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imagej-elphel
Commit 951a84a6 authored by Andrey Filippov's avatar Andrey Filippov
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Before 3d models

parent 2c606e97
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Showing with 274 additions and 51 deletions
src/main/java/com/elphel/imagej/cameras/CLTParameters.java
View file @ 951a84a6
...@@ -376,6 +376,11 @@ public class CLTParameters { ...@@ -376,6 +376,11 @@ public class CLTParameters {
public double photo_min_strength = 0.0; // maybe add to filter out weak tiles 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 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 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 public boolean photo_debug = false; // Generate images and text
...@@ -1367,6 +1372,10 @@ public class CLTParameters { ...@@ -1367,6 +1372,10 @@ public class CLTParameters {
properties.setProperty(prefix+"photo_min_strength", this.photo_min_strength+""); // double 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_max_diff", this.photo_max_diff+""); // double
properties.setProperty(prefix+"photo_order", this.photo_order+""); // int 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+"photo_debug", this.photo_debug+""); // boolean
properties.setProperty(prefix+"show_textures", this.show_textures+""); properties.setProperty(prefix+"show_textures", this.show_textures+"");
...@@ -2234,6 +2243,10 @@ public class CLTParameters { ...@@ -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_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_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_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+"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")); if (properties.getProperty(prefix+"show_textures")!=null) this.show_textures=Boolean.parseBoolean(properties.getProperty(prefix+"show_textures"));
...@@ -3245,12 +3258,18 @@ public class CLTParameters { ...@@ -3245,12 +3258,18 @@ public class CLTParameters {
gd.addNumericField("Approximation polynomial order", this.photo_order, 0,3,"", gd.addNumericField("Approximation polynomial order", this.photo_order, 0,3,"",
"0 - only offset, 1 - linear, 2 - quadratic"); "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, gd.addCheckbox ("Debug photometric calibration", this.photo_debug,
"Generate debug images an text output."); "Generate debug images an text output.");
gd.addTab ("3D", "3D reconstruction"); gd.addTab ("3D", "3D reconstruction");
gd.addCheckbox ("Show generated textures", this.show_textures); gd.addCheckbox ("Show generated textures", this.show_textures);
gd.addCheckbox ("show intermediate results of filtering", this.debug_filters); gd.addCheckbox ("show intermediate results of filtering", this.debug_filters);
...@@ -4251,6 +4270,12 @@ public class CLTParameters { ...@@ -4251,6 +4270,12 @@ public class CLTParameters {
this.photo_min_strength = gd.getNextNumber(); this.photo_min_strength = gd.getNextNumber();
this.photo_max_diff = gd.getNextNumber(); this.photo_max_diff = gd.getNextNumber();
this.photo_order = (int) 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.photo_debug = gd.getNextBoolean();
this.show_textures= gd.getNextBoolean(); this.show_textures= gd.getNextBoolean();
......
src/main/java/com/elphel/imagej/tileprocessor/IntersceneMatchParameters.java
View file @ 951a84a6
...@@ -195,6 +195,7 @@ public class IntersceneMatchParameters { ...@@ -195,6 +195,7 @@ public class IntersceneMatchParameters {
public double max_search_rms = 1.5; // good - 0.34, so-so - 0.999 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 maybe_fom = 1.0; // good - 38, second good - 4.5
public double sure_fom = 12.0; // 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 // Reference scene disparity
...@@ -627,6 +628,8 @@ public class IntersceneMatchParameters { ...@@ -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."); "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,"", 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."); "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"); gd.addMessage ("Reference scene disparity");
...@@ -972,6 +975,7 @@ public class IntersceneMatchParameters { ...@@ -972,6 +975,7 @@ public class IntersceneMatchParameters {
this.max_search_rms = gd.getNextNumber(); this.max_search_rms = gd.getNextNumber();
this.maybe_fom = gd.getNextNumber(); this.maybe_fom = gd.getNextNumber();
this.sure_fom = gd.getNextNumber(); this.sure_fom = gd.getNextNumber();
this.treat_serch_fpn = gd.getNextBoolean();
this.use_combo_dsi = gd.getNextBoolean(); this.use_combo_dsi = gd.getNextBoolean();
this.use_lma_dsi = gd.getNextBoolean(); this.use_lma_dsi = gd.getNextBoolean();
this.fpn_remove = gd.getNextBoolean(); this.fpn_remove = gd.getNextBoolean();
...@@ -1252,6 +1256,7 @@ public class IntersceneMatchParameters { ...@@ -1252,6 +1256,7 @@ public class IntersceneMatchParameters {
properties.setProperty(prefix+"max_search_rms", this.max_search_rms+""); // double properties.setProperty(prefix+"max_search_rms", this.max_search_rms+""); // double
properties.setProperty(prefix+"maybe_fom", this.maybe_fom+""); // double properties.setProperty(prefix+"maybe_fom", this.maybe_fom+""); // double
properties.setProperty(prefix+"sure_fom", this.sure_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_combo_dsi", this.use_combo_dsi+""); // boolean
properties.setProperty(prefix+"use_lma_dsi", this.use_lma_dsi+""); // boolean properties.setProperty(prefix+"use_lma_dsi", this.use_lma_dsi+""); // boolean
properties.setProperty(prefix+"fpn_remove", this.fpn_remove+""); // boolean properties.setProperty(prefix+"fpn_remove", this.fpn_remove+""); // boolean
...@@ -1485,6 +1490,7 @@ public class IntersceneMatchParameters { ...@@ -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+"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+"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+"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_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+"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")); if (properties.getProperty(prefix+"fpn_remove")!=null) this.fpn_remove=Boolean.parseBoolean(properties.getProperty(prefix+"fpn_remove"));
...@@ -1735,6 +1741,7 @@ public class IntersceneMatchParameters { ...@@ -1735,6 +1741,7 @@ public class IntersceneMatchParameters {
imp.max_search_rms = this.max_search_rms; imp.max_search_rms = this.max_search_rms;
imp.maybe_fom = this.maybe_fom; imp.maybe_fom = this.maybe_fom;
imp.sure_fom = this.sure_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_combo_dsi = this.use_combo_dsi;
imp.use_lma_dsi = this.use_lma_dsi; imp.use_lma_dsi = this.use_lma_dsi;
imp.fpn_remove = this.fpn_remove; imp.fpn_remove = this.fpn_remove;
......
src/main/java/com/elphel/imagej/tileprocessor/OpticalFlow.java
View file @ 951a84a6
...@@ -4047,6 +4047,10 @@ public class OpticalFlow { ...@@ -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_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 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; 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 photo_debug = clt_parameters.photo_debug; // false; // Generate images and text
boolean show_dsi_image = clt_parameters.imp.show_ranges && !batch_mode; boolean show_dsi_image = clt_parameters.imp.show_ranges && !batch_mode;
...@@ -4275,7 +4279,7 @@ public class OpticalFlow { ...@@ -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) { if (debugLevel > -3) {
System.out.println("**** Running photometric equalization for "+quadCLTs[ref_index].getImageName()+ System.out.println("**** Running photometric equalization for "+quadCLTs[ref_index].getImageName()+
", current was from scene "+quadCLTs[ref_index].getPhotometricScene()+" ****"); ", current was from scene "+quadCLTs[ref_index].getPhotometricScene()+" ****");
...@@ -4287,40 +4291,60 @@ public class OpticalFlow { ...@@ -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_DISP_BG_ALL] = dsi[TwoQuadCLT.DSI_DISPARITY_AUX_LMA];
ds_photo[OpticalFlow.COMBO_DSN_INDX_STRENGTH] = dsi[TwoQuadCLT.DSI_STRENGTH_AUX]; ds_photo[OpticalFlow.COMBO_DSN_INDX_STRENGTH] = dsi[TwoQuadCLT.DSI_STRENGTH_AUX];
boolean photo_each_debug = false; // true; // false; boolean photo_each_debug = !batch_mode; // false; // true; // false;
boolean photo_each_debug2 = 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? for (int nrecalib = 0; nrecalib < photo_num_full; nrecalib++) { // maybe need to correct just offsets?
int poly_order = photo_order; int poly_order = photo_order;
if ((poly_order > 1) && (nrecalib == 0)) { if ((poly_order > 1) && (nrecalib == 0)) {
poly_order = 1; poly_order = 1;
} }
boolean ok = QuadCLT.calibratePhotometric2(
QuadCLT.calibratePhotometric2(
clt_parameters, // CLTParameters clt_parameters, clt_parameters, // CLTParameters clt_parameters,
quadCLTs[ref_index], // final QuadCLT ref_scene, will set photometric calibration to this scene quadCLTs[ref_index], // final QuadCLT ref_scene, will set photometric calibration to this scene
photo_min_strength, // final double min_strength, photo_min_strength, // final double min_strength,
photo_max_diff, // final double max_diff, // 30.0 photo_max_diff, // final double max_diff, // 30.0
poly_order, // final int photo_order, // 0 - offset only, 1 - linear, 2 - quadratic 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 photo_num_refines, // final int num_refines, // 2
ds_photo, // combo_dsn_final_filtered, // final double [][] combo_dsn_final, // double [][] combo_dsn_final, // dls, ds_photo, // combo_dsn_final_filtered, // final double [][] combo_dsn_final, // double [][] combo_dsn_final, // dls,
threadsMax, // int threadsMax, threadsMax, // int threadsMax,
photo_each_debug); //final boolean debug) 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? // 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, ...) 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 null, // String path, // full name with extension or w/o path to use x3d directory
debugLevel+1); debugLevel+1);
quadCLTs[ref_index].setDSI(dsi); // try to avoid saving, will complain on restoring, but keep 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 // 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].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" quadCLTs[ref_index] = (QuadCLT) quadCLT_main.spawnQuadCLT( // restores dsi from "DSI-MAIN"
set_channels[ref_index].set_name, set_channels[ref_index].set_name,
...@@ -4826,6 +4850,10 @@ public class OpticalFlow { ...@@ -4826,6 +4850,10 @@ public class OpticalFlow {
photo_min_strength, // final double min_strength, photo_min_strength, // final double min_strength,
photo_max_diff, // final double max_diff, // 30.0 photo_max_diff, // final double max_diff, // 30.0
poly_order, // final int photo_order, // 0 - offset only, 1 - linear, 2 - quadratic 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 photo_num_refines, // final int num_refines, // 2
combo_dsn_final_filtered, // final double [][] combo_dsn_final, // double [][] combo_dsn_final, // dls, combo_dsn_final_filtered, // final double [][] combo_dsn_final, // double [][] combo_dsn_final, // dls,
threadsMax, // int threadsMax, threadsMax, // int threadsMax,
...@@ -5284,8 +5312,31 @@ public class OpticalFlow { ...@@ -5284,8 +5312,31 @@ public class OpticalFlow {
String webm_path = avi_path.substring(0, avi_path.length()-4)+video_ext; String webm_path = avi_path.substring(0, avi_path.length()-4)+video_ext;
// added -y not to as "overwrite y/n?" // added -y not to as "overwrite y/n?"
String shellCommand = String.format("ffmpeg -y -i %s -c %s -b:v 0 -crf %d %s", //ffmpeg -i input_file.mkv -c copy -metadata:s:v:0 stereo_mode=1 output_file.mkv
avi_path, video_codec, video_crf, webm_path); //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; Process p = null;
if (generate_mapped) { if (generate_mapped) {
int exit_code = -1; int exit_code = -1;
...@@ -6287,6 +6338,7 @@ public class OpticalFlow { ...@@ -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 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 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 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 [][] pose = new double [2][3];
double angle_per_step = reference_QuadClt.getGeometryCorrection().getCorrVector().getTiltAzPerPixel() * pix_step; double angle_per_step = reference_QuadClt.getGeometryCorrection().getCorrVector().getTiltAzPerPixel() * pix_step;
...@@ -6300,8 +6352,9 @@ public class OpticalFlow { ...@@ -6300,8 +6352,9 @@ public class OpticalFlow {
int ntry = 0; int ntry = 0;
int num_good=0; int num_good=0;
double [] use_atr = null; double [] use_atr = null;
int dbg_ntry = 61;
try_around: 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++) { for (dir = 0; dir < ((rad==0)?1:4); dir++) {
int n_range = (rad > 0) ? (2* rad) : 1; int n_range = (rad > 0) ? (2* rad) : 1;
for (n = 0; n < n_range; n++) { for (n = 0; n < n_range; n++) {
...@@ -6315,6 +6368,9 @@ public class OpticalFlow { ...@@ -6315,6 +6368,9 @@ public class OpticalFlow {
System.out.println("buildSeries(): trying adjustPairsLMA() with initial offset azimuth: "+ System.out.println("buildSeries(): trying adjustPairsLMA() with initial offset azimuth: "+
atr[0]+", tilt ="+atr[1]); atr[0]+", tilt ="+atr[1]);
} }
if (ntry==dbg_ntry) {
System.out.println("ntry="+ntry);
}
double [][][] coord_motion = interCorrPair_old( // new double [tilesY][tilesX][][]; double [][][] coord_motion = interCorrPair_old( // new double [tilesY][tilesX][][];
clt_parameters, // CLTParameters clt_parameters, clt_parameters, // CLTParameters clt_parameters,
reference_QuadClt, // QuadCLT reference_QuadCLT, reference_QuadClt, // QuadCLT reference_QuadCLT,
...@@ -6328,7 +6384,7 @@ public class OpticalFlow { ...@@ -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) 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, null, // final float [][][] dbg_corr_fpn,
false, // boolean near_important, // do not reduce weight of the near tiles 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, // int imp_debug_level,
clt_parameters.imp.debug_level); // 1); // -1); // int debug_level); clt_parameters.imp.debug_level); // 1); // -1); // int debug_level);
int num_defined = 0; int num_defined = 0;
......
src/main/java/com/elphel/imagej/tileprocessor/QuadCLT.java
View file @ 951a84a6
...@@ -2452,7 +2452,11 @@ public class QuadCLT extends QuadCLTCPU { ...@@ -2452,7 +2452,11 @@ public class QuadCLT extends QuadCLTCPU {
final QuadCLT ref_scene, // now - may be null - for testing if scene is rotated ref final QuadCLT ref_scene, // now - may be null - for testing if scene is rotated ref
final double min_strength, final double min_strength,
final double max_diff, // 30.0 final double max_diff, // 30.0
final int photo_order, // 0 - offset only, 1 - linear, 2 - quadratic int photo_order, // 0 - offset only, 1 - linear, 2 - quadratic
final double photo_std_1, // 50.0; // Minimal standard deviation of the filtered values for poly order 1
final double photo_std_2, // 200.0; // Minimal standard deviation of the filtered values for poly order 2
final int photo_offs_set, // 0; // 0 - keep weighted offset average, 1 - balance result image, 2 - set weighted average to specific value
final double photo_offs, // 21946; // weighted average offset target value, if photo_offs_set (and not photo_offs_balance)
final int num_refines, // 2 final int num_refines, // 2
final double [][] combo_dsn_final, // double [][] combo_dsn_final, // dls, final double [][] combo_dsn_final, // double [][] combo_dsn_final, // dls,
int threadsMax, int threadsMax,
...@@ -2461,7 +2465,7 @@ public class QuadCLT extends QuadCLTCPU { ...@@ -2461,7 +2465,7 @@ public class QuadCLT extends QuadCLTCPU {
// filter disparity by LMA only, same bg and fg // filter disparity by LMA only, same bg and fg
double [] disparity_ref= combo_dsn_final[OpticalFlow.COMBO_DSN_INDX_DISP].clone(); double [] disparity_ref= combo_dsn_final[OpticalFlow.COMBO_DSN_INDX_DISP].clone();
for (int i = 00; i < disparity_ref.length; i++) { for (int i = 0; i < disparity_ref.length; i++) {
if (combo_dsn_final[OpticalFlow.COMBO_DSN_INDX_STRENGTH][i] < min_strength) { if (combo_dsn_final[OpticalFlow.COMBO_DSN_INDX_STRENGTH][i] < min_strength) {
disparity_ref[i] = Double.NaN; disparity_ref[i] = Double.NaN;
} else if (combo_dsn_final[OpticalFlow.COMBO_DSN_INDX_DISP_BG_ALL][i] != } else if (combo_dsn_final[OpticalFlow.COMBO_DSN_INDX_DISP_BG_ALL][i] !=
...@@ -2512,13 +2516,10 @@ public class QuadCLT extends QuadCLTCPU { ...@@ -2512,13 +2516,10 @@ public class QuadCLT extends QuadCLTCPU {
double [] offs_old = ref_scene.getLwirOffsets(); double [] offs_old = ref_scene.getLwirOffsets();
double [] scales_old = ref_scene.getLwirScales(); double [] scales_old = ref_scene.getLwirScales();
double [] scales2_old = ref_scene.getLwirScales2(); double [] scales2_old = ref_scene.getLwirScales2();
// Calculate avg_pix - average (for all 16 channels) pixel value and initial good_pix
// next passes avg_pix will be modified and more bad pixels added
double [] offs_new = new double [num_sens]; double avg_img = 0.0;
double [] scales_new = new double [num_sens];
double [] scales2_new = new double [num_sens];
for (int nref = 0; nref < num_refines; nref++) {
Arrays.fill(avg_pix, 0.0);
int num_good = 0; int num_good = 0;
for (int i = 0; i < len; i++) { for (int i = 0; i < len; i++) {
for (int n = 0; n < num_sens; n++) { for (int n = 0; n < num_sens; n++) {
...@@ -2527,15 +2528,33 @@ public class QuadCLT extends QuadCLTCPU { ...@@ -2527,15 +2528,33 @@ public class QuadCLT extends QuadCLTCPU {
} }
avg_pix[i] /= dpixels.length; avg_pix[i] /= dpixels.length;
if (good_pix[i]) { if (good_pix[i]) {
avg_img += avg_pix[i];
num_good++; num_good++;
} }
} }
double [][][] pa_data = new double [num_sens][num_good][2]; avg_img /= num_good;
double wavg_offs = photo_offs;
boolean set_offs = true;
if (photo_offs_set == 1) { // balance
for (int i = 0; i < len; i++) {
avg_pix[i] -= avg_img;
}
set_offs = false;
} else if (photo_offs_set == 0) {
double s = 1.0;
wavg_offs = 0.0;
for (int n = 0; n < num_sens; n++) {
s *= scales_old[n];
wavg_offs += offs_old[n]*scales_old[n];
}
s = Math.pow(s, 1.0/num_sens);
wavg_offs /= num_sens * s;
}
// recover original "raw" pixel values undoing old corrections
double [][] raw = new double [num_sens][len]; double [][] raw = new double [num_sens][len];
for (int nsens = 0; nsens < num_sens; nsens++) { for (int nsens = 0; nsens < num_sens; nsens++) {
Arrays.fill(raw[nsens],Double.NaN); // debug only Arrays.fill(raw[nsens],Double.NaN); // debug only
int indx = 0;
for (int i = 0; i < len; i++) if (good_pix[i]){ for (int i = 0; i < len; i++) if (good_pix[i]){
double A0 = scales2_old[nsens]; double A0 = scales2_old[nsens];
double B0 = scales_old[nsens]; double B0 = scales_old[nsens];
...@@ -2545,10 +2564,63 @@ public class QuadCLT extends QuadCLTCPU { ...@@ -2545,10 +2564,63 @@ public class QuadCLT extends QuadCLTCPU {
double c = (C0*C0*A0 -C0 * B0 - dpixels[nsens][i]); double c = (C0*C0*A0 -C0 * B0 - dpixels[nsens][i]);
double p = -c/b; double p = -c/b;
if (Math.abs(a) >= min_abs_a) { if (Math.abs(a) >= min_abs_a) {
p= (-b + Math.sqrt(b*b - 4 * a * c))/(2 * a); double d2 = b*b - 4 * a * c;
if (d2 < 0) {
System.out.println("calibratePhotometric2() 0: Failed quadratic: a = "+a+", b = "+b+", c="+c);
return false;
}
p= (-b + Math.sqrt(d2))/(2 * a);
} }
raw[nsens][i] = p; raw[nsens][i] = p;
pa_data[nsens][indx][0] = p; // dpixels[nsens][i]; }
}
double [] offs_new = new double [num_sens];
double [] scales_new = new double [num_sens];
double [] scales2_new = new double [num_sens];
double [] avg_chn = new double [num_sens];
double [] std_chn = new double [num_sens];
double std = 0.0;
for (int nref = 0; nref < num_refines; nref++) {
Arrays.fill(avg_chn, 0.0);
Arrays.fill(std_chn, 0.0);
num_good = 0;
for (int i = 0; i < len; i++) {
if (good_pix[i]) {
num_good++;
for (int n = 0; n < num_sens; n++) {
avg_chn[n] += dpixels[n][i];
std_chn[n] += dpixels[n][i] * dpixels[n][i];
}
}
}
std = 0.0;
for (int n = 0; n < num_sens; n++) {
avg_chn[n] /= num_good;
std_chn[n] /= num_good;
std_chn[n] = Math.sqrt(std_chn[n] - avg_chn[n] * avg_chn[n]);
std += std_chn[n] * std_chn[n];
}
std = Math.sqrt(std/num_sens);
if ((photo_order > 0) && (std < photo_std_1)) {
photo_order = 0;
System.out.println ("Standard deviation = "+std+" < "+photo_std_1+", adjusting only offsets. nref = "+nref);
nref = -1;
continue; // restart
} else if ((photo_order > 1) && (std < photo_std_2)) {
photo_order = 1;
System.out.println ("Standard deviation = "+std+" < "+photo_std_2+", adjusting only offsets and scales. nref = "+nref);
nref = -1;
continue; // restart
} else if (debug) {
System.out.println ("Standard deviation = "+std+", nref = "+nref);
}
double [][][] pa_data = new double [num_sens][num_good][2];
for (int nsens = 0; nsens < num_sens; nsens++) {
int indx = 0;
for (int i = 0; i < len; i++) if (good_pix[i]){
pa_data[nsens][indx][0] = raw[nsens][i]; // dpixels[nsens][i];
pa_data[nsens][indx][1] = avg_pix[i]; pa_data[nsens][indx][1] = avg_pix[i];
indx++; indx++;
} }
...@@ -2573,7 +2645,12 @@ public class QuadCLT extends QuadCLTCPU { ...@@ -2573,7 +2645,12 @@ public class QuadCLT extends QuadCLTCPU {
double A = a; double A = a;
double C = -c/b; double C = -c/b;
if (Math.abs(a) >= min_abs_a) { if (Math.abs(a) >= min_abs_a) {
C = (-b + Math.sqrt(b*b - 4*a*c))/(2 * a); double d2 = b*b - 4*a*c;
if (d2 < 0) {
System.out.println("calibratePhotometric2() 1: Failed quadratic: a = "+a+", b = "+b+", c="+c);
return false;
}
C = (-b + Math.sqrt(d2))/(2 * a);
} }
double B = 2 * C * a + b; double B = 2 * C * a + b;
scales2_new[nsens] = A; scales2_new[nsens] = A;
...@@ -2594,6 +2671,14 @@ public class QuadCLT extends QuadCLTCPU { ...@@ -2594,6 +2671,14 @@ public class QuadCLT extends QuadCLTCPU {
pa_data[nsens][i][1] /= scales_avg; pa_data[nsens][i][1] /= scales_avg;
} }
} }
for (int i = 0; i < avg_pix.length; i++) { // for the next iteration
avg_pix[i] /= scales_avg;
}
//avg_pix[i]
if (debug) {
System.out.println ("scales_avg = "+scales_avg+", nref = "+nref);
}
} }
// make scales2 be average zero, re-run scales // make scales2 be average zero, re-run scales
if (photo_order > 1) { if (photo_order > 1) {
...@@ -2606,10 +2691,15 @@ public class QuadCLT extends QuadCLTCPU { ...@@ -2606,10 +2691,15 @@ public class QuadCLT extends QuadCLTCPU {
scales2_new[nsens] -= scales2_offset; scales2_new[nsens] -= scales2_offset;
} }
// modify pa_data, re-run linear // modify pa_data, re-run linear
for (int nsens = 0; nsens < num_sens; nsens++) { for (int nsens = 0; nsens < num_sens; nsens++) {
for (int i = 0; i < num_good; i++) { int indx = 0;
double poffs = pa_data[nsens][i][0] - offs_new[nsens]; // for (int i = 0; i < num_good; i++) {
pa_data[nsens][i][1] -=poffs*poffs*scales2_new[nsens]; for (int i = 0; i < avg_pix.length; i++) if (good_pix[i]){
double poffs = pa_data[nsens][indx][0] - offs_new[nsens];
pa_data[nsens][indx][1] -= poffs*poffs*scales2_new[nsens];
// avg_pix[i] -= poffs*poffs*scales2_offset/num_sens; // for the next iteration
indx++;
} }
pa_coeff[nsens] =(new PolynomialApproximation(0)).polynomialApproximation1d( pa_coeff[nsens] =(new PolynomialApproximation(0)).polynomialApproximation1d(
pa_data[nsens], 1); pa_data[nsens], 1);
...@@ -2618,7 +2708,48 @@ public class QuadCLT extends QuadCLTCPU { ...@@ -2618,7 +2708,48 @@ public class QuadCLT extends QuadCLTCPU {
scales_new [nsens] = b; scales_new [nsens] = b;
offs_new[nsens] = -c/b; offs_new[nsens] = -c/b;
} }
// re-normalize scales_new
double scales_avg = 1.0;
for (int nsens = 0; nsens < num_sens; nsens++) {
scales_avg *= scales_new [nsens];
} }
scales_avg = Math.pow(scales_avg, 1.0/num_sens);
for (int nsens = 0; nsens < num_sens; nsens++) {
scales_new [nsens] /= scales_avg;
scales2_new [nsens] /= scales_avg;
for (int i = 0; i < num_good; i++) {
pa_data[nsens][i][1] /= scales_avg;
}
}
for (int i = 0; i < avg_pix.length; i++) { // for the next iteration
avg_pix[i] /= scales_avg;
}
//avg_pix[i]
if (debug) {
System.out.println ("normalization after quadratic: scales_avg = "+scales_avg+", nref = "+nref);
}
}
// update offsets if set_offs
if (set_offs) {
double wa = 0.0;
for (int nsens = 0; nsens < num_sens; nsens++) {
wa += offs_new[nsens] * scales_new [nsens];
}
wa /= num_sens;
double a = wavg_offs - wa;
for (int nsens = 0; nsens < num_sens; nsens++) {
offs_new[nsens] += a/scales_new [nsens];
}
for (int i = 0; i < avg_pix.length; i++) if (good_pix[i]){
avg_pix[i] -= a;
}
if (debug) {
System.out.println ("calibratePhotometric2(): wa = "+wa+", a="+a);
}
}
if (true) { // debug) { during debug, if (true) { // debug) { during debug,
System.out.println("DEBUG: calibratePhotometric() nref="+nref); System.out.println("DEBUG: calibratePhotometric() nref="+nref);
......
src/main/java/com/elphel/imagej/tileprocessor/TwoQuadCLT.java
View file @ 951a84a6
...@@ -8798,6 +8798,10 @@ if (debugLevel > -100) return true; // temporarily ! ...@@ -8798,6 +8798,10 @@ if (debugLevel > -100) return true; // temporarily !
} }
double pts_scale = clt_parameters.imp.video_fps/clt_parameters.imp.sensor_fps; double pts_scale = clt_parameters.imp.video_fps/clt_parameters.imp.sensor_fps;
String shellCommand; 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 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)); int padded_width= 16* ( (int) Math.round((this_stereo_width + stereo_gap) * stereo_phone_width/stereo_intereye/32));
shellCommand = String.format( shellCommand = String.format(
......
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