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imagej-elphel
Commit ab99e29d authored by Andrey Filippov's avatar Andrey Filippov
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Created consolidated texture clusters

parent ca08b513
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Showing with 130 additions and 20 deletions
src/main/java/com/elphel/imagej/tileprocessor/OpticalFlow.java
View file @ ab99e29d
......@@ -5380,10 +5380,10 @@ public class OpticalFlow {
// debugging 3D model
boolean build_textured3d = true;
double textured_disp_adiffo = 0.3;
double textured_disp_rdiffo = 0.1;
double textured_disp_adiffd = 0.4;
double textured_disp_rdiffd = 0.12;
double textured_disp_adiffo = 0.35; // 0.3;
double textured_disp_rdiffo = 0.12; // 0.1;
double textured_disp_adiffd = 0.6; // 0.4;
double textured_disp_rdiffd = 0.18; // 0.12;
double textured_disp_fof = 1.5;
double min_fg_bg = 0.1; // NaN bg if difference from FG < this
......
src/main/java/com/elphel/imagej/tileprocessor/TexturedModel.java
View file @ ab99e29d
......@@ -35,10 +35,15 @@ public class TexturedModel {
public static final int threadsMax = 100; // maximal number of threads to launch
public static final int TILE_EMPTY = 0;
public static final int TILE_BORDER = 1;
public static final int TILE_CONFIRMED = 2;
public static final int TILE_CANDIDATE = 3; // not used
public static final int TILE_BORDER_FLOAT = 2;
public static final int TILE_CONFIRMED = 3;
public static final int TILE_CANDIDATE = 4; // not used
public static final int CLUSTER_NAN = -2; // disparity is NaN
public static final int CLUSTER_UNASSIGNED = -1; // not yet assinged (>=0 - cluster number)
public static final int CLUSTER_UNASSIGNED = -1; // not yet assinged (>=0 - cluster number)
public static boolean isBorder(int d) {
return (d==TILE_BORDER) || (d==TILE_BORDER_FLOAT);
}
public static TileCluster [] clusterizeFgBg( //
final int tilesX,
......@@ -73,7 +78,7 @@ public class TexturedModel {
}
}
final int dbg_tile = (debugLevel>0)? 977 : -1;
final int dbg_tile = (debugLevel>0)? 2021:-1; // 977 : -1;
for (int ithread = 0; ithread < threads.length; ithread++) {
threads[ithread] = new Thread() {
public void run() {
......@@ -208,6 +213,7 @@ public class TexturedModel {
int [] tile_stat = new int [tiles];
// int [] tile_layer = new int [tiles]; // just to know which layer was used for assigned tiles
// int current_cluster = 0;
final boolean debug_index = debugLevel > 0;
while (true) {
// find remaining tile with maximal number of neighbors (usually 8) - this will require num_neibs update
......@@ -232,6 +238,9 @@ public class TexturedModel {
}
}
}
if (best_tile == dbg_tile) {
System.out.println("clusterizeFgBg().4: best_tile="+best_tile);
}
tile_start = best_tile; // will start from this
if (nn == 0) { // no even single-tile clusters are left
break; // no more seeds for clusters
......@@ -250,23 +259,28 @@ public class TexturedModel {
boolean confirm = false;
disparity[tile] = disparities[layer][tile];
if (tn.isBorder(tile)) {
tile_stat[tile] = TILE_BORDER;
tile_stat[tile] = TILE_BORDER_FLOAT; // TILE_BORDER;
if (Double.isNaN(disparity[tile])) {
System.out.println("clusterizeFgBg(): 4. Disparity is set NaN for tile "+tile);
}
} else {
confirm = true;
for (int dir = 0; dir < TileNeibs.DIRS; dir++) {
int tile1 = tn.getNeibIndex(tile, dir); // should always be > 0 here
//is it a border tile or already confirmed one ?
if ((tile_stat[tile1] == TILE_BORDER) || (tile_stat[tile1] == TILE_CONFIRMED)){
// if ((tile_stat[tile1] == TILE_BORDER) || (tile_stat[tile1] == TILE_CONFIRMED)){
if (isBorder(tile_stat[tile1]) || (tile_stat[tile1] == TILE_CONFIRMED)){
double mid_disp = Math.max(0.0, 0.5*(disparities[layer][tile] + disparity[tile1]));
double max_disp_diff = ((dir & 1) == 0) ?
(disp_adiffo + mid_disp * disp_rdiffo) :
(disp_adiffd + mid_disp * disp_rdiffd);
max_disp_diff *= (tile_stat[tile1] == TILE_BORDER)? disp_border : disp_fof;
// max_disp_diff *= (tile_stat[tile1] == TILE_BORDER)? disp_border : disp_fof;
max_disp_diff *= isBorder(tile_stat[tile1])? disp_border : disp_fof;
if ((Math.abs(disparities[layer][tile] - disparity[tile1])/max_disp_diff) > 1.0){
confirm = false;// too large diff
// make it a border tile, but keep disparity
// disparity[tile] = disparities[layer][tile];
tile_stat[tile] = TILE_BORDER;
tile_stat[tile] = TILE_BORDER_FLOAT; // TILE_BORDER;
break;
}
}
......@@ -277,6 +291,9 @@ public class TexturedModel {
System.out.println("Confirmed tile "+tile+ " (x="+(tile%tilesX)+", y="+(tile/tilesX)+") -> "+tile_stat[tile]);
}
tile_stat[tile] = TILE_CONFIRMED;
if (Double.isNaN(disparity[tile])) {
System.out.println("clusterizeFgBg(): 5. Disparity is set NaN for tile "+tile);
}
ncluster[tile][layer] = cluster_list.size(); // current cluster number - Mark as assigned
// tile_layer[tile] = layer;
// right here - update number of neighbors for used tile
......@@ -319,15 +336,24 @@ public class TexturedModel {
}
}
if (layer_assigned >= 0) { // already assigned to some cluster that was split
tile_stat[tile1] = TILE_BORDER;
disparity[tile1] = disparities[layer_assigned][tile]; // Use interrupted cluster disparity
tile_stat[tile1] = TILE_BORDER; // here - fixed disparity, not float
disparity[tile1] = disparities[layer_assigned][tile1]; // [tile]; // Use interrupted cluster disparity
if (Double.isNaN(disparity[tile1])) {
System.out.println("clusterizeFgBg(): *1. Disparity is set NaN for tile "+tile1);
}
} else if ((layer1 < 0) || (connections[tile][layer][dir][layer1] > 1.0)) { // no connections in this direction - add border using same disparity as this tile
if (tile_stat[tile1] == TILE_EMPTY) { // not yet set (otherwise keep)
tile_stat[tile1] = TILE_BORDER;
tile_stat[tile1] = TILE_BORDER_FLOAT; //TILE_BORDER;
disparity[tile1] = disparity[tile];
if (Double.isNaN(disparity[tile1])) {
System.out.println("clusterizeFgBg(): 2. Disparity is set NaN for tile "+tile1);
}
}
} else { // connection exists, add tile1/layer1 as a candidate to the list
tile_stat[tile1] = TILE_CANDIDATE; // to avoid suggesting the same tile multiple times
if (Double.isNaN(disparity[tile1])) {
System.out.println("clusterizeFgBg(): *3. Disparity is set NaN for tile "+tile1);
}
tile_layer_list.add(new Point(tile1, layer1));
}
}
......@@ -354,17 +380,41 @@ public class TexturedModel {
Rectangle bounds = new Rectangle(min_x, min_y, width, height);
double [] disparity_crop = new double [width * height];
boolean [] border_crop = new boolean [width * height];
boolean [] border_crop = new boolean [width * height];
double [] wdir = {1.0,0.7,1.0,0.7,1.0,0.7,1.0,0.7}; // weights for directions
for (int dty = 0; dty < height; dty++) {
int ty = min_y + dty;
for (int dtx = 0; dtx < width; dtx++) {
int tdest = dty*width + dtx;
int tsrc = ty * tilesX + min_x + dtx;
border_crop[tdest] = tile_stat[tsrc] == TILE_BORDER;
// replace disparity for the floating border tiles with the weighted average of non-floating
if (tile_stat[tsrc] == TILE_BORDER_FLOAT) { // average disparity from non-float defined tiles
// TODO: use best plane fit (for gradients)
// TODO: remove some "inner" border tiles?
double sw = 0.0;
double swd = 0.0;
for (int dir = 0; dir < TileNeibs.DIRS; dir++) {
int tile1 = tn.getNeibIndex(tsrc, dir); // should always be > 0 here
if (tile1 >= 0) {
if ((tile_stat[tile1] == TILE_BORDER) || (tile_stat[tile1] == TILE_CONFIRMED)) {
sw += wdir[dir];
swd += wdir[dir] * disparity[tile1];
}
}
}
if (sw > 0.0) {
disparity[tsrc] = swd/sw;
}
}
border_crop[tdest] = isBorder(tile_stat[tsrc]); // == TILE_BORDER;
disparity_crop[tdest] = (tile_stat[tsrc] == TILE_EMPTY) ? Double.NaN : disparity[tsrc];
}
}
TileCluster tileCluster = (new TileCluster(bounds, border_crop, disparity_crop));
TileCluster tileCluster = (new TileCluster(
bounds,
(debug_index? cluster_list.size(): -1),
border_crop,
disparity_crop));
cluster_list.add(tileCluster);
// update
......@@ -410,7 +460,11 @@ public class TexturedModel {
TileCluster [] consolidated_clusters = new TileCluster[this_combo];
Rectangle full_tiles = new Rectangle(0, 0, tilesX, tilesY);
for (int i = 0; i < this_combo; i++) {
consolidated_clusters[i] = new TileCluster(full_tiles, null, null);
consolidated_clusters[i] = new TileCluster(
full_tiles,
(debug_index? 0:-1),
null,
null);
}
for (int i = 0; i < comb_clusters.length; i++) {
consolidated_clusters[comb_clusters[i]].add(cluster_list.get(i));
......@@ -419,10 +473,18 @@ public class TexturedModel {
if (debugLevel > 0) {
double [][] dbg_img = new double[this_combo][tiles];
double [][] dbg_borders = new double[this_combo][tiles];
double [][] dbg_index = null;
if (debug_index) {
dbg_index = new double[this_combo][tiles];
}
for (int n = 0; n < dbg_img.length; n++) {
for (int i = 0; i < tiles;i++) {
dbg_img[n][i] = consolidated_clusters[n].getDisparity()[i];
dbg_borders[n][i] = consolidated_clusters[n].getBorder()[i]? 1.0:0.0;
if (dbg_index != null) {
double d = consolidated_clusters[n].getClusterIndex()[i];
dbg_index[n][i] = (d >=0)? d : Double.NaN;
}
}
}
(new ShowDoubleFloatArrays()).showArrays(
......@@ -437,6 +499,15 @@ public class TexturedModel {
tilesY,
true,
"cluster_borders");
if (dbg_index != null) {
(new ShowDoubleFloatArrays()).showArrays(
dbg_index,
tilesX,
tilesY,
true,
"cluster_indices");
}
}
return consolidated_clusters;
}
......
src/main/java/com/elphel/imagej/tileprocessor/TileCluster.java
View file @ ab99e29d
......@@ -28,7 +28,9 @@ import java.util.Arrays;
class TileCluster{
Rectangle bounds;
boolean [] border;
double [] disparity;
double [] disparity; // all and only unused - NaN
int [] cluster_index; // for debug purposes, index of the source cluster
/*
public TileCluster (Rectangle bounds, boolean [] border, double [] disparity){
this.bounds = bounds;
if (border == null) {
......@@ -41,9 +43,38 @@ class TileCluster{
}
this.disparity = disparity;
}
*/
// to use cluster_index - set index >= 0, <0 - do not use.
public TileCluster (
Rectangle bounds,
int index, // <0 to skip
boolean [] border,
double [] disparity){
this.bounds = bounds;
if (index >= 0) {
this.cluster_index = new int [bounds.width * bounds.height];
Arrays.fill(cluster_index, -1);
if (disparity != null) {
for (int i = 0; i < cluster_index.length; i++) if (!Double.isNaN(disparity[i])){
cluster_index[i] = index;
}
}
}
if (border == null) {
border = new boolean[bounds.width * bounds.height];
}
this.border = border;
if (disparity == null) {
disparity = new double[bounds.width * bounds.height];
Arrays.fill(disparity, Double.NaN);
}
this.disparity = disparity;
}
public Rectangle getBounds() {return bounds;}
public boolean [] getBorder() {return border;}
public double [] getDisparity() {return disparity;}
public int [] getClusterIndex() {return cluster_index;}
/*
public TileCluster combine (TileCluster tileCluster) {
TileCluster outer, inner;
......@@ -97,6 +128,14 @@ class TileCluster{
disparity,
dst_y * bounds.width + dst_x,
tileCluster.bounds.width);
if ((cluster_index != null) && (tileCluster.cluster_index != null)) {
System.arraycopy(
tileCluster.cluster_index,
src_y * tileCluster.bounds.width,
cluster_index,
dst_y * bounds.width + dst_x,
tileCluster.bounds.width);
}
}
return;
}
......
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