Commit 8d62abba authored by Andrey Filippov's avatar Andrey Filippov

working on high disparity objects

parent 21cc4033
This diff is collapsed.
...@@ -51,7 +51,7 @@ public class CLTPass3d{ ...@@ -51,7 +51,7 @@ public class CLTPass3d{
public boolean [] border_tiles = null; // these are border tiles, zero out alpha public boolean [] border_tiles = null; // these are border tiles, zero out alpha
public boolean [] selected = null; // which tiles are selected for this layer public boolean [] selected = null; // which tiles are selected for this layer
public double [][][][] texture_tiles; public double [][][][] texture_tiles;
public double [][] max_tried_disparity = null; //[ty][tx] used for combined passes, shows maximal disparity wor this tile, regardless of results public double [][] max_tried_disparity = null; //[ty][tx] used for combined passes, shows maximal disparity for this tile, regardless of results
public boolean is_combo = false; public boolean is_combo = false;
public boolean is_measured = false; public boolean is_measured = false;
public String texture = null; // relative (to x3d) path public String texture = null; // relative (to x3d) path
...@@ -190,6 +190,7 @@ public class CLTPass3d{ ...@@ -190,6 +190,7 @@ public class CLTPass3d{
*/ */
public double [][] getDiffs (){ public double [][] getDiffs (){
if (disparity_map == null) return null;
double [][] these_diffs = new double[ImageDtt.QUAD][]; double [][] these_diffs = new double[ImageDtt.QUAD][];
for (int i = 0; i< ImageDtt.QUAD; i++) these_diffs[i] = disparity_map[ImageDtt.IMG_DIFF0_INDEX + i]; for (int i = 0; i< ImageDtt.QUAD; i++) these_diffs[i] = disparity_map[ImageDtt.IMG_DIFF0_INDEX + i];
return these_diffs; return these_diffs;
...@@ -208,6 +209,10 @@ public class CLTPass3d{ ...@@ -208,6 +209,10 @@ public class CLTPass3d{
return selected; return selected;
} }
public boolean [] getBorderTiles(){
return this.border_tiles;
}
public void setSelected (boolean [] selected) { public void setSelected (boolean [] selected) {
this.selected = selected; this.selected = selected;
} }
...@@ -444,7 +449,7 @@ public class CLTPass3d{ ...@@ -444,7 +449,7 @@ public class CLTPass3d{
* Replaces current combo disparity for tiles that are weak and do not have any neighbor within disparity range from this one * Replaces current combo disparity for tiles that are weak and do not have any neighbor within disparity range from this one
* @param selection optional boolean mask of tiles to use/update * @param selection optional boolean mask of tiles to use/update
* @param weakStrength maximal strength of the tile to be considered weak one * @param weakStrength maximal strength of the tile to be considered weak one
* @param maxDiff maximal difference from the most similar neighbor to be considered an outlayer * @param maxDiff maximal difference from the most similar neighbor to be considered an outlier
* @param disparityFar minimal acceptable disparity for weak tiles * @param disparityFar minimal acceptable disparity for weak tiles
* @param disparityNear maximal acceptable disparity for weak tiles * @param disparityNear maximal acceptable disparity for weak tiles
* @return mask of weak (replaced) tiles * @return mask of weak (replaced) tiles
...@@ -455,8 +460,8 @@ public class CLTPass3d{ ...@@ -455,8 +460,8 @@ public class CLTPass3d{
final boolean [] selection, final boolean [] selection,
final double weakStrength, // strength to be considered weak, subject to this replacement final double weakStrength, // strength to be considered weak, subject to this replacement
final double maxDiff, final double maxDiff,
final double maxDiffPos, // Replace weak outlayer tiles that have higher disparity than weighted average final double maxDiffPos, // Replace weak outlier tiles that have higher disparity than weighted average
final double maxDiffNeg, // Replace weak outlayer tiles that have lower disparity than weighted average final double maxDiffNeg, // Replace weak outlier tiles that have lower disparity than weighted average
final double disparityFar, final double disparityFar,
final double disparityNear, final double disparityNear,
final int debugLevel) final int debugLevel)
...@@ -474,7 +479,7 @@ public class CLTPass3d{ ...@@ -474,7 +479,7 @@ public class CLTPass3d{
final double absMaxDisparity = 1.5 * disparityNear; // change? final double absMaxDisparity = 1.5 * disparityNear; // change?
final int dbg_nTile = (debugLevel > 0) ? 43493: -1; // x=77,y=134; // 42228; // x = 108, y = 130 46462; // 41545; final int dbg_nTile = (debugLevel > 0) ? 43493: -1; // x=77,y=134; // 42228; // x = 108, y = 130 46462; // 41545;
final Thread[] threads = ImageDtt.newThreadArray(tileProcessor.threadsMax); final Thread[] threads = ImageDtt.newThreadArray(tileProcessor.threadsMax);
// first pass = find outlayers // first pass = find outliers
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() {
...@@ -507,7 +512,7 @@ public class CLTPass3d{ ...@@ -507,7 +512,7 @@ public class CLTPass3d{
sw += w; sw += w;
sd += w * disparity[nTile1]; sd += w * disparity[nTile1];
hasNeighbors = true; hasNeighbors = true;
if (Math.abs(disparity[nTile]-disparity[nTile1]) <= maxDiff){ // any outlayer - will be false if (Math.abs(disparity[nTile]-disparity[nTile1]) <= maxDiff){ // any outlier - will be false
weakOutlayers[nTile] = false; weakOutlayers[nTile] = false;
// break; // break;
} }
...@@ -531,7 +536,7 @@ public class CLTPass3d{ ...@@ -531,7 +536,7 @@ public class CLTPass3d{
} }
ImageDtt.startAndJoin(threads); ImageDtt.startAndJoin(threads);
// second pass - replace outlayers // second pass - replace outliers
final double [] src_disparity = disparity.clone(); final double [] src_disparity = disparity.clone();
ai.set(0); ai.set(0);
for (int ithread = 0; ithread < threads.length; ithread++) { for (int ithread = 0; ithread < threads.length; ithread++) {
...@@ -580,6 +585,167 @@ public class CLTPass3d{ ...@@ -580,6 +585,167 @@ public class CLTPass3d{
return weakOutlayers; return weakOutlayers;
} }
public boolean [] getUntestedBackgroundBorder (
final boolean [] known,
final double [] disparity,
final double grow_disp_step,
final int debugLevel)
{
final int tilesX = tileProcessor.getTilesX();
final int tilesY = tileProcessor.getTilesY();
final int num_tiles = tilesX * tilesY;
final TileNeibs tnImage = new TileNeibs(tilesX, tilesY); // num_tiles/tilesX);
final boolean [] untested_bgnd = new boolean [num_tiles];
final Thread[] threads = ImageDtt.newThreadArray(tileProcessor.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 < num_tiles; nTile = ai.getAndIncrement()) {
if (known[nTile]){
int tX = nTile % tilesX;
int tY = nTile / tilesX;
double max_disp = max_tried_disparity[tY][tX] + grow_disp_step;
for (int dir = 0; dir < 8; dir++){
int nTile1 = tnImage.getNeibIndex(nTile, dir);
if ((nTile1 >=0) && known[nTile1] && (disparity[nTile1] > max_disp)) {
untested_bgnd[nTile] = true;
break;
}
}
}
}
}
};
}
ImageDtt.startAndJoin(threads);
return untested_bgnd;
}
public boolean [] measuredTiles ()
{
final int tilesX = tileProcessor.getTilesX();
final int tilesY = tileProcessor.getTilesY();
final int num_tiles = tilesX * tilesY;
final boolean [] measured = new boolean [num_tiles];
final Thread[] threads = ImageDtt.newThreadArray(tileProcessor.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 < num_tiles; nTile = ai.getAndIncrement()) {
int tX = nTile % tilesX;
int tY = nTile / tilesX;
measured[nTile] = tile_op[tY][tX] != 0;
}
}
};
}
ImageDtt.startAndJoin(threads);
return measured;
}
public double [] getSecondMaxDiff (
final boolean averaged)
{
final double [][] diffs = getDiffs();
if (diffs == null) return null;
final int tilesX = tileProcessor.getTilesX();
final int tilesY = tileProcessor.getTilesY();
final int num_tiles = tilesX * tilesY;
final double [] second_max = new double [num_tiles];
final boolean [] measured = measuredTiles ();
final Thread[] threads = ImageDtt.newThreadArray(tileProcessor.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 < num_tiles; nTile = ai.getAndIncrement()) {
int imax1 = 0;
for (int ip = 1; ip < diffs.length; ip++){
if (diffs[ip][nTile] > diffs[imax1][nTile]) imax1 = ip;
}
int imax2 = (imax1 == 0)? 1 : 0;
for (int ip = 0; ip < diffs.length; ip++) if (ip != imax1) {
if (diffs[ip][nTile] > diffs[imax2][nTile]) imax2 = ip;
}
second_max[nTile] = diffs[imax2][nTile];
}
}
};
}
ImageDtt.startAndJoin(threads);
if (!averaged) return second_max;
final TileNeibs tnImage = new TileNeibs(tilesX, tilesY); // num_tiles/tilesX);
final double [] second_max_averaged = new double [num_tiles];
final double [] dir_weights = {1.0/16, 1.0/8, 1.0/16, 1.0/8, 1.0/16, 1.0/8, 1.0/16, 1.0/8, 1.0/4};
ai.set(0);
for (int ithread = 0; ithread < threads.length; ithread++) {
threads[ithread] = new Thread() {
public void run() {
for (int nTile = ai.getAndIncrement(); nTile < num_tiles; nTile = ai.getAndIncrement()) if (measured[nTile]) {
double sw = 0.0;
double swd = 0.0;
for (int dir = 0; dir < 9; dir++){ // including 8 - center
int nTile1 = tnImage.getNeibIndex(nTile, dir);
if ((nTile1 >=0) && measured[nTile1]) {
sw += dir_weights[dir];
swd += dir_weights[dir] * second_max[nTile1] ;
}
}
second_max_averaged[nTile] = swd/sw;
}
}
};
}
ImageDtt.startAndJoin(threads);
return second_max_averaged;
}
// same, but 2 steps around
public boolean [] getUntestedBackgroundBorder2 (
final boolean [] known,
final double [] disparity,
final double grow_disp_step,
final int debugLevel)
{
final int tilesX = tileProcessor.getTilesX();
final int tilesY = tileProcessor.getTilesY();
final int num_tiles = tilesX * tilesY;
final TileNeibs tnImage = new TileNeibs(tilesX, tilesY); // num_tiles/tilesX);
final boolean [] untested_bgnd = new boolean [num_tiles];
final Thread[] threads = ImageDtt.newThreadArray(tileProcessor.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 < num_tiles; nTile = ai.getAndIncrement()) {
if (known[nTile]){
int tX = nTile % tilesX;
int tY = nTile / tilesX;
double max_disp = max_tried_disparity[tY][tX] + grow_disp_step;
for (int dir = 0; dir < 24; dir++){
int nTile1 = tnImage.getNeibIndex2(nTile, dir);
if ((nTile1 >=0) && known[nTile1] && (disparity[nTile1] > max_disp)) {
untested_bgnd[nTile] = true;
break;
}
}
}
}
}
};
}
ImageDtt.startAndJoin(threads);
return untested_bgnd;
}
public SuperTiles getSuperTiles() public SuperTiles getSuperTiles()
{ {
return this.superTiles; return this.superTiles;
......
...@@ -4548,7 +4548,9 @@ private Panel panel1, ...@@ -4548,7 +4548,9 @@ private Panel panel1,
} }
///======================================== ///========================================
int num_infinity_corr = infinity_corr? CLT_PARAMETERS.inf_repeat : 1;
if ( num_infinity_corr < 1) num_infinity_corr = 1;
for (int i_infinity_corr = 0; i_infinity_corr < num_infinity_corr; i_infinity_corr++) {
QUAD_CLT.processCLTQuadCorrs( QUAD_CLT.processCLTQuadCorrs(
CLT_PARAMETERS, // EyesisCorrectionParameters.DCTParameters dct_parameters, CLT_PARAMETERS, // EyesisCorrectionParameters.DCTParameters dct_parameters,
DEBAYER_PARAMETERS, //EyesisCorrectionParameters.DebayerParameters debayerParameters, DEBAYER_PARAMETERS, //EyesisCorrectionParameters.DebayerParameters debayerParameters,
...@@ -4563,7 +4565,7 @@ private Panel panel1, ...@@ -4563,7 +4565,7 @@ private Panel panel1,
THREADS_MAX, //final int threadsMax, // maximal number of threads to launch THREADS_MAX, //final int threadsMax, // maximal number of threads to launch
UPDATE_STATUS, //final boolean updateStatus, UPDATE_STATUS, //final boolean updateStatus,
DEBUG_LEVEL); //final int debugLevel); DEBUG_LEVEL); //final int debugLevel);
}
if (configPath!=null) { if (configPath!=null) {
saveTimestampedProperties( // save config again saveTimestampedProperties( // save config again
configPath, // full path or null configPath, // full path or null
...@@ -4609,20 +4611,15 @@ private Panel panel1, ...@@ -4609,20 +4611,15 @@ private Panel panel1,
System.out.println("Created new QuadCLT instance, will need to read CLT kernels"); System.out.println("Created new QuadCLT instance, will need to read CLT kernels");
} }
} }
/*
QUAD_CLT.process_fine_corr(
dry_run, // boolean dry_run
CLT_PARAMETERS,
DEBUG_LEVEL);
*/
QUAD_CLT.processLazyEye( QUAD_CLT.processLazyEye(
dry_run, // boolean dry_run
CLT_PARAMETERS, CLT_PARAMETERS,
DEBUG_LEVEL); DEBUG_LEVEL);
return; return;
} else if (label.equals("CLT ext infinity corr")) { } else if (label.equals("CLT ext infinity corr")) {
// boolean dry_run = label.equals("CLT test fine corr");
DEBUG_LEVEL=MASTER_DEBUG_LEVEL; DEBUG_LEVEL=MASTER_DEBUG_LEVEL;
if (QUAD_CLT == null){ if (QUAD_CLT == null){
QUAD_CLT = new QuadCLT ( QUAD_CLT = new QuadCLT (
......
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...@@ -104,6 +104,53 @@ public class TileNeibs{ ...@@ -104,6 +104,53 @@ public class TileNeibs{
default: return indx; default: return indx;
} }
} }
/**
* Get 2d element index after step N, NE, ... NW. Returns -1 if leaving array
* And 2 steps for dir = 8(N), 9(NNE),..23(NNW)
* @param indx start index
* @param dir step direction (CW from up)
* @return new index or -1 if leaving
*/
int getNeibIndex2(int indx, int dir)
{
int y = indx / sizeX;
int x = indx % sizeX;
if (dir < 0) return indx;
if (dir > 24) {
System.out.println("getNeibIndex(): indx="+indx+", dir="+dir);
}
// switch (dir % dirs){
switch (dir){
case 0: return (y == 0) ? -1 : (indx - sizeX);
case 1: return ((y == 0) || ( x == (sizeX - 1))) ? -1 : (indx - sizeX + 1);
case 2: return ( ( x == (sizeX - 1))) ? -1 : (indx + 1);
case 3: return ((y == (sizeY - 1)) || ( x == (sizeX - 1))) ? -1 : (indx + sizeX + 1);
case 4: return ((y == (sizeY - 1)) ) ? -1 : (indx + sizeX);
case 5: return ((y == (sizeY - 1)) || ( x == 0)) ? -1 : (indx + sizeX - 1);
case 6: return ( ( x == 0)) ? -1 : (indx - 1);
case 7: return ((y == 0) || ( x == 0)) ? -1 : (indx - sizeX - 1);
case 8: return ( y < 2) ? -1 : (indx - 2 * sizeX);
case 9: return ((y < 2) || ( x > (sizeX - 2))) ? -1 : (indx - 2 * sizeX + 1);
case 10: return ((y < 2) || ( x > (sizeX - 3))) ? -1 : (indx - 2 * sizeX + 2);
case 11: return ((y < 1) || ( x > (sizeX - 3))) ? -1 : (indx - 1 * sizeX + 2);
case 12: return ( ( x > (sizeX - 3))) ? -1 : (indx + 2);
case 13: return ((y > (sizeY - 2)) || ( x > (sizeX - 3))) ? -1 : (indx + 1 * sizeX + 2);
case 14: return ((y > (sizeY - 3)) || ( x > (sizeX - 3))) ? -1 : (indx + 2 * sizeX + 2);
case 15: return ((y > (sizeY - 3)) || ( x > (sizeX - 2))) ? -1 : (indx + 2 * sizeX + 1);
case 16: return ((y > (sizeY - 3)) ) ? -1 : (indx + 2 * sizeX);
case 17: return ((y > (sizeY - 3)) || ( x < 1)) ? -1 : (indx + 2 * sizeX - 1);
case 18: return ((y > (sizeY - 3)) || ( x < 2)) ? -1 : (indx + 2 * sizeX - 2);
case 19: return ((y > (sizeY - 2)) || ( x < 2)) ? -1 : (indx + 1 * sizeX - 2);
case 20: return ( ( x < 2)) ? -1 : (indx - 2);
case 21: return ((y < 1) || ( x < 2)) ? -1 : (indx - 1 * sizeX - 2);
case 22: return ((y < 2) || ( x < 2)) ? -1 : (indx - 2 * sizeX - 2);
case 23: return ((y < 2) || ( x < 1)) ? -1 : (indx - 2 * sizeX - 1);
default: return indx;
}
}
/** /**
* Return tile segment for 50% overlap. -1 - center, 0 N, 1 - NE,... 7 - NW * Return tile segment for 50% overlap. -1 - center, 0 N, 1 - NE,... 7 - NW
......
...@@ -1383,10 +1383,10 @@ public class TilePlanes { ...@@ -1383,10 +1383,10 @@ public class TilePlanes {
swx /= sw; swx /= sw;
swy /= sw; swy /= sw;
double kz = ((dispNorm > 0.0) && (swz > dispNorm)) ? (dispNorm / swz) : 1.0; // double kz = ((dispNorm > 0.0) && (swz > dispNorm)) ? (dispNorm / swz) : 1.0;
if (debugLevel > 0){ if (debugLevel > 0){
System.out.println("getPlaneFromMeas(): num_tiles="+num_tiles+", sw = "+sw +", swz = "+swz +", swx = "+swx +", swy = "+swy+", kz="+kz); System.out.println("getPlaneFromMeas(): num_tiles="+num_tiles+", sw = "+sw +", swz = "+swz +", swx = "+swx +", swy = "+swy); // +", kz="+kz);
} }
// TODO: scale disparity to make same scale for 3 axes? // TODO: scale disparity to make same scale for 3 axes?
...@@ -1397,7 +1397,8 @@ public class TilePlanes { ...@@ -1397,7 +1397,8 @@ public class TilePlanes {
if (tile_sel[nl][indx]) { if (tile_sel[nl][indx]) {
double w = disp_str[nl][1][indx] / sw; double w = disp_str[nl][1][indx] / sw;
if (w > 0.0){ if (w > 0.0){
double d = kz * (disp_str[nl][0][indx] - swz); // double d = kz * (disp_str[nl][0][indx] - swz); // Not here!
double d = disp_str[nl][0][indx] - swz;
double wd = w*d; double wd = w*d;
double x = ((indx % stSize2) - stSize + 0.5) * tileSize + 0.5 - swx; double x = ((indx % stSize2) - stSize + 0.5) * tileSize + 0.5 - swx;
double y = ((indx / stSize2) - stSize + 0.5) * tileSize + 0.5 - swy; double y = ((indx / stSize2) - stSize + 0.5) * tileSize + 0.5 - swy;
...@@ -3795,6 +3796,7 @@ public class TilePlanes { ...@@ -3795,6 +3796,7 @@ public class TilePlanes {
double smplRms, // = 0.1; // Maximal RMS of the remaining tiles in a sample double smplRms, // = 0.1; // Maximal RMS of the remaining tiles in a sample
int debugLevel) int debugLevel)
{ {
if (debugLevel > 2) debugLevel ++; // no show all eigen stuff (debugLevel > 3)
// first make a plane from all tiles // first make a plane from all tiles
ArrayList<PlaneData> st_planes = new ArrayList<PlaneData>(); ArrayList<PlaneData> st_planes = new ArrayList<PlaneData>();
......
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