Before 3d models (951a84a6) · Commits · Elphel / imagej-elphel

src/main/java/com/elphel/imagej/cameras/CLTParameters.java

+28 −3

Original line number	Diff line number	Diff line
		@@ -376,6 +376,11 @@ public class CLTParameters {
		public double photo_min_strength = 0.0; // maybe add to filter out weak tiles
		public double photo_max_diff = 40.0; // To filter mismatches. Normal (adjusted) have RMSE ~9
		public int photo_order = 2; // Approximation order: 0 - just offset, 1 - linear, 2 - quadratic
		public double photo_std_1 = 75.0; // Minimal standard deviation of the filtered values for poly order 1
		public double photo_std_2 = 200.0; // Minimal standard deviation of the filtered values for poly order 2
		public int photo_offs_set = 0; // 0 - keep weighted offset average, 1 - balance result image, 2 - set weighted average to specific value
		public double photo_offs = 21946; // weighted average offset target value, if photo_offs_set (and not photo_offs_balance)

		public boolean photo_debug = false; // Generate images and text


		@@ -1367,6 +1372,10 @@ public class CLTParameters {
		properties.setProperty(prefix+"photo_min_strength", this.photo_min_strength+""); // double
		properties.setProperty(prefix+"photo_max_diff", this.photo_max_diff+""); // double
		properties.setProperty(prefix+"photo_order", this.photo_order+""); // int
		properties.setProperty(prefix+"photo_std_1", this.photo_std_1+""); // double
		properties.setProperty(prefix+"photo_std_2", this.photo_std_2+""); // double
		properties.setProperty(prefix+"photo_offs_set", this.photo_offs_set+""); // int
		properties.setProperty(prefix+"photo_offs", this.photo_offs+""); // double
		properties.setProperty(prefix+"photo_debug", this.photo_debug+""); // boolean

		properties.setProperty(prefix+"show_textures", this.show_textures+"");
		@@ -2234,6 +2243,10 @@ public class CLTParameters {
		if (properties.getProperty(prefix+"photo_min_strength")!=null) this.photo_min_strength=Double.parseDouble(properties.getProperty(prefix+"photo_min_strength"));
		if (properties.getProperty(prefix+"photo_max_diff")!=null) this.photo_max_diff=Double.parseDouble(properties.getProperty(prefix+"photo_max_diff"));
		if (properties.getProperty(prefix+"photo_order")!=null) this.photo_order=Integer.parseInt(properties.getProperty(prefix+"photo_order"));
		if (properties.getProperty(prefix+"photo_std_1")!=null) this.photo_std_1=Double.parseDouble(properties.getProperty(prefix+"photo_std_1"));
		if (properties.getProperty(prefix+"photo_std_2")!=null) this.photo_std_2=Double.parseDouble(properties.getProperty(prefix+"photo_std_2"));
		if (properties.getProperty(prefix+"photo_offs_set")!=null) this.photo_offs_set=Integer.parseInt(properties.getProperty(prefix+"photo_offs_set"));
		if (properties.getProperty(prefix+"photo_offs")!=null) this.photo_offs=Double.parseDouble(properties.getProperty(prefix+"photo_offs"));
		if (properties.getProperty(prefix+"photo_debug")!=null) this.photo_debug=Boolean.parseBoolean(properties.getProperty(prefix+"photo_debug"));

		if (properties.getProperty(prefix+"show_textures")!=null) this.show_textures=Boolean.parseBoolean(properties.getProperty(prefix+"show_textures"));
		@@ -3245,12 +3258,18 @@ public class CLTParameters {

		gd.addNumericField("Approximation polynomial order", this.photo_order, 0,3,"",
		"0 - only offset, 1 - linear, 2 - quadratic");

		gd.addNumericField("Minimal standard deviation for poly 1", this.photo_std_1, 5,7,"",
		"Minimal standard deviation to use polynomial order 1.");
		gd.addNumericField("Minimal standard deviation for poly 2", this.photo_std_2, 5,7,"",
		"Minimal standard deviation to use polynomial order 2.");
		gd.addNumericField("Set photo offset (0-keep, 1-balance, 2-set)",this.photo_offs_set, 0,3,"",
		"0 - keep weighted average offset, 1 - set offset to balance result image, 2 - use next value.");
		gd.addNumericField("Target value to weighted average offset",this.photo_offs, 5,7,"",
		"Target weighted (by scales) average offset.");
		gd.addCheckbox ("Debug photometric calibration", this.photo_debug,
		"Generate debug images an text output.");




		gd.addTab ("3D", "3D reconstruction");
		gd.addCheckbox ("Show generated textures", this.show_textures);
		gd.addCheckbox ("show intermediate results of filtering", this.debug_filters);
		@@ -4251,6 +4270,12 @@ public class CLTParameters {
		this.photo_min_strength = gd.getNextNumber();
		this.photo_max_diff = gd.getNextNumber();
		this.photo_order = (int) gd.getNextNumber();
		this.photo_std_1 = gd.getNextNumber();
		this.photo_std_2 = gd.getNextNumber();

		this.photo_offs_set = (int) gd.getNextNumber();
		this.photo_offs = gd.getNextNumber();

		this.photo_debug = gd.getNextBoolean();

		this.show_textures= gd.getNextBoolean();

src/main/java/com/elphel/imagej/tileprocessor/IntersceneMatchParameters.java

+7 −0

Original line number	Diff line number	Diff line
		@@ -195,6 +195,7 @@ public class IntersceneMatchParameters {
		public double max_search_rms = 1.5; // good - 0.34, so-so - 0.999
		public double maybe_fom = 1.0; // good - 38, second good - 4.5
		public double sure_fom = 12.0; // good - 38, second good - 4.5
		public boolean treat_serch_fpn = false; // use FPN (higher) thresholds during search (even if offset is not small)


		// Reference scene disparity
		@@ -627,6 +628,8 @@ public class IntersceneMatchParameters {
		"Minimal acceptable Figure of Merit (semi-total strength divided by standard deviation of offsets), will look for the best among matching.");
		gd.addNumericField("\"Sure\" FOM", this.sure_fom, 5,7,"",
		"Definitely sufficient FOM (semi-total strength divided by standard deviation of offsets), will non continue looking for better.");
		gd.addCheckbox ("Treat search all FPN", this.treat_serch_fpn,
		"Use FPN (higher) thresholds during search (even if offset is not small).");


		gd.addMessage ("Reference scene disparity");
		@@ -972,6 +975,7 @@ public class IntersceneMatchParameters {
		this.max_search_rms = gd.getNextNumber();
		this.maybe_fom = gd.getNextNumber();
		this.sure_fom = gd.getNextNumber();
		this.treat_serch_fpn = gd.getNextBoolean();
		this.use_combo_dsi = gd.getNextBoolean();
		this.use_lma_dsi = gd.getNextBoolean();
		this.fpn_remove = gd.getNextBoolean();
		@@ -1252,6 +1256,7 @@ public class IntersceneMatchParameters {
		properties.setProperty(prefix+"max_search_rms", this.max_search_rms+""); // double
		properties.setProperty(prefix+"maybe_fom", this.maybe_fom+""); // double
		properties.setProperty(prefix+"sure_fom", this.sure_fom+""); // double
		properties.setProperty(prefix+"treat_serch_fpn", this.treat_serch_fpn+""); // boolean
		properties.setProperty(prefix+"use_combo_dsi", this.use_combo_dsi+""); // boolean
		properties.setProperty(prefix+"use_lma_dsi", this.use_lma_dsi+""); // boolean
		properties.setProperty(prefix+"fpn_remove", this.fpn_remove+""); // boolean
		@@ -1485,6 +1490,7 @@ public class IntersceneMatchParameters {
		if (properties.getProperty(prefix+"max_search_rms")!=null) this.max_search_rms=Double.parseDouble(properties.getProperty(prefix+"max_search_rms"));
		if (properties.getProperty(prefix+"maybe_fom")!=null) this.maybe_fom=Double.parseDouble(properties.getProperty(prefix+"maybe_fom"));
		if (properties.getProperty(prefix+"sure_fom")!=null) this.sure_fom=Double.parseDouble(properties.getProperty(prefix+"sure_fom"));
		if (properties.getProperty(prefix+"treat_serch_fpn")!=null) this.treat_serch_fpn=Boolean.parseBoolean(properties.getProperty(prefix+"treat_serch_fpn"));
		if (properties.getProperty(prefix+"use_combo_dsi")!=null) this.use_combo_dsi=Boolean.parseBoolean(properties.getProperty(prefix+"use_combo_dsi"));
		if (properties.getProperty(prefix+"use_lma_dsi")!=null) this.use_lma_dsi=Boolean.parseBoolean(properties.getProperty(prefix+"use_lma_dsi"));
		if (properties.getProperty(prefix+"fpn_remove")!=null) this.fpn_remove=Boolean.parseBoolean(properties.getProperty(prefix+"fpn_remove"));
		@@ -1735,6 +1741,7 @@ public class IntersceneMatchParameters {
		imp.max_search_rms = this.max_search_rms;
		imp.maybe_fom = this.maybe_fom;
		imp.sure_fom = this.sure_fom;
		imp.treat_serch_fpn = this.treat_serch_fpn;
		imp.use_combo_dsi = this.use_combo_dsi;
		imp.use_lma_dsi = this.use_lma_dsi;
		imp.fpn_remove = this.fpn_remove;

src/main/java/com/elphel/imagej/tileprocessor/OpticalFlow.java

+74 −18

Original line number	Diff line number	Diff line
		@@ -4047,6 +4047,10 @@ public class OpticalFlow {
		double photo_min_strength = clt_parameters.photo_min_strength; // 0.0; // maybe add to filter out weak tiles
		double photo_max_diff = clt_parameters.photo_max_diff; // 40.0; // To filter mismatches. Normal (adjusted) have RMSE ~9
		int photo_order = clt_parameters.photo_order;
		double photo_std_1 = clt_parameters.photo_std_1; // 50.0; // Minimal standard deviation of the filtered values for poly order 1
		double photo_std_2 = clt_parameters.photo_std_2; // 200.0; // Minimal standard deviation of the filtered values for poly order 2
		int photo_offs_set = clt_parameters.photo_offs_set; // 0; // 0 - keep weighted offset average, 1 - balance result image, 2 - set weighted average to specific value
		double photo_offs = clt_parameters.photo_offs; // 21946; // weighted average offset target value, if photo_offs_set (and not photo_offs_balance)
		boolean photo_debug = clt_parameters.photo_debug; // false; // Generate images and text

		boolean show_dsi_image = clt_parameters.imp.show_ranges && !batch_mode;
		@@ -4275,7 +4279,7 @@ public class OpticalFlow {



		if (photo_each && !quadCLTs[ref_index].isPhotometricThis()) {
		if (photo_each && (!quadCLTs[ref_index].isPhotometricThis() \|\| !batch_mode)) {
		if (debugLevel > -3) {
		System.out.println("**** Running photometric equalization for "+quadCLTs[ref_index].getImageName()+
		", current was from scene "+quadCLTs[ref_index].getPhotometricScene()+" ****");
		@@ -4287,40 +4291,60 @@ public class OpticalFlow {
		ds_photo[OpticalFlow.COMBO_DSN_INDX_DISP_BG_ALL] = dsi[TwoQuadCLT.DSI_DISPARITY_AUX_LMA];
		ds_photo[OpticalFlow.COMBO_DSN_INDX_STRENGTH] = dsi[TwoQuadCLT.DSI_STRENGTH_AUX];

		boolean photo_each_debug = false; // true; // false;
		boolean photo_each_debug2 = false; // true; // false;
		boolean photo_each_debug = !batch_mode; // false; // true; // false;
		boolean photo_each_debug2 = !batch_mode; // false; // true; // false;
		for (int nrecalib = 0; nrecalib < photo_num_full; nrecalib++) { // maybe need to correct just offsets?
		int poly_order = photo_order;
		if ((poly_order > 1) && (nrecalib == 0)) {
		poly_order = 1;
		}

		QuadCLT.calibratePhotometric2(
		boolean ok = QuadCLT.calibratePhotometric2(
		clt_parameters, // CLTParameters clt_parameters,
		quadCLTs[ref_index], // final QuadCLT ref_scene, will set photometric calibration to this scene
		photo_min_strength, // final double min_strength,
		photo_max_diff, // final double max_diff, // 30.0
		poly_order, // final int photo_order, // 0 - offset only, 1 - linear, 2 - quadratic
		photo_std_1, // final double photo_std_1, // 50.0; // Minimal standard deviation of the filtered values for poly order 1
		photo_std_2, // final double photo_std_2, // 200.0; // Minimal standard deviation of the filtered values for poly order 2
		photo_offs_set, // final int photo_offs_set,// 0; // 0 - keep weighted offset average, 1 - balance result image, 2 - set weighted average to specific value
		photo_offs, // final double photo_offs, // 21946; // weighted average offset target value, if photo_offs_set (and not photo_offs_balance)
		photo_num_refines, // final int num_refines, // 2
		ds_photo, // combo_dsn_final_filtered, // final double [][] combo_dsn_final, // double [][] combo_dsn_final, // dls,
		threadsMax, // int threadsMax,
		photo_each_debug); //final boolean debug)
		if (!ok) {
		System.out.println("************** Failed calibratePhotometric2, restoring original");
		quadCLTs[ref_index].setLwirOffsets(quadCLT_main.getLwirOffsets());
		quadCLTs[ref_index].setLwirScales (quadCLT_main.getLwirScales ());
		quadCLTs[ref_index].setLwirScales2(quadCLT_main.getLwirScales2());
		quadCLTs[ref_index].setPhotometricScene(quadCLT_main.getPhotometricScene());
		// Retry linear only
		QuadCLT.calibratePhotometric2(
		clt_parameters, // CLTParameters clt_parameters,
		quadCLTs[ref_index], // final QuadCLT ref_scene, will set photometric calibration to this scene
		photo_min_strength, // final double min_strength,
		photo_max_diff, // final double max_diff, // 30.0
		1, // poly_order, // final int photo_order, // 0 - offset only, 1 - linear, 2 - quadratic
		photo_std_1, // final double photo_std_1, // 50.0; // Minimal standard deviation of the filtered values for poly order 1
		photo_std_2, // final double photo_std_2, // 200.0; // Minimal standard deviation of the filtered values for poly order 2
		photo_offs_set, // final int photo_offs_set,// 0; // 0 - keep weighted offset average, 1 - balance result image, 2 - set weighted average to specific value
		photo_offs, // final double photo_offs, // 21946; // weighted average offset target value, if photo_offs_set (and not photo_offs_balance)
		photo_num_refines, // final int num_refines, // 2
		ds_photo, // combo_dsn_final_filtered, // final double [][] combo_dsn_final, // double [][] combo_dsn_final, // dls,
		threadsMax, // int threadsMax,
		photo_each_debug); //final boolean debug)




		}
		// copy offsets to the current to be saved with other properties. Is it correct/needed?
		quadCLTs[ref_index].saveInterProperties( // save properties for interscene processing (extrinsics, ers, ...)
		null, // String path, // full name with extension or w/o path to use x3d directory
		debugLevel+1);
		quadCLTs[ref_index].setDSI(dsi); // try to avoid saving, will complain on restoring, but keep
		// quadCLTs[ref_index].saveDSIAll ( // will reload during spawnQuadCLT
		// "-DSI_MAIN", // String suffix, // "-DSI_MAIN"
		// dsi);

		// quadCLT_main.setLwirOffsets(quadCLTs[ref_index].getLwirOffsets());
		// quadCLT_main.setLwirScales (quadCLTs[ref_index].getLwirScales ());
		// quadCLT_main.setLwirScales2(quadCLTs[ref_index].getLwirScales2());
		// quadCLT_main.setPhotometricScene(quadCLTs[ref_index].getPhotometricScene());

		// Re-read reference and other scenes using new offsets
		// quadCLTs[ref_index].saveQuadClt(); // to re-load new set of Bayer images to the GPU (do nothing for CPU) and Geometry
		quadCLTs[ref_index].setQuadClt(); // should work even when the data is new for the same scene
		quadCLTs[ref_index] = (QuadCLT) quadCLT_main.spawnQuadCLT( // restores dsi from "DSI-MAIN"
		set_channels[ref_index].set_name,
		@@ -4826,6 +4850,10 @@ public class OpticalFlow {
		photo_min_strength, // final double min_strength,
		photo_max_diff, // final double max_diff, // 30.0
		poly_order, // final int photo_order, // 0 - offset only, 1 - linear, 2 - quadratic
		photo_std_1, // final double photo_std_1, // 50.0; // Minimal standard deviation of the filtered values for poly order 1
		photo_std_2, // final double photo_std_2, // 200.0; // Minimal standard deviation of the filtered values for poly order 2
		photo_offs_set, // final int photo_offs_set,// 0; // 0 - keep weighted offset average, 1 - balance result image, 2 - set weighted average to specific value
		photo_offs, // final double photo_offs, // 21946; // weighted average offset target value, if photo_offs_set (and not photo_offs_balance)
		photo_num_refines, // final int num_refines, // 2
		combo_dsn_final_filtered, // final double [][] combo_dsn_final, // double [][] combo_dsn_final, // dls,
		threadsMax, // int threadsMax,
		@@ -5284,8 +5312,31 @@ public class OpticalFlow {

		String webm_path = avi_path.substring(0, avi_path.length()-4)+video_ext;
		// added -y not to as "overwrite y/n?"
		String shellCommand = String.format("ffmpeg -y -i %s -c %s -b:v 0 -crf %d %s",
		avi_path, video_codec, video_crf, webm_path);
		//ffmpeg -i input_file.mkv -c copy -metadata:s:v:0 stereo_mode=1 output_file.mkv
		//https://ffmpeg.org/ffmpeg-formats.html
		//ffmpeg -i sample_left_right_clip.mpg -an -c:v libvpx -metadata stereo_mode=left_right -y stereo_clip.webm
		//anaglyph_cyan_red
		String streo_meta = "";
		if ((webm_path.contains("-STEREO-")) \|\| (webm_path.contains("-SBS-"))) {
		if (stereo_gap == 0) {
		if (debugLevel > -3) {
		System.out.println("Adding 3D meta: stereo_mode=left_right");
		}
		streo_meta = " -metadata:s:v:0 stereo_mode=left_right ";
		} else {
		if (debugLevel > -3) {
		System.out.println("stereo_gap !=0, skipping 3D meta as firefox/vlc halves display width");
		}
		}
		} else if (webm_path.contains("-ANAGLYPH-")) {
		if (debugLevel > -3) {
		System.out.println("Adding 3D meta: stereo_mode=anaglyph_cyan_red");
		}
		streo_meta = " -metadata:s:v:0 stereo_mode=anaglyph_cyan_red ";
		}

		String shellCommand = String.format("ffmpeg -y -i %s -c %s -b:v 0 -crf %d %s %s",
		avi_path, video_codec, video_crf, streo_meta, webm_path);
		Process p = null;
		if (generate_mapped) {
		int exit_code = -1;
		@@ -6287,6 +6338,7 @@ public class OpticalFlow {
		double max_search_rms = clt_parameters.imp.max_search_rms; // 1.2; // good - 0.34, so-so - 0.999
		double maybe_fom = clt_parameters.imp.maybe_fom; // 3.0; // good - 30, second good - 5
		double sure_fom = clt_parameters.imp.sure_fom; // 10.0; // good - 30, second good - 10
		boolean treat_serch_fpn = clt_parameters.imp.treat_serch_fpn;// use FPN (higher) thresholds during search (even if offset is not small)

		double [][] pose = new double [2][3];
		double angle_per_step = reference_QuadClt.getGeometryCorrection().getCorrVector().getTiltAzPerPixel() * pix_step;
		@@ -6300,8 +6352,9 @@ public class OpticalFlow {
		int ntry = 0;
		int num_good=0;
		double [] use_atr = null;
		int dbg_ntry = 61;
		try_around:
		for (rad = 0; rad <= search_rad; rad++) {
		for (rad = 00; rad <= search_rad; rad++) {
		for (dir = 0; dir < ((rad==0)?1:4); dir++) {
		int n_range = (rad > 0) ? (2* rad) : 1;
		for (n = 0; n < n_range; n++) {
		@@ -6315,6 +6368,9 @@ public class OpticalFlow {
		System.out.println("buildSeries(): trying adjustPairsLMA() with initial offset azimuth: "+
		atr[0]+", tilt ="+atr[1]);
		}
		if (ntry==dbg_ntry) {
		System.out.println("ntry="+ntry);
		}
		double [][][] coord_motion = interCorrPair_old( // new double [tilesY][tilesX][][];
		clt_parameters, // CLTParameters clt_parameters,
		reference_QuadClt, // QuadCLT reference_QuadCLT,
		@@ -6328,7 +6384,7 @@ public class OpticalFlow {
		facc_2d_img, // final float [][][] accum_2d_corr, // if [1][][] - return accumulated 2d correlations (all pairs)final float [][][] accum_2d_corr, // if [1][][] - return accumulated 2d correlations (all pairs)
		null, // final float [][][] dbg_corr_fpn,
		false, // boolean near_important, // do not reduce weight of the near tiles
		true, // boolean all_fpn, // do not lower thresholds for non-fpn (used during search)
		treat_serch_fpn, // true, // boolean all_fpn, // do not lower thresholds for non-fpn (used during search)
		clt_parameters.imp.debug_level, // int imp_debug_level,
		clt_parameters.imp.debug_level); // 1); // -1); // int debug_level);
		int num_defined = 0;

src/main/java/com/elphel/imagej/tileprocessor/QuadCLT.java

+161 −30

File changed.

Preview size limit exceeded, changes collapsed.

src/main/java/com/elphel/imagej/tileprocessor/TwoQuadCLT.java

+4 −0

Original line number	Diff line number	Diff line
		@@ -8798,6 +8798,10 @@ if (debugLevel > -100) return true; // temporarily !
		}
		double pts_scale = clt_parameters.imp.video_fps/clt_parameters.imp.sensor_fps;
		String shellCommand;
		//ffmpeg -i input_file.mkv -c copy -metadata:s:v:0 stereo_mode=1 output_file.mkv
		//https://ffmpeg.org/ffmpeg-formats.html
		//ffmpeg -i sample_left_right_clip.mpg -an -c:v libvpx -metadata stereo_mode=left_right -y stereo_clip.webm
		//anaglyph_cyan_red
		if (this_stereo_width > 0) {// add padding to stereo video
		int padded_width= 16* ( (int) Math.round((this_stereo_width + stereo_gap) * stereo_phone_width/stereo_intereye/32));
		shellCommand = String.format(

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