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imagej-elphel
Commit 8e595c63 authored by Andrey Filippov's avatar Andrey Filippov
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src/main/java/com/elphel/imagej/calibration/CalibrationFileManagement.java
View file @ 8e595c63
......@@ -168,6 +168,9 @@ public class CalibrationFileManagement {
if ((dir!=null) && (!dir.isDirectory())){
dir=dir.getParentFile();
}
if ((dir!=null) && (dir.exists()) && (dir.isDirectory() == directory)) {// 05.30.2025
return dir.getPath();
}
if (!smart) { // 05.29.2025
return null;
......
src/main/java/com/elphel/imagej/cuas/Cuas.java
View file @ 8e595c63
......@@ -18,421 +18,7 @@ import com.elphel.imagej.tileprocessor.TileProcessor;
import ij.ImagePlus;
public class Cuas {
/*
@Deprecated
public static QuadCLT createCenterClt( // assuming cuas_rotation is true
CLTParameters clt_parameters,
QuadCLT [] quadCLTs,
int ref_index, // where combo_dsi is
int [] range, // or null
double [][] ref_combo_dsi, // DSI data for the reference scene (or null to read it from file)
boolean condition_dsi,
int sensor_mask, // -1 - all;
int debugLevel) {
QuadCLT ref_clt = quadCLTs[ref_index];
QuadCLT last_clt = quadCLTs[quadCLTs.length-1]; // save center with the latest timestamp
if (range == null) {
range = new int [] {0, quadCLTs.length-1};
}
if (ref_index <0) {
ref_index = quadCLTs.length-1;
}
double [][] center_ATR = CuasCenterLma.getCenterATR(
quadCLTs, // QuadCLT [] quadCLTs,
ref_index, //int ref_index,
range, //int [] range,
debugLevel); // int debugLevel);
double [] cuas_atr = new double [] { center_ATR[0][0], center_ATR[0][1], center_ATR[0][2]};
if (ref_combo_dsi == null) {
ref_combo_dsi =quadCLTs[ref_index].restoreComboDSI(true); // also sets quadCLTs[ref_index].dsi and blue sky
}
double [][] dls = {
ref_combo_dsi[OpticalFlow.COMBO_DSN_INDX_DISP],
ref_combo_dsi[OpticalFlow.COMBO_DSN_INDX_LMA],
ref_combo_dsi[OpticalFlow.COMBO_DSN_INDX_STRENGTH]
};
double [][] ds = new double [][] {dls[0],dls[2]}; // {disparity, strength}
if (condition_dsi) {
ds = OpticalFlow.conditionInitialDS( // only
true, // boolean use_conf, // use configuration parameters, false - use following
clt_parameters, // CLTParameters clt_parameters,
dls, // double [][] dls
quadCLTs[ref_index], // QuadCLT scene,
debugLevel);
}
// getRefPxPyD: pX, pY reference image X,Y correspomnding to the uniform grid of the center view
final double [][] ref_pXpYD = getRefPxPyD( // Use to interpolate disparity layers
clt_parameters, // CLTParameters clt_parameters,
true, // boolean mode_cuas,
null, // Rectangle fov_tiles,
OpticalFlow.ZERO3, // double [] stereo_xyz, // offset reference camera {x,y,z}
cuas_atr, // double [] stereo_atr_in, // offset reference orientation (cuas)
ds[0], // double [] ref_disparity,
ref_clt, // QuadCLT refCLT, // should be the same instance if one of quadCLTs
debugLevel); // int debugLevel)
boolean save_weights = true; // always
float [][] center_clt_w = getTDComboSceneSequence(
clt_parameters, // CLTParameters clt_parameters,
ref_pXpYD, // double [][] ref_pXpYD,
save_weights, // boolean save_weights, // output corresponding weights for each data
true, // boolean merge_all,
sensor_mask, // int sensor_mask,
null, // Rectangle fov_tiles,
OpticalFlow.ZERO3, // double [] stereo_xyz, // offset reference camera {x,y,z}
cuas_atr, // double [] stereo_atr_in, // offset reference orientation (cuas)
null, // ds[0], // double [] ref_disparity, // may be null if ref_pXpYD != null
quadCLTs, // QuadCLT [] quadCLTs,
ref_clt, // QuadCLT refCLT, // should be the same instance if one of quadCLTs
debugLevel); // int debugLevel)
// remove weights
float [][] center_clt = save_weights? new float [center_clt_w.length/2][]: center_clt_w;
int [][] center_clt_num = save_weights? new int [center_clt_w.length/2][]: null;
if (save_weights) { // remove second half (weights as integer numbers)
for (int i = 0; i< center_clt.length; i++) {
center_clt[i] = center_clt_w[i];
center_clt_num[i] = new int [center_clt_w[i + center_clt.length].length];
for (int j = 0; j < center_clt_num[i].length; j++) {
center_clt_num[i][j] = (int) Math.round(center_clt_w[i + center_clt.length][j]);
}
}
}
int [] wh_c = ref_clt.getWHC(false);
//final int tile_size_td = 4 * GPUTileProcessor.DTT_SIZE * GPUTileProcessor.DTT_SIZE;
final int width_clt = wh_c[0] * 2; // to make image dimensions similar
String center_name = QuadCLT.getCenterDirName(last_clt.getImageName()); // make name from last timestamp, not reference
String ref_dir_path = ref_clt.getX3dDirectory(center_name);
File cdir = new File(ref_dir_path);
QuadCLT center_CLT = new QuadCLT(ref_clt, center_name); //null
cdir.mkdirs();
center_CLT.setImagePath(cdir.getPath());
center_CLT.setCenterClt(
center_clt[0], // float [] clt,
center_clt_num[0], // int [] clt_num,
width_clt); // int clt_width);
TileProcessor tp = quadCLTs[quadCLTs.length - 1].getTileProcessor();
final int transform_size = tp.getTileSize();
final int tilesX = tp.getTilesX();
final int tilesY = tp.getTilesY();
final double [][] center_combo_dsi = interpolateDSI(
ref_pXpYD, // final double [][] ref_pXpYD,
ref_combo_dsi, // combo_dsi_cli, // final double [][] dsi_in,
transform_size, // final int transform_size,
tilesX, // final int tilesX,
tilesY); //final int tilesY);
center_CLT.setDSIFromCombo(center_combo_dsi); // reformat
// center_CLT.setDSI(center_combo_dsi); // WRONG!
String rslt_suffix = "-INTER-INTRA";
rslt_suffix += (clt_parameters.correlate_lma?"-LMA":"-NOLMA");
// fixing NaN in strengths. It is uses to return RMS in Not needed - NaN was from Arrays.fill(combo_dsn_final[i], Double.NaN);
// OpticalFlow:10348
for (int slice: OpticalFlow.COMBO_DSN_NONNAN) { // new int[] {COMBO_DSN_INDX_STRENGTH,COMBO_DSN_INDX_STRENGTH_BG}) {
if (center_combo_dsi[slice] != null) {
for (int i = 0; i <center_combo_dsi[slice].length; i++) {
if (Double.isNaN(center_combo_dsi[slice][i])) {
center_combo_dsi[slice][i] = 0.0;
}
}
}
}
center_CLT.saveDoubleArrayInModelDirectory( // error
rslt_suffix, // String suffix,
OpticalFlow.COMBO_DSN_TITLES, // combo_dsn_titles_full, // null, // String [] labels, // or null
center_combo_dsi, // dbg_data, // double [][] data,
tilesX, // int width,
tilesY); // int height)
// center_CLT.saveDSI();
center_CLT.saveCenterClt();
boolean save_clt = true;
boolean save_dsi = true;
boolean save_in_ref = true;
boolean save_in_last = true;
if (save_clt) {
final int height_clt = combo_seq_clt[0].length/width_clt;
String [] clt_titles = new String [combo_seq_clt_w.length];
for (int i = 0; i < combo_seq_clt.length; i++) {
clt_titles[i] = "chn-"+i;
if (save_weights) {
clt_titles[i+combo_seq_clt.length] = "weight-"+i;
}
}
String suffix_clt = "-clt_combo";
if (save_weights) {
suffix_clt+="_weights";
}
if (save_in_ref) {
ref_clt.saveFloatArrayInModelDirectory( // error
suffix_clt, // String suffix,
clt_titles, // combo_dsn_titles_full, // null, // String [] labels, // or null
combo_seq_clt_w, // dbg_data, // float [][] data,
width_clt, // int width,
height_clt); // int height)
}
if (save_in_last) {
quadCLTs[quadCLTs.length - 1].saveFloatArrayInModelDirectory( // error
suffix_clt, // String suffix,
clt_titles, // combo_dsn_titles_full, // null, // String [] labels, // or null
combo_seq_clt_w, // dbg_data, // float [][] data,
width_clt, // int width,
height_clt); // int height)
}
}
if (save_dsi) {
// final double [][] combo_dsi_cli = ref_clt.restoreComboDSI (true);
TileProcessor tp = quadCLTs[quadCLTs.length - 1].getTileProcessor();
final int transform_size = tp.getTileSize();
final int tilesX = tp.getTilesX();
final int tilesY = tp.getTilesY();
final double [][] center_dsi = interpolateDSI(
ref_pXpYD, // final double [][] ref_pXpYD,
ref_dsi, // combo_dsi_cli, // final double [][] dsi_in,
transform_size, // final int transform_size,
tilesX, // final int tilesX,
tilesY); //final int tilesY);
String rslt_suffix = "-CENTER-INTER-INTRA";
// use quadCLTs[quadCLTs.length - 1].restoreComboDSI ("-CENTER",true); to restore
rslt_suffix += (clt_parameters.correlate_lma?"-LMA":"-NOLMA");
if (save_in_ref) {
ref_clt.saveDoubleArrayInModelDirectory( // error
rslt_suffix, // String suffix,
OpticalFlow.COMBO_DSN_TITLES, // combo_dsn_titles_full, // null, // String [] labels, // or null
center_dsi, // dbg_data, // double [][] data,
tilesX, // int width,
tilesY); // int height)
}
if (save_in_last) {
quadCLTs[quadCLTs.length - 1].saveDoubleArrayInModelDirectory( // error
rslt_suffix, // String suffix,
OpticalFlow.COMBO_DSN_TITLES, // combo_dsn_titles_full, // null, // String [] labels, // or null
center_dsi, // dbg_data, // double [][] data,
tilesX, // int width,
tilesY); // int height)
}
}
return center_CLT;
}
*/
@Deprecated
public static QuadCLT createCenterClt_old( // assuming cuas_rotation is true
CLTParameters clt_parameters,
QuadCLT [] quadCLTs,
QuadCLT ref_scene, // where combo_dsi is
int [] range, // or null
double [][] ref_combo_dsi, // DSI data for the reference scene (or null to read it from file)
boolean condition_dsi,
int sensor_mask, // -1 - all;
int debugLevel) {
QuadCLT last_clt = quadCLTs[quadCLTs.length-1]; // save center with the latest timestamp
if (range == null) {
range = new int [] {0, quadCLTs.length-1};
}
double [][] center_ATR = CuasCenterLma.getCenterATR( // relative to ref_scene
quadCLTs, // QuadCLT [] quadCLTs,
ref_scene, // QuadCLT ref_scene, //
range, //int [] range,
debugLevel); // int debugLevel);
double [] cuas_xyz = new double[3]; //maybe use later
double [] cuas_atr = new double [] { center_ATR[0][0], center_ATR[0][1], center_ATR[0][2]};
double [][] cuas_xyzatr = {cuas_xyz, cuas_atr};
if (ref_combo_dsi == null) {
ref_combo_dsi =ref_scene.restoreComboDSI(true); // also sets quadCLTs[ref_index].dsi and blue sky
}
double [][] dls = {
ref_combo_dsi[OpticalFlow.COMBO_DSN_INDX_DISP],
ref_combo_dsi[OpticalFlow.COMBO_DSN_INDX_LMA],
ref_combo_dsi[OpticalFlow.COMBO_DSN_INDX_STRENGTH]
};
double [][] ds = new double [][] {dls[0],dls[2]}; // {disparity, strength}
if (condition_dsi) {
ds = OpticalFlow.conditionInitialDS( // only
true, // boolean use_conf, // use configuration parameters, false - use following
clt_parameters, // CLTParameters clt_parameters,
dls, // double [][] dls
ref_scene, // QuadCLT scene,
debugLevel);
}
// getRefPxPyD: pX, pY reference image X,Y corresponding to the uniform grid of the center view
final double [][] ref_pXpYD = getRefPxPyD( // Use to interpolate disparity layers
clt_parameters, // CLTParameters clt_parameters,
true, // boolean mode_cuas,
null, // Rectangle fov_tiles,
OpticalFlow.ZERO3, // double [] stereo_xyz, // offset reference camera {x,y,z}
cuas_atr, // double [] stereo_atr_in, // offset reference orientation (cuas)
ds[0], // double [] ref_disparity,
ref_scene, // QuadCLT refCLT, // should be the same instance if one of quadCLTs
debugLevel); // int debugLevel)
boolean save_weights = true; // always
float [][][] center_clt_w = getTDComboSceneSequence(
clt_parameters, // CLTParameters clt_parameters,
ref_pXpYD, // double [][] ref_pXpYD,
save_weights, // boolean save_weights, // output corresponding weights for each data
true, // boolean merge_all,
sensor_mask, // int sensor_mask,
null, // Rectangle fov_tiles,
OpticalFlow.ZERO3, // double [] stereo_xyz, // offset reference camera {x,y,z}
cuas_atr, // double [] stereo_atr_in, // offset reference orientation (cuas)
null, // ds[0], // double [] ref_disparity, // may be null if ref_pXpYD != null
quadCLTs, // QuadCLT [] quadCLTs,
ref_scene, // QuadCLT refCLT, // should be the same instance if one of quadCLTs
debugLevel); // int debugLevel)
// remove weights
//// float [][] center_clt = save_weights? new float [center_clt_w.length/2][]: center_clt_w;
//// int [][] center_clt_num = save_weights? new int [center_clt_w.length/2][]: null;
/*
int [][] center_clt_num = save_weights? new int [center_clt_w.length/2][]: null;
if (save_weights) { // remove second half (weights as integer numbers)
for (int i = 0; i< center_clt.length; i++) {
center_clt[i] = center_clt_w[i];
center_clt_num[i] = new int [center_clt_w[i + center_clt.length].length];
for (int j = 0; j < center_clt_num[i].length; j++) {
center_clt_num[i][j] = (int) Math.round(center_clt_w[i + center_clt.length][j]);
}
}
}
int [] wh_c = ref_scene.getWHC(false);
//final int tile_size_td = 4 * GPUTileProcessor.DTT_SIZE * GPUTileProcessor.DTT_SIZE;
final int width_clt = wh_c[0] * 2; // to make image dimensions similar
*/
String center_name = QuadCLT.getCenterDirName(last_clt.getImageName()); // make name from last timestamp, not reference
String ref_dir_path = ref_scene.getX3dDirectory(center_name);
File cdir = new File(ref_dir_path);
QuadCLT center_CLT = new QuadCLT(ref_scene, center_name); //null
cdir.mkdirs();
center_CLT.setImagePath(cdir.getPath());
/*
center_CLT.setCenterClt(
center_clt[0], // float [] clt,
center_clt_num[0], // int [] clt_num,
width_clt); // int clt_width);
*/
center_CLT.setCenterClt( // only for merged sensors
center_clt_w[0][0], // float [] clt,
center_clt_w[1][0]); // int [] clt_num, // Index 1 out of bounds for length 1
// TileProcessor tp = quadCLTs[quadCLTs.length - 1].getTileProcessor();
final int transform_size = ref_scene.getTileSize();
final int tilesX = ref_scene.getTilesX();
final int tilesY = ref_scene.getTilesY();
final double [][] center_combo_dsi = interpolateDSI(
ref_pXpYD, // final double [][] ref_pXpYD,
ref_combo_dsi, // combo_dsi_cli, // final double [][] dsi_in,
transform_size, // final int transform_size,
tilesX, // final int tilesX,
tilesY); //final int tilesY);
center_CLT.setDSIFromCombo(center_combo_dsi); // reformat
// center_CLT.setDSI(center_combo_dsi); // WRONG!
String rslt_suffix = "-INTER-INTRA";
rslt_suffix += (clt_parameters.correlate_lma?"-LMA":"-NOLMA");
/*
// fixing NaN in strengths. It is uses to return RMS in Not needed - NaN was from Arrays.fill(combo_dsn_final[i], Double.NaN);
// OpticalFlow:10348
for (int slice: OpticalFlow.COMBO_DSN_NONNAN) { // new int[] {COMBO_DSN_INDX_STRENGTH,COMBO_DSN_INDX_STRENGTH_BG}) {
if (center_combo_dsi[slice] != null) {
for (int i = 0; i <center_combo_dsi[slice].length; i++) {
if (Double.isNaN(center_combo_dsi[slice][i])) {
center_combo_dsi[slice][i] = 0.0;
}
}
}
}
*/
center_CLT.saveDoubleArrayInModelDirectory( // error
rslt_suffix, // String suffix,
OpticalFlow.COMBO_DSN_TITLES, // combo_dsn_titles_full, // null, // String [] labels, // or null
center_combo_dsi, // dbg_data, // double [][] data,
tilesX, // int width,
tilesY); // int height)
// center_CLT.saveDSI();
center_CLT.saveCenterClt();
/*
boolean save_clt = true;
boolean save_dsi = true;
boolean save_in_ref = true;
boolean save_in_last = true;
if (save_clt) {
final int height_clt = combo_seq_clt[0].length/width_clt;
String [] clt_titles = new String [combo_seq_clt_w.length];
for (int i = 0; i < combo_seq_clt.length; i++) {
clt_titles[i] = "chn-"+i;
if (save_weights) {
clt_titles[i+combo_seq_clt.length] = "weight-"+i;
}
}
String suffix_clt = "-clt_combo";
if (save_weights) {
suffix_clt+="_weights";
}
if (save_in_ref) {
ref_clt.saveFloatArrayInModelDirectory( // error
suffix_clt, // String suffix,
clt_titles, // combo_dsn_titles_full, // null, // String [] labels, // or null
combo_seq_clt_w, // dbg_data, // float [][] data,
width_clt, // int width,
height_clt); // int height)
}
if (save_in_last) {
quadCLTs[quadCLTs.length - 1].saveFloatArrayInModelDirectory( // error
suffix_clt, // String suffix,
clt_titles, // combo_dsn_titles_full, // null, // String [] labels, // or null
combo_seq_clt_w, // dbg_data, // float [][] data,
width_clt, // int width,
height_clt); // int height)
}
}
if (save_dsi) {
// final double [][] combo_dsi_cli = ref_clt.restoreComboDSI (true);
TileProcessor tp = quadCLTs[quadCLTs.length - 1].getTileProcessor();
final int transform_size = tp.getTileSize();
final int tilesX = tp.getTilesX();
final int tilesY = tp.getTilesY();
final double [][] center_dsi = interpolateDSI(
ref_pXpYD, // final double [][] ref_pXpYD,
ref_dsi, // combo_dsi_cli, // final double [][] dsi_in,
transform_size, // final int transform_size,
tilesX, // final int tilesX,
tilesY); //final int tilesY);
String rslt_suffix = "-CENTER-INTER-INTRA";
// use quadCLTs[quadCLTs.length - 1].restoreComboDSI ("-CENTER",true); to restore
rslt_suffix += (clt_parameters.correlate_lma?"-LMA":"-NOLMA");
if (save_in_ref) {
ref_clt.saveDoubleArrayInModelDirectory( // error
rslt_suffix, // String suffix,
OpticalFlow.COMBO_DSN_TITLES, // combo_dsn_titles_full, // null, // String [] labels, // or null
center_dsi, // dbg_data, // double [][] data,
tilesX, // int width,
tilesY); // int height)
}
if (save_in_last) {
quadCLTs[quadCLTs.length - 1].saveDoubleArrayInModelDirectory( // error
rslt_suffix, // String suffix,
OpticalFlow.COMBO_DSN_TITLES, // combo_dsn_titles_full, // null, // String [] labels, // or null
center_dsi, // dbg_data, // double [][] data,
tilesX, // int width,
tilesY); // int height)
}
}
*/
return center_CLT;
}
public static QuadCLT createCenterClt( // assuming cuas_rotation is true
CLTParameters clt_parameters,
QuadCLT [] quadCLTs,
......@@ -559,6 +145,8 @@ public class Cuas {
}
boolean save_weights = true; // always
double cuas_clt_threshold = clt_parameters.imp.cuas_clt_threshold; // 20;
double cuas_clt_decrease = clt_parameters.imp.cuas_clt_decrease; // 0.01;
float [][][] center_clt_w = getTDComboSceneSequence(
clt_parameters, // CLTParameters clt_parameters,
null, // ref_pXpYD, // double [][] ref_pXpYD,
......@@ -571,7 +159,30 @@ public class Cuas {
disparity_center, // ds[0], // double [] ref_disparity, // may be null if ref_pXpYD != null
quadCLTs, // QuadCLT [] quadCLTs,
center_CLT, // ref_scene, // QuadCLT refCLT, // should be the same instance if one of quadCLTs
null, // float [][] ref_slices, // same dimensions, compare to current
cuas_clt_threshold, // final double clt_threshold, // will be ignored as ref_slices== null
cuas_clt_decrease, // final double clt_decrease, // will be ignored as ref_slices== null
debugLevel); // int debugLevel)
boolean test_diff = true; // false;
if (test_diff || (cuas_clt_threshold>0)) {
center_clt_w=getTDComboSceneSequence(
clt_parameters, // CLTParameters clt_parameters,
null, // ref_pXpYD, // double [][] ref_pXpYD,
save_weights, // boolean save_weights, // output corresponding weights for each data
true, // boolean merge_all,
sensor_mask, // int sensor_mask,
null, // Rectangle fov_tiles,
OpticalFlow.ZERO3, // double [] stereo_xyz, // offset reference camera {x,y,z}
OpticalFlow.ZERO3, // cuas_atr, // double [] stereo_atr_in, // offset reference orientation (cuas)
disparity_center, // ds[0], // double [] ref_disparity, // may be null if ref_pXpYD != null
quadCLTs, // QuadCLT [] quadCLTs,
center_CLT, // ref_scene, // QuadCLT refCLT, // should be the same instance if one of quadCLTs
center_clt_w[0], // float [][] ref_slices, // same dimensions, compare to current
cuas_clt_threshold, // final double clt_threshold,
cuas_clt_decrease, // final double clt_decrease,
debugLevel); // int debugLevel)
}
center_CLT.setCenterClt( // only for merged sensors
center_clt_w[0][0], // float [] clt, // per CLT sample (4x pixels)
center_clt_w[1][0]); // float [] clt_weights // per tile
......@@ -588,10 +199,10 @@ public class Cuas {
int [] slices_to_fill = {
OpticalFlow.COMBO_DSN_INDX_DISP,
OpticalFlow.COMBO_DSN_INDX_STRENGTH
OpticalFlow.COMBO_DSN_INDX_STRENGTH,
// OpticalFlow.COMBO_DSN_INDX_LMA, // keep as is
// OpticalFlow.COMBO_DSN_INDX_CHANGE, // may just relace nan with 0
/// OpticalFlow.COMBO_DSN_INDX_DISP_FG,
OpticalFlow.COMBO_DSN_INDX_DISP_FG, // Needed in setDSIFromCombo() !!!
/// OpticalFlow.COMBO_DSN_INDX_DISP_BG_ALL
};
fillNanDsi(
......@@ -758,50 +369,7 @@ public class Cuas {
return combo_dsi;
}
/*
public static float [][] getTDComboSceneSequence( // never used
CLTParameters clt_parameters,
final boolean save_weights, // output corresponding weights for each data
final boolean merge_all,
final int sensor_mask,
Rectangle fov_tiles,
double [] stereo_xyz, // offset reference camera {x,y,z}
double [] stereo_atr, // offset reference orientation (cuas)
double [] ref_disparity,
QuadCLT [] quadCLTs,
QuadCLT refCLT, // should be the same instance if one of quadCLTs
// int ref_index,
int debugLevel) {
// double [] stereo_atr = (stereo_atr_in != null)? stereo_atr_in: ZERO3; // maybe later play with rotated camera
boolean mode_cuas = (stereo_atr!=null) && ((stereo_atr[0] != 0) || (stereo_atr[1] != 0) || (stereo_atr[2] != 0));
double [][] ref_pXpYD = getRefPxPyD(
clt_parameters, // CLTParameters clt_parameters,
mode_cuas, // boolean mode_cuas,
// save_weights, // final boolean save_weights, // output corresponding weights for each data
fov_tiles, // Rectangle fov_tiles,
stereo_xyz, // double [] stereo_xyz, // offset reference camera {x,y,z}
stereo_atr, // double [] stereo_atr_in, // offset reference orientation (cuas)
ref_disparity, // double [] ref_disparity,
refCLT, // QuadCLT refCLT, // should be the same instance if one of quadCLTs
debugLevel); // int debugLevel)
return getTDComboSceneSequence(
clt_parameters, // CLTParameters clt_parameters,
ref_pXpYD, // double [][] ref_pXpYD,
save_weights, // final boolean save_weights, // output corresponding weights for each data
merge_all, // final boolean merge_all,
sensor_mask, // final int sensor_mask,
fov_tiles, // Rectangle fov_tiles,
stereo_xyz, // double [] stereo_xyz, // offset reference camera {x,y,z}
stereo_atr, // double [] stereo_atr_in, // offset reference orientation (cuas)
ref_disparity, // double [] ref_disparity,
quadCLTs, // QuadCLT [] quadCLTs,
refCLT, // QuadCLT refCLT, // should be the same instance if one of quadCLTs
debugLevel); // int debugLevel);
}
*/
// TODO: Use only center disparity, ignore pX,pY
public static float [][][] getTDComboSceneSequence(
CLTParameters clt_parameters,
double [][] ref_pXpYD, // TODO: Use disparity, ignore pXpYD?
......@@ -813,10 +381,23 @@ public class Cuas {
double [] stereo_atr_in, // offset reference orientation (cuas)
double [] ref_disparity, // null
QuadCLT [] quadCLTs,
QuadCLT refCLT, // should be the same instance if one of quadCLTs?
QuadCLT refCLT, // center_CLT
float [][] ref_slices, // same dimensions, compare to current
final double clt_threshold,
final double clt_decrease,
int debugLevel) {
boolean debug_pxpyd = false;
boolean debug_pxpyd = true; // false;
int dbg_slices = 3;
final int tilesX=refCLT.getTilesX();
final int tilesY=refCLT.getTilesX();
double[][] tile_diffs = (debug_pxpyd && (ref_slices != null)) ? new double [quadCLTs.length][tilesX*tilesY]:null;
if (tile_diffs != null) {
for (int i = 0; i < tile_diffs.length; i++) {
Arrays.fill(tile_diffs[i], Double.NaN);
}
}
double [][][] dbg_PxPyD = debug_pxpyd? (new double [dbg_slices][quadCLTs.length][]):null;
double [][][] dbg_PxPyD_slice = debug_pxpyd? (new double [1][][]):null;
......@@ -866,6 +447,7 @@ public class Cuas {
final Thread[] threads = ImageDtt.newThreadArray(ImageDtt.THREADS_MAX);
final AtomicInteger ai = new AtomicInteger(0);
for (int nscene = 0; nscene < quadCLTs.length ; nscene++) if (quadCLTs[nscene] != null){
final int fnscene = nscene;
if (nscene== dbg_scene) {
System.out.println("renderSceneSequence(): nscene = "+nscene);
}
......@@ -983,31 +565,56 @@ public class Cuas {
threads[ithread] = new Thread() {
public void run() {
for (int nTile = ai.getAndIncrement(); nTile < num_tiles; nTile = ai.getAndIncrement()) {
for (int slice = 0; slice < num_slices; slice++) { // normally just one
int fclt_offs = nTile * tile_length;
float [] fclt_slice =ffclt[slice];
float [] sumFclt_slice = sumFclt[slice];
boolean no_nans = true;
int indx = fclt_offs;
for (int i = 0; i < tile_length; i++) {
if (Float.isNaN(fclt_slice[indx++])) {
no_nans = false;
break;
int fclt_offs = nTile * tile_length;
double s2 = 0;
int ns = num_slices * tile_length;
boolean no_nans = true;
check_nan: {
for (int slice = 0; slice < num_slices; slice++) { // normally just one
float [] fclt_slice =ffclt[slice];
// float [] sumFclt_slice = sumFclt[slice];
int indx = fclt_offs;
for (int i = 0; i < tile_length; i++) {
if (Float.isNaN(fclt_slice[indx++])) {
no_nans = false;
break check_nan;
}
}
}
}
if (!no_nans) {
continue;
}
float w = 1.0f; // constant weight
if ((ref_slices != null) && ((clt_threshold > 0) || (tile_diffs != null))) {
for (int slice = 0; slice < num_slices; slice++) { // normally just one
float [] fclt_slice = ffclt [slice];
float [] fclt_ref = ref_slices[slice];
int indx = fclt_offs;
for (int i = 0; i < tile_length; i++) {
double diff = fclt_slice[indx] - fclt_ref[indx];
s2+= diff*diff;
indx++;
}
}
double diff = Math.sqrt(s2/ns);
if (diff > clt_threshold) {
w = (float) clt_decrease;
}
if (no_nans) {
indx = fclt_offs;
float w = 1.0f; // constant weight
if (tile_diffs != null) {
tile_diffs[fnscene][nTile] = diff;
}
}
for (int slice = 0; slice < num_slices; slice++) { // normally just one
int indx = fclt_offs;
float [] fclt_slice = ffclt[slice];
float [] sumFclt_slice = sumFclt[slice];
for (int i = 0; i < tile_length; i++) {
if (Float.isNaN(fclt_slice[indx])) {
sumFclt_slice[indx] += 0;
} else {
sumFclt_slice[indx] += w * fclt_slice[indx];
}
sumFclt_slice[indx] += w * fclt_slice[indx];
indx++;
}
sum_weights[slice][nTile] += w;
}
}
}
}
......@@ -1057,6 +664,21 @@ public class Cuas {
debug_frame_titles, // String [] frame_titles, // frame titles or null
true); // boolean show)
}
if (tile_diffs != null) {
String [] diff_titles = new String [quadCLTs.length];
for (int nscene = 0; nscene < diff_titles.length; nscene++) {
diff_titles[nscene] = quadCLTs[nscene].getImageName();
}
String diff_title = refCLT.getImageName() + "-diffs";
ShowDoubleFloatArrays.showArrays(
tile_diffs,
tilesX,
tilesY,
true,
diff_title,
diff_titles);
}
return new float [][][] {sumFclt,sum_weights};
}
......
src/main/java/com/elphel/imagej/tileprocessor/Interscene.java
View file @ 8e595c63
......@@ -1504,7 +1504,7 @@ public class Interscene {
// added 05.21.2024: skip if was spawn already
if (changed || (quadCLTs[scene_index] == null)) {
// quadCLTs[scene_index] = quadCLTs[last_index].spawnNoModelQuadCLT(
quadCLTs[scene_index] = center_CLT.spawnNoModelQuadCLT(
quadCLTs[scene_index] = center_CLT.spawnNoModelQuadCLT( // null
set_channels[scene_index].set_name,
clt_parameters,
colorProcParameters, //
......
src/main/java/com/elphel/imagej/tileprocessor/IntersceneMatchParameters.java
View file @ 8e595c63
......@@ -658,6 +658,9 @@ min_str_neib_fpn 0.35
public int cuas_discard_border = 8; // Discard this number of pixels from each side when merging
public double cuas_max_fold = 50;
public int cuas_min_in_row_col = 4; // Minimal number of defined tiles in a row/column
public double cuas_clt_threshold = 20; // threshold for CLT tile difference from a template
public double cuas_clt_decrease = 0.01; // Scale CLT outliers weight
// TODO: move next parameters elsewhere - they are not the motion blur ones.
public int mb_gain_index_pose = 5; // pose readjust pass to switch to full mb_max_gain from mb_max_gain_inter
public int mb_gain_index_depth = 5; // depth map refine pass (SfM) to switch to full mb_max_gain from mb_max_gain_inter
......@@ -1972,6 +1975,11 @@ min_str_neib_fpn 0.35
"Maximal non-monotonic Px, Py in PxPyD (usually near image edges).");
gd.addNumericField("Minimal tiles in a row/column", this.cuas_min_in_row_col, 0,3,"tiles",
"Discards rows then columns that have less defined tiles (noticed in a diagonal after folds removal).");
gd.addNumericField("CLT tile diff thershold", this.cuas_clt_threshold, 5,7,"pix",
"Threshold to the CLT tile difference to a template (RMS).");
gd.addNumericField("CLT outliers scale", this.cuas_clt_decrease, 5,7,"pix",
"Scale CLT outliers tiles weight when averaging.");
gd.addTab("LMA sequence","Interscene LMA sequence control");
gd.addMessage("Parameters for control of the LMA pose adjustment sequence");
gd.addNumericField("Pose readjust number for full mb_gain", this.mb_gain_index_pose, 0,3,"",
......@@ -2858,6 +2866,8 @@ min_str_neib_fpn 0.35
this.cuas_discard_border= (int) gd.getNextNumber();
this.cuas_max_fold = gd.getNextNumber();
this.cuas_min_in_row_col= (int) gd.getNextNumber();
this.cuas_clt_threshold = gd.getNextNumber();
this.cuas_clt_decrease = gd.getNextNumber();
this.mb_gain_index_pose = (int) gd.getNextNumber();
this.mb_gain_index_depth =(int) gd.getNextNumber();
......@@ -3676,6 +3686,8 @@ min_str_neib_fpn 0.35
properties.setProperty(prefix+"cuas_discard_border", this.cuas_discard_border+""); // int
properties.setProperty(prefix+"cuas_max_fold", this.cuas_max_fold+""); // double
properties.setProperty(prefix+"cuas_min_in_row_col", this.cuas_min_in_row_col+""); // int
properties.setProperty(prefix+"cuas_clt_threshold", this.cuas_clt_threshold+""); // double
properties.setProperty(prefix+"cuas_clt_decrease", this.cuas_clt_decrease+""); // double
properties.setProperty(prefix+"mb_gain_index_pose", this.mb_gain_index_pose+""); // int
properties.setProperty(prefix+"mb_gain_index_depth", this.mb_gain_index_depth+""); // int
......@@ -4469,6 +4481,8 @@ min_str_neib_fpn 0.35
if (properties.getProperty(prefix+"cuas_discard_border")!=null) this.cuas_discard_border=Integer.parseInt(properties.getProperty(prefix+"cuas_discard_border"));
if (properties.getProperty(prefix+"cuas_max_fold")!=null) this.cuas_max_fold=Double.parseDouble(properties.getProperty(prefix+"cuas_max_fold"));
if (properties.getProperty(prefix+"cuas_min_in_row_col")!=null) this.cuas_min_in_row_col=Integer.parseInt(properties.getProperty(prefix+"cuas_min_in_row_col"));
if (properties.getProperty(prefix+"cuas_clt_threshold")!=null) this.cuas_clt_threshold=Double.parseDouble(properties.getProperty(prefix+"cuas_clt_threshold"));
if (properties.getProperty(prefix+"cuas_clt_decrease")!=null) this.cuas_clt_decrease=Double.parseDouble(properties.getProperty(prefix+"cuas_clt_decrease"));
if (properties.getProperty(prefix+"mb_gain_index_pose")!=null) this.mb_gain_index_pose=Integer.parseInt(properties.getProperty(prefix+"mb_gain_index_pose"));
if (properties.getProperty(prefix+"mb_gain_index_depth")!=null) this.mb_gain_index_depth=Integer.parseInt(properties.getProperty(prefix+"mb_gain_index_depth"));
......@@ -5264,6 +5278,8 @@ min_str_neib_fpn 0.35
imp.cuas_discard_border = this.cuas_discard_border;
imp.cuas_max_fold = this.cuas_max_fold;
imp.cuas_min_in_row_col = this.cuas_min_in_row_col;
imp.cuas_clt_threshold = this.cuas_clt_threshold;
imp.cuas_clt_decrease = this.cuas_clt_decrease;
imp.mb_gain_index_pose = this.mb_gain_index_pose;
imp.mb_gain_index_depth = this.mb_gain_index_depth;
......
src/main/java/com/elphel/imagej/tileprocessor/OpticalFlow.java
View file @ 8e595c63
......@@ -4896,10 +4896,12 @@ public class OpticalFlow {
}
if ((center_CLT != null) && center_CLT.hasCenterClt()) {
center_CLT.restoreInterProperties( // restore properties for interscene processing (extrinsics, ers, ...) // get relative poses (98)
Properties prop = center_CLT.restoreInterProperties( // restore properties for interscene processing (extrinsics, ers, ...) // get relative poses (98)
null, // String path, // full name with extension or null to use x3d directory
false, // boolean all_properties,// null, // Properties properties, // if null - will only save extrinsics)
debugLevel);
// TODO:
// if (prop == null) - failed to restore. Maybe OK, will need minimum (later will provide center_CLT as input)
} else {
if (center_reference && (quadCLTs[last_index] != null)) {
quadCLTs[last_index].restoreInterProperties( // restore properties for interscene processing (extrinsics, ers, ...) // get relative poses (98)
......@@ -4961,7 +4963,7 @@ public class OpticalFlow {
}
if (!build_ref_dsi && (quadCLTs[last_index] != null)) {
if (!build_ref_dsi && (quadCLTs[last_index] != null)) { // is it needed in CUAS mode?
quadCLTs[last_index].restoreInterProperties(null, false, debugLevel); //null
}
// 1. Reference scene DSI
......@@ -4985,8 +4987,9 @@ public class OpticalFlow {
//************* move loading center DSI here before building reference DSI. Or after "blue sky
while ((quadCLTs[last_index] == null) || !quadCLTs[last_index].hasBlueSky()) { // null
QuadCLT source_CLT = (center_CLT != null) ? center_CLT :quadCLTs[last_index];
/// while ((quadCLTs[last_index] == null) || !quadCLTs[last_index].hasBlueSky()) { // null
while ((quadCLTs[last_index] == null) || !source_CLT.hasBlueSky()) { // null
if (build_ref_dsi) {
TwoQuadCLT.copyJP4src( // actually there is no sense to process multiple image sets. Combine with other
// processing?
......@@ -5039,15 +5042,22 @@ public class OpticalFlow {
} else {// if (build_ref_dsi) {
// need to read photometric from reference scene -INTERFRAME.corr-xml, and if it exists - set and propagate to main?
// try to run reuseRefDSI() even for center?
reuseRefDSI(
// QuadCLT source_CLT = (center_CLT != null) ? center_CLT :quadCLTs[last_index];
reuseRefDSI( // if (dsi[TwoQuadCLT.DSI_SPREAD_AUX] == null) System.out.println("DSI_MAIN file has old format and does not have spread data, will recalculate.");
clt_parameters, // CLTParameters clt_parameters,
colorProcParameters, // ColorProcParameters colorProcParameters,
quadCLT_main, // QuadCLT quadCLT_main, // tiles should be set
quadCLTs[last_index], // QuadCLT quadCLT_ref, // tiles should be set
source_CLT, // QuadCLT quadCLT_ref, // tiles should be set
batch_mode, // final boolean batch_mode,
threadsMax, // final int threadsMax,
updateStatus, // final boolean updateStatus,
debugLevel); // int debugLevel)
if (center_CLT != null) {
System.out.println ("In CUAS mode dsi[TwoQuadCLT.DSI_SPREAD_AUX] == null), breaking loop");
System.out.println ("In CUAS mode dsi[TwoQuadCLT.DSI_SPREAD_AUX] == null), breaking loop");
break;
}
if (center_reference) {
// center_ts = getReferenceTimestamp(); //??
}
......@@ -5055,23 +5065,23 @@ public class OpticalFlow {
} // while (blue_sky == null)
// by now if it was center_reference the last ref_dsi is restored with optional blue sky.
ref_blue_sky = quadCLTs[last_index].getDoubleBlueSky();
quadCLTs[last_index] = (QuadCLT) quadCLT_main.spawnQuadCLT( // restores dsi from "DSI-MAIN"
set_channels[last_index].set_name,
clt_parameters,
colorProcParameters, //
threadsMax,
debugLevel);
quadCLTs[last_index].setQuadClt(); // just in case ?
quadCLTs[last_index].setBlueSky(ref_blue_sky); //quadCLTs[ref_index].dsi has it
quadCLTs[last_index].setDSRBG(
clt_parameters, // CLTParameters clt_parameters,
threadsMax, // int threadsMax, // maximal number of threads to launch
updateStatus, // boolean updateStatus,
debugLevel); // int debugLevel)
if (center_CLT == null) { // does not work in CUAS mode
ref_blue_sky = quadCLTs[last_index].getDoubleBlueSky();
quadCLTs[last_index] = (QuadCLT) quadCLT_main.spawnQuadCLT( // restores dsi from "DSI-MAIN"
set_channels[last_index].set_name,
clt_parameters,
colorProcParameters, //
threadsMax,
debugLevel);
quadCLTs[last_index].setQuadClt(); // just in case ?
quadCLTs[last_index].setBlueSky(ref_blue_sky); //quadCLTs[ref_index].dsi has it
quadCLTs[last_index].setDSRBG( // null
clt_parameters, // CLTParameters clt_parameters,
threadsMax, // int threadsMax, // maximal number of threads to launch
updateStatus, // boolean updateStatus,
debugLevel); // int debugLevel)
}
if (!force_initial_orientations) {
// use master_clt? - where to look for stage. in CUAS mode build directory name and look there
if (center_CLT != null) {
......
src/main/java/com/elphel/imagej/tileprocessor/QuadCLT.java
View file @ 8e595c63
......@@ -138,7 +138,7 @@ public class QuadCLT extends QuadCLTCPU {
sensor_mask_clt, // final int sensor_mask, // only if merge_channels
whc, // final int [] whc, // if int[2], will return width, height
false); // final boolean use_reference);
String suffix="-virtual";
String suffix="-virtual_threshold"+clt_parameters.imp.cuas_clt_threshold+"_decrease"+clt_parameters.imp.cuas_clt_decrease;;
ImagePlus imp_virtual = renderFromTD ( // do we need to update gpuQuad ?
sensor_mask_clt, // final int sensor_mask,
true, // merge_clt, // boolean merge_channels,
......
src/main/java/com/elphel/imagej/tileprocessor/QuadCLTCPU.java
View file @ 8e595c63
......@@ -368,6 +368,9 @@ public class QuadCLTCPU {
center_CLT.setCenterClt(
center_clt, // float [] clt,
center_clt_weights); // int clt_width);
} else {
System.out.println("restoreCenterClt(): No FCLT data in "+center_CLT.getImagePath());
return null;
}
center_CLT.restoreComboDSI(true);
return center_CLT;
......@@ -2925,12 +2928,13 @@ public class QuadCLTCPU {
// create from existing instance
this.properties = new Properties(); // properties will be different
// is it needed at all?
for (Enumeration<?> e = qParent.properties.propertyNames(); e.hasMoreElements();) {
String key = (String) e.nextElement();
this.properties.setProperty(key, qParent.properties.getProperty(key));
if (qParent.properties != null) { // 05.30.2025
for (Enumeration<?> e = qParent.properties.propertyNames(); e.hasMoreElements();) {
String key = (String) e.nextElement();
this.properties.setProperty(key, qParent.properties.getProperty(key));
}
this.properties.putAll(qParent.properties);
}
this.properties.putAll(qParent.properties);
this.eyesisCorrections= qParent.eyesisCorrections;
this.correctionsParameters = qParent.correctionsParameters;
this.clt_kernels = qParent.clt_kernels;
......@@ -4560,14 +4564,19 @@ public class QuadCLTCPU {
String x3d_path = getX3dDirectory();
path = x3d_path+Prefs.getFileSeparator()+path;
}
properties = loadProperties(
Properties new_properties = loadProperties(
path, // String path,
properties, // Properties properties)
true); // false); // boolean silent)
if (properties == null ) {
if (new_properties == null ) {
System.out.println("Failed to restore interframe properties from :"+path);
System.out.println("Resetting properties");
properties = new Properties();
return null;
// System.out.println("Keeping old properies");
// return null;
}
properties = new_properties;
String prefix = is_aux?PREFIX_AUX:PREFIX;
getProperties(prefix); // will set Geometry correction non-null
if (!(geometryCorrection instanceof ErsCorrection)) { // should only be for the new GeometryCorrection created in getProperties
......@@ -4684,7 +4693,7 @@ public class QuadCLTCPU {
}
return;
}
setDSRBG( // will likely not be used at all. Use getDLS() instead
setDSRBG( // will likely not be used at all. Use getDLS() instead // null
this.dsi[is_aux?TwoQuadCLT.DSI_DISPARITY_AUX:TwoQuadCLT.DSI_DISPARITY_MAIN],
this.dsi[is_aux?TwoQuadCLT.DSI_STRENGTH_AUX:TwoQuadCLT.DSI_STRENGTH_MAIN],
this.dsi[is_aux?TwoQuadCLT.DSI_DISPARITY_AUX_LMA:TwoQuadCLT.DSI_DISPARITY_MAIN_LMA],
......@@ -4714,7 +4723,7 @@ public class QuadCLTCPU {
}
double[][] rbg = getTileRBG(
double[][] rbg = getTileRBG( // null
clt_parameters,
disparity,
strength,
......@@ -4774,7 +4783,7 @@ public class QuadCLTCPU {
} else {
scan.setLMA(disparity_lma);
}
boolean [] selection = new boolean [disparity.length];
boolean [] selection = new boolean [disparity.length]; //null
for (int i = 0; i < disparity.length; i++) {
selection[i] = (!Double.isNaN(disparity[i]) && ((strength == null) || (strength[i] > 0)));
}
......
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