added/tested adding final links after planes smooth (9cfff83b) · Commits · Elphel / imagej-elphel

src/main/java/EyesisCorrectionParameters.java

+32 −5

Original line number	Original line	Diff line number	Diff line
	@@ -2202,6 +2202,12 @@ public class EyesisCorrectionParameters {
	public boolean plConflSngl = true; // Only merge conflicting planes if this is the only conflicting pair in the supertile		public boolean plConflSngl = true; // Only merge conflicting planes if this is the only conflicting pair in the supertile
	public boolean plConflSnglPair = true; // Only merge conflicting planes only if there are just two planes in the supertile		public boolean plConflSnglPair = true; // Only merge conflicting planes only if there are just two planes in the supertile

			public double plThickWorld = 0.2; // Maximal real-world thickness of merged overlapping planes (meters)
			public double plThickWorldConfl = 0.4; // Maximal real-world merged thickness for conflicting planes
			public double plRelaxComplete = 1.5; // Relax cost requirements when adding exclusive links to complete squares and triangles
			public double plRelaxComplete2 = 2.0; // Relax cost requirements during the second pass


	public double plMaxZRatio = 2.0; // Maximal ratio of Z to allow plane merging		public double plMaxZRatio = 2.0; // Maximal ratio of Z to allow plane merging
	public double plMaxDisp = 0.6; // Maximal disparity of one of the planes to apply maximal ratio		public double plMaxDisp = 0.6; // Maximal disparity of one of the planes to apply maximal ratio
	public double plCutTail = 1.4; // When merging with neighbors cut the tail that is worse than scaled best		public double plCutTail = 1.4; // When merging with neighbors cut the tail that is worse than scaled best
	@@ -2256,6 +2262,7 @@ public class EyesisCorrectionParameters {
	public boolean plMutualOnly = true; // keep only mutual links, remove weakest if conflict		public boolean plMutualOnly = true; // keep only mutual links, remove weakest if conflict
	public boolean plFillSquares = true; // Add diagonals to full squares		public boolean plFillSquares = true; // Add diagonals to full squares
	public boolean plCutCorners = true; // Add ortho to 45-degree corners		public boolean plCutCorners = true; // Add ortho to 45-degree corners
			public boolean plHypotenuse = true; // Add hypotenuse connection if both legs exist

	public double plPull = 5.0; // .3; // Relative weight of original (measured) plane compared to average neighbor pull		public double plPull = 5.0; // .3; // Relative weight of original (measured) plane compared to average neighbor pull
	// when combing with neighbors		// when combing with neighbors
	@@ -2626,6 +2633,10 @@ public class EyesisCorrectionParameters {
	properties.setProperty(prefix+"plConflRelax", this.plConflRelax +"");		properties.setProperty(prefix+"plConflRelax", this.plConflRelax +"");
	properties.setProperty(prefix+"plConflSngl", this.plConflSngl+"");		properties.setProperty(prefix+"plConflSngl", this.plConflSngl+"");
	properties.setProperty(prefix+"plConflSnglPair", this.plConflSnglPair+"");		properties.setProperty(prefix+"plConflSnglPair", this.plConflSnglPair+"");
			properties.setProperty(prefix+"plThickWorld", this.plThickWorld +"");
			properties.setProperty(prefix+"plThickWorldConfl",this.plThickWorldConfl +"");
			properties.setProperty(prefix+"plRelaxComplete", this.plRelaxComplete +"");
			properties.setProperty(prefix+"plRelaxComplete2", this.plRelaxComplete2 +"");

	properties.setProperty(prefix+"plMaxZRatio", this.plMaxZRatio +"");		properties.setProperty(prefix+"plMaxZRatio", this.plMaxZRatio +"");
	properties.setProperty(prefix+"plMaxDisp", this.plMaxDisp +"");		properties.setProperty(prefix+"plMaxDisp", this.plMaxDisp +"");
	@@ -2676,6 +2687,7 @@ public class EyesisCorrectionParameters {
	properties.setProperty(prefix+"plMutualOnly", this.plMutualOnly+"");		properties.setProperty(prefix+"plMutualOnly", this.plMutualOnly+"");
	properties.setProperty(prefix+"plFillSquares", this.plFillSquares+"");		properties.setProperty(prefix+"plFillSquares", this.plFillSquares+"");
	properties.setProperty(prefix+"plCutCorners", this.plCutCorners+"");		properties.setProperty(prefix+"plCutCorners", this.plCutCorners+"");
			properties.setProperty(prefix+"plHypotenuse", this.plHypotenuse+"");
	properties.setProperty(prefix+"plPull", this.plPull +"");		properties.setProperty(prefix+"plPull", this.plPull +"");
	properties.setProperty(prefix+"plNormPow", this.plNormPow +"");		properties.setProperty(prefix+"plNormPow", this.plNormPow +"");
	properties.setProperty(prefix+"plIterations", this.plIterations+"");		properties.setProperty(prefix+"plIterations", this.plIterations+"");
	@@ -3026,6 +3038,10 @@ public class EyesisCorrectionParameters {
	if (properties.getProperty(prefix+"plConflRelax")!=null) this.plConflRelax=Double.parseDouble(properties.getProperty(prefix+"plConflRelax"));		if (properties.getProperty(prefix+"plConflRelax")!=null) this.plConflRelax=Double.parseDouble(properties.getProperty(prefix+"plConflRelax"));
	if (properties.getProperty(prefix+"plConflSngl")!=null) this.plConflSngl=Boolean.parseBoolean(properties.getProperty(prefix+"plConflSngl"));		if (properties.getProperty(prefix+"plConflSngl")!=null) this.plConflSngl=Boolean.parseBoolean(properties.getProperty(prefix+"plConflSngl"));
	if (properties.getProperty(prefix+"plConflSnglPair")!=null) this.plConflSnglPair=Boolean.parseBoolean(properties.getProperty(prefix+"plConflSnglPair"));		if (properties.getProperty(prefix+"plConflSnglPair")!=null) this.plConflSnglPair=Boolean.parseBoolean(properties.getProperty(prefix+"plConflSnglPair"));
			if (properties.getProperty(prefix+"plThickWorld")!=null) this.plThickWorld=Double.parseDouble(properties.getProperty(prefix+"plThickWorld"));
			if (properties.getProperty(prefix+"plThickWorldConfl")!=null) this.plThickWorldConfl=Double.parseDouble(properties.getProperty(prefix+"plThickWorldConfl"));
			if (properties.getProperty(prefix+"plRelaxComplete")!=null) this.plRelaxComplete=Double.parseDouble(properties.getProperty(prefix+"plRelaxComplete"));
			if (properties.getProperty(prefix+"plRelaxComplete2")!=null) this.plRelaxComplete2=Double.parseDouble(properties.getProperty(prefix+"plRelaxComplete2"));

	if (properties.getProperty(prefix+"plMaxZRatio")!=null) this.plMaxZRatio=Double.parseDouble(properties.getProperty(prefix+"plMaxZRatio"));		if (properties.getProperty(prefix+"plMaxZRatio")!=null) this.plMaxZRatio=Double.parseDouble(properties.getProperty(prefix+"plMaxZRatio"));
	if (properties.getProperty(prefix+"plMaxDisp")!=null) this.plMaxDisp=Double.parseDouble(properties.getProperty(prefix+"plMaxDisp"));		if (properties.getProperty(prefix+"plMaxDisp")!=null) this.plMaxDisp=Double.parseDouble(properties.getProperty(prefix+"plMaxDisp"));
	@@ -3076,6 +3092,7 @@ public class EyesisCorrectionParameters {
	if (properties.getProperty(prefix+"plMutualOnly")!=null) this.plMutualOnly=Boolean.parseBoolean(properties.getProperty(prefix+"plMutualOnly"));		if (properties.getProperty(prefix+"plMutualOnly")!=null) this.plMutualOnly=Boolean.parseBoolean(properties.getProperty(prefix+"plMutualOnly"));
	if (properties.getProperty(prefix+"plFillSquares")!=null) this.plFillSquares=Boolean.parseBoolean(properties.getProperty(prefix+"plFillSquares"));		if (properties.getProperty(prefix+"plFillSquares")!=null) this.plFillSquares=Boolean.parseBoolean(properties.getProperty(prefix+"plFillSquares"));
	if (properties.getProperty(prefix+"plCutCorners")!=null) this.plCutCorners=Boolean.parseBoolean(properties.getProperty(prefix+"plCutCorners"));		if (properties.getProperty(prefix+"plCutCorners")!=null) this.plCutCorners=Boolean.parseBoolean(properties.getProperty(prefix+"plCutCorners"));
			if (properties.getProperty(prefix+"plHypotenuse")!=null) this.plHypotenuse=Boolean.parseBoolean(properties.getProperty(prefix+"plHypotenuse"));

	if (properties.getProperty(prefix+"plPull")!=null) this.plPull=Double.parseDouble(properties.getProperty(prefix+"plPull"));		if (properties.getProperty(prefix+"plPull")!=null) this.plPull=Double.parseDouble(properties.getProperty(prefix+"plPull"));
	if (properties.getProperty(prefix+"plNormPow")!=null) this.plNormPow=Double.parseDouble(properties.getProperty(prefix+"plNormPow"));		if (properties.getProperty(prefix+"plNormPow")!=null) this.plNormPow=Double.parseDouble(properties.getProperty(prefix+"plNormPow"));
	@@ -3455,6 +3472,10 @@ public class EyesisCorrectionParameters {
	gd.addNumericField("Scale parameters to relax planes fit for merging conflicting planes", this.plConflRelax, 6);		gd.addNumericField("Scale parameters to relax planes fit for merging conflicting planes", this.plConflRelax, 6);
	gd.addCheckbox ("Only merge conflicting planes if this is the only conflicting pair in the supertile", this.plConflSngl);		gd.addCheckbox ("Only merge conflicting planes if this is the only conflicting pair in the supertile", this.plConflSngl);
	gd.addCheckbox ("Only merge conflicting planes only if there are just two planes in the supertile", this.plConflSnglPair);		gd.addCheckbox ("Only merge conflicting planes only if there are just two planes in the supertile", this.plConflSnglPair);
			gd.addNumericField("Maximal real-world thickness of merged overlapping planes (meters)", this.plThickWorld, 6);
			gd.addNumericField("Maximal real-world merged thickness for conflicting planes", this.plThickWorldConfl, 6);
			gd.addNumericField("Relax cost requirements when adding exclusive links to complete squares and triangles",this.plRelaxComplete, 6);
			gd.addNumericField("Relax cost requirements more during the second pass", this.plRelaxComplete2, 6);

	gd.addMessage ("--- ---");		gd.addMessage ("--- ---");
	gd.addNumericField("Maximal ratio of Z to allow plane merging", this.plMaxZRatio, 6);		gd.addNumericField("Maximal ratio of Z to allow plane merging", this.plMaxZRatio, 6);
	@@ -3509,6 +3530,7 @@ public class EyesisCorrectionParameters {

	gd.addCheckbox ("Add diagonals to full squares", this.plFillSquares);		gd.addCheckbox ("Add diagonals to full squares", this.plFillSquares);
	gd.addCheckbox ("Add ortho to 45-degree corners", this.plCutCorners);		gd.addCheckbox ("Add ortho to 45-degree corners", this.plCutCorners);
			gd.addCheckbox ("Add hypotenuse connection if both legs exist", this.plHypotenuse);

	gd.addNumericField("Relative (to average neighbor) weight of the measured plane when combing with neighbors", this.plPull, 6);		gd.addNumericField("Relative (to average neighbor) weight of the measured plane when combing with neighbors", this.plPull, 6);
	gd.addNumericField("0.0: 8 neighbors pull 8 times as 1, 1.0 - same as 1", this.plNormPow, 6);		gd.addNumericField("0.0: 8 neighbors pull 8 times as 1, 1.0 - same as 1", this.plNormPow, 6);
	@@ -3871,6 +3893,10 @@ public class EyesisCorrectionParameters {
	this.plConflRelax= gd.getNextNumber();		this.plConflRelax= gd.getNextNumber();
	this.plConflSngl= gd.getNextBoolean();		this.plConflSngl= gd.getNextBoolean();
	this.plConflSnglPair= gd.getNextBoolean();		this.plConflSnglPair= gd.getNextBoolean();
			this.plThickWorld= gd.getNextNumber();
			this.plThickWorldConfl= gd.getNextNumber();
			this.plRelaxComplete= gd.getNextNumber();
			this.plRelaxComplete2= gd.getNextNumber();

	this.plMaxZRatio= gd.getNextNumber();		this.plMaxZRatio= gd.getNextNumber();
	this.plMaxDisp= gd.getNextNumber();		this.plMaxDisp= gd.getNextNumber();
	@@ -3922,6 +3948,7 @@ public class EyesisCorrectionParameters {

	this.plFillSquares= gd.getNextBoolean();		this.plFillSquares= gd.getNextBoolean();
	this.plCutCorners= gd.getNextBoolean();		this.plCutCorners= gd.getNextBoolean();
			this.plHypotenuse= gd.getNextBoolean();

	this.plPull= gd.getNextNumber();		this.plPull= gd.getNextNumber();
	this.plNormPow= gd.getNextNumber();		this.plNormPow= gd.getNextNumber();

src/main/java/LinkPlanes.java

+589 −12

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src/main/java/QuadCLT.java

+70 −19

Original line number	Original line	Diff line number	Diff line
	@@ -5508,11 +5508,16 @@ public class QuadCLT {
	int debugLevel		int debugLevel
	)		)
	{		{
			final boolean new_mode = false;



	final int tilesX = tp.getTilesX();		final int tilesX = tp.getTilesX();
	final int tilesY = tp.getTilesY();		final int tilesY = tp.getTilesY();
	showDoubleFloatArrays sdfa_instance = null;		showDoubleFloatArrays sdfa_instance = null;

	if (clt_parameters.debug_filters && (debugLevel > -1)) sdfa_instance = new showDoubleFloatArrays(); // just for debugging?		if (clt_parameters.debug_filters && (debugLevel > -1))
			sdfa_instance = new showDoubleFloatArrays(); // just for debugging?

	CLTPass3d bgnd_data = tp.clt_3d_passes.get(0);		CLTPass3d bgnd_data = tp.clt_3d_passes.get(0);
	double [][][][] texture_tiles = bgnd_data.texture_tiles;		double [][][][] texture_tiles = bgnd_data.texture_tiles;
	@@ -5527,6 +5532,26 @@ public class QuadCLT {
	disparity_index, // index of disparity value in disparity_map == 2 (0,2 or 4)		disparity_index, // index of disparity value in disparity_map == 2 (0,2 or 4)
	clt_parameters.show_bgnd_nonbgnd,		clt_parameters.show_bgnd_nonbgnd,
	(clt_parameters.debug_filters ? (debugLevel) : -1));		(clt_parameters.debug_filters ? (debugLevel) : -1));
			boolean [] bgnd_tiles_new = tp.getBackgroundMask_new( // which tiles do belong to the background
			clt_parameters.bgnd_range, // disparity range to be considered background
			clt_parameters.bgnd_sure, // minimal strength to be considered definitely background
			clt_parameters.bgnd_maybe, // maximal strength to ignore as non-background
			clt_parameters.sure_smth, // if 2-nd worst image difference (noise-normalized) exceeds this - do not propagate bgnd
			clt_parameters.min_clstr_seed, // number of tiles in a cluster to seed (just background?)
			clt_parameters.min_clstr_block,// number of tiles in a cluster to block (just non-background?)
			disparity_index, // index of disparity value in disparity_map == 2 (0,2 or 4)
			clt_parameters.show_bgnd_nonbgnd,
			(clt_parameters.debug_filters ? (debugLevel) : -1));
			boolean [] bgnd_dbg = bgnd_tiles.clone(); // only these have non 0 alpha
			// TODO: fix mess - after modifying getBackgroundMask() to getBackgroundMask_new (before road with tractor was identified as a background because of a double
			// tile glitch, the background was wrong. So temporarily both old/new are used and combined (new is grown twice)
			// still does not work - using old variant for now

			// background selections (slightly) influences the plane mertging / connections

			for (int i = 0; i < bgnd_tiles.length; i++){
			// bgnd_tiles[i] &= bgnd_tiles_new[i];
			}
	boolean [] bgnd_strict = bgnd_tiles.clone(); // only these have non 0 alpha		boolean [] bgnd_strict = bgnd_tiles.clone(); // only these have non 0 alpha
	tp.growTiles(		tp.growTiles(
	clt_parameters.bgnd_grow, // grow tile selection by 1 over non-background tiles 1: 4 directions, 2 - 8 directions, 3 - 8 by 1, 4 by 1 more		clt_parameters.bgnd_grow, // grow tile selection by 1 over non-background tiles 1: 4 directions, 2 - 8 directions, 3 - 8 by 1, 4 by 1 more
	@@ -5538,25 +5563,50 @@ public class QuadCLT {
	bgnd_tiles,		bgnd_tiles,
	null); // prohibit		null); // prohibit

	bgnd_data.selected = bgnd_tiles_grown; // selected for background w/o extra transparent layer		// hacking - grow bgnd texture even more, without changing selection
			boolean [] bgnd_tiles_grown2 = bgnd_tiles_grown.clone(); // only these have non 0 alpha

			bgnd_data.selected = bgnd_tiles_grown; // selected for background w/o extra transparent layer
			tp.growTiles(
			2, // grow tile selection by 1 over non-background tiles 1: 4 directions, 2 - 8 directions, 3 - 8 by 1, 4 by 1 more
			bgnd_tiles_grown2,
			null); // prohibit
	if (sdfa_instance!=null){		if (sdfa_instance!=null){
	double [][] dbg_img = new double[3][tilesY * tilesX];		double [][] dbg_img = new double[5][tilesY * tilesX];
	String [] titles = {"strict","grown","more_grown"};		String [] titles = {"old","new","strict","grown","more_grown"};
	for (int i = 0; i<dbg_img[0].length;i++){		for (int i = 0; i<dbg_img[0].length;i++){
	dbg_img[0][i] = bgnd_strict[i]?1:0;		//
	dbg_img[1][i] = bgnd_tiles_grown[i]?1:0;		dbg_img[0][i] = bgnd_dbg[i]?1:0;
	dbg_img[2][i] = bgnd_tiles[i]?1:0;		dbg_img[1][i] = bgnd_tiles_new[i]?1:0;
			dbg_img[2][i] = bgnd_strict[i]?1:0;
			dbg_img[3][i] = bgnd_tiles_grown[i]?1:0;
			dbg_img[4][i] = bgnd_tiles[i]?1:0;
	}		}
	sdfa_instance.showArrays(dbg_img, tilesX, tilesY, true, "strict_grown",titles);		sdfa_instance.showArrays(dbg_img, tilesX, tilesY, true, "strict_grown",titles);
	}		}



	double [][][][] texture_tiles_bgnd = new double[tilesY][tilesX][][];		double [][][][] texture_tiles_bgnd = new double[tilesY][tilesX][][];
	double [] alpha_zero = new double [4clt_parameters.transform_sizeclt_parameters.transform_size];		double [] alpha_zero = new double [4clt_parameters.transform_sizeclt_parameters.transform_size];
	int alpha_index = 3;		int alpha_index = 3;
	for (int i = 0; i < alpha_zero.length; i++) alpha_zero[i]=0.0;		for (int i = 0; i < alpha_zero.length; i++) alpha_zero[i]=0.0;
			if (new_mode) {
			for (int tileY = 0; tileY < tilesY; tileY++){
			for (int tileX = 0; tileX < tilesX; tileX++){
			texture_tiles_bgnd[tileY][tileX]= null;
			if ((texture_tiles[tileY][tileX] != null) &&
			// bgnd_tiles[tileY * tilesX + tileX]) {
			bgnd_tiles_grown2[tileY * tilesX + tileX]) {
			// if (bgnd_tiles_grown[tileY * tilesX + tileX]) {
			if (bgnd_tiles[tileY * tilesX + tileX]) {
			texture_tiles_bgnd[tileY][tileX]= texture_tiles[tileY][tileX];
			}else{
			texture_tiles_bgnd[tileY][tileX]= texture_tiles[tileY][tileX].clone();
			texture_tiles_bgnd[tileY][tileX][alpha_index] = alpha_zero;
			}
			}
			}
			}
			} else {
	for (int tileY = 0; tileY < tilesY; tileY++){		for (int tileY = 0; tileY < tilesY; tileY++){
	for (int tileX = 0; tileX < tilesX; tileX++){		for (int tileX = 0; tileX < tilesX; tileX++){
	texture_tiles_bgnd[tileY][tileX]= null;		texture_tiles_bgnd[tileY][tileX]= null;
	@@ -5571,6 +5621,7 @@ public class QuadCLT {
	}		}
	}		}
	}		}
			}

	ImageDtt image_dtt = new ImageDtt();		ImageDtt image_dtt = new ImageDtt();
	double [][] texture_overlap = image_dtt.combineRGBATiles(		double [][] texture_overlap = image_dtt.combineRGBATiles(

src/main/java/SuperTiles.java

+0 −355

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src/main/java/TileProcessor.java

+339 −694

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