBlur
(
final
int
erase_clt
,
final
int
[]
wh
,
// null (use sensor dimensions) or pair {width, height} in pixels
final
ImageDttParameters
imgdtt_params
,
// Now just extra correlation parameters, later will include, most others
final
boolean
use_reference_buffer
,
final
TpTask
[][]
tp_tasks
,
final
double
gpu_sigma_r
,
// 0.9, 1.1
final
double
gpu_sigma_b
,
// 0.9, 1.1
final
double
gpu_sigma_g
,
// 0.6, 0.7
final
double
gpu_sigma_m
,
// = 0.4; // 0.7;
final
int
threadsMax
,
// maximal number of threads to launch
final
int
globalDebugLevel
)
{
final
float
[][]
lpf_rgb
=
new
float
[][]
{
floatGetCltLpfFd
(
gpu_sigma_r
),
floatGetCltLpfFd
(
gpu_sigma_b
),
floatGetCltLpfFd
(
gpu_sigma_g
),
floatGetCltLpfFd
(
gpu_sigma_m
)
};
gpuQuad
.
setLpfRbg
(
// constants memory - same for all cameras
lpf_rgb
,
globalDebugLevel
>
2
);
gpuQuad
.
setTasks
(
// copy tp_tasks to the GPU memory
tp_tasks
[
0
],
// TpTask [] tile_tasks,
false
,
// use_aux); // boolean use_aux)
imgdtt_params
.
gpu_verify
);
// boolean verify
// Why always NON-UNIFORM grid? Already set in tp_tasks
gpuQuad
.
execSetTilesOffsets
(
false
);
// false); // prepare tiles offsets in GPU memory, using NON-UNIFORM grid (pre-calculated)
// update tp_tasks
gpuQuad
.
updateTasks
(
tp_tasks
[
0
],
false
);
// boolean use_aux // while is it in class member? - just to be able to free
gpuQuad
.
execConvertDirect
(
use_reference_buffer
,
wh
,
erase_clt
);
// put results into a "reference" buffer
// second tasks (subtracting MB)
gpuQuad
.
setTasks
(
// copy tp_tasks to the GPU memory
tp_tasks
[
1
],
// TpTask [] tile_tasks,
false
,
// use_aux); // boolean use_aux)
imgdtt_params
.
gpu_verify
);
// boolean verify
// Why always NON-UNIFORM grid? Already set in tp_tasks
gpuQuad
.
execSetTilesOffsets
(
false
);
// false); // prepare tiles offsets in GPU memory, using NON-UNIFORM grid (pre-calculated)
// update tp_tasks
gpuQuad
.
updateTasks
(
tp_tasks
[
1
],
false
);
// boolean use_aux // while is it in class member? - just to be able to free
gpuQuad
.
execConvertDirect
(
use_reference_buffer
,
wh
,
-
1
);
// erase_clt); // put results into a "reference" buffer
}
...
...
src/main/java/com/elphel/imagej/tileprocessor/IntersceneLma.java
View file @
7d6fb681
...
@@ -43,6 +43,12 @@ public class IntersceneLma {
...
@@ -43,6 +43,12 @@ public class IntersceneLma {
this
.
thread_invariant
=
thread_invariant
;
this
.
thread_invariant
=
thread_invariant
;
this
.
opticalFlow
=
opticalFlow
;
this
.
opticalFlow
=
opticalFlow
;
}
}
public
double
[][]
getLastJT
(){
return
last_jt
;
}
public
double
[]
getLastRms
()
{
public
double
[]
getLastRms
()
{
return
last_rms
;
return
last_rms
;
}
}
...
@@ -171,19 +177,9 @@ public class IntersceneLma {
...
@@ -171,19 +177,9 @@ public class IntersceneLma {
final
int
debug_level
)
final
int
debug_level
)
{
{
scenesCLT
=
new
QuadCLT
[]
{
reference_QuadClt
,
scene_QuadClt
};
scenesCLT
=
new
QuadCLT
[]
{
reference_QuadClt
,
scene_QuadClt
};
// this.vector_XYS = vector_XYS;
par_mask
=
param_select
;
par_mask
=
param_select
;
macrotile_centers
=
centers
;
macrotile_centers
=
centers
;
num_samples
=
2
*
centers
.
length
;
num_samples
=
2
*
centers
.
length
;
/*
for (int i = 0; i < vector_XYS.length; i++){
if (((vector_XYS[i] == null) && (centers[i]!=null)) ||
((vector_XYS[i] != null) && (centers[i]==null))) {
vector_XYS[i] = null;
centers[i]= null;
}
}
*/
ErsCorrection
ers_ref
=
reference_QuadClt
.
getErsCorrection
();
ErsCorrection
ers_ref
=
reference_QuadClt
.
getErsCorrection
();
ErsCorrection
ers_scene
=
scene_QuadClt
.
getErsCorrection
();
ErsCorrection
ers_scene
=
scene_QuadClt
.
getErsCorrection
();
final
double
[]
scene_xyz
=
(
scene_xyz0
!=
null
)
?
scene_xyz0
:
ers_scene
.
camera_xyz
;
final
double
[]
scene_xyz
=
(
scene_xyz0
!=
null
)
?
scene_xyz0
:
ers_scene
.
camera_xyz
;
...
@@ -201,19 +197,22 @@ public class IntersceneLma {
...
@@ -201,19 +197,22 @@ public class IntersceneLma {
scene_atr
[
0
],
scene_atr
[
1
],
scene_atr
[
2
],
scene_atr
[
0
],
scene_atr
[
1
],
scene_atr
[
2
],
scene_xyz
[
0
],
scene_xyz
[
1
],
scene_xyz
[
2
]};
scene_xyz
[
0
],
scene_xyz
[
1
],
scene_xyz
[
2
]};
parameters_full
=
full_parameters_vector
.
clone
();
parameters_full
=
full_parameters_vector
.
clone
();
if
(
first_run
||
(
backup_parameters_full
==
null
))
{
if
(
(
vector_XYS
!=
null
)
&&
(
first_run
||
(
backup_parameters_full
==
null
)
))
{
backup_parameters_full
=
full_parameters_vector
.
clone
();
backup_parameters_full
=
full_parameters_vector
.
clone
();
}
}
int
num_pars
=
0
;
int
num_pars
=
0
;
for
(
int
i
=
0
;
i
<
par_mask
.
length
;
i
++)
if
(
par_mask
[
i
])
num_pars
++;
for
(
int
i
=
0
;
i
<
par_mask
.
length
;
i
++)
if
(
par_mask
[
i
])
num_pars
++;
par_indices
=
new
int
[
num_pars
];
par_indices
=
new
int
[
num_pars
];
num_pars
=
0
0
;
num_pars
=
0
;
for
(
int
i
=
0
;
i
<
par_mask
.
length
;
i
++)
if
(
par_mask
[
i
])
par_indices
[
num_pars
++]
=
i
;
for
(
int
i
=
0
;
i
<
par_mask
.
length
;
i
++)
if
(
par_mask
[
i
])
par_indices
[
num_pars
++]
=
i
;
parameters_vector
=
new
double
[
par_indices
.
length
];
parameters_vector
=
new
double
[
par_indices
.
length
];
for
(
int
i
=
0
;
i
<
par_indices
.
length
;
i
++)
parameters_vector
[
i
]
=
full_parameters_vector
[
par_indices
[
i
]];
for
(
int
i
=
0
;
i
<
par_indices
.
length
;
i
++)
parameters_vector
[
i
]
=
full_parameters_vector
[
par_indices
[
i
]];
// parameters_initial = parameters_vector.clone();
if
(
vector_XYS
!=
null
)
{
// skip when used for the motion blur vectors, not LMA
setSamplesWeights
(
vector_XYS
);
// not regularized yet !
setSamplesWeights
(
vector_XYS
);
// not regularized yet !
}
else
{
weights
=
null
;
// new double[2 * centers.length];
}
last_jt
=
new
double
[
parameters_vector
.
length
][];
last_jt
=
new
double
[
parameters_vector
.
length
][];
if
(
debug_level
>
1
)
{
if
(
debug_level
>
1
)
{
...
@@ -225,6 +224,10 @@ public class IntersceneLma {
...
@@ -225,6 +224,10 @@ public class IntersceneLma {
scenesCLT
[
1
],
// final QuadCLT scene_QuadClt,
scenesCLT
[
1
],
// final QuadCLT scene_QuadClt,
scenesCLT
[
0
],
// final QuadCLT reference_QuadClt,
scenesCLT
[
0
],
// final QuadCLT reference_QuadClt,
debug_level
);
// final int debug_level)
debug_level
);
// final int debug_level)
if
(
vector_XYS
==
null
)
{
return
;
// for MB vectors (noLMA)
}
double
[][]
wjtj
=
getWJtJlambda
(
// USED in lwir all NAN
double
[][]
wjtj
=
getWJtJlambda
(
// USED in lwir all NAN
0.0
,
// final double lambda,
0.0
,
// final double lambda,
last_jt
);
// final double [][] jt) all 0???
last_jt
);
// final double [][] jt) all 0???
...
@@ -727,10 +730,12 @@ public class IntersceneLma {
...
@@ -727,10 +730,12 @@ public class IntersceneLma {
final
double
[]
scene_atr
=
new
double
[
3
];
final
double
[]
scene_atr
=
new
double
[
3
];
final
double
[]
reference_xyz
=
new
double
[
3
];
// will stay 0
final
double
[]
reference_xyz
=
new
double
[
3
];
// will stay 0
final
double
[]
reference_atr
=
new
double
[
3
];
// will stay 0
final
double
[]
reference_atr
=
new
double
[
3
];
// will stay 0
final
double
[]
fx
=
new
double
[
weights
.
length
];
final
boolean
mb_mode
=
(
weights
==
null
);
final
int
weights_length
=
mb_mode
?
(
2
*
macrotile_centers
.
length
)
:
weights
.
length
;
final
double
[]
fx
=
mb_mode
?
null
:
(
new
double
[
weights_length
]);
// weights.length]; : weights.length :
if
(
jt
!=
null
)
{
if
(
jt
!=
null
)
{
for
(
int
i
=
0
;
i
<
jt
.
length
;
i
++)
{
for
(
int
i
=
0
;
i
<
jt
.
length
;
i
++)
{
jt
[
i
]
=
new
double
[
weights
.
length
];
jt
[
i
]
=
new
double
[
weights
_length
];
// weights
.length];
}
}
}
}
...
@@ -758,14 +763,13 @@ public class IntersceneLma {
...
@@ -758,14 +763,13 @@ public class IntersceneLma {
scene_atr
,
// double [] atr);
scene_atr
,
// double [] atr);
false
)[
0
];
// boolean invert));
false
)[
0
];
// boolean invert));
// double [][][] derivs = new double [macrotile_centers.length + parameters_vector.length][][];
final
Thread
[]
threads
=
ImageDtt
.
newThreadArray
(
opticalFlow
.
threadsMax
);
final
Thread
[]
threads
=
ImageDtt
.
newThreadArray
(
opticalFlow
.
threadsMax
);
final
AtomicInteger
ai
=
new
AtomicInteger
(
0
);
final
AtomicInteger
ai
=
new
AtomicInteger
(
0
);
for
(
int
ithread
=
0
;
ithread
<
threads
.
length
;
ithread
++)
{
for
(
int
ithread
=
0
;
ithread
<
threads
.
length
;
ithread
++)
{
threads
[
ithread
]
=
new
Thread
()
{
threads
[
ithread
]
=
new
Thread
()
{
public
void
run
()
{
public
void
run
()
{
for
(
int
iMTile
=
ai
.
getAndIncrement
();
iMTile
<
macrotile_centers
.
length
;
iMTile
=
ai
.
getAndIncrement
())
{
for
(
int
iMTile
=
ai
.
getAndIncrement
();
iMTile
<
macrotile_centers
.
length
;
iMTile
=
ai
.
getAndIncrement
())
{
if
((
macrotile_centers
[
iMTile
]!=
null
)
&&
(
weights
[
2
*
iMTile
]
>
0.0
)){
// was: weights[iMTile]?
if
((
macrotile_centers
[
iMTile
]!=
null
)
&&
(
mb_mode
||
(
weights
[
2
*
iMTile
]
>
0.0
)
)){
// was: weights[iMTile]?
//infinity_disparity
//infinity_disparity
boolean
is_infinity
=
macrotile_centers
[
iMTile
][
2
]
<
infinity_disparity
;
boolean
is_infinity
=
macrotile_centers
[
iMTile
][
2
]
<
infinity_disparity
;
double
[][]
deriv_params
=
ers_ref
.
getDPxSceneDParameters
(
double
[][]
deriv_params
=
ers_ref
.
getDPxSceneDParameters
(
...
@@ -782,8 +786,10 @@ public class IntersceneLma {
...
@@ -782,8 +786,10 @@ public class IntersceneLma {
if
(
deriv_params
!=
null
)
{
if
(
deriv_params
!=
null
)
{
boolean
bad_tile
=
false
;
boolean
bad_tile
=
false
;
if
(!
bad_tile
)
{
if
(!
bad_tile
)
{
if
(!
mb_mode
)
{
fx
[
2
*
iMTile
+
0
]
=
deriv_params
[
0
][
0
];
// pX
fx
[
2
*
iMTile
+
0
]
=
deriv_params
[
0
][
0
];
// pX
fx
[
2
*
iMTile
+
1
]
=
deriv_params
[
0
][
1
];
// pY
fx
[
2
*
iMTile
+
1
]
=
deriv_params
[
0
][
1
];
// pY
}
if
(
jt
!=
null
)
{
if
(
jt
!=
null
)
{
for
(
int
i
=
0
;
i
<
par_indices
.
length
;
i
++)
{
for
(
int
i
=
0
;
i
<
par_indices
.
length
;
i
++)
{
int
indx
=
par_indices
[
i
]
+
1
;
int
indx
=
par_indices
[
i
]
+
1
;
...
@@ -792,6 +798,11 @@ public class IntersceneLma {
...
@@ -792,6 +798,11 @@ public class IntersceneLma {
}
}
}
}
}
}
}
else
if
(
mb_mode
)
{
for
(
int
i
=
0
;
i
<
par_indices
.
length
;
i
++)
{
jt
[
i
][
2
*
iMTile
+
0
]
=
Double
.
NaN
;
// pX
jt
[
i
][
2
*
iMTile
+
1
]
=
Double
.
NaN
;
// ; // pY (disparity is not used)
}
}
}
}
}
}
}
...
@@ -799,6 +810,9 @@ public class IntersceneLma {
...
@@ -799,6 +810,9 @@ public class IntersceneLma {
};
};
}
}
ImageDtt
.
startAndJoin
(
threads
);
ImageDtt
.
startAndJoin
(
threads
);
if
(
mb_mode
)
{
return
null
;
}
// pull to the initial parameter values
// pull to the initial parameter values
for
(
int
i
=
0
;
i
<
par_indices
.
length
;
i
++)
{
for
(
int
i
=
0
;
i
<
par_indices
.
length
;
i
++)
{
fx
[
i
+
2
*
macrotile_centers
.
length
]
=
vector
[
i
];
// - parameters_initial[i]; // scale will be combined with weights
fx
[
i
+
2
*
macrotile_centers
.
length
]
=
vector
[
i
];
// - parameters_initial[i]; // scale will be combined with weights
...
...
src/main/java/com/elphel/imagej/tileprocessor/IntersceneMatchParameters.java
View file @
7d6fb681
...
@@ -238,6 +238,11 @@ public class IntersceneMatchParameters {
...
@@ -238,6 +238,11 @@ public class IntersceneMatchParameters {
public
double
eq_weight_scale
=
20.0
;
// maximal boost ratio
public
double
eq_weight_scale
=
20.0
;
// maximal boost ratio
public
double
eq_level
=
0.9
;
// equalization level (0.0 - leave as is, 1.0 - boost to have the same supertile strength as average)
public
double
eq_level
=
0.9
;
// equalization level (0.0 - leave as is, 1.0 - boost to have the same supertile strength as average)
public
boolean
mb_en
=
true
;
public
double
mb_tau
=
0.008
;
// time constant, sec
public
double
mb_max_gain
=
5.0
;
// motion blur maximal gain (if more - move second point more than a pixel
public
boolean
stereo_merge
=
true
;
public
boolean
stereo_merge
=
true
;
public
int
stereo_gap
=
32
;
// pixels between right and left frames
public
int
stereo_gap
=
32
;
// pixels between right and left frames
public
double
stereo_intereye
=
63.5
;
// mm
public
double
stereo_intereye
=
63.5
;
// mm
...
@@ -710,8 +715,15 @@ public class IntersceneMatchParameters {
...
@@ -710,8 +715,15 @@ public class IntersceneMatchParameters {
gd
.
addNumericField
(
"Equalization level"
,
this
.
eq_level
,
5
,
7
,
""
,
gd
.
addNumericField
(
"Equalization level"
,
this
.
eq_level
,
5
,
7
,
""
,
"Target supertile strength will be set to: 0 - original strength (no modification), 1.0 - average supertile strength."
);
"Target supertile strength will be set to: 0 - original strength (no modification), 1.0 - average supertile strength."
);
gd
.
addTab
(
"Stereo/Video"
,
"Parameters for stereo video generation"
);
gd
.
addTab
(
"MB"
,
"Motion Blur"
);
gd
.
addCheckbox
(
"Compensate motion blur"
,
this
.
mb_en
,
"Ebable motion blur correction."
);
gd
.
addNumericField
(
"Sensor time constant"
,
this
.
mb_tau
,
5
,
7
,
"s"
,
"Sensor exponential decay in seconds."
);
gd
.
addNumericField
(
"Maximal gain"
,
this
.
mb_max_gain
,
5
,
7
,
"x"
,
"Maximal gain for motion blur correction (if needed more for 1 pixel, increase offset)."
);
gd
.
addTab
(
"Stereo/Video"
,
"Parameters for stereo video generation"
);
gd
.
addMessage
(
"Stereo"
);
gd
.
addMessage
(
"Stereo"
);
if
(
stereo_views
.
length
>
0
)
{
if
(
stereo_views
.
length
>
0
)
{
String
[]
stereo_choices
=
new
String
[
stereo_views
.
length
+
1
];
String
[]
stereo_choices
=
new
String
[
stereo_views
.
length
+
1
];
...
@@ -989,7 +1001,9 @@ public class IntersceneMatchParameters {
...
@@ -989,7 +1001,9 @@ public class IntersceneMatchParameters {
this
.
eq_weight_scale
=
gd
.
getNextNumber
();
this
.
eq_weight_scale
=
gd
.
getNextNumber
();
this
.
eq_level
=
gd
.
getNextNumber
();
this
.
eq_level
=
gd
.
getNextNumber
();
this
.
mb_en
=
gd
.
getNextBoolean
();
this
.
mb_tau
=
gd
.
getNextNumber
();
this
.
mb_max_gain
=
gd
.
getNextNumber
();
if
(
stereo_views
.
length
>
0
)
{
if
(
stereo_views
.
length
>
0
)
{
int
i
=
gd
.
getNextChoiceIndex
();
int
i
=
gd
.
getNextChoiceIndex
();
...
@@ -1260,6 +1274,10 @@ public class IntersceneMatchParameters {
...
@@ -1260,6 +1274,10 @@ public class IntersceneMatchParameters {
properties
.
setProperty
(
prefix
+
"eq_weight_scale"
,
this
.
eq_weight_scale
+
""
);
// double
properties
.
setProperty
(
prefix
+
"eq_weight_scale"
,
this
.
eq_weight_scale
+
""
);
// double
properties
.
setProperty
(
prefix
+
"eq_level"
,
this
.
eq_level
+
""
);
// double
properties
.
setProperty
(
prefix
+
"eq_level"
,
this
.
eq_level
+
""
);
// double
properties
.
setProperty
(
prefix
+
"mb_en"
,
this
.
mb_en
+
""
);
// boolean
properties
.
setProperty
(
prefix
+
"mb_tau"
,
this
.
mb_tau
+
""
);
// double
properties
.
setProperty
(
prefix
+
"mb_max_gain"
,
this
.
mb_max_gain
+
""
);
// double
properties
.
setProperty
(
prefix
+
"stereo_merge"
,
this
.
stereo_merge
+
""
);
// boolean
properties
.
setProperty
(
prefix
+
"stereo_merge"
,
this
.
stereo_merge
+
""
);
// boolean
properties
.
setProperty
(
prefix
+
"stereo_gap"
,
this
.
stereo_gap
+
""
);
// int
properties
.
setProperty
(
prefix
+
"stereo_gap"
,
this
.
stereo_gap
+
""
);
// int
properties
.
setProperty
(
prefix
+
"stereo_intereye"
,
this
.
stereo_intereye
+
""
);
// double
properties
.
setProperty
(
prefix
+
"stereo_intereye"
,
this
.
stereo_intereye
+
""
);
// double
...
@@ -1484,6 +1502,10 @@ public class IntersceneMatchParameters {
...
@@ -1484,6 +1502,10 @@ public class IntersceneMatchParameters {
if
(
properties
.
getProperty
(
prefix
+
"eq_weight_scale"
)!=
null
)
this
.
eq_weight_scale
=
Double
.
parseDouble
(
properties
.
getProperty
(
prefix
+
"eq_weight_scale"
));
if
(
properties
.
getProperty
(
prefix
+
"eq_weight_scale"
)!=
null
)
this
.
eq_weight_scale
=
Double
.
parseDouble
(
properties
.
getProperty
(
prefix
+
"eq_weight_scale"
));
if
(
properties
.
getProperty
(
prefix
+
"eq_level"
)!=
null
)
this
.
eq_level
=
Double
.
parseDouble
(
properties
.
getProperty
(
prefix
+
"eq_level"
));
if
(
properties
.
getProperty
(
prefix
+
"eq_level"
)!=
null
)
this
.
eq_level
=
Double
.
parseDouble
(
properties
.
getProperty
(
prefix
+
"eq_level"
));
if
(
properties
.
getProperty
(
prefix
+
"mb_en"
)!=
null
)
this
.
mb_en
=
Boolean
.
parseBoolean
(
properties
.
getProperty
(
prefix
+
"mb_en"
));
if
(
properties
.
getProperty
(
prefix
+
"mb_tau"
)!=
null
)
this
.
mb_tau
=
Double
.
parseDouble
(
properties
.
getProperty
(
prefix
+
"mb_tau"
));
if
(
properties
.
getProperty
(
prefix
+
"mb_max_gain"
)!=
null
)
this
.
mb_max_gain
=
Double
.
parseDouble
(
properties
.
getProperty
(
prefix
+
"mb_max_gain"
));
if
(
properties
.
getProperty
(
prefix
+
"stereo_merge"
)!=
null
)
this
.
stereo_merge
=
Boolean
.
parseBoolean
(
properties
.
getProperty
(
prefix
+
"stereo_merge"
));
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
+
"stereo_gap"
)!=
null
)
this
.
stereo_gap
=
Integer
.
parseInt
(
properties
.
getProperty
(
prefix
+
"stereo_gap"
));
if
(
properties
.
getProperty
(
prefix
+
"stereo_intereye"
)!=
null
)
this
.
stereo_intereye
=
Double
.
parseDouble
(
properties
.
getProperty
(
prefix
+
"stereo_intereye"
));
if
(
properties
.
getProperty
(
prefix
+
"stereo_intereye"
)!=
null
)
this
.
stereo_intereye
=
Double
.
parseDouble
(
properties
.
getProperty
(
prefix
+
"stereo_intereye"
));
...
@@ -1724,6 +1746,10 @@ public class IntersceneMatchParameters {
...
@@ -1724,6 +1746,10 @@ public class IntersceneMatchParameters {
imp
.
eq_weight_scale
=
this
.
eq_weight_scale
;
imp
.
eq_weight_scale
=
this
.
eq_weight_scale
;
imp
.
eq_level
=
this
.
eq_level
;
imp
.
eq_level
=
this
.
eq_level
;
imp
.
mb_en
=
this
.
mb_en
;
imp
.
mb_tau
=
this
.
mb_tau
;
imp
.
mb_max_gain
=
this
.
mb_max_gain
;
imp
.
stereo_merge
=
this
.
stereo_merge
;
imp
.
stereo_merge
=
this
.
stereo_merge
;
imp
.
stereo_gap
=
this
.
stereo_gap
;
imp
.
stereo_gap
=
this
.
stereo_gap
;
imp
.
stereo_intereye
=
this
.
stereo_intereye
;
imp
.
stereo_intereye
=
this
.
stereo_intereye
;
...
...
src/main/java/com/elphel/imagej/tileprocessor/OpticalFlow.java
View file @
7d6fb681
...
@@ -4557,7 +4557,6 @@ public class OpticalFlow {
...
@@ -4557,7 +4557,6 @@ public class OpticalFlow {
((
quadCLTs
[
ref_index
].
getNumAccum
()
<
quadCLTs
[
ref_index
].
getNumOrient
())||
((
quadCLTs
[
ref_index
].
getNumAccum
()
<
quadCLTs
[
ref_index
].
getNumOrient
())||
(
quadCLTs
[
ref_index
].
getNumOrient
()
>=
min_num_orient
)))
{
(
quadCLTs
[
ref_index
].
getNumOrient
()
>=
min_num_orient
)))
{
// should skip scenes w/o orientation 06/29/2022
// should skip scenes w/o orientation 06/29/2022
combo_dsn_final
=
intersceneExport
(
// result indexed by COMBO_DSN_TITLES, COMBO_DSN_INDX_***
combo_dsn_final
=
intersceneExport
(
// result indexed by COMBO_DSN_TITLES, COMBO_DSN_INDX_***
clt_parameters
,
// CLTParameters clt_parameters,
clt_parameters
,
// CLTParameters clt_parameters,
ers_reference
,
// ErsCorrection ers_reference,
ers_reference
,
// ErsCorrection ers_reference,
...
@@ -4565,8 +4564,6 @@ public class OpticalFlow {
...
@@ -4565,8 +4564,6 @@ public class OpticalFlow {
colorProcParameters
,
// ColorProcParameters colorProcParameters,
colorProcParameters
,
// ColorProcParameters colorProcParameters,
debugLevel
);
// int debug_level
debugLevel
);
// int debug_level
quadCLTs
[
ref_index
].
inc_accum
();
quadCLTs
[
ref_index
].
inc_accum
();
// save with updated num_accum
// save with updated num_accum
quadCLTs
[
ref_index
].
saveInterProperties
(
// save properties for interscene processing (extrinsics, ers, ...)
quadCLTs
[
ref_index
].
saveInterProperties
(
// save properties for interscene processing (extrinsics, ers, ...)
...
@@ -4959,7 +4956,6 @@ public class OpticalFlow {
...
@@ -4959,7 +4956,6 @@ public class OpticalFlow {
ImagePlus
imp_video
=
imp_scenes_pair
[
nstereo
];
ImagePlus
imp_video
=
imp_scenes_pair
[
nstereo
];
boolean
[]
combine_modes
=
{!
combine_left_right
,
stereo_merge
&&
combine_left_right
,
anaglyth_en
&&
!
toRGB
&&
combine_left_right
};
boolean
[]
combine_modes
=
{!
combine_left_right
,
stereo_merge
&&
combine_left_right
,
anaglyth_en
&&
!
toRGB
&&
combine_left_right
};
for
(
int
istereo_mode
=
0
;
istereo_mode
<
combine_modes
.
length
;
istereo_mode
++)
if
(
combine_modes
[
istereo_mode
])
{
for
(
int
istereo_mode
=
0
;
istereo_mode
<
combine_modes
.
length
;
istereo_mode
++)
if
(
combine_modes
[
istereo_mode
])
{
// if (combine_left_right) { // combine pairs multi-threaded
if
(
istereo_mode
==
1
)
{
// combine pairs for "Google" VR
if
(
istereo_mode
==
1
)
{
// combine pairs for "Google" VR
final
int
left_width
=
imp_scenes_pair
[
0
].
getWidth
();
final
int
left_width
=
imp_scenes_pair
[
0
].
getWidth
();
final
int
right_width
=
imp_scenes_pair
[
1
].
getWidth
();
final
int
right_width
=
imp_scenes_pair
[
1
].
getWidth
();
...
@@ -5007,17 +5003,8 @@ public class OpticalFlow {
...
@@ -5007,17 +5003,8 @@ public class OpticalFlow {
imp_video
.
setStack
(
stereo_stack
);
imp_video
.
setStack
(
stereo_stack
);
String
title
=
imp_scenes_pair
[
1
].
getTitle
();
String
title
=
imp_scenes_pair
[
1
].
getTitle
();
imp_video
.
setTitle
(
title
.
replace
(
"-RIGHT"
,
"-STEREO"
));
imp_video
.
setTitle
(
title
.
replace
(
"-RIGHT"
,
"-STEREO"
));
// convert stereo_stack to imp_scenes_pair[1], keeping calibration and fps?
// 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_video = new ImagePlus(
/// imp_scenes_pair[1].getTitle().replace("-RIGHT","-STEREO"),
/// stereo_stack);
/// imp_scenes_pair[1].setTitle(title.replace("-RIGHT","-STEREO"));
}
else
if
(
istereo_mode
==
2
)
{
// combine anaglyph
}
else
if
(
istereo_mode
==
2
)
{
// combine anaglyph
// final Color anaglyph_left = clt_parameters.imp.anaglyph_left;
// final Color anaglyph_right = clt_parameters.imp.anaglyph_right;
final
double
[]
left_rgb
=
{
final
double
[]
left_rgb
=
{
anaglyph_left
.
getRed
()/
255.0
,
anaglyph_left
.
getRed
()/
255.0
,
anaglyph_left
.
getGreen
()/
255.0
,
anaglyph_left
.
getGreen
()/
255.0
,
...
@@ -5066,8 +5053,6 @@ public class OpticalFlow {
...
@@ -5066,8 +5053,6 @@ public class OpticalFlow {
imp_video
.
setStack
(
stereo_stack
);
imp_video
.
setStack
(
stereo_stack
);
String
title
=
imp_scenes_pair
[
1
].
getTitle
();
String
title
=
imp_scenes_pair
[
1
].
getTitle
();
imp_video
.
setTitle
(
title
.
replace
(
"-RIGHT"
,
"-ANAGLYPH"
));
imp_video
.
setTitle
(
title
.
replace
(
"-RIGHT"
,
"-ANAGLYPH"
));
/// String title = imp_scenes_pair[1].getTitle();
/// imp_scenes_pair[1].setTitle(title.replace("-RIGHT","-ANAGLYPH"));
}
// if (istereo_mode == 1) {if (combine_left_right) { // combine pairs multi-threaded
}
// if (istereo_mode == 1) {if (combine_left_right) { // combine pairs multi-threaded
String
avi_path
=
null
;
String
avi_path
=
null
;
video:
video:
...
@@ -5090,7 +5075,6 @@ public class OpticalFlow {
...
@@ -5090,7 +5075,6 @@ public class OpticalFlow {
if
(
avi_path
==
null
)
{
if
(
avi_path
==
null
)
{
break
video
;
break
video
;
}
}
// int img_width=imp_scenes_pair[nstereo].getWidth();
int
img_width
=
imp_video
.
getWidth
();
int
img_width
=
imp_video
.
getWidth
();
int
stereo_width
=
combine_left_right
?
img_width:
0
;
int
stereo_width
=
combine_left_right
?
img_width:
0
;
stereo_widths_list
.
add
(
stereo_width
);
stereo_widths_list
.
add
(
stereo_width
);
...
@@ -5202,6 +5186,7 @@ public class OpticalFlow {
...
@@ -5202,6 +5186,7 @@ public class OpticalFlow {
null
,
// testr, // null, // final Rectangle full_woi_in, // show larger than sensor WOI (or null)
null
,
// testr, // null, // final Rectangle full_woi_in, // show larger than sensor WOI (or null)
clt_parameters
,
// CLTParameters clt_parameters,
clt_parameters
,
// CLTParameters clt_parameters,
constant_disparity
,
// double [] disparity_ref,
constant_disparity
,
// double [] disparity_ref,
ZERO3
,
// final double [] scene_xyz, // camera center in world coordinates
ZERO3
,
// final double [] scene_xyz, // camera center in world coordinates
ZERO3
,
// new double[] {.1,0.1,.1}, // ZERO3, // final double [] scene_atr, // camera orientation relative to world frame
ZERO3
,
// new double[] {.1,0.1,.1}, // ZERO3, // final double [] scene_atr, // camera orientation relative to world frame
quadCLTs
[
ref_index
],
// final QuadCLT scene,
quadCLTs
[
ref_index
],
// final QuadCLT scene,
...
@@ -13405,6 +13390,12 @@ public double[][] correlateIntersceneDebug( // only uses GPU and quad
...
@@ -13405,6 +13390,12 @@ public double[][] correlateIntersceneDebug( // only uses GPU and quad
QuadCLT
[]
quadCLTs
,
QuadCLT
[]
quadCLTs
,
int
debugLevel
)
int
debugLevel
)
{
{
boolean
test_motion_blur
=
true
;
boolean
mb_en
=
clt_parameters
.
imp
.
mb_en
;
double
mb_tau
=
clt_parameters
.
imp
.
mb_tau
;
// 0.008; // time constant, sec
double
mb_max_gain
=
clt_parameters
.
imp
.
mb_max_gain
;
// 5.0; // motion blur maximal gain (if more - move second point more than a pixel
int
earliest_scene
=
0
;
int
earliest_scene
=
0
;
boolean
use_combo_dsi
=
clt_parameters
.
imp
.
use_combo_dsi
;
boolean
use_combo_dsi
=
clt_parameters
.
imp
.
use_combo_dsi
;
boolean
use_lma_dsi
=
clt_parameters
.
imp
.
use_lma_dsi
;
boolean
use_lma_dsi
=
clt_parameters
.
imp
.
use_lma_dsi
;
...
@@ -13440,13 +13431,33 @@ public double[][] correlateIntersceneDebug( // only uses GPU and quad
...
@@ -13440,13 +13431,33 @@ public double[][] correlateIntersceneDebug( // only uses GPU and quad
}
}
}
}
}
}
double
[][]
ref_pXpYD
=
null
;
double
[][]
dbg_mb_img
=
null
;
double
[]
mb_ref_disparity
=
null
;
if
(
test_motion_blur
)
{
mb_ref_disparity
=
interscene_ref_disparity
;
if
(
mb_ref_disparity
==
null
)
{
mb_ref_disparity
=
quadCLTs
[
ref_index
].
getDLS
()[
use_lma_dsi
?
1
:
0
];
}
ref_pXpYD
=
transformToScenePxPyD
(
// full size - [tilesX*tilesY], some nulls
null
,
// final Rectangle [] extra_woi, // show larger than sensor WOI (or null)
mb_ref_disparity
,
// dls[0], // final double [] disparity_ref, // invalid tiles - NaN in disparity (maybe it should not be masked by margins?)
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_QuadClt,
quadCLTs
[
ref_index
]);
// final QuadCLT reference_QuadClt)
dbg_mb_img
=
new
double
[
quadCLTs
.
length
][];
}
ErsCorrection
ers_reference
=
quadCLTs
[
ref_index
].
getErsCorrection
();
ErsCorrection
ers_reference
=
quadCLTs
[
ref_index
].
getErsCorrection
();
double
[][][]
dxyzatr_dt
=
new
double
[
quadCLTs
.
length
][][];
double
[][][]
dxyzatr_dt
=
new
double
[
quadCLTs
.
length
][][];
double
[][][]
scenes_xyzatr
=
new
double
[
quadCLTs
.
length
][][];
// previous scene relative to the next one
double
[][][]
scenes_xyzatr
=
new
double
[
quadCLTs
.
length
][][];
// previous scene relative to the next one
scenes_xyzatr
[
ref_index
]
=
new
double
[
2
][
3
];
// all zeros
scenes_xyzatr
[
ref_index
]
=
new
double
[
2
][
3
];
// all zeros
// should have at least next or previous non-null
// should have at least next or previous non-null
int
debug_scene
=
-
15
;
double
maximal_series_rms
=
0.00
;
double
maximal_series_rms
=
0.00
;
for
(
int
nscene
=
ref_index
;
nscene
>=
earliest_scene
;
nscene
--)
{
for
(
int
nscene
=
ref_index
;
nscene
>=
earliest_scene
;
nscene
--)
{
if
((
quadCLTs
[
nscene
]
==
null
)
||
if
((
quadCLTs
[
nscene
]
==
null
)
||
((
nscene
!=
ref_index
)
&&
((
nscene
!=
ref_index
)
&&
...
@@ -13468,7 +13479,7 @@ public double[][] correlateIntersceneDebug( // only uses GPU and quad
...
@@ -13468,7 +13479,7 @@ public double[][] correlateIntersceneDebug( // only uses GPU and quad
nscene1
=
nscene
;
nscene1
=
nscene
;
}
}
if
(
nscene1
==
nscene0
)
{
if
(
nscene1
==
nscene0
)
{
System
.
out
.
println
(
"**** Isoloated scene!!! skippi
u
ng... now may only happen for a ref_scene****"
);
System
.
out
.
println
(
"**** Isoloated scene!!! skipping... now may only happen for a ref_scene****"
);
earliest_scene
=
nscene
+
1
;
earliest_scene
=
nscene
+
1
;
break
;
break
;
}
}
...
@@ -13487,15 +13498,88 @@ public double[][] correlateIntersceneDebug( // only uses GPU and quad
...
@@ -13487,15 +13498,88 @@ public double[][] correlateIntersceneDebug( // only uses GPU and quad
double
[]
scene_atr1
=
(
nscene1
==
ref_index
)?
ZERO3:
ers_reference
.
getSceneATR
(
ts1
);
double
[]
scene_atr1
=
(
nscene1
==
ref_index
)?
ZERO3:
ers_reference
.
getSceneATR
(
ts1
);
dxyzatr_dt
[
nscene
]
=
new
double
[
2
][
3
];
dxyzatr_dt
[
nscene
]
=
new
double
[
2
][
3
];
for
(
int
i
=
0
;
i
<
3
;
i
++)
{
for
(
int
i
=
0
;
i
<
3
;
i
++)
{
dxyzatr_dt
[
nscene
][
0
][
i
]
=
0.0
;
//
(scene_xyz1[i]-scene_xyz0[i])/dt;
dxyzatr_dt
[
nscene
][
0
][
i
]
=
(
scene_xyz1
[
i
]-
scene_xyz0
[
i
])/
dt
;
dxyzatr_dt
[
nscene
][
1
][
i
]
=
(
scene_atr1
[
i
]-
scene_atr0
[
i
])/
dt
;
dxyzatr_dt
[
nscene
][
1
][
i
]
=
(
scene_atr1
[
i
]-
scene_atr0
[
i
])/
dt
;
}
}
double
[]
scene_xyz_pre
=
ZERO3
;
double
[]
scene_xyz_pre
=
ZERO3
;
double
[]
scene_atr_pre
=
ZERO3
;
double
[]
scene_atr_pre
=
ZERO3
;
quadCLTs
[
nscene
].
getErsCorrection
().
setErsDt
(
// set for ref also (should be set before non-ref!)
quadCLTs
[
nscene
].
getErsCorrection
().
setErsDt
(
// set for ref also (should be set before non-ref!)
dxyzatr_dt
[
nscene
][
0
],
// double [] ers_xyz_dt,
ZERO3
,
//, //
dxyzatr_dt[nscene][0], // double [] ers_xyz_dt,
dxyzatr_dt
[
nscene
][
1
]);
// double [] ers_atr_dt)(ers_scene_original_xyz_dt);
dxyzatr_dt
[
nscene
][
1
]);
// double [] ers_atr_dt)(ers_scene_original_xyz_dt);
int
debug_scene
=
-
15
;
if
(
dbg_mb_img
!=
null
)
{
dbg_mb_img
[
nscene
]
=
new
double
[
tilesX
*
tilesY
*
2
];
Arrays
.
fill
(
dbg_mb_img
[
nscene
],
Double
.
NaN
);
double
[]
mb_scene_xyz
=
(
nscene
!=
ref_index
)?
ers_reference
.
getSceneXYZ
(
ts
):
ZERO3
;
double
[]
mb_scene_atr
=
(
nscene
!=
ref_index
)?
ers_reference
.
getSceneATR
(
ts
):
ZERO3
;
double
[][]
motion_blur
=
getMotionBlur
(
quadCLTs
[
ref_index
],
// QuadCLT ref_scene,
quadCLTs
[
nscene
],
// QuadCLT scene, // can be the same as ref_scene
ref_pXpYD
,
// double [][] ref_pXpYD, // here it is scene, not reference!
mb_scene_xyz
,
// double [] camera_xyz,
mb_scene_atr
,
// double [] camera_atr,
dxyzatr_dt
[
nscene
][
0
],
// double [] camera_xyz_dt,
dxyzatr_dt
[
nscene
][
1
],
// double [] camera_atr_dt,
debugLevel
);
// int debug_level)
for
(
int
nTile
=
0
;
nTile
<
motion_blur
.
length
;
nTile
++)
if
(
motion_blur
[
nTile
]
!=
null
)
{
int
tx
=
nTile
%
tilesX
;
int
ty
=
nTile
/
tilesX
;
dbg_mb_img
[
nscene
][
tx
+
tilesX
*
(
ty
*
2
+
0
)]
=
motion_blur
[
nTile
][
0
];
dbg_mb_img
[
nscene
][
tx
+
tilesX
*
(
ty
*
2
+
1
)]
=
motion_blur
[
nTile
][
1
];
}
boolean
show_corrected
=
false
;
if
(
nscene
==
debug_scene
)
{
System
.
out
.
println
(
"nscene = "
+
nscene
);
System
.
out
.
println
(
"nscene = "
+
nscene
);
}
while
(
show_corrected
)
{
ImagePlus
imp_mbc
=
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,
mb_ref_disparity
,
// double [] disparity_ref,
// motion blur compensation
mb_tau
,
// double mb_tau, // 0.008; // time constant, sec
mb_max_gain
,
// double mb_max_gain, // 5.0; // motion blur maximal gain (if more - move second point more than a pixel
motion_blur
,
// double [][] mb_vectors, //
mb_scene_xyz
,
// ZERO3, // final double [] scene_xyz, // camera center in world coordinates
mb_scene_atr
,
// final double [] scene_atr, // camera orientation relative to world frame
quadCLTs
[
nscene
],
// final QuadCLT scene,
quadCLTs
[
ref_index
],
// final QuadCLT ref_scene, // now - may be null - for testing if scene is rotated ref
false
,
// toRGB, // final boolean toRGB,
clt_parameters
.
imp
.
show_color_nan
,
quadCLTs
[
nscene
].
getImageName
()+
"-MOTION_BLUR_CORRECTED"
,
// String suffix,
threadsMax
,
// int threadsMax,
debugLevel
);
// int debugLevel)
imp_mbc
.
show
();
ImagePlus
imp_mbc_merged
=
QuadCLT
.
renderGPUFromDSI
(
-
1
,
// final int sensor_mask,
true
,
// final boolean merge_channels,
null
,
// final Rectangle full_woi_in, // show larger than sensor WOI (or null)
clt_parameters
,
// CLTParameters clt_parameters,
mb_ref_disparity
,
// double [] disparity_ref,
// motion blur compensation
mb_tau
,
// double mb_tau, // 0.008; // time constant, sec
mb_max_gain
,
// double mb_max_gain, // 5.0; // motion blur maximal gain (if more - move second point more than a pixel
motion_blur
,
// double [][] mb_vectors, //
mb_scene_xyz
,
// ZERO3, // final double [] scene_xyz, // camera center in world coordinates
mb_scene_atr
,
// final double [] scene_atr, // camera orientation relative to world frame
quadCLTs
[
nscene
],
// final QuadCLT scene,
quadCLTs
[
ref_index
],
// final QuadCLT ref_scene, // now - may be null - for testing if scene is rotated ref
false
,
// toRGB, // final boolean toRGB,
clt_parameters
.
imp
.
show_color_nan
,
quadCLTs
[
nscene
].
getImageName
()+
"-MOTION_BLUR_CORRECTED"
,
// String suffix,
threadsMax
,
// int threadsMax,
debugLevel
);
// int debugLevel)
imp_mbc_merged
.
show
();
}
}
// int debug_scene = -15;
if
(
nscene
!=
ref_index
)
{
if
(
nscene
!=
ref_index
)
{
if
(
nscene
==
debug_scene
)
{
if
(
nscene
==
debug_scene
)
{
System
.
out
.
println
(
"nscene = "
+
nscene
);
System
.
out
.
println
(
"nscene = "
+
nscene
);
...
@@ -13550,6 +13634,19 @@ public double[][] correlateIntersceneDebug( // only uses GPU and quad
...
@@ -13550,6 +13634,19 @@ public double[][] correlateIntersceneDebug( // only uses GPU and quad
}
}
}
}
}
// for (int nscene = ref_index; nscene > earliest_scene; nscene--) {
}
// for (int nscene = ref_index; nscene > earliest_scene; nscene--) {
if
(
dbg_mb_img
!=
null
)
{
String
[]
dbg_mb_titles
=
new
String
[
quadCLTs
.
length
];
for
(
int
i
=
0
;
i
<
quadCLTs
.
length
;
i
++)
if
(
quadCLTs
[
i
]
!=
null
)
{
dbg_mb_titles
[
i
]
=
quadCLTs
[
i
].
getImageName
();
}
(
new
ShowDoubleFloatArrays
()).
showArrays
(
dbg_mb_img
,
tilesX
*
2
,
tilesY
,
true
,
quadCLTs
[
ref_index
].
getImageName
()+
"-MOTION_BLUR"
,
dbg_mb_titles
);
}
if
(
debugLevel
>
-
4
)
{
if
(
debugLevel
>
-
4
)
{
System
.
out
.
println
(
"All multi scene passes are Done. Maximal RMSE was "
+
maximal_series_rms
);
System
.
out
.
println
(
"All multi scene passes are Done. Maximal RMSE was "
+
maximal_series_rms
);
...
@@ -13561,6 +13658,84 @@ public double[][] correlateIntersceneDebug( // only uses GPU and quad
...
@@ -13561,6 +13658,84 @@ public double[][] correlateIntersceneDebug( // only uses GPU and quad
return
earliest_scene
;
return
earliest_scene
;
}
}
/**
* Get per-tile motion blur vector
* @param ref_scene reference scene
* @param scene current scene (may be the same as reference)
* @param ref_pXpYD per-tile pX, pY, disparity for reference scene (some may be nulls)
* @param camera_xyz camera x,y,z relative to the reference
* @param camera_atr camera azimuth, tilt, roll relative to the reference
* @param camera_xyz_dt camera linear velocities: x', y', z'
* @param camera_atr_dt camera angular velocities: azimuth', tilt', roll'
* @param debug_level debug level
* @return per-tile array of {dx/dt, dy/dt} vectors, some may be null
*/
public
double
[][]
getMotionBlur
(
QuadCLT
ref_scene
,
QuadCLT
scene
,
// can be the same as ref_scene
double
[][]
ref_pXpYD
,
double
[]
camera_xyz
,
double
[]
camera_atr
,
double
[]
camera_xyz_dt
,
double
[]
camera_atr_dt
,
// boolean fill_gaps,
int
debug_level
)
{
boolean
[]
param_select
=
new
boolean
[
ErsCorrection
.
DP_NUM_PARS
];
final
int
[]
par_indices
=
new
int
[]
{
ErsCorrection
.
DP_DSAZ
,
ErsCorrection
.
DP_DSTL
,
ErsCorrection
.
DP_DSRL
,
ErsCorrection
.
DP_DSX
,
ErsCorrection
.
DP_DSY
,
ErsCorrection
.
DP_DSZ
};
for
(
int
i:
par_indices
)
{
param_select
[
i
]=
true
;
}
final
double
[]
camera_dt
=
new
double
[]
{
camera_atr_dt
[
0
],
camera_atr_dt
[
1
],
camera_atr_dt
[
2
],
camera_xyz_dt
[
0
],
camera_xyz_dt
[
1
],
camera_xyz_dt
[
2
]};
final
double
[][]
mb_vectors
=
new
double
[
ref_pXpYD
.
length
][];
IntersceneLma
intersceneLma
=
new
IntersceneLma
(
this
,
// OpticalFlow opticalFlow
false
);
// clt_parameters.ilp.ilma_thread_invariant);
intersceneLma
.
prepareLMA
(
camera_xyz
,
// final double [] scene_xyz0, // camera center in world coordinates (or null to use instance)
camera_atr
,
// final double [] scene_atr0, // camera orientation relative to world frame (or null to use instance)
scene
,
// final QuadCLT scene_QuadClt,
ref_scene
,
// final QuadCLT reference_QuadClt,
param_select
,
// final boolean[] param_select,
null
,
// final double [] param_regweights,
null
,
// final double [][] vector_XYS, // optical flow X,Y, confidence obtained from the correlate2DIterate()
ref_pXpYD
,
// final double [][] centers, // macrotile centers (in pixels and average disparities
false
,
// boolean first_run,
debug_level
);
// final int debug_level)
final
double
[][]
last_jt
=
intersceneLma
.
getLastJT
();
// alternating x,y for each selected parameters
final
Thread
[]
threads
=
ImageDtt
.
newThreadArray
(
threadsMax
);
final
AtomicInteger
ai
=
new
AtomicInteger
(
0
);
for
(
int
ithread
=
0
;
ithread
<
threads
.
length
;
ithread
++)
{
threads
[
ithread
]
=
new
Thread
()
{
public
void
run
()
{
for
(
int
nTile
=
ai
.
getAndIncrement
();
nTile
<
ref_pXpYD
.
length
;
nTile
=
ai
.
getAndIncrement
())
if
(
ref_pXpYD
[
nTile
]
!=
null
){
mb_vectors
[
nTile
]=
new
double
[
2
];
for
(
int
i
=
0
;
i
<
par_indices
.
length
;
i
++)
{
mb_vectors
[
nTile
][
0
]
+=
camera_dt
[
i
]
*
last_jt
[
i
][
2
*
nTile
+
0
];
mb_vectors
[
nTile
][
1
]
+=
camera_dt
[
i
]
*
last_jt
[
i
][
2
*
nTile
+
1
];
}
if
(
Double
.
isNaN
(
mb_vectors
[
nTile
][
0
])
||
Double
.
isNaN
(
mb_vectors
[
nTile
][
1
]))
{
mb_vectors
[
nTile
]
=
null
;
}
}
}
};
}
ImageDtt
.
startAndJoin
(
threads
);
return
mb_vectors
;
}
public
double
[][]
adjustPairsLMAInterscene
(
public
double
[][]
adjustPairsLMAInterscene
(
CLTParameters
clt_parameters
,
CLTParameters
clt_parameters
,
QuadCLT
reference_QuadClt
,
QuadCLT
reference_QuadClt
,
...
@@ -13614,84 +13789,6 @@ public double[][] correlateIntersceneDebug( // only uses GPU and quad
...
@@ -13614,84 +13789,6 @@ public double[][] correlateIntersceneDebug( // only uses GPU and quad
System
.
out
.
println
(
"adjustPairsLMAInterscene() returned null"
);
System
.
out
.
println
(
"adjustPairsLMAInterscene() returned null"
);
return
null
;
return
null
;
}
}
/*
int eq_stride_hor = 8;
int eq_stride_vert = 8;
double eq_min_stile_weight = 0.2; // 1.0;
int eq_min_stile_number = 10;
double eq_min_stile_fraction = 0.02; // 0.05;
double eq_min_disparity = 5;
double eq_max_disparity = 100;
double eq_weight_add = 0.1;
double eq_weight_scale = 10;
double eq_level = 0.8; // equalize to (log) fraction of average/this strength
if (run_equalize && near_important) {
TileProcessor tp = reference_QuadClt.getTileProcessor();
int tilesX = tp.getTilesX();
int tilesY = tp.getTilesY();
// backup coord_motion[1][][2] // strength
double [] strength_backup = null;
if (debug_equalize) {
strength_backup = new double [coord_motion[1].length];
for (int i = 0; i < strength_backup.length; i++) if (coord_motion[1][i] != null) {
strength_backup[i] = coord_motion[1][i][2];
}
}
while (run_equalize) {
// restore
if (strength_backup != null) {
for (int i = 0; i < strength_backup.length; i++) if (coord_motion[1][i] != null) {
coord_motion[1][i][2] = strength_backup[i];
}
}
equalizeMotionVectorsWeights(
coord_motion, // final double [][][] coord_motion,
tilesX, // final int tilesX,
eq_stride_hor, // final int stride_hor,
eq_stride_vert, // final int stride_vert,
eq_min_stile_weight, // final double min_stile_weight,
eq_min_stile_number, // final int min_stile_number,
eq_min_stile_fraction, // final double min_stile_fraction,
eq_min_disparity, // final double min_disparity,
eq_max_disparity, // final double max_disparity,
eq_weight_add, // final double weight_add,
eq_weight_scale, // final double weight_scale)
eq_level); // equalize to (log) fraction of average/this strength
if (!debug_equalize) {
break;
}
String [] mvTitles = {"dx", "dy","conf", "conf0", "pX", "pY","Disp","defined"}; // ,"blurX","blurY", "blur"};
double [][] dbg_img = new double [mvTitles.length][tilesX*tilesY];
for (int l = 0; l < dbg_img.length; l++) {
Arrays.fill(dbg_img[l], Double.NaN);
}
for (int nTile = 0; nTile < coord_motion[0].length; nTile++) {
if (coord_motion[0][nTile] != null) {
for (int i = 0; i <3; i++) {
dbg_img[4+i][nTile] = coord_motion[0][nTile][i];
}
}
dbg_img[3] = strength_backup;
if (coord_motion[1][nTile] != null) {
for (int i = 0; i <3; i++) {
dbg_img[0+i][nTile] = coord_motion[1][nTile][i];
}
}
dbg_img[7][nTile] = ((coord_motion[0][nTile] != null)?1:0)+((coord_motion[0][nTile] != null)?2:0);
}
(new ShowDoubleFloatArrays()).showArrays( // out of boundary 15
dbg_img,
tilesX,
tilesY,
true,
scene_QuadClt.getImageName()+"-"+reference_QuadClt.getImageName()+"-coord_motion-eq",
mvTitles);
}
}
*/
intersceneLma
.
prepareLMA
(
intersceneLma
.
prepareLMA
(
camera_xyz0
,
// final double [] scene_xyz0, // camera center in world coordinates (or null to use instance)
camera_xyz0
,
// final double [] scene_xyz0, // camera center in world coordinates (or null to use instance)
...
...
src/main/java/com/elphel/imagej/tileprocessor/QuadCLT.java
View file @
7d6fb681
...
@@ -2660,6 +2660,42 @@ public class QuadCLT extends QuadCLTCPU {
...
@@ -2660,6 +2660,42 @@ public class QuadCLT extends QuadCLTCPU {
}
}
public
static
ImagePlus
renderGPUFromDSI
(
final
int
sensor_mask
,
final
boolean
merge_channels
,
final
Rectangle
full_woi_in
,
// show larger than sensor WOI in tiles (or null)
CLTParameters
clt_parameters
,
double
[]
disparity_ref
,
final
double
[]
scene_xyz
,
// camera center in world coordinates
final
double
[]
scene_atr
,
// camera orientation relative to world frame
final
QuadCLT
scene
,
final
QuadCLT
ref_scene
,
// now - may be null - for testing if scene is rotated ref
final
boolean
toRGB
,
final
boolean
show_nan
,
String
suffix
,
int
threadsMax
,
final
int
debugLevel
){
return
renderGPUFromDSI
(
sensor_mask
,
merge_channels
,
full_woi_in
,
// show larger than sensor WOI in tiles (or null)
clt_parameters
,
disparity_ref
,
// motion blur compensation
0.0
,
// double mb_tau, // 0.008; // time constant, sec
0.0
,
// mb_max_gain, // 5.0; // motion blur maximal gain (if more - move second point more than a pixel
null
,
// double [][] mb_vectors, //
scene_xyz
,
// camera center in world coordinates
scene_atr
,
// camera orientation relative to world frame
scene
,
ref_scene
,
// now - may be null - for testing if scene is rotated ref
toRGB
,
show_nan
,
suffix
,
threadsMax
,
debugLevel
);
}
public
static
ImagePlus
renderGPUFromDSI
(
public
static
ImagePlus
renderGPUFromDSI
(
final
int
sensor_mask
,
final
int
sensor_mask
,
...
@@ -2667,8 +2703,11 @@ public class QuadCLT extends QuadCLTCPU {
...
@@ -2667,8 +2703,11 @@ public class QuadCLT extends QuadCLTCPU {
final
Rectangle
full_woi_in
,
// show larger than sensor WOI in tiles (or null)
final
Rectangle
full_woi_in
,
// show larger than sensor WOI in tiles (or null)
CLTParameters
clt_parameters
,
CLTParameters
clt_parameters
,
double
[]
disparity_ref
,
double
[]
disparity_ref
,
// not used, just as null/not null now. All offsets are already in scene_xyz, scene_atr (including ref)
// motion blur compensation
// double [] stereo_offset, // offset reference camera {x,y,z} or null
double
mb_tau
,
// 0.008; // time constant, sec
double
mb_max_gain
,
// 5.0; // motion blur maximal gain (if more - move second point more than a pixel
double
[][]
mb_vectors
,
//
final
double
[]
scene_xyz
,
// camera center in world coordinates
final
double
[]
scene_xyz
,
// camera center in world coordinates
final
double
[]
scene_atr
,
// camera orientation relative to world frame
final
double
[]
scene_atr
,
// camera orientation relative to world frame
final
QuadCLT
scene
,
final
QuadCLT
scene
,
...
@@ -2678,7 +2717,6 @@ public class QuadCLT extends QuadCLTCPU {
...
@@ -2678,7 +2717,6 @@ public class QuadCLT extends QuadCLTCPU {
String
suffix
,
String
suffix
,
int
threadsMax
,
int
threadsMax
,
final
int
debugLevel
){
final
int
debugLevel
){
// boolean show_nan = toRGB? clt_parameters.imp.show_color_nan : clt_parameters.imp.show_mono_nan;
double
[][]
pXpYD
=
OpticalFlow
.
transformToScenePxPyD
(
// now should work with offset ref_scene
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)
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
disparity_ref
,
// final double [] disparity_ref, // invalid tiles - NaN in disparity
...
@@ -2695,35 +2733,62 @@ public class QuadCLT extends QuadCLTCPU {
...
@@ -2695,35 +2733,62 @@ public class QuadCLT extends QuadCLTCPU {
if
(
showPxPyD
)
{
if
(
showPxPyD
)
{
int
dbg_width
=
rendered_width
/
GPUTileProcessor
.
DTT_SIZE
;
int
dbg_width
=
rendered_width
/
GPUTileProcessor
.
DTT_SIZE
;
int
dbg_height
=
pXpYD
.
length
/
dbg_width
;
int
dbg_height
=
pXpYD
.
length
/
dbg_width
;
double
[][]
dbg_img
=
new
double
[
3
][
pXpYD
.
length
];
double
[][]
dbg_img
=
new
double
[
3
+
((
mb_vectors
!=
null
)?
2
:
0
)][
pXpYD
.
length
];
String
[]
dbg_titles
=
(
mb_vectors
!=
null
)?
(
new
String
[]
{
"pX"
,
"pY"
,
"Disparity"
,
"mb_X"
,
"mb_Y"
}):
(
new
String
[]
{
"pX"
,
"pY"
,
"Disparity"
});
for
(
int
i
=
0
;
i
<
dbg_img
.
length
;
i
++)
{
for
(
int
i
=
0
;
i
<
dbg_img
.
length
;
i
++)
{
Arrays
.
fill
(
dbg_img
[
i
],
Double
.
NaN
);
Arrays
.
fill
(
dbg_img
[
i
],
Double
.
NaN
);
}
}
for
(
int
nTile
=
0
;
nTile
<
pXpYD
.
length
;
nTile
++)
if
(
pXpYD
[
nTile
]
!=
null
){
for
(
int
nTile
=
0
;
nTile
<
pXpYD
.
length
;
nTile
++)
if
(
pXpYD
[
nTile
]
!=
null
){
for
(
int
i
=
0
;
i
<
dbg_img
.
length
;
i
++)
{
for
(
int
i
=
0
;
i
<
pXpYD
[
nTile
]
.
length
;
i
++)
{
dbg_img
[
i
][
nTile
]
=
pXpYD
[
nTile
][
i
];
dbg_img
[
i
][
nTile
]
=
pXpYD
[
nTile
][
i
];
}
}
if
(
mb_vectors
[
nTile
]!=
null
)
{
for
(
int
i
=
0
;
i
<
2
;
i
++)
{
dbg_img
[
3
+
i
][
nTile
]
=
mb_tau
*
mb_vectors
[
nTile
][
i
];
}
}
}
}
(
new
ShowDoubleFloatArrays
()).
showArrays
(
// out of boundary 15
(
new
ShowDoubleFloatArrays
()).
showArrays
(
// out of boundary 15
dbg_img
,
dbg_img
,
dbg_width
,
dbg_width
,
dbg_height
,
dbg_height
,
true
,
true
,
"
pXpYD"
,
scene
.
getImageName
()+
"-
pXpYD"
,
new
String
[]
{
"pX"
,
"pY"
,
"Disparity"
}
);
dbg_titles
);
}
}
//scene_QuadClt.getTileProcessor().getTileSize();
TpTask
[][]
tp_tasks
;
TpTask
[]
tp_tasks_ref
=
GpuQuad
.
setInterTasks
(
// "true" reference, with stereo actual reference will be offset
if
(
mb_vectors
!=
null
)
{
tp_tasks
=
GpuQuad
.
setInterTasksMotionBlur
(
// "true" reference, with stereo actual reference will be offset
scene
.
getNumSensors
(),
scene
.
getNumSensors
(),
rendered_width
,
// should match output size, pXpYD.length
rendered_width
,
// should match output size, pXpYD.length
!
scene
.
hasGPU
(),
// final boolean calcPortsCoordinatesAndDerivatives, // GPU can calculate them centreXY
!
scene
.
hasGPU
(),
// final boolean calcPortsCoordinatesAndDerivatives, // GPU can calculate them centreXY
pXpYD
,
// final double [][] pXpYD, // per-tile array of pX,pY,disparity triplets (or nulls)
pXpYD
,
// final double [][] pXpYD, // per-tile array of pX,pY,disparity triplets (or nulls)
null
,
// final boolean [] selection, // may be null, if not null do not process unselected tiles
null
,
// final boolean [] selection, // may be null, if not null do not process unselected tiles
// motion blur compensation
mb_tau
,
// final double mb_tau, // 0.008; // time constant, sec
mb_max_gain
,
// final double mb_max_gain, // 5.0; // motion blur maximal gain (if more - move second point more than a pixel
mb_vectors
,
//final double [][] mb_vectors, //
scene
.
getErsCorrection
(),
// final GeometryCorrection geometryCorrection,
scene
.
getErsCorrection
(),
// final GeometryCorrection geometryCorrection,
0.0
,
// final double disparity_corr,
0.0
,
// final double disparity_corr,
-
1
,
// 0, // margin, // final int margin, // do not use tiles if their centers are closer to the edges
-
1
,
// 0, // margin, // final int margin, // do not use tiles if their centers are closer to the edges
null
,
// final boolean [] valid_tiles,
null
,
// final boolean [] valid_tiles,
threadsMax
);
// final int threadsMax) // maximal number of threads to launch
threadsMax
);
// final int threadsMax) // maximal number of threads to launch
}
else
{
tp_tasks
=
new
TpTask
[
1
][];
tp_tasks
[
0
]
=
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
pXpYD
,
// final double [][] pXpYD, // per-tile array of pX,pY,disparity triplets (or nulls)
null
,
// final boolean [] selection, // may be null, if not null do not process unselected tiles
scene
.
getErsCorrection
(),
// final GeometryCorrection geometryCorrection,
0.0
,
// final double disparity_corr,
-
1
,
// 0, // margin, // final int margin, // do not use tiles if their centers are closer to the edges
null
,
// final boolean [] valid_tiles,
threadsMax
);
// final int threadsMax) // maximal number of threads to launch
}
scene
.
saveQuadClt
();
// to re-load new set of Bayer images to the GPU (do nothing for CPU) and Geometry
scene
.
saveQuadClt
();
// to re-load new set of Bayer images to the GPU (do nothing for CPU) and Geometry
ImageDtt
image_dtt
=
new
ImageDtt
(
ImageDtt
image_dtt
=
new
ImageDtt
(
scene
.
getNumSensors
(),
scene
.
getNumSensors
(),
...
@@ -2738,20 +2803,35 @@ public class QuadCLT extends QuadCLTCPU {
...
@@ -2738,20 +2803,35 @@ public class QuadCLT extends QuadCLTCPU {
int
[]
wh
=
(
full_woi_in
==
null
)?
null
:
new
int
[]{
int
[]
wh
=
(
full_woi_in
==
null
)?
null
:
new
int
[]{
full_woi_in
.
width
*
GPUTileProcessor
.
DTT_SIZE
,
full_woi_in
.
width
*
GPUTileProcessor
.
DTT_SIZE
,
full_woi_in
.
height
*
GPUTileProcessor
.
DTT_SIZE
};
full_woi_in
.
height
*
GPUTileProcessor
.
DTT_SIZE
};
// boolean toRGB = true; // does not work here, define in ColorProcParameters
int
erase_clt
=
show_nan
?
1
:
0
;
int
erase_clt
=
show_nan
?
1
:
0
;
boolean
test1
=
true
;
if
((
mb_vectors
!=
null
)
&&
test1
)
{
image_dtt
.
setReferenceTDMotionBlur
(
// change to main?
erase_clt
,
//final int erase_clt,
wh
,
// null, // final int [] wh, // null (use sensor dimensions) or pair {width, height} in pixels
clt_parameters
.
img_dtt
,
// final ImageDttParameters imgdtt_params, // Now just extra correlation parameters, later will include, most others
use_reference
,
// true, // final boolean use_reference_buffer,
tp_tasks
,
// final TpTask[] tp_tasks,
clt_parameters
.
gpu_sigma_r
,
// final double gpu_sigma_r, // 0.9, 1.1
clt_parameters
.
gpu_sigma_b
,
// final double gpu_sigma_b, // 0.9, 1.1
clt_parameters
.
gpu_sigma_g
,
// final double gpu_sigma_g, // 0.6, 0.7
clt_parameters
.
gpu_sigma_m
,
// final double gpu_sigma_m, // = 0.4; // 0.7;
threadsMax
,
// final int threadsMax, // maximal number of threads to launch
debugLevel
);
// final int globalDebugLevel);
}
else
{
image_dtt
.
setReferenceTD
(
// change to main?
image_dtt
.
setReferenceTD
(
// change to main?
erase_clt
,
//final int erase_clt,
erase_clt
,
//final int erase_clt,
wh
,
// null, // final int [] wh, // null (use sensor dimensions) or pair {width, height} in pixels
wh
,
// null, // final int [] wh, // null (use sensor dimensions) or pair {width, height} in pixels
clt_parameters
.
img_dtt
,
// final ImageDttParameters imgdtt_params, // Now just extra correlation parameters, later will include, most others
clt_parameters
.
img_dtt
,
// final ImageDttParameters imgdtt_params, // Now just extra correlation parameters, later will include, most others
use_reference
,
// true, // final boolean use_reference_buffer,
use_reference
,
// true, // final boolean use_reference_buffer,
tp_tasks_ref
,
// final TpTask[] tp_tasks,
tp_tasks
[
0
]
,
// final TpTask[] tp_tasks,
clt_parameters
.
gpu_sigma_r
,
// final double gpu_sigma_r, // 0.9, 1.1
clt_parameters
.
gpu_sigma_r
,
// final double gpu_sigma_r, // 0.9, 1.1
clt_parameters
.
gpu_sigma_b
,
// final double gpu_sigma_b, // 0.9, 1.1
clt_parameters
.
gpu_sigma_b
,
// final double gpu_sigma_b, // 0.9, 1.1
clt_parameters
.
gpu_sigma_g
,
// final double gpu_sigma_g, // 0.6, 0.7
clt_parameters
.
gpu_sigma_g
,
// final double gpu_sigma_g, // 0.6, 0.7
clt_parameters
.
gpu_sigma_m
,
// final double gpu_sigma_m, // = 0.4; // 0.7;
clt_parameters
.
gpu_sigma_m
,
// final double gpu_sigma_m, // = 0.4; // 0.7;
threadsMax
,
// final int threadsMax, // maximal number of threads to launch
threadsMax
,
// final int threadsMax, // maximal number of threads to launch
debugLevel
);
// final int globalDebugLevel);
debugLevel
);
// final int globalDebugLevel);
}
ImagePlus
imp_render
=
scene
.
renderFromTD
(
ImagePlus
imp_render
=
scene
.
renderFromTD
(
sensor_mask
,
// final int sensor_mask,
sensor_mask
,
// final int sensor_mask,
merge_channels
,
// boolean merge_channels,
merge_channels
,
// boolean merge_channels,
...
...
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