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Elphel
imagej-elphel
Commits
904ad2bc
Commit
904ad2bc
authored
Jul 19, 2022
by
Andrey Filippov
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implemented/debugged photometric sensors matching
parent
5a125530
Changes
4
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Showing
4 changed files
with
395 additions
and
46 deletions
+395
-46
IntersceneMatchParameters.java
...lphel/imagej/tileprocessor/IntersceneMatchParameters.java
+10
-6
OpticalFlow.java
...ain/java/com/elphel/imagej/tileprocessor/OpticalFlow.java
+74
-2
QuadCLT.java
src/main/java/com/elphel/imagej/tileprocessor/QuadCLT.java
+171
-1
QuadCLTCPU.java
...main/java/com/elphel/imagej/tileprocessor/QuadCLTCPU.java
+140
-37
No files found.
src/main/java/com/elphel/imagej/tileprocessor/IntersceneMatchParameters.java
View file @
904ad2bc
...
...
@@ -475,7 +475,7 @@ public class IntersceneMatchParameters {
String
[]
stereo_choices
=
new
String
[
stereo_views
.
length
+
1
];
stereo_choices
[
0
]
=
"--none--"
;
for
(
int
i
=
0
;
i
<
stereo_views
.
length
;
i
++)
{
stereo_choices
[
i
+
1
]
=
doublesToString
(
stereo_views
[
i
])+
" mm"
;
stereo_choices
[
i
+
1
]
=
doublesToString
(
stereo_views
[
i
]
,
"%.0f"
)+
" mm"
;
}
gd
.
addChoice
(
"Remove stereo-view (base, up, back)"
,
stereo_choices
,
stereo_choices
[
0
],
"Remove selected stereo-view, consisting of streo-base, viewpoint above camera, viewpoint behing camera - all in mm"
);
...
...
@@ -1031,7 +1031,7 @@ public class IntersceneMatchParameters {
*/
properties
.
setProperty
(
prefix
+
"stereo_views_num"
,
this
.
stereo_views
.
length
+
""
);
// int
for
(
int
i
=
0
;
i
<
this
.
stereo_views
.
length
;
i
++)
{
properties
.
setProperty
(
prefix
+
"stereo_views_"
+
i
,
doublesToString
(
this
.
stereo_views
[
i
]));
// String
properties
.
setProperty
(
prefix
+
"stereo_views_"
+
i
,
doublesToString
(
this
.
stereo_views
[
i
]
,
"%.0f"
));
// String
properties
.
setProperty
(
prefix
+
"generate_stereo_var_"
+
i
,
this
.
generate_stereo_var
[
i
]+
""
);
// boolean
}
...
...
@@ -1785,12 +1785,16 @@ public class IntersceneMatchParameters {
return
doublesToString
(
data
,
null
);
}
public
static
String
doublesToString
(
double
[]
data
,
String
fmt
)
{
if
((
fmt
==
null
)
||
(
fmt
.
trim
().
length
()==
0
))
{
fmt
=
"%.0f"
;
}
//
if ((fmt == null) || (fmt.trim().length()==0)) {
//
fmt = "%.0f";
//
}
String
s
=
""
;
for
(
int
i
=
0
;
i
<
data
.
length
;
i
++)
{
s
+=
String
.
format
(
fmt
,
data
[
i
]);
if
(
fmt
==
null
)
{
s
+=
data
[
i
];
// unformatted
}
else
{
s
+=
String
.
format
(
fmt
,
data
[
i
]);
}
if
(
i
<
(
data
.
length
-
1
))
{
s
+=
", "
;
}
...
...
src/main/java/com/elphel/imagej/tileprocessor/OpticalFlow.java
View file @
904ad2bc
This diff is collapsed.
Click to expand it.
src/main/java/com/elphel/imagej/tileprocessor/QuadCLT.java
View file @
904ad2bc
...
...
@@ -2169,6 +2169,175 @@ public class QuadCLT extends QuadCLTCPU {
IJ
.
d2s
(
0.000000001
*(
System
.
nanoTime
()-
this
.
startTime
),
3
)+
" sec, --- Free memory3="
+
Runtime
.
getRuntime
().
freeMemory
()+
" (of "
+
Runtime
.
getRuntime
().
totalMemory
()+
")"
);
}
public
static
boolean
calibratePhotometric
(
CLTParameters
clt_parameters
,
final
QuadCLT
ref_scene
,
// now - may be null - for testing if scene is rotated ref
final
double
min_strength
,
final
double
max_diff
,
// 30.0
final
int
num_refines
,
// 2
final
double
[][]
combo_dsn_final
,
// double [][] combo_dsn_final, // dls,
int
threadsMax
,
final
boolean
debug
)
{
// filter disparity by LMA only, same bg and fg
double
[]
disparity_ref
=
combo_dsn_final
[
OpticalFlow
.
COMBO_DSN_INDX_DISP
].
clone
();
for
(
int
i
=
00
;
i
<
disparity_ref
.
length
;
i
++)
{
if
(
combo_dsn_final
[
OpticalFlow
.
COMBO_DSN_INDX_STRENGTH
][
i
]
<
min_strength
)
{
disparity_ref
[
i
]
=
Double
.
NaN
;
}
else
if
(
combo_dsn_final
[
OpticalFlow
.
COMBO_DSN_INDX_DISP_BG_ALL
][
i
]
!=
combo_dsn_final
[
OpticalFlow
.
COMBO_DSN_INDX_DISP
][
i
])
{
disparity_ref
[
i
]
=
Double
.
NaN
;
}
}
ImagePlus
img_ref
=
renderGPUFromDSI
(
-
1
,
// final int sensor_mask,
false
,
// final boolean merge_channels,
null
,
// final Rectangle full_woi_in, // show larger than sensor WOI in tiles (or null)
clt_parameters
,
// CLTParameters clt_parameters,
disparity_ref
,
// double [] disparity_ref,
OpticalFlow
.
ZERO3
,
// final double [] scene_xyz, // camera center in world coordinates
OpticalFlow
.
ZERO3
,
// final double [] scene_atr, // camera orientation relative to world frame
ref_scene
,
// final QuadCLT scene,
ref_scene
,
// final QuadCLT ref_scene, // now - may be null - for testing if scene is rotated ref
false
,
// final boolean toRGB,
true
,
// final boolean show_nan,
"PHOTOMETRIC"
,
// String suffix,
threadsMax
,
// int threadsMax,
-
2
);
// final int debugLevel);
img_ref
.
show
();
ImageStack
imageStack
=
img_ref
.
getStack
();
int
num_sens
=
imageStack
.
getSize
();
float
[]
fpixels
;
double
[][]
dpixels
=
new
double
[
num_sens
][];
for
(
int
n
=
00
;
n
<
num_sens
;
n
++)
{
fpixels
=
(
float
[])
imageStack
.
getPixels
(
n
+
1
);
dpixels
[
n
]
=
new
double
[
fpixels
.
length
];
for
(
int
i
=
0
;
i
<
fpixels
.
length
;
i
++)
{
dpixels
[
n
][
i
]
=
fpixels
[
i
];
}
}
// double [][] dpix_orig = new double[num_sens][];
// for (int n = 0; n < num_sens; n++) {
// dpix_orig[n] = dpixels[n].clone();
// }
int
width
=
img_ref
.
getWidth
();
int
height
=
img_ref
.
getHeight
();
int
len
=
width
*
height
;
double
[]
avg_pix
=
new
double
[
len
];
double
[]
offsets
=
new
double
[
dpixels
.
length
];
double
[]
scales
=
new
double
[
dpixels
.
length
];
double
s0
=
0.0
;
double
sx
=
0.0
;
double
sx2
=
0.0
;
double
[]
sy
=
new
double
[
num_sens
];
double
[]
sxy
=
new
double
[
num_sens
];
boolean
[]
good_pix
=
new
boolean
[
len
];
Arrays
.
fill
(
good_pix
,
true
);
for
(
int
nref
=
0
;
nref
<
num_refines
;
nref
++)
{
Arrays
.
fill
(
avg_pix
,
0.0
);
for
(
int
i
=
0
;
i
<
len
;
i
++)
{
for
(
int
n
=
0
;
n
<
num_sens
;
n
++)
{
avg_pix
[
i
]+=
dpixels
[
n
][
i
];
good_pix
[
i
]
&=
!
Double
.
isNaN
(
dpixels
[
n
][
i
]);
}
avg_pix
[
i
]
/=
dpixels
.
length
;
}
Arrays
.
fill
(
offsets
,
0.0
);
Arrays
.
fill
(
scales
,
0.0
);
s0
=
0.0
;
sx
=
0.0
;
sx2
=
0.0
;
Arrays
.
fill
(
sy
,
0.0
);
Arrays
.
fill
(
sxy
,
0.0
);
for
(
int
i
=
0
;
i
<
len
;
i
++)
if
(
good_pix
[
i
])
{
// !Double.isNaN(avg_pix[i])){
s0
+=
1.0
;
sx
+=
avg_pix
[
i
];
sx2
+=
avg_pix
[
i
]
*
avg_pix
[
i
];
for
(
int
n
=
0
;
n
<
num_sens
;
n
++)
{
sy
[
n
]
+=
dpixels
[
n
][
i
];
sxy
[
n
]
+=
dpixels
[
n
][
i
]
*
avg_pix
[
i
];
}
}
for
(
int
n
=
0
;
n
<
num_sens
;
n
++)
{
double
d
=
s0
*
sx2
+
sx
*
sy
[
n
];
scales
[
n
]
=
(
sxy
[
n
]
*
s0
+
sy
[
n
]
*
sy
[
n
])
/
d
;
offsets
[
n
]
=
(
sy
[
n
]
*
sx2
-
sxy
[
n
]*
sx
)
/
d
;
}
if
(
debug
)
{
System
.
out
.
println
(
"calibratePhotometric() nref="
+
nref
);
for
(
int
n
=
0
;
n
<
num_sens
;
n
++)
{
System
.
out
.
println
(
String
.
format
(
"%2d: %8.4f %8.6f"
,
n
,
offsets
[
n
],
scales
[
n
]));
}
System
.
out
.
println
();
double
[][]
diffs
=
new
double
[
num_sens
][
len
];
for
(
int
n
=
0
;
n
<
num_sens
;
n
++)
{
Arrays
.
fill
(
diffs
[
n
],
Double
.
NaN
);
}
for
(
int
i
=
0
;
i
<
len
;
i
++)
if
(
good_pix
[
i
])
{
// if (!Double.isNaN(avg_pix[i])){
for
(
int
n
=
0
;
n
<
num_sens
;
n
++)
{
diffs
[
n
][
i
]
=
dpixels
[
n
][
i
]
-
(
scales
[
n
]
*
avg_pix
[
i
]
+
offsets
[
n
]);
}
}
(
new
ShowDoubleFloatArrays
()).
showArrays
(
// out of boundary 15
diffs
,
width
,
height
,
true
,
"photometric-err"
+
nref
);
// dpix_orig[n] = dpixels[n].clone();
double
[][]
corrected
=
new
double
[
num_sens
][
len
];
for
(
int
n
=
0
;
n
<
num_sens
;
n
++)
{
Arrays
.
fill
(
corrected
[
n
],
Double
.
NaN
);
for
(
int
i
=
0
;
i
<
len
;
i
++)
if
(!
Double
.
isNaN
(
dpixels
[
n
][
i
])){
corrected
[
n
][
i
]
=
(
dpixels
[
n
][
i
]
-
offsets
[
n
])/
scales
[
n
];
}
}
(
new
ShowDoubleFloatArrays
()).
showArrays
(
// out of boundary 15
corrected
,
width
,
height
,
true
,
"photometric-corr"
+
nref
);
}
//max_diff
if
(
nref
<
(
num_refines
-
1
))
{
for
(
int
i
=
0
;
i
<
len
;
i
++)
if
(
good_pix
[
i
])
{
// !Double.isNaN(avg_pix[i])){
for
(
int
n
=
0
;
n
<
num_sens
;
n
++)
{
double
diff
=
Math
.
abs
(
dpixels
[
n
][
i
]
-
(
scales
[
n
]
*
avg_pix
[
i
]
+
offsets
[
n
]));
if
(
diff
>
max_diff
)
{
// dpixels[n][i] = Double.NaN;
good_pix
[
i
]
=
false
;
break
;
}
}
}
}
}
double
[]
offsets_old
=
ref_scene
.
getLwirOffsets
();
double
[]
scales_old
=
ref_scene
.
getLwirScales
();
double
[]
offsets_new
=
new
double
[
num_sens
];
double
[]
scales_new
=
new
double
[
num_sens
];
for
(
int
n
=
0
;
n
<
num_sens
;
n
++)
{
scales_new
[
n
]
=
scales_old
[
n
]/
scales
[
n
];
// offsets_new[n] = offsets_old[n] - offsets[n] / scales_old[n];
offsets_new
[
n
]
=
offsets_old
[
n
]
+
offsets
[
n
]
/
scales_old
[
n
];
}
System
.
out
.
println
(
"calibratePhotometric() Updated calibration:"
);
for
(
int
n
=
0
;
n
<
num_sens
;
n
++)
{
System
.
out
.
println
(
String
.
format
(
"%2d: %8.4f %8.6f"
,
n
,
offsets_new
[
n
],
scales_new
[
n
]));
}
System
.
out
.
println
();
ref_scene
.
setLwirOffsets
(
offsets_new
);
ref_scene
.
setLwirScales
(
scales_new
);
return
true
;
}
public
static
ImagePlus
renderGPUFromDSI
(
final
int
sensor_mask
,
final
boolean
merge_channels
,
...
...
@@ -2182,10 +2351,11 @@ public class QuadCLT extends QuadCLTCPU {
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
){
boolean
show_nan
=
toRGB
?
clt_parameters
.
imp
.
show_color_nan
:
clt_parameters
.
imp
.
show_mono_nan
;
//
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
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
...
...
src/main/java/com/elphel/imagej/tileprocessor/QuadCLTCPU.java
View file @
904ad2bc
This diff is collapsed.
Click to expand it.
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