debugging planes merging (86cdc8a0) · Commits · Elphel / imagej-elphel

src/main/java/EyesisCorrectionParameters.java

+5 −0

Original line number	Diff line number	Diff line
		@@ -2149,6 +2149,7 @@ public class EyesisCorrectionParameters {
		public int plMaxOutliers = 20; // Maximal number of outliers to remove
		public double plMinStrength = 0.1; // Minimal total strength of a plane
		public double plMaxEigen = 0.3; // Maximal eigenvalue of a plane
		public boolean plDbgMerge = true; // Combine 'other' plane with current

		// other debug images
		public boolean show_ortho_combine = false; // Show 'ortho_combine'
		@@ -2389,6 +2390,7 @@ public class EyesisCorrectionParameters {
		properties.setProperty(prefix+"plMaxOutliers", this.plMaxOutliers+"");
		properties.setProperty(prefix+"plMinStrength", this.plMinStrength +"");
		properties.setProperty(prefix+"plMaxEigen", this.plMaxEigen +"");
		properties.setProperty(prefix+"plDbgMerge", this.plDbgMerge+"");

		properties.setProperty(prefix+"show_ortho_combine", this.show_ortho_combine+"");
		properties.setProperty(prefix+"show_refine_supertiles", this.show_refine_supertiles+"");
		@@ -2620,6 +2622,7 @@ public class EyesisCorrectionParameters {
		if (properties.getProperty(prefix+"plMaxOutliers")!=null) this.plMaxOutliers=Integer.parseInt(properties.getProperty(prefix+"plMaxOutliers"));
		if (properties.getProperty(prefix+"plMinStrength")!=null) this.plMinStrength=Double.parseDouble(properties.getProperty(prefix+"plMinStrength"));
		if (properties.getProperty(prefix+"plMaxEigen")!=null) this.plMaxEigen=Double.parseDouble(properties.getProperty(prefix+"plMaxEigen"));
		if (properties.getProperty(prefix+"plDbgMerge")!=null) this.plDbgMerge=Boolean.parseBoolean(properties.getProperty(prefix+"plDbgMerge"));

		if (properties.getProperty(prefix+"show_ortho_combine")!=null) this.show_ortho_combine=Boolean.parseBoolean(properties.getProperty(prefix+"show_ortho_combine"));
		if (properties.getProperty(prefix+"show_refine_supertiles")!=null) this.show_refine_supertiles=Boolean.parseBoolean(properties.getProperty(prefix+"show_refine_supertiles"));
		@@ -2873,6 +2876,7 @@ public class EyesisCorrectionParameters {
		gd.addNumericField("Maximal number of outliers to remove", this.plMaxOutliers, 0);
		gd.addNumericField("Minimal total strength of a plane", this.plMinStrength, 6);
		gd.addNumericField("Maximal eigenvalue of a plane", this.plMaxEigen, 6);
		gd.addCheckbox ("Combine 'other' plane with the current", this.plDbgMerge);

		gd.addMessage ("--- Other debug images ---");
		gd.addCheckbox ("Show 'ortho_combine'", this.show_ortho_combine);
		@@ -3113,6 +3117,7 @@ public class EyesisCorrectionParameters {
		this.plMaxOutliers= (int) gd.getNextNumber();
		this.plMinStrength= gd.getNextNumber();
		this.plMaxEigen= gd.getNextNumber();
		this.plDbgMerge= gd.getNextBoolean();

		this.show_ortho_combine= gd.getNextBoolean();
		this.show_refine_supertiles= gd.getNextBoolean();

src/main/java/SuperTiles.java

+59 −16

Original line number	Diff line number	Diff line
		@@ -1067,7 +1067,7 @@ public class SuperTiles{

		// final int debug_stile = 18 * stilesX + 25;
		// final int debug_stile = 20 * stilesX + 24;
		final int debug_stile = 17 * stilesX + 10;
		final int debug_stile = 16 * stilesX + 27; // 10;


		for (int ithread = 0; ithread < threads.length; ithread++) {
		@@ -1121,10 +1121,11 @@ public class SuperTiles{
		// int dl = ((nsTile >= debug_stile-1) && (nsTile <= debug_stile+1) ) ? 1 : 0;
		// int dl = ((stileY == 17) && (stileX > 4)) ? 1 : 0;
		// int dl = (stileY >= 0) ? 1 : 0;
		int dl1 = (nsTile == debug_stile-1) ? 3 : 0;
		int dl1 = (nsTile == debug_stile) ? 3 : 0;
		// int dl = (nsTile == debug_stile) ? 3 : 0;
		int dl = ((stileY >= 15) && (stileY <= 18) && (stileX >= 5) && (stileX <= 31)) ? 1 : 0;
		// int dl = ((stileY == 17) && (stileX == 27) ) ? 3 : 0;
		// int dl = ((stileY >= 15) && (stileY <= 18) && (stileX >= 5) && (stileX <= 31)) ? 1 : 0;
		int dl = ((stileY == 16) && (stileX == 27) ) ? 3 : 0;
		// int debugLevel1 = ((sTileXY[0] == 27) && (sTileXY[1] == 16))? 1: 0; // check why v[0][0] <0


		boolean [] sel_all = stSel.clone();
		@@ -1301,6 +1302,9 @@ public class SuperTiles{
		}
		if (st_planes.size() > 0){
		planes[nsTile] = st_planes.toArray(new TilePlanes.PlaneData[0] );
		if (dl >0){
		System.out.println("processPlanes2(): nsTile="+nsTile);
		}
		}
		} // if sw >0

		@@ -1325,13 +1329,9 @@ public class SuperTiles{
		return wh;
		}

		// public double [][]
		TilePlanes.PlaneData [][] getNeibPlanes(
		final int dir // 0: get from up (N), 1:from NE, ... 7 - from NW
		// final double minWeight,
		// final double maxEigen,
		// final double dispNorm,
		// final boolean use_NaN
		final int dir, // 0: get from up (N), 1:from NE, ... 7 - from NW
		final boolean dbgMerge // Combine 'other' plane with current
		)
		{
		final int tilesX = tileProcessor.getTilesX();
		@@ -1340,16 +1340,13 @@ public class SuperTiles{
		final int tileSize = tileProcessor.getTileSize();
		final int stilesX = (tilesX + superTileSize -1)/superTileSize;
		final int stilesY = (tilesY + superTileSize -1)/superTileSize;
		// final int width = stilesX * superTileSize; // * tileSize;
		// final int height = stilesY * superTileSize; // * tileSize;
		final double [] nan_plane = new double [superTileSize*superTileSize];
		for (int i = 0; i < nan_plane.length; i++) nan_plane[i] = Double.NaN;
		// final int centerIndex = (superTileSize+1) * superTileSize / 2;
		final int [][] dirsYX = {{-1, 0},{-1,1},{0,1},{1,1},{1,0},{1,-1},{0,-1},{-1,-1}};
		TilePlanes.PlaneData [][] neib_planes = new TilePlanes.PlaneData[stilesY * stilesX][];
		TilePlanes tpl = null; // new TilePlanes(tileSize,superTileSize, geometryCorrection);
		// final int debug_stile = 17 * stilesX + 27;
		final int debug_stile = 20 * stilesX + 27;
		// final int debug_stile = 20 * stilesX + 27;
		final int debug_stile = 17 * stilesX + 27;

		for (int sty0 = 0; sty0 < stilesY; sty0++){
		int sty = sty0 + dirsYX[dir][0];
		@@ -1377,9 +1374,55 @@ public class SuperTiles{
		if (nsTile0 == debug_stile) {
		System.out.println("getNeibPlanes(): nsTile0="+nsTile0+", nsTile="+nsTile+", np = "+np+" dir = "+ dir );
		}
		neib_planes[nsTile0][np] = pd.getPlaneToThis(
		TilePlanes.PlaneData other_pd = pd.getPlaneToThis(
		planes[nsTile][np], // PlaneData otherPd,
		(nsTile0 == debug_stile)? 1:0); // int debugLevel)
		int num_this = (planes[nsTile0] == null)? 0:(planes[nsTile0].length);
		int best_index = 0;
		if (dbgMerge && (num_this > 0)) {
		double best_value = Double.NaN;
		if (num_this > 1){
		// find the best candidate for merge
		for (int indx = 1; indx < planes[nsTile0].length; indx++){
		if (nsTile0 == debug_stile) {
		System.out.println("this with this, same weight:");
		TilePlanes.PlaneData this_this_pd = planes[nsTile0][indx].mergePlaneToThis(
		planes[nsTile0][indx], // PlaneData otherPd,
		1.0, // double scale_other,
		true, // boolean ignore_weights,
		(nsTile0 == debug_stile)? 1:0); // int debugLevel)
		System.out.println("other with other, same weight:");
		TilePlanes.PlaneData other_other_pd = other_pd.mergePlaneToThis(
		other_pd, // PlaneData otherPd,
		1.0, // double scale_other,
		true, // boolean ignore_weights,
		(nsTile0 == debug_stile)? 1:0); // int debugLevel)
		System.out.println("other with this, same weight:");
		}
		TilePlanes.PlaneData merged_pd = planes[nsTile0][indx].mergePlaneToThis(
		other_pd, // PlaneData otherPd,
		1.0, // double scale_other,
		true, // boolean ignore_weights,
		(nsTile0 == debug_stile)? 1:0); // int debugLevel)
		if (!(merged_pd.getValue() > best_value)) { // Double.isNaN(best_value) will work too
		best_value = merged_pd.getValue();
		best_index = indx;
		}
		}
		}
		// now merge with weights with the best plane of this supertile
		if (nsTile0 == debug_stile) {
		System.out.println("this with this, proportional weight, np(other):"+np+" best fit(this):"+best_index);
		}
		TilePlanes.PlaneData merged_pd = planes[nsTile0][best_index].mergePlaneToThis(
		other_pd, // PlaneData otherPd,
		1.0, // double scale_other,
		false, // boolean ignore_weights,
		(nsTile0 == debug_stile)? 1:0); // int debugLevel)
		neib_planes[nsTile0][np] = merged_pd;
		} else {
		neib_planes[nsTile0][np] = other_pd;
		}
		}
		} else {
		neib_planes[nsTile0] = null;

src/main/java/TilePlanes.java

+169 −5

Original line number	Diff line number	Diff line
		@@ -56,7 +56,8 @@ public class TilePlanes {
		double [] world_xyz = null; // world coordinates of the nearest point of the plane, in meters
		double [] world_v1 = null; // world in-plane vector, corresponding to vectors[1]
		double [] world_v2 = null; // world in-plane vector, corresponding to vectors[1]
		double [] daxy = null; // disparity and 2 relative angles (ax and ay) corresponding to fisheye view, near (0,0) scale is pixel size
		// double [] daxy = null; // disparity and 2 relative angles (ax and ay) corresponding to fisheye view, near (0,0) scale is pixel size
		double [][] neib_match = null; // for each of the directions (N, NE, .. NW) quality match for each layer
		int tileSize;
		int superTileSize;
		int [] sTileXY = null; // X and Y indices of this superTile in the image
		@@ -76,7 +77,7 @@ public class TilePlanes {
		if (this.world_xyz != null) pd.world_xyz = this.world_xyz.clone();
		if (this.world_v1 != null) pd.world_v1 = this.world_v1.clone();
		if (this.world_v2 != null) pd.world_v2 = this.world_v2.clone();
		if (this.daxy != null) pd.daxy = this.daxy.clone();
		// if (this.daxy != null) pd.daxy = this.daxy.clone();
		if (this.vectors != null) {
		pd.vectors = new double[3][];
		pd.vectors[0] = this.vectors[0].clone();
		@@ -233,6 +234,153 @@ public class TilePlanes {
		return new Matrix (ar);
		}


		/**
		* Combine 2 Plane instances using centers, eigenvalues eihenvectors and total weights of this and other PlaneData objects
		* other plane should already be transformed to the same supertile coordinate system (with getPlaneToThis() method)
		* @param otherPd PlaneData object to merge with. Should be transformed to the same supertile ( same sTileXY values)
		* @param scale_other scale total weight of the other PlaneData object
		* @param ignore_weights assume original weights of the planes where equal, only use scale_other
		* @param debugLevel debug level
		* @return PlaneData object representing merged planes with combined weight (scale_other*otherPd.weight + this.weight),
		* recalculated center, eigenvalues and eigenvectors
		*/
		public PlaneData mergePlaneToThis(
		PlaneData otherPd,
		double scale_other,
		boolean ignore_weights,
		int debugLevel)
		{
		if (debugLevel > 0) {
		System.out.println("mergePlaneToThis()");
		}
		double [][] this_eig_avals = {
		{values[0], 0.0, 0.0},
		{0.0, values[1], 0.0},
		{0.0, 0.0, values[2]}};
		double [][] other_eig_avals = {
		{otherPd.values[0], 0.0, 0.0},
		{0.0, otherPd.values[1], 0.0},
		{0.0, 0.0, otherPd.values[2]}};
		Matrix this_eig_vals = new Matrix(this_eig_avals);
		Matrix other_eig_vals = new Matrix(other_eig_avals);
		Matrix other_eig_vectors = new Matrix(otherPd.vectors).transpose(); // vectors are saved as rows
		Matrix this_eig_vectors = new Matrix(this.vectors).transpose(); // vectors are saved as rows
		Matrix this_center = new Matrix(this.getZxy(),3);
		Matrix other_center = new Matrix(otherPd.getZxy(),3); // should already be relative to this supertile center
		double sum_weight = scale_other * otherPd.weight + this.weight;
		double other_fraction = ignore_weights? (scale_other/(scale_other + 1.0)): ((scale_other * otherPd.weight) / sum_weight);
		Matrix common_center = this_center.times(1.0 - other_fraction).plus(other_center.times(other_fraction));
		Matrix other_offset = other_center.minus(this_center); // other center from this center
		if (debugLevel > 0) {
		System.out.println("other_eig_vals");
		other_eig_vals.print(8, 6);
		System.out.println("this_eig_vals");
		this_eig_vals.print(8, 6);
		System.out.println("other_eig_vectors");
		other_eig_vectors.print(8, 6);
		System.out.println("this_eig_vectors");
		this_eig_vectors.print(8, 6);
		System.out.println("other_center");
		other_center.print(8, 6);
		System.out.println("this_center");
		this_center.print(8, 6);
		System.out.println("common_center");
		common_center.print(8, 6);
		System.out.println("other_offset");
		other_offset.print(8, 6);
		System.out.println("other_fraction="+other_fraction);
		}




		double [][] acovar = { // covariance matrix of center masses (not yet scaled by weight)
		{other_offset.get(0,0)other_offset.get(0,0), other_offset.get(0,0)other_offset.get(1,0), other_offset.get(0,0)*other_offset.get(2,0)},
		{other_offset.get(1,0)other_offset.get(0,0), other_offset.get(1,0)other_offset.get(1,0), other_offset.get(1,0)*other_offset.get(2,0)},
		{other_offset.get(2,0)other_offset.get(0,0), other_offset.get(2,0)other_offset.get(1,0), other_offset.get(2,0)*other_offset.get(2,0)}};

		Matrix other_covar = other_eig_vectors.times(other_eig_vals.times(other_eig_vectors.transpose()));
		Matrix this_covar = this_eig_vectors.times(this_eig_vals.times(this_eig_vectors.transpose()));
		Matrix covar = (new Matrix(acovar)).times(other_fraction*(1.0-other_fraction)); // only centers with all masses
		if (debugLevel > 0) {
		System.out.println("other_covar");
		other_covar.print(8, 6);
		System.out.println("this_covar");
		this_covar.print(8, 6);
		System.out.println("covar");
		covar.print(8, 6);
		}

		covar.plusEquals(other_covar.times(other_fraction));
		if (debugLevel > 0) {
		System.out.println("covar with other_covar");
		covar.print(8, 6);
		}
		covar.plusEquals(this_covar.times(1.0 - other_fraction));
		if (debugLevel > 0) {
		System.out.println("covar with other_covar and this_covar");
		covar.print(8, 6);
		}

		// extract new eigenvalues, eigenvectors
		EigenvalueDecomposition eig = covar.eig();
		// eig.getD().getArray(),
		// eig.getV().getArray(),
		if (debugLevel > 0) {
		System.out.println("eig.getV()");
		eig.getV().print(8, 6);
		System.out.println("eig.getD()");
		eig.getD().print(8, 6);
		}



		double [][] eig_vect = eig.getV().getArray();
		double [][] eig_val = eig.getD().getArray();
		// make towards camera, left coordinate system
		int oindx = 0;
		for (int i = 1; i <3; i++){
		if (Math.abs(eig_vect[0][i]) > Math.abs(eig_vect[0][oindx])){
		oindx = i;
		}
		}
		// select 2 other axes for increasing eigenvalues (so v is short axis, h is the long one)
		int vindx = (oindx == 0)? 1 : 0;
		int hindx = (oindx == 0)? 2 : ((oindx == 1) ? 2 : 1);
		if (eig_val[vindx][vindx] > eig_val[hindx][hindx]){
		int tmp = vindx;
		vindx = hindx;
		hindx = tmp;
		}

		double [][] plane = {
		{eig_vect[0][oindx],eig_vect[1][oindx],eig_vect[2][oindx]}, // plane normal to camera
		{eig_vect[0][vindx],eig_vect[1][vindx],eig_vect[2][vindx]}, // "horizontal" axis // to detect skinny planes and poles
		{eig_vect[0][hindx],eig_vect[1][hindx],eig_vect[2][hindx]}}; // "vertical" axis // to detect skinny planes and poles
		// Make normal be towards camera (positive disparity), next vector - positive in X direction (right)
		for (int v = 0; v < 2; v++) {
		if (plane[v][v] < 0.0) for (int i = 0; i < 3; i ++) plane[v][i] = -plane[v][i];
		}

		// make direction last vector so px (x) py (.) disp < 0 (left-hand coordinate system)
		if (new Matrix(plane).det() > 0){
		for (int i = 0; i < 3; i ++) plane[2][i] = -plane[2][i];
		}


		PlaneData pd = this.clone(); // will copy selections too
		pd.setValues(eig_val[oindx][oindx],eig_val[vindx][vindx],eig_val[hindx][hindx]); // eigenvalues [0] - thickness, 2 other to detect skinny (poles)
		pd.setVectors(plane);

		pd.setZxy(common_center.getColumnPackedCopy()); // set new center
		// what weight to use? cloned is original weight for this supertile
		// or use weighted average like below?
		pd.setWeight(other_fraction * otherPd.weight + (1.0 - other_fraction) * this.weight);
		return pd;
		}


		/**
		* Convert plane data from other supertile to this one (disparity, px, py) for the center of this supertile
		* through the plane in world coordinates. orientation of the "main" eigenvector (most disparity-like) is
		@@ -299,7 +447,10 @@ public class TilePlanes {
		// now get both in-plane vectors transformed to this supertile disparity, px, py
		Matrix v1 = img_jacobian.times(new Matrix(wv1,3)); // 3 rows, 1 column
		Matrix v2 = img_jacobian.times(new Matrix(wv2,3)); // 3 rows, 1 column
		Matrix v0 = cross3d(v1,v2); // orthogonal to both - this is a plane normal vector in local supertile disparity, px. py
		// Matrix v0 = cross3d(v1,v2); // orthogonal to both - this is a plane normal vector in local supertile disparity, px. py
		Matrix v0 = cross3d(v2,v1); // orthogonal to both - this is a plane normal vector in local supertile disparity, px. py



		if (debugLevel > 0) {
		System.out.println("getPlaneToThis(), Matrix v0 =");
		@@ -356,6 +507,13 @@ public class TilePlanes {
		System.out.println("getPlaneToThis(), dxy(modified) = {"+ dxy[0]+", "+ dxy[1]+", "+ dxy[2]+"}");
		}
		pd.sTileXY = this.sTileXY;
		if (pd.vectors[0][0] > 0) {
		// System.out.println("getPlaneToThis(): "+pd.sTileXY[0]+":"+pd.sTileXY[1]+" -> "+pd.vectors[0][0]+", disp = "+disp+
		// ", other_det = "+((new Matrix(otherPd.vectors).det()) +", pdr_det = "+((new Matrix(pd.vectors).det()))));
		} else {
		// System.out.println("getPlaneToThis(): "+pd.sTileXY[0]+":"+pd.sTileXY[1]+" -> "+pd.vectors[0][0]+", disp = "+disp+
		// ", other_det = "+((new Matrix(otherPd.vectors).det()) +", pdr_det = "+((new Matrix(pd.vectors).det()))));
		}
		return pd; // make sure pd are updated // "this" is not used. Should it be used instead of pd?
		}

		@@ -598,12 +756,17 @@ public class TilePlanes {
		select = new boolean [4*stSize];
		for (int i = 0; i < select.length; i++) select[i] = true;
		}
		// int debugLevel1 = ((sTileXY[0] == 27) && (sTileXY[1] == 20))? 1: 0;
		// int debugLevel1 = ((sTileXY[0] == 27) && (sTileXY[1] == 17))? 1: 0;
		int debugLevel1 = ((sTileXY[0] == 27) && (sTileXY[1] == 16))? 1: 0; // check why v[0][0] <0


		double [][][] rslt = getCovar(
		data,
		weight,
		select,
		0.0,
		0); // debugLevel);
		debugLevel1); //0); // debugLevel);
		if (rslt == null) return null;
		int numPoints = (int) rslt[2][0][2];
		// double kz = rslt[2][0][1]; // == 1.0
		@@ -645,7 +808,8 @@ public class TilePlanes {
		this.geometryCorrection);
		pd.setZxy(szxy);

		pd.setValues(eig_val[oindx][oindx],eig_val[hindx][hindx],eig_val[vindx][vindx]); // eigenvalues [0] - thickness, 2 other to detect skinny (poles)
		// pd.setValues(eig_val[oindx][oindx],eig_val[hindx][hindx],eig_val[vindx][vindx]); // eigenvalues [0] - thickness, 2 other to detect skinny (poles)
		pd.setValues(eig_val[oindx][oindx],eig_val[vindx][vindx],eig_val[hindx][hindx]); // eigenvalues [0] - thickness, 2 other to detect skinny (poles)

		double [][] plane = {
		{eig_vect[0][oindx],eig_vect[1][oindx],eig_vect[2][oindx]}, // plane normal to camera

src/main/java/TileProcessor.java

+3 −1

Original line number	Diff line number	Diff line
		@@ -3000,7 +3000,9 @@ public class TileProcessor {
		sdfa_instance.showArrays(plane_data, wh[0], wh[1], true, "plane_data");
		// show plane data
		for (int dr = 0; dr < 8; dr++){
		TilePlanes.PlaneData [][] planes = st.getNeibPlanes(dr);
		TilePlanes.PlaneData [][] planes = st.getNeibPlanes(
		dr,
		clt_parameters.plDbgMerge);
		plane_data_nonan = st.getShowPlanes(
		planes,
		clt_parameters.plMinStrength, // minWeight,

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