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imagej-elphel
Commit af9b88ff authored by Andrey Filippov's avatar Andrey Filippov
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Implemented configurable parameters for ground plane rendering. Added 

disabling ERS in the inter-scene LMA if there is not enough data (not in
all 4 quadrants)
parent 4e3cc252
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Showing with 495 additions and 284 deletions
src/main/java/com/elphel/imagej/tileprocessor/ErsCorrection.java
View file @ af9b88ff
......@@ -182,7 +182,11 @@ public class ErsCorrection extends GeometryCorrection {
static final int DP_DSY = 25; // dw_dy, (m)
static final int DP_DSZ = 26; // dw_dz}; (m)
static final int DP_NUM_PARS = DP_DSZ+1;
static final int [] DP_ERS_INDICES=
{ DP_DVAZ, DP_DVTL, DP_DVRL,
DP_DVX, DP_DVY, DP_DVZ,
DP_DSVAZ, DP_DSVTL, DP_DSVRL,
DP_DSVX, DP_DSVY, DP_DSVZ};
static final RotationConvention ROT_CONV = RotationConvention.FRAME_TRANSFORM;
static final double THRESHOLD = 1E-10;
static final double LINE_ERR = 0.001; // line accuracy for ERS when converting from world to pixels.
......
src/main/java/com/elphel/imagej/tileprocessor/IntersceneLmaParameters.java
View file @ af9b88ff
......@@ -33,6 +33,13 @@ public class IntersceneLmaParameters {
public double ilma_disparity_weight = 2.0; // disparity component weight compared to dX and dY
public boolean ilma_3d_lma = false; // Use LMA for disparity in 3D pose matching mode
public boolean ilma_3d_tilt_only = true; // remove disparity average, use tilts only
public double ilma_per_scene = 1.0; // (Not yet used) disable ers terms if per-scene pixel offset is smaller
public boolean ilma_ers_quads = true; // Disable ERS fitting if not enough data
public double ilma_gap_frac = 0.25; // remove this center fraction of width/height when evaluating quads
public int ilma_min_quad_tiles = 10; // minimal number of defined tiles in each quad for using ERS
public double ilma_min_quad_weight = 0.01; // minimal fraction of total tiles weight in each quad for using ERS
public boolean ilma_thread_invariant = true; // Do not use DoubleAdder, provide results not dependent on threads
public boolean [] ilma_lma_select = new boolean [ErsCorrection.DP_NUM_PARS]; // first three will not be used
public double [] ilma_regularization_weights = new double [ErsCorrection.DP_NUM_PARS]; // first three will not be used
......@@ -122,6 +129,20 @@ public class IntersceneLmaParameters {
"Use LMA disparity for interscene matching (as for UAS imagery)" );
gd.addCheckbox ("Remove average disparity, use tilts only", this.ilma_3d_tilt_only,
"Calculate disparity for tilts only." );
gd.addNumericField("Per-scene offest or ERS", this.ilma_per_scene, 6,8,"pix",
"Disable ERS if per-scene pixel difference is lower (unused).");
gd.addMessage("Disable ERS fitting with LMA when data is insufficient");
gd.addCheckbox ("Enable ERS LMA filtering", this.ilma_ers_quads,
"Disable ERS fitting if not enough data." );
gd.addNumericField("Center inactive cross relative size", this.ilma_gap_frac, 6,8,"",
"Remove this center fraction of width/height when evaluating quads.");
gd.addNumericField("Minimal tiles in each quad", this.ilma_min_quad_tiles, 0,3,"",
"Minimal number of defined tiles in each quad for using ERS.");
gd.addNumericField("Minimal relative weight of each quad", this.ilma_min_quad_weight, 6,8,"",
"Minimal fraction of total tiles weight in each quad for using ERS.");
gd.addMessage("---");
gd.addCheckbox ("Thread-invariant execution", this.ilma_thread_invariant,
"Do not use DoubleAdder and provide results not dependent on threads" );
......@@ -192,6 +213,13 @@ public class IntersceneLmaParameters {
this.ilma_disparity_weight = gd.getNextNumber();
this.ilma_3d_lma = gd.getNextBoolean();
this.ilma_3d_tilt_only = gd.getNextBoolean();
this.ilma_per_scene = gd.getNextNumber();
this.ilma_ers_quads = gd.getNextBoolean();
this.ilma_gap_frac = gd.getNextNumber();
this.ilma_min_quad_tiles = (int) gd.getNextNumber();
this.ilma_min_quad_weight = gd.getNextNumber();
this.ilma_thread_invariant = gd.getNextBoolean();
for (int i = ErsCorrection.DP_DVAZ; i < ErsCorrection.DP_NUM_PARS; i++) {
this.ilma_lma_select[i] = gd.getNextBoolean();
......@@ -228,6 +256,13 @@ public class IntersceneLmaParameters {
properties.setProperty(prefix+"ilma_disparity_weight", this.ilma_disparity_weight+"");
properties.setProperty(prefix+"ilma_3d_lma", this.ilma_3d_lma+"");
properties.setProperty(prefix+"ilma_3d_tilt_only", this.ilma_3d_tilt_only+"");
properties.setProperty(prefix+"ilma_per_scene", this.ilma_per_scene+"");
properties.setProperty(prefix+"ilma_ers_quads", this.ilma_ers_quads+ ""); // boolean
properties.setProperty(prefix+"ilma_gap_frac", this.ilma_gap_frac+""); // double
properties.setProperty(prefix+"ilma_min_quad_tiles", this.ilma_min_quad_tiles+""); // int
properties.setProperty(prefix+"ilma_min_quad_weight", this.ilma_min_quad_weight+""); // double
properties.setProperty(prefix+"ilma_thread_invariant", this.ilma_thread_invariant+"");
for (int i = ErsCorrection.DP_DVAZ; i < ErsCorrection.DP_NUM_PARS; i++) {
properties.setProperty(prefix+ErsCorrection.DP_DERIV_NAMES[i]+"_sel", this.ilma_lma_select[i]+"");
......@@ -259,6 +294,13 @@ public class IntersceneLmaParameters {
if (properties.getProperty(prefix+"ilma_disparity_weight")!=null) this.ilma_disparity_weight=Double.parseDouble(properties.getProperty(prefix+"ilma_disparity_weight"));
if (properties.getProperty(prefix+"ilma_3d_lma")!=null) this.ilma_3d_lma=Boolean.parseBoolean(properties.getProperty(prefix+"ilma_3d_lma"));
if (properties.getProperty(prefix+"ilma_3d_tilt_only")!=null) this.ilma_3d_tilt_only=Boolean.parseBoolean(properties.getProperty(prefix+"ilma_3d_tilt_only"));
if (properties.getProperty(prefix+"ilma_per_scene")!=null) this.ilma_per_scene=Double.parseDouble(properties.getProperty(prefix+"ilma_per_scene"));
if (properties.getProperty(prefix+"ilma_ers_quads")!=null) this.ilma_ers_quads=Boolean.parseBoolean(properties.getProperty(prefix+"ilma_ers_quads"));
if (properties.getProperty(prefix+"ilma_gap_frac")!=null) this.ilma_gap_frac=Double.parseDouble(properties.getProperty(prefix+"ilma_gap_frac"));
if (properties.getProperty(prefix+"ilma_min_quad_tiles")!=null) this.ilma_min_quad_tiles=Integer.parseInt(properties.getProperty(prefix+"ilma_min_quad_tiles"));
if (properties.getProperty(prefix+"ilma_min_quad_weight")!=null) this.ilma_min_quad_weight=Double.parseDouble(properties.getProperty(prefix+"ilma_min_quad_weight"));
if (properties.getProperty(prefix+"ilma_thread_invariant")!=null) this.ilma_thread_invariant=Boolean.parseBoolean(properties.getProperty(prefix+"ilma_thread_invariant"));
for (int i = ErsCorrection.DP_DVAZ; i < ErsCorrection.DP_NUM_PARS; i++) {
String pn_sel = prefix+ErsCorrection.DP_DERIV_NAMES[i]+"_sel";
......@@ -306,6 +348,11 @@ public class IntersceneLmaParameters {
ilp.ilma_disparity_weight = this.ilma_disparity_weight;
ilp.ilma_3d_lma = this.ilma_3d_lma;
ilp.ilma_3d_tilt_only = this.ilma_3d_tilt_only;
ilp.ilma_per_scene = this.ilma_per_scene;
ilp.ilma_ers_quads = this.ilma_ers_quads;
ilp.ilma_gap_frac = this.ilma_gap_frac;
ilp.ilma_min_quad_tiles = this.ilma_min_quad_tiles;
ilp.ilma_min_quad_weight = this.ilma_min_quad_weight;
ilp.ilma_thread_invariant = this.ilma_thread_invariant;
System.arraycopy(this.ilma_lma_select, 0, ilp.ilma_lma_select, 0, ilma_lma_select.length);
System.arraycopy(this.ilma_regularization_weights, 0, ilp.ilma_regularization_weights, 0, ilma_regularization_weights.length);
......
src/main/java/com/elphel/imagej/tileprocessor/OpticalFlow.java
View file @ af9b88ff
......@@ -5875,36 +5875,6 @@ public class OpticalFlow {
int [] whs = new int[3];
double [] x0y0 = new double[2];
if (export3d) { //combo_dsn_final had strength 1.0e-4 where it should not? Reset it?
/*
boolean use_lma = true; // ;
double discard_low = 0.01; // fraction of all pixels
double discard_high = 0.5; // fraction of all pixels
double discard_adisp = 0.2; // discard above/below this fraction of average height
double discard_rdisp = 0.02; // discard above/below this fraction of average height
double pix_size = 0.005; // hdr_x0y0, // in meters
int max_image_width = 3200; // increase pixel size as a power of 2 until image fits
// boolean crop_empty = true;
// int crop_extra = 20;
// int [] tex_pals = {0,1,2};
// int tex_palette_start = 0; //
// int tex_palette_end = 12;
int [] hdr_whs = new int[3];
double [] hdr_x0y0 = new double[2];
double [][] to_ground_xyxatr = quadCLTs[ref_index].getGround(
use_lma, // boolean use_lma,
clt_parameters.imp.range_disparity_offset,// double range_disparity_offset
discard_low, // double discard_low, // fraction of all pixels
discard_high, // double discard_high, // fraction of all pixels
discard_adisp, // double discard_adisp, // discard above/below this fraction of average height
discard_rdisp, // double discard_rdisp // discard above/below this fraction of average height
pix_size, // double pix_size, // in meters
max_image_width, // int max_image_width // increase pixel size as a power of 2 until image fits
hdr_x0y0, // double [] x0y0, // initialize to double[2] to return width, height
hdr_whs, // int [] whs, // initialize to int[3] to return {width, height, scale reduction}
debugLevel); // int debug_level
*/
boolean ok_3d = TexturedModel.output3d( // quadCLTs have same image name, and everything else
clt_parameters, // CLTParameters clt_parameters,
......@@ -5923,10 +5893,6 @@ public class OpticalFlow {
if (export_images) {
if (combo_dsn_final == null) {
/// combo_dsn_final = quadCLTs[ref_index].readDoubleArrayFromModelDirectory(
/// "-INTER-INTRA-LMA", // String suffix,
/// 0, // int num_slices, // (0 - all)
/// null); // int [] wh);
combo_dsn_final =quadCLTs[ref_index].restoreComboDSI(true); // also sets quadCLTs[ref_index].dsi and blue sky
}
......@@ -13416,21 +13382,72 @@ public class OpticalFlow {
mvTitles);
}
if (debug_level > 0){
double gap_frac = 0.25;
double [][] quad_strengths = getQuadStrengths(
coord_motion, // double [][][] coord_motion,
gap_frac, //double gap_frac, // 0.25
tilesX); // int tilesX);
// int num_defined = 0;
// double sum_strength = 0.0;
System.out.println ("interCorrPair(): quad_defined = ["+quad_strengths[0][0]+","
+quad_strengths[0][1]+","+quad_strengths[0][2]+","+quad_strengths[0][3]+"]"
+"), rel_strengths = ["
+quad_strengths[1][0]+","+quad_strengths[1][1]+","
+quad_strengths[1][2]+","+quad_strengths[1][3]+"] ");
}
if (fail_reason != null) {
fail_reason[0]= 0;
}
return coord_motion; // here non-null
}
/**
* Calculates data availability in 4 corners (excluding center gap)
* To disable ERS calculation in LMA
* @param coord_motion interCorrPair() output - here only defined (non-null)
* and strength are used
* @param gap_frac fraction of width and height to remove in the center
* 0.25 - remove from 3/8 to 5/8 "cross" in the center
* @param tilesX number of tiles in a row
* @return [2][4] - [0][]: number of non-null tiles in each quadrant,
* [1][] - fraction of weight of total weight (total does not exclude center)
*/
public static double [][] getQuadStrengths(
double [][][] coord_motion,
double gap_frac, // 4
int tilesX) {
int tilesY = coord_motion[1].length/ tilesX;
int num_defined = 0;
double sum_strength = 0.0;
double [][] quad_strengths = new double[2][4];
int igapX = (int) (gap_frac * tilesX), igapY = (int) (gap_frac * tilesY);
int igapX0 = (tilesX - igapX)/2;
int igapX1 = igapX0 + igapX;
int igapY0 = (tilesY - igapY)/2;
int igapY1 = igapY0 + igapY;
for (int i = 0; i < coord_motion[1].length; i++) if (coord_motion[1][i] != null){
sum_strength += coord_motion[1][i][2];
num_defined++;
int ty = i / tilesX;
int tx = i % tilesX;
if (((ty > igapY0) && (ty < igapY1)) || ((tx > igapX0) && (tx < igapX1))) {
continue;
}
System.out.println ("interCorrPair(): num_defined = "+num_defined+
", sum_strength = "+sum_strength+", avg_strength = "+(sum_strength/num_defined));
int iy = ty/(tilesY/2);
int ix = tx/(tilesX/2);
int ixy = 2*iy+ix;
quad_strengths[0][ixy] += 1.0;
quad_strengths[1][ixy] += coord_motion[1][i][2];
}
if (fail_reason != null) {
fail_reason[0]= 0;
if (sum_strength > 0) {
for (int i = 0; i< quad_strengths[1].length; i++) {
// quad_strengths[0][i]/=num_defined;
quad_strengths[1][i]/=sum_strength;
}
return coord_motion; // here non-null
}
return quad_strengths;
}
/**
* Equalize weights of the motion vectors to boost that of important buy weak one.
......@@ -15059,6 +15076,11 @@ public class OpticalFlow {
int debug_level)
{
boolean use3D = clt_parameters.ilp.ilma_3d;
boolean filter_by_ers = clt_parameters.ilp.ilma_ers_quads;
double gap_frac = clt_parameters.ilp.ilma_gap_frac ; // 0.25;
int min_quad_tiles = clt_parameters.ilp.ilma_min_quad_tiles ; // 10;
double min_quad_weight = clt_parameters.ilp.ilma_min_quad_weight ; // 0.01;
// boolean use3D_lma = clt_parameters.ilp.ilma_3d_lma;
double disparity_weight = use3D? clt_parameters.ilp.ilma_disparity_weight : 0.0;
int margin = clt_parameters.imp.margin;
......@@ -15107,6 +15129,45 @@ public class OpticalFlow {
System.out.println("adjustPairsLMAInterscene() returned null");
return null;
}
boolean ers_lma = false;
for (int i:ErsCorrection.DP_ERS_INDICES) {
ers_lma |= param_select[i];
}
boolean disable_ers=false;
boolean [] param_select_mod = param_select;
if (ers_lma && filter_by_ers) {
double [][] quad_strengths = getQuadStrengths(
coord_motion, // double [][][] coord_motion,
gap_frac, //double gap_frac, // 0.25
reference_QuadClt.getTileProcessor().getTilesX()); // int tilesX);
for (int i = 0; i < quad_strengths[0].length; i++) {
if ((quad_strengths[0][i] < min_quad_tiles) || (quad_strengths[1][i] < min_quad_weight)) {
disable_ers = true;
break;
}
}
if (disable_ers) {
param_select_mod = param_select.clone();
for (int i:ErsCorrection.DP_ERS_INDICES) {
param_select_mod[i] = false;
}
// now just copy ers from the reference
ErsCorrection ers_ref = reference_QuadClt.getErsCorrection();
ErsCorrection ers_scene = scene_QuadClt.getErsCorrection();
ers_scene.ers_watr_center_dt = ers_ref.ers_watr_center_dt.clone();
ers_scene.ers_wxyz_center_dt = ers_ref.ers_wxyz_center_dt.clone();
if (clt_parameters.imp.debug_level > -2) {
System.out.print("adjustPairsLMAInterscene(): insufficeinet data for ERS, skipping. ");
System.out.println ("quad_defined = ["+((int)quad_strengths[0][0])+","
+((int)quad_strengths[0][1])+","+((int)quad_strengths[0][2])+","+((int)quad_strengths[0][3])+"] (needed = "+
min_quad_tiles +"), rel_strengths = ["
+quad_strengths[1][0]+","+quad_strengths[1][1]+","
+quad_strengths[1][2]+","+quad_strengths[1][3]+"] (needed "
+min_quad_weight+")");
}
}
}
intersceneLma.prepareLMA(
camera_xyz0, // final double [] scene_xyz0, // camera center in world coordinates (or null to use instance)
camera_atr0, // final double [] scene_atr0, // camera orientation relative to world frame (or null to use instance)
......@@ -15115,7 +15176,7 @@ public class OpticalFlow {
// reference atr, xyz are considered 0.0
scene_QuadClt, // final QuadCLT scene_QuadClt,
reference_QuadClt, // final QuadCLT reference_QuadClt,
param_select, // final boolean[] param_select,
param_select_mod, // param_select, // final boolean[] param_select,
param_regweights, // final double [] param_regweights,
coord_motion[1], // final double [][] vector_XYS, // optical flow X,Y, confidence obtained from the correlate2DIterate()
coord_motion[0], // final double [][] centers, // macrotile centers (in pixels and average disparities
......
src/main/java/com/elphel/imagej/tileprocessor/QuadCLTCPU.java
View file @ af9b88ff
......@@ -236,13 +236,9 @@ public class QuadCLTCPU {
) {
double [] z_tilts = null;
double normal_damping = 0.001; // pull to horizontal if not enough data
// final int tilesX=getTileProcessor().getTilesX();
// final int tilesY=getTileProcessor().getTilesY();
double hist_rlow = 0.5;
double hist_rhigh = 2.0;
int min_good = 20; //number of good tiles
/// int min_good_quad = 20; // number of good tiles per quadrant to calculate tilts
/// int gap_frac2= 20;
double rel_hight = 0.2; // when calculating scale, ignore objects far from plane
int num_bins = 1000;
double [][] dls = getDLS();
......@@ -288,7 +284,6 @@ public class QuadCLTCPU {
if (sh >= dl) break;
}
double shp = sh- hist[indx];
// double thr_low = shp + (dl - shp)/(sh-shp);
// step back from the overshoot indx
double thr_low = hist_low+ (indx - (sh - dl)/(sh-shp))/num_bins *(hist_high-hist_low);
indx = num_bins-1;
......@@ -300,8 +295,6 @@ public class QuadCLTCPU {
}
}
shp = sh- hist[indx];
// double thr_high = shp - (dh-shp)/(sh - shp); // both negative
// double thr_high = hist_low+ (shp + (dh - shp)/(sh-shp))/num_bins *(hist_high-hist_low);
double thr_high = hist_low+ (indx + (sh - dh)/(sh-shp))/num_bins *(hist_high-hist_low);
int numgood = 0;
boolean [] good = new boolean[ds[0].length];
......@@ -322,42 +315,6 @@ public class QuadCLTCPU {
return null; // too few good
}
// double z_avg= getGeometryCorrection().getZFromDisparity(swd/sw);
/*
int gap_x_0 = tilesX/2 - tilesX/gap_frac2;
int gap_x_1 = tilesX/2 + tilesX/gap_frac2;
int gap_y_0 = tilesY/2 - tilesY/gap_frac2;
int gap_y_1 = tilesY/2 + tilesY/gap_frac2;
int [][] num_good_quad = new int [2][2];
for (int i = 0; i < good.length; i++) if (good[i]){
int ty = i / tilesX;
if ((ty <= gap_y_0) || (ty >= gap_y_1)) {
int tx = i % tilesX;
if ((tx <= gap_x_0) || (tx >= gap_x_1)) {
int indx_y = (ty > tilesY/2)? 1:0;
int indx_x = (tx > tilesX/2)? 1:0;
num_good_quad[indx_y][indx_x]++;
}
}
}
int num_good_quads = 0;
for (int i = 0; i < num_good_quad.length; i++) {
for (int j = 0; j < num_good_quad[i].length; j++) {
if (num_good_quad[i][j] > min_good_quad) {
num_good_quads++;
}
}
}
if (num_good_quads < 3) {
if (debug_level > -3) {
System.out.println("There are less than 3 quadrants ("+num_good_quads+") having more than "+min_good_quad+" tiles");
System.out.println("Using only level "+z_avg+", ignoring tilt.");
}
z_tilts = new double[] {-z_avg, 0.0, 0.0}; // no tilts
// return new double[] {z_avg, 0.0, 0.0}; // no tilts
} else {
*/
// fit plane
double [] ref_disparity = ds[0].clone();
for (int i = 0; i < ref_disparity.length; i++) {
......@@ -399,18 +356,13 @@ public class QuadCLTCPU {
System.out.println("Found ground plane: level="+z_tilts[0]+", tiltX="+z_tilts[1]+", tiltY="+z_tilts[2]);
}
/* } */
// ground - negative Z. picture right - positive X, picture up - positive Y
// positive tiltX - to the right higher ground (lower altitude above it) or camera tilted left
// positive tiltY - picture up - higher ground (or camera tilted back)
double [][] ground_xyxatr = new double [][] {
{0, 0, z_tilts[0]},
{Math.asin(z_tilts[1]), -Math.asin(z_tilts[2]), 0.0}};
// It is approximate for small angles. OK for now
// It is approximate for small angles. OK for now
double [][] to_ground_xyxatr = ErsCorrection.invertXYZATR(ground_xyxatr);
// recalculate coordinates for all pixels including weak ones
// double []
ref_disparity = dls[0].clone();
for (int i = 0; i < ref_disparity.length; i++) {
if (Double.isNaN(ref_disparity[i])) ref_disparity[i] = 0.0;
......@@ -418,7 +370,6 @@ public class QuadCLTCPU {
ref_disparity[i] -= disparity_offset;
}
}
// double [][]
wxyz = OpticalFlow.transformToWorldXYZ(
ref_disparity, // final double [] disparity_ref, // invalid tiles - NaN in disparity
(QuadCLT) this, // final QuadCLT quadClt, // now - may be null - for testing if scene is rotated ref
......@@ -479,30 +430,6 @@ public class QuadCLTCPU {
System.out.println("Drone position relative to the ground plane: x="+
dronexyz[0]+"m, y="+dronexyz[1]+"m, z="+dronexyz[2]+"m");
}
// double pix_size, // in meters
// int max_image_width // increase pixel size as a power of 2 until image fits
// testing world coordinates -> plane coordinates
/*
mindx = 0;
for (int i = 0; i < wxyz.length; i++) if (wxyz[i] != null){
mdata[mindx] = new double[3][];
mdata[mindx][0] = new double [2];
mdata[mindx][0][0] = plane_xyz[i][0];
mdata[mindx][0][1] = plane_xyz[i][1];
mdata[mindx][1] = new double [1];
mdata[mindx][1][0] = plane_xyz[i][2];
mdata[mindx][2] = new double [1];
mdata[mindx][2][0] = ds[1][i];
mindx++;
}
double[][] approx2d_1 = pa.quadraticApproximation(
mdata,
true, // boolean forceLinear, // use linear approximation
null, // double [] damping, null OK
-1); // debug level
*/
return to_ground_xyxatr; // from the camera coordinates to in-plane coordiantes
}
......
src/main/java/com/elphel/imagej/tileprocessor/TexturedModel.java
View file @ af9b88ff
......@@ -2451,7 +2451,20 @@ public class TexturedModel {
final boolean updateStatus,
final int debugLevel)
{
final boolean render_hdr = true; //false; // true; // generate textures w/o normalization to generate undistorted
final boolean map_en = clt_parameters.gmap_en;
final boolean render_hdr = clt_parameters.gmap_render_hdr || map_en;// true; //false; // true; // generate textures w/o normalization to generate undistorted
final boolean use_lma = clt_parameters.gmap_use_lma ; // true; // ;
final double discard_low = clt_parameters.gmap_discard_low ; //0.01; // fraction of all pixels
final double discard_high = clt_parameters.gmap_discard_high ; //0.5; // fraction of all pixels
final double discard_adisp = clt_parameters.gmap_discard_adisp ; //0.2; // discard above/below this fraction of average height
final double discard_rdisp = clt_parameters.gmap_discard_rdisp ; //0.02; // discard above/below this fraction of average height
final double pix_size = clt_parameters.gmap_pix_size ; //0.005; // hdr_x0y0, // in meters
final int max_image_width = clt_parameters.gmap_max_image_width ; //4000; // 3200; // increase pixel size as a power of 2 until image fits
final boolean crop_empty = clt_parameters.gmap_crop_empty ; //true;
final int crop_extra = clt_parameters.gmap_crop_extra ; //20;
final int [] tex_pals = clt_parameters.gmap_tex_pals ; //{0,1,2};
final double range_disparity_offset = clt_parameters.imp.range_disparity_offset;// double range_disparity_offset
final boolean batch_mode = clt_parameters.multiseq_run; // batch_run;
final boolean gltf_emissive = clt_parameters.gltf_emissive;
......@@ -2984,21 +2997,6 @@ public class TexturedModel {
// if (imp_textures[nslice] != null)
} // for (int nslice = 0; nslice < tileClusters.length; nslice++){
if (render_hdr) {
boolean use_lma = true; // ;
double discard_low = 0.01; // fraction of all pixels
double discard_high = 0.5; // fraction of all pixels
double discard_adisp = 0.2; // discard above/below this fraction of average height
double discard_rdisp = 0.02; // discard above/below this fraction of average height
double pix_size = 0.005; // hdr_x0y0, // in meters
int max_image_width = 4000; // 3200; // increase pixel size as a power of 2 until image fits
boolean crop_empty = true;
int crop_extra = 20;
int [] tex_pals = {0,1,2};
// boolean use_fixed_range = true;
// double fixed_range = 250.0;
int tex_palette_start = 0;
int tex_palette_end = 12;
int [] hdr_whs = new int[3];
double [] hdr_x0y0 = new double[2];
double [][] to_ground_xyxatr = scenes[ref_index].getGround(
......
src/main/java/com/elphel/imagej/x3d/export/Render3D.java
View file @ af9b88ff
......@@ -54,24 +54,18 @@ public class Render3D {
public Render3D (
// String x3d_dir,
// String model_name,
QuadCLT ref_scene, // all coordinates relative to this scene
double [][] toground, // projection plane center relative to reference scene
double pixel_size, // in meters
double [] x0_y0, // usually negative - top-left point of the output render
int out_width, // output rendered image width in pixels
int out_height){ // output rendered image height in pixels
// this.x3d_dir = x3d_dir;
// this.model_name = model_name;
this.ref_scene = ref_scene;
this.pixel_per_m = 1.0 / pixel_size;
this.out_width = out_width;
this.out_height = out_height;
this.toground = toground;
this.tocam = ErsCorrection.invertXYZATR(this.toground); // null
// double [][] test1 = ErsCorrection.invertXYZATR(this.tocam); //OK
// double [][] test2 = ErsCorrection.invertXYZATR(test1); // OK
// ground plane x0, y0 in camera coordinates
ground_origin = new Vector3D(ErsCorrection.applyXYZATR(tocam, new double [] {x0_y0[0], x0_y0[1], 0.0}));
Vector3D v3x1 = new Vector3D(ErsCorrection.applyXYZATR(tocam, new double [] {x0_y0[0] + 1.0,x0_y0[1], 0.0}));
......@@ -84,7 +78,6 @@ public class Render3D {
ground_normal_unit = ground_normal.normalize(); // unitary vector normal and away from the ground plane
above_ground = ground_normal.getNorm();
xy_offs = new double[] {ground_x.dotProduct(ground_origin), ground_y.dotProduct(ground_origin)};
// double [] test_gp=projectToPlanePixels(ground_origin);
}
public double [] projectToPlaneLinear(Vector3D v3) { // get ground place pixel coordinate from camera x,y,z
......
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