Started with dual-max (FG+BG, such as semi-transparent grass, bushes) (9fb7ab22) · Commits · Elphel / imagej-elphel

src/main/java/com/elphel/imagej/tileprocessor/Correlation2d.java

+42 −0

Original line number	Diff line number	Diff line
		@@ -2403,7 +2403,49 @@ public class Correlation2d {
		return rslt;
		}

		/**
		* Analyze 1d correlation (single centerline of the 3D phase correlation combined output
		* from all pairs or only diameters to detect double maximum (simultaneous FG+BG)
		* @param combo_corrs 2D phase correlation, now 15x15 = 255 pixels long
		* @param min_fraction minimal ratio of weaker maximum to the strongest
		* @return array of 1 or 2 {disparity, strength} pairs (zero pairs if no local max)
		*/
		public double [][] getDoublePoly(
		double [] combo_corrs,
		double min_fraction
		){
		int center_x = 2* (transform_size - 1) * transform_size; // 112
		int [] imx = new int[2];
		for (int i = center_x - transform_size + 2; i < center_x + transform_size - 1; i++) {
		double c = combo_corrs[i];
		if ((c > combo_corrs[i - 1]) && (c > combo_corrs[i + 1])) {
		if ((imx[0] == 0) \|\| (c > combo_corrs[imx[0]])) {
		imx[1] = imx[0];
		imx[0] = i;
		} else if ((imx[1] == 0) \|\| (c > combo_corrs[imx[1]])) {
		imx[1] = i;
		}
		i++; // skip next after max
		}
		}
		if (imx[0] == 0) return new double[0][];
		int nm = 1;
		if ((imx[1] > 0) && (combo_corrs[imx[1]]/combo_corrs[imx[0]] > min_fraction)) {
		nm++;
		}
		double [][] maxes = new double [nm][2];

		for (int i = 0; i < nm; i++) {
		double c = combo_corrs[imx[i]];
		double a = (combo_corrs[imx[i] + 1] + combo_corrs[imx[i] - 1]) / 2 - c;
		double b = (combo_corrs[imx[i] + 1] - combo_corrs[imx[i] - 1]);
		maxes[i][0] = imx[i]- center_x - 0.5 * b / a;
		maxes[i][1] = c - 0.25 * b * b / a;
		}
		return maxes;
		}

		//corr_size transform_size
		/**
		* Calculate 1-d maximum location, strength and half-width for the special strip (odd rows shifted by 0.5
		* Negative values are ignored!

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

+61 −5

Original line number	Diff line number	Diff line
		@@ -2303,7 +2303,7 @@ public class ImageDtt extends ImageDttCPU {
		final int threadsMax, // maximal number of threads to launch
		final int globalDebugLevel)
		{

		final boolean diameters_combo = (imgdtt_params.mcorr_dual_fract > 0.0); // add diameters-only combo after all-combo
		if (this.gpuQuad == null) {
		System.out.println("clt_aberrations_quad_corr_GPU(): this.gpuQuad is null, bailing out");
		return;
		@@ -2483,13 +2483,18 @@ public class ImageDtt extends ImageDttCPU {
		nTile = tileY * tilesX + tileX;
		if (tp_tasks[iTile].getTask() == 0) continue; // nothing to do for this tile
		boolean debugTile0 =(tileX == debug_tileX) && (tileY == debug_tileY) && (globalDebugLevel > 0);
		boolean debugTile1 =(tileX == debug_tileX) && (tileY == debug_tileY) && (globalDebugLevel > -10);
		if (debugTile0) {
		System.out.println("clt_process_tl_correlations(): tileX="+tileX+", tileY="+tileY+", iTile="+iTile+", nTile="+nTile);
		}
		// TODO: move port coordinates out of color channel loop
		// double [][] centersXY = tp_tasks[iTile].getDoubleXY(); // isAux());


		// Generate +1/+2
		double [][] disp_dist = tp_tasks[iTile].getDoubleDispDist();
		double [][] corrs = new double [correlation2d.getNumPairs() + (combine_corrs? 1 : 0)][]; // extra for combo "all"
		int num_combo = combine_corrs? (diameters_combo? 2 : 1) : 0;
		double [][] corrs = new double [correlation2d.getNumPairs() + num_combo][]; // extra for combo "all"
		// copy correlation tiles from the GPU's floating point arrays
		for (int ipair = 0; ipair < used_pairs_list.length; ipair++) {
		int pair = used_pairs_list[ipair];
		@@ -2511,7 +2516,8 @@ public class ImageDtt extends ImageDttCPU {
		double [] disp_str = {0.0, 0.0}; // disparity = 0 will be initial approximation for LMA if no averaging
		if (combine_corrs) {
		double [] corr_combo_tile = correlation2d.accumulateInit(); // combine all available pairs
		double sumw = 0.0;
		double [] corr_dia_tile = diameters_combo ? correlation2d.accumulateInit(): null; // combine diameters
		double sumw = 0.0, sumw_dia = 0.0;
		if (imgdtt_params.mcorr_static_weights \|\| imgdtt_params.mcorr_dynamic_weights) {
		double [] weights = new double [correlation2d.getNumPairs()];
		if (imgdtt_params.mcorr_static_weights) {
		@@ -2552,23 +2558,73 @@ public class ImageDtt extends ImageDttCPU {
		corr_combo_tile, // double [] accum_tile,
		corrs, // double [][] corr_tiles, may be longer than selection, extra will be ignored
		weights); // double [] weights);
		if (corr_dia_tile != null) {
		double [] weights_dia = weights.clone();
		boolean [] sel_dia = correlation2d.selectDiameters(null);
		for (int i= 0; i < sel_dia.length; i++) {
		if (!sel_dia[i]) {
		weights_dia[i] = 0.0;
		}
		}
		sumw_dia = correlation2d.accummulatePairs(
		corr_dia_tile, // double [] accum_tile,
		corrs, // double [][] corr_tiles, may be longer than selection, extra will be ignored
		weights_dia); // double [] weights);
		}
		} else { // old way, same weight for all pairs
		sumw = correlation2d.accummulatePairs(
		corr_combo_tile, // double [] accum_tile,
		corrs, // double [][] corr_tiles, may be longer than selection, extra will be ignored
		correlation2d.selectAll(), // boolean [] selection,
		1.0); // double weight);
		if (corr_dia_tile != null) {
		sumw_dia = correlation2d.accummulatePairs(
		corr_dia_tile, // double [] accum_tile,
		corrs, // double [][] corr_tiles, may be longer than selection, extra will be ignored
		correlation2d.selectDiameters(null), // boolean [] selection,
		1.0); // double weight);
		}
		}


		correlation2d.normalizeAccumulatedPairs(
		corr_combo_tile,
		sumw);
		// corrs[dcorr_td[iTile].length] = corr_combo_tile; // last element
		corrs[corrs.length -1] = corr_combo_tile; // last element

		// corrs[corrs.length -1] = corr_combo_tile; // last element
		corrs[correlation2d.getNumPairs()] = corr_combo_tile;
		if (corr_dia_tile != null) {
		correlation2d.normalizeAccumulatedPairs(
		corr_dia_tile,
		sumw_dia);
		corrs[correlation2d.getNumPairs()+1] = corr_dia_tile;
		}

		// copy to output for monitoring if non-null;
		if ((clt_corr_out != null) && (clt_corr_out.length > num_pairs)) {
		clt_corr_out[num_pairs][tileY][tileX] = corr_combo_tile;
		if ((clt_corr_out.length > (num_pairs+1)) && (corr_dia_tile != null)) {
		clt_corr_out[num_pairs + 1][tileY][tileX] = corr_dia_tile;
		}
		}
		// calculate 0,1, or 2 maximums
		if (debugTile1) {
		System.out.println("clt_process_tl_correlations(): debugTile1");
		}
		double [][] maxes = correlation2d.getDoublePoly(
		((corr_dia_tile != null) ? corr_dia_tile : corr_combo_tile), // double [] combo_corrs,
		imgdtt_params.mcorr_dual_fract); //double min_fraction
		// TODO: add corr layer - copy of combo with singles as nulls
		// if ((maxes.length < 2) && (clt_corr_out != null) && (clt_corr_out.length > num_pairs)) {
		if ((maxes.length < 2) && (corr_dia_tile!=null)) { //FIXME: Debug
		// corrs[correlation2d.getNumPairs()] = null; // temporarily keep only with pairs
		Arrays.fill(corrs[correlation2d.getNumPairs()+1], Double.NaN);
		}
		if (debugTile1) {
		System.out.println("clt_process_tl_correlations() maxes=");
		for (int i = 0; i < maxes.length; i++) {
		System.out.println(String.format("maxes[%d][0]=%f, maxes[%d][1]=%f", i, maxes[i][0], i, maxes[i][1]));
		}
		}
		if (disparity_map != null) {
		int [] ixy = correlation2d.getMaxXYInt( // find integer pair or null if below threshold // USED in lwir

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

+7 −0

Original line number	Diff line number	Diff line
		@@ -131,6 +131,7 @@ public class ImageDttParameters {
		public boolean mcorr_static_weights = true; // when mixing , apply static weights to pairs depending on their lengths
		public double mcorr_weights_power = 2.0; // divide pair by horizontal (disparity) width after rotation/scaling (skip negative when measuring width)
		public boolean mcorr_dynamic_weights = true; // Apply weights to pairs dependent on the width in disparity direction
		public double mcorr_dual_fract= 0.15; // Minimal relative strength of the second correlation maximum to treat as FG+BG

		/// these are just for testing, actual will be generated specifically for different applications (LY will use closest pairs)
		public int mcorr_comb_width = 15;
		@@ -557,6 +558,8 @@ public class ImageDttParameters {
		"Increase weight of pairs with linear features perpendicular to the base direction and long base pairs");
		gd.addCheckbox ("Apply dynaminc (feature-dependent) weights defined above", this.mcorr_dynamic_weights,
		"Calculate each pairs's width (in the disparity direction) after rotation/scaling and apply");
		gd.addNumericField("Minimal relative strength of the second maximum (0 - ignore)", this.mcorr_dual_fract, 3,6,"",
		"Minimal relative strength of the second correlation maximum to treat as FG+BG (0 - ignore dual maximums, no special treatment)");

		gd.addMessage("Generating grid for combining visualization, actual will be provided programmatically");
		gd.addNumericField("Width of a combined correlation tile", this.mcorr_comb_width, 0, 3, "pix",
		@@ -909,6 +912,7 @@ public class ImageDttParameters {
		this.mcorr_static_weights = gd.getNextBoolean();
		this.mcorr_weights_power= gd.getNextNumber();
		this.mcorr_dynamic_weights = gd.getNextBoolean();
		this.mcorr_dual_fract= gd.getNextNumber();

		this.mcorr_comb_width= (int) gd.getNextNumber();
		this.mcorr_comb_height=(int) gd.getNextNumber();
		@@ -1126,6 +1130,7 @@ public class ImageDttParameters {
		properties.setProperty(prefix+"mcorr_static_weights", this.mcorr_static_weights +"");
		properties.setProperty(prefix+"mcorr_weights_power", this.mcorr_weights_power +"");
		properties.setProperty(prefix+"mcorr_dynamic_weights",this.mcorr_dynamic_weights +"");
		properties.setProperty(prefix+"mcorr_dual_fract", this.mcorr_dual_fract +"");

		properties.setProperty(prefix+"mcorr_comb_width", this.mcorr_comb_width +"");
		properties.setProperty(prefix+"mcorr_comb_height", this.mcorr_comb_height +"");
		@@ -1349,6 +1354,7 @@ public class ImageDttParameters {
		if (properties.getProperty(prefix+"mcorr_static_weights")!=null) this.mcorr_static_weights=Boolean.parseBoolean(properties.getProperty(prefix+"mcorr_static_weights"));
		if (properties.getProperty(prefix+"mcorr_weights_power")!=null) this.mcorr_weights_power=Double.parseDouble(properties.getProperty(prefix+"mcorr_weights_power"));
		if (properties.getProperty(prefix+"mcorr_dynamic_weights")!=null)this.mcorr_dynamic_weights=Boolean.parseBoolean(properties.getProperty(prefix+"mcorr_dynamic_weights"));
		if (properties.getProperty(prefix+"mcorr_dual_fract")!=null) this.mcorr_dual_fract=Double.parseDouble(properties.getProperty(prefix+"mcorr_dual_fract"));

		if (properties.getProperty(prefix+"mcorr_comb_width")!=null) this.mcorr_comb_width=Integer.parseInt(properties.getProperty(prefix+"mcorr_comb_width"));
		if (properties.getProperty(prefix+"mcorr_comb_height")!=null) this.mcorr_comb_height=Integer.parseInt(properties.getProperty(prefix+"mcorr_comb_height"));
		@@ -1587,6 +1593,7 @@ public class ImageDttParameters {
		idp.mcorr_static_weights= this.mcorr_static_weights;
		idp.mcorr_weights_power= this.mcorr_weights_power;
		idp.mcorr_dynamic_weights= this.mcorr_dynamic_weights;
		idp.mcorr_dual_fract= this.mcorr_dual_fract;

		idp.mcorr_comb_width= this.mcorr_comb_width;
		idp.mcorr_comb_height= this.mcorr_comb_height;

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

+20 −17

Original line number	Diff line number	Diff line
		@@ -2590,7 +2590,7 @@ public class OpticalFlow {
		for (int indx = ai.getAndIncrement(); indx < pXpYD.length; indx = ai.getAndIncrement()) if (pXpYD[indx] != null) {
		int tx = (int)Math.round(pXpYD[indx][0]/tileSize);
		int ty = (int)Math.round(pXpYD[indx][1]/tileSize);
		if ((debug_level > 0) && (tx == dbg_tileX) && (ty == dbg_tileY)) {
		if ((debug_level > 0) && (indx == dbg_nTile)) { //(tx == dbg_tileX) && (ty == dbg_tileY)) {
		System.out.println("filterBG(): tx = "+tx+", ty="+ty+", indx="+indx);
		System.out.print("");
		}
		@@ -4873,7 +4873,7 @@ public class OpticalFlow {
		fs.saveAsTiff(file_path);
		System.out.println("intersceneExport(): saved "+file_path);
		}

		if (disparity_steps > 0) {
		String offsets_suffix = "-DISP_OFFSETS";
		if (randomize_offsets) {
		offsets_suffix+="-RND";
		@@ -4885,7 +4885,7 @@ public class OpticalFlow {
		all_offsets, // dbg_data, // double [][] data,
		tilesX, // int width,
		tilesY); // int height)

		}
		}

		/**
		@@ -6451,16 +6451,19 @@ public double[][] correlateIntersceneDebug( // only uses GPU and quad
		ref_scene); // final QuadCLT reference_QuadClt)

		double max_overlap = 0.6;
		double [] disparity_cam = null; // for now
		// double min_str_cam = 0.1;
		double min_adisp_cam = 0.2;
		double min_rdisp_cam = 0.03;

		double [][] scene_ds =conditionInitialDS(
		clt_parameters, // CLTParameters clt_parameters,
		scenes[nscene], // QuadCLT scene,
		-1); // int debug_level);
		double [] disparity_cam = scene_ds[0]; // null; // for now
		scene_pXpYD = filterBG (
		scenes[indx_ref].getTileProcessor(), // final TileProcessor tp,
		scene_pXpYD_prefilter, // final double [][] pXpYD,
		max_overlap, // final double max_overlap,
		disparity_cam, // final double [] disparity_cam,
		null, // disparity_cam, // final double [] disparity_cam,
		min_adisp_cam, // final double min_adisp_cam,
		min_rdisp_cam, // final double min_rdisp_cam,
		clt_parameters.tileX, // final int dbg_tileX,
		@@ -6663,7 +6666,7 @@ public double[][] correlateIntersceneDebug( // only uses GPU and quad
		}
		/// Runtime.getRuntime().gc();
		/// System.out.println("--- Free memory="+Runtime.getRuntime().freeMemory()+" (of "+Runtime.getRuntime().totalMemory()+")");
		// Normalize accumulated corelations
		// Normalize accumulated correlations
		if (ref_scene.hasGPU()) {
		accumulateCorrelationsAcOnly(
		num_acc, // final int [][][] num_acc, // number of accumulated tiles [tilesY][tilesX][pair]

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

+3 −0

Original line number	Diff line number	Diff line
		@@ -9104,6 +9104,9 @@ if (debugLevel > -100) return true; // temporarily !
		colorProcParameters, // ColorProcParameters colorProcParameters,
		clt_parameters.inp.noise_debug_level // clt_parameters.ofp.debug_level_optical - 1); // 1); // -1); // int debug_level);
		);
		if (ref_step == 0) {
		break;
		}
		}
		System.out.println("End of interIntraExportML()");
		}

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