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imagej-elphel
Commit 9fb7ab22 authored by Andrey Filippov's avatar Andrey Filippov
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Started with dual-max (FG+BG, such as semi-transparent grass, bushes)

parent fd67c744
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Showing with 133 additions and 22 deletions
src/main/java/com/elphel/imagej/tileprocessor/Correlation2d.java
View file @ 9fb7ab22
......@@ -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
View file @ 9fb7ab22
......@@ -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
View file @ 9fb7ab22
......@@ -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
View file @ 9fb7ab22
......@@ -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("");
}
......@@ -4873,19 +4873,19 @@ public class OpticalFlow {
fs.saveAsTiff(file_path);
System.out.println("intersceneExport(): saved "+file_path);
}
String offsets_suffix = "-DISP_OFFSETS";
if (randomize_offsets) {
offsets_suffix+="-RND";
}
if (disparity_steps > 0) {
String offsets_suffix = "-DISP_OFFSETS";
if (randomize_offsets) {
offsets_suffix+="-RND";
}
ref_scene.saveDoubleArrayInModelDirectory(
offsets_suffix, // String suffix,
soffset_centers, // null, // String [] labels, // or null
all_offsets, // dbg_data, // double [][] data,
tilesX, // int width,
tilesY); // int height)
ref_scene.saveDoubleArrayInModelDirectory(
offsets_suffix, // String suffix,
soffset_centers, // null, // String [] labels, // or null
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
View file @ 9fb7ab22
......@@ -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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