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Commit b267218c authored by Andrey Filippov's avatar Andrey Filippov
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testing planes

parent 5467504f
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Showing with 4078 additions and 2520 deletions
src/main/java/CLTPass3d.java
View file @ b267218c
...@@ -143,9 +143,14 @@ public class CLTPass3d{ ...@@ -143,9 +143,14 @@ public class CLTPass3d{
superTiles = null; superTiles = null;
} }
public boolean [] getSelected(){ public boolean [] getSelected(){
return selected; return selected;
} }
public void setSelected (boolean [] selected) {
this.selected = selected;
}
public void fixNaNDisparity() public void fixNaNDisparity()
{ {
......
src/main/java/DisparityProcessor.java
View file @ b267218c
...@@ -34,7 +34,7 @@ public class DisparityProcessor { ...@@ -34,7 +34,7 @@ public class DisparityProcessor {
0b11111111, // middle 0b11111111, // middle
0b11110001, // middle right 0b11110001, // middle right
0b00000111, // bottom left 0b00000111, // bottom left
0b11000111, // mottom middle 0b11000111, // bottom middle
0b11000001}; // bottom right 0b11000001}; // bottom right
TileProcessor tp; TileProcessor tp;
...@@ -48,12 +48,26 @@ public class DisparityProcessor { ...@@ -48,12 +48,26 @@ public class DisparityProcessor {
this.scale_dz_dx = scale_dz_dx; this.scale_dz_dx = scale_dz_dx;
} }
public int [] getNeighbors( // creates neighbors mask from bitmask
int [] surf_indices,
int indx,
int tilesX)
{
boolean [] selected = new boolean [surf_indices.length];
for (int i = 0; i < surf_indices.length; i++){
selected[i] = surf_indices[i] == indx;
}
return getNeighbors(selected, tilesX);
}
public int [] getNeighbors( // creates neighbors mask from bitmask public int [] getNeighbors( // creates neighbors mask from bitmask
boolean [] selected, boolean [] selected,
int tilesX int tilesX
) )
{ {
int [] neibs = new int [selected.length]; int [] neibs = new int [selected.length];
int tilesY = selected.length/tilesX;
final int [] dirs8 = {-tilesX, -tilesX + 1, 1, tilesX +1, tilesX, tilesX - 1, -1, -tilesX - 1}; final int [] dirs8 = {-tilesX, -tilesX + 1, 1, tilesX +1, tilesX, tilesX - 1, -1, -tilesX - 1};
for (int nTile = 0; nTile < selected.length; nTile++) { for (int nTile = 0; nTile < selected.length; nTile++) {
...@@ -68,7 +82,7 @@ public class DisparityProcessor { ...@@ -68,7 +82,7 @@ public class DisparityProcessor {
} else { } else {
tileType = 1; tileType = 1;
} }
} else if (tileX == (tilesX - 1)) { } else if (tileY == (tilesY - 1)) {
if (tileX == 0){ if (tileX == 0){
tileType = 6; tileType = 6;
} else if (tileX == (tilesX - 1)) { } else if (tileX == (tilesX - 1)) {
...@@ -93,11 +107,10 @@ public class DisparityProcessor { ...@@ -93,11 +107,10 @@ public class DisparityProcessor {
} }
} }
else { else {
neibs[nTile] = 0; neibs[nTile] = 0; // change to -1?
} }
} }
return neibs; return neibs;
} }
public double [] dbgShowNeighbors( public double [] dbgShowNeighbors(
...@@ -114,19 +127,21 @@ public class DisparityProcessor { ...@@ -114,19 +127,21 @@ public class DisparityProcessor {
int height = tilesY * tile_size; int height = tilesY * tile_size;
double [] rslt = new double [width*height]; double [] rslt = new double [width*height];
for (int i = 0; i < rslt.length; i++) rslt[i] = bgnd; for (int i = 0; i < rslt.length; i++) rslt[i] = bgnd;
for (int nTile = 0; nTile < neighbors.length; nTile++)if (selected[nTile]) { // if (neighbors[nTile] != 0) { for (int nTile = 0; nTile < neighbors.length; nTile++) {
int tileY = nTile / tilesX; if ((neighbors [nTile] >=0) && ((selected == null) || selected[nTile])) { // if (neighbors[nTile] != 0) {
int tileX = nTile % tilesX; int tileY = nTile / tilesX;
for (int i = -1; i<= 1; i++){ int tileX = nTile % tilesX;
for (int j = -1; j<= 1; j++){ for (int i = -1; i<= 1; i++){
rslt[(tileY*tile_size + tile_size/2 + i) * width + (tileX*tile_size + tile_size/2 + j)] = fgnd; for (int j = -1; j<= 1; j++){
rslt[(tileY*tile_size + tile_size/2 + i) * width + (tileX*tile_size + tile_size/2 + j)] = fgnd;
}
} }
} for (int ib = 0; ib < dirXY8.length; ib++) if ((neighbors[nTile] & (1 << ib)) != 0){
for (int ib = 0; ib < dirXY8.length; ib++) if ((neighbors[nTile] & (1 << ib)) != 0){ for (int i = 0; i <= tile_size/2; i++){
for (int i = 0; i <= tile_size/2; i++){ int x = tileX*tile_size + tile_size/2 + i * dirXY8[ib][0];
int x = tileX*tile_size + tile_size/2 + i * dirXY8[ib][0]; int y = tileY*tile_size + tile_size/2 + i * dirXY8[ib][1];
int y = tileY*tile_size + tile_size/2 + i * dirXY8[ib][1]; rslt[y*width+x] = fgnd;
rslt[y*width+x] = fgnd; }
} }
} }
} }
...@@ -267,7 +282,7 @@ public class DisparityProcessor { ...@@ -267,7 +282,7 @@ public class DisparityProcessor {
int numBorder = 0, numInternal = 0; int numBorder = 0, numInternal = 0;
for (int i = 0; i < len; i++){ for (int i = 0; i < len; i++){
if ((border != null) && border[i]) numBorder++; if ((border != null) && border[i]) numBorder++;
else if (selected[i]) numInternal++; // only if not border else if (selected[i] && (neighbors[i] >= 0)) numInternal++; // only if not border
} }
final int numTiles = (((mask & 1) != 0)? numInternal : 0) + (((mask & 2) != 0)? numBorder : 0); final int numTiles = (((mask & 1) != 0)? numInternal : 0) + (((mask & 2) != 0)? numBorder : 0);
final int [] indices = new int [numBorder + numInternal]; // internal excludes border final int [] indices = new int [numBorder + numInternal]; // internal excludes border
...@@ -275,7 +290,7 @@ public class DisparityProcessor { ...@@ -275,7 +290,7 @@ public class DisparityProcessor {
for (int i = 0; i < len; i++){ for (int i = 0; i < len; i++){
if ((border != null) && border[i]){ if ((border != null) && border[i]){
if ((mask & 2) != 0) indices[indx++] = i; if ((mask & 2) != 0) indices[indx++] = i;
} else if (selected[i]) { } else if (selected[i] && (neighbors[i] >= 0)) {
if ((mask & 1) != 0) indices[indx++] = i; if ((mask & 1) != 0) indices[indx++] = i;
} }
} }
...@@ -329,7 +344,7 @@ public class DisparityProcessor { ...@@ -329,7 +344,7 @@ public class DisparityProcessor {
if ((debugLevel > 0) &&(nTile == dbg_tile)) { if ((debugLevel > 0) &&(nTile == dbg_tile)) {
System.out.println("smoothDisparity() nTile = "+nTile+" tileX="+tileX+" tileY="+tileY); System.out.println("smoothDisparity() nTile = "+nTile+" tileX="+tileX+" tileY="+tileY);
} }
for (int i = 0; i < dirs8.length; i++) if ((neighbors[nTile] & (1 << i)) !=0) { for (int i = 0; i < dirs8.length; i++) if ((neighbors[nTile] >= 0) && ((neighbors[nTile] & (1 << i)) != 0)) {
double w = rigid8[i]; // no strength here strength[nTile + dirs8[i]] double w = rigid8[i]; // no strength here strength[nTile + dirs8[i]]
int dbg_dirs8 = nTile + dirs8[i]; int dbg_dirs8 = nTile + dirs8[i];
double dbg_d = disp_data[0][nTile + dirs8[i]]; double dbg_d = disp_data[0][nTile + dirs8[i]];
...@@ -475,12 +490,12 @@ public class DisparityProcessor { ...@@ -475,12 +490,12 @@ public class DisparityProcessor {
final int len = disparity.length; final int len = disparity.length;
int numTiles = 0; int numTiles = 0;
for (int i = 0; i < len; i++){ for (int i = 0; i < len; i++){
if (selected[i]) numTiles++; // only if not border if (selected[i] && (neighbors[i] >= 0)) numTiles++; // only if not border
} }
final int [] indices = new int [numTiles]; // internal excludes border final int [] indices = new int [numTiles]; // internal excludes border
int indx = 0; int indx = 0;
for (int i = 0; i < len; i++){ for (int i = 0; i < len; i++){
if (selected[i]) { if (selected[i] && (neighbors[i] >= 0)) {
indices[indx++] = i; indices[indx++] = i;
} }
} }
...@@ -488,9 +503,6 @@ public class DisparityProcessor { ...@@ -488,9 +503,6 @@ public class DisparityProcessor {
final int tilesX = tp.getTilesX(); final int tilesX = tp.getTilesX();
final int tilesY = tp.getTilesY(); final int tilesY = tp.getTilesY();
final double [][] deriv3HV = new double [2][len]; // 4-th derivative [0] - horizontal, 1 - vertical final double [][] deriv3HV = new double [2][len]; // 4-th derivative [0] - horizontal, 1 - vertical
// neighbors
// final int [][] neib_data = {neighbors, new int [len]};
// final double [] k4_3 = { 1.0, -3.0, 3.0, -1.0}; // 3-rd
final double [] k4_3 = {-1.0, 3.0, -3.0, 1.0}; // 3-rd final double [] k4_3 = {-1.0, 3.0, -3.0, 1.0}; // 3-rd
final double [] k4_2 = {-1.0, 1.0, 1.0, -1.0}; // - 2-nd (average for 2 sides) final double [] k4_2 = {-1.0, 1.0, 1.0, -1.0}; // - 2-nd (average for 2 sides)
final double [] k4 = (mode == 2)? k4_2 : k4_3; final double [] k4 = (mode == 2)? k4_2 : k4_3;
...@@ -503,7 +515,8 @@ public class DisparityProcessor { ...@@ -503,7 +515,8 @@ public class DisparityProcessor {
// int tileY = nTile/tilesX; // int tileY = nTile/tilesX;
// int tileX = nTile - (tileY * tilesX); // int tileX = nTile - (tileY * tilesX);
// double deriv4; // double deriv4;
int neib = neighbors[nTile]; int neib = neighbors[nTile];
if (neib < 0) neib = 0; // should not get here
// try break horizontally (always - to the right) // try break horizontally (always - to the right)
int b = (1 << 2); // "E" (right) int b = (1 << 2); // "E" (right)
int rb = (1 << 6); // "W" (left) int rb = (1 << 6); // "W" (left)
...@@ -518,8 +531,8 @@ public class DisparityProcessor { ...@@ -518,8 +531,8 @@ public class DisparityProcessor {
if ((neib & rb) != 0) deriv += k4[0]*disparity[nTile - 1]; if ((neib & rb) != 0) deriv += k4[0]*disparity[nTile - 1];
else if (extend_flat) deriv += k4[0]*disparity[nTile]; else if (extend_flat) deriv += k4[0]*disparity[nTile];
else break hor_label; else break hor_label;
if ((neighbors[nTile + 1] & b) != 0) deriv += k4[3]* disparity[nTile + 2]; if ((neighbors[nTile + 1] >=0) && ((neighbors[nTile + 1] & b) != 0)) deriv += k4[3]* disparity[nTile + 2];
else if (extend_flat) deriv += k4[3]* disparity[nTile + 1]; else if (extend_flat) deriv += k4[3]* disparity[nTile + 1];
else break hor_label; else break hor_label;
switch (mode){ switch (mode){
case 1: case 1:
...@@ -547,8 +560,8 @@ public class DisparityProcessor { ...@@ -547,8 +560,8 @@ public class DisparityProcessor {
if ((neib & rb) != 0) deriv += k4[0]*disparity[nTile - tilesX]; if ((neib & rb) != 0) deriv += k4[0]*disparity[nTile - tilesX];
else if (extend_flat) deriv += k4[0]*disparity[nTile]; else if (extend_flat) deriv += k4[0]*disparity[nTile];
else break vert_label; else break vert_label;
if ((neighbors[nTile + tilesX] & b) != 0) deriv += k4[3]*disparity[nTile + 2 * tilesX]; if ((neighbors[nTile + + tilesX] >=0) && ((neighbors[nTile + tilesX] & b) != 0)) deriv += k4[3] * disparity[nTile + 2 * tilesX];
else if (extend_flat) deriv += k4[3]*disparity[nTile + tilesX]; else if (extend_flat) deriv += k4[3] * disparity[nTile + tilesX];
else break vert_label; else break vert_label;
switch (mode){ switch (mode){
case 1: case 1:
...@@ -624,6 +637,7 @@ public class DisparityProcessor { ...@@ -624,6 +637,7 @@ public class DisparityProcessor {
int tileY = nTile/tilesX; int tileY = nTile/tilesX;
int tileX = nTile - (tileY * tilesX); int tileX = nTile - (tileY * tilesX);
int neib = neighbors_in[nTile]; int neib = neighbors_in[nTile];
if (neib < 0) neib = 0;
if (Math.abs(deriv3HV[0][nTile]) >= break3) neib &= ~0b00001110; // break all right side if (Math.abs(deriv3HV[0][nTile]) >= break3) neib &= ~0b00001110; // break all right side
if (Math.abs(deriv3HV[1][nTile]) >= break3) neib &= ~0b00111000; // break all down side if (Math.abs(deriv3HV[1][nTile]) >= break3) neib &= ~0b00111000; // break all down side
if ((tileX > 0) && selected[nTile - 1] && (Math.abs(deriv3HV[0][nTile - 1]) >= break3)) neib &= ~0b11100000; // break all left side if ((tileX > 0) && selected[nTile - 1] && (Math.abs(deriv3HV[0][nTile - 1]) >= break3)) neib &= ~0b11100000; // break all left side
...@@ -655,6 +669,7 @@ public class DisparityProcessor { ...@@ -655,6 +669,7 @@ public class DisparityProcessor {
int tileY = nTile/tilesX; int tileY = nTile/tilesX;
int tileX = nTile - (tileY * tilesX); int tileX = nTile - (tileY * tilesX);
int neib = neighbors_in[nTile]; int neib = neighbors_in[nTile];
if (neib < 0) neib = 0;
if (deriv3HV[0][nTile] >= break3) neib &= ~0b00001110; // break all right side if (deriv3HV[0][nTile] >= break3) neib &= ~0b00001110; // break all right side
if (deriv3HV[1][nTile] >= break3) neib &= ~0b00111000; // break all down side if (deriv3HV[1][nTile] >= break3) neib &= ~0b00111000; // break all down side
if ((tileX > 0) && selected[nTile - 1] && (deriv3HV[0][nTile - 1] >= break3)) neib &= ~0b11100000; // break all left side if ((tileX > 0) && selected[nTile - 1] && (deriv3HV[0][nTile - 1] >= break3)) neib &= ~0b11100000; // break all left side
...@@ -709,12 +724,12 @@ public class DisparityProcessor { ...@@ -709,12 +724,12 @@ public class DisparityProcessor {
final int len = disparity.length; final int len = disparity.length;
int numTiles = 0; int numTiles = 0;
for (int i = 0; i < len; i++){ for (int i = 0; i < len; i++){
if (selected[i]) numTiles++; // only if not border if (selected[i] && (neighbors[i] >= 0)) numTiles++; // only if not border
} }
final int [] indices = new int [numTiles]; // internal excludes border final int [] indices = new int [numTiles]; // internal excludes border
int indx = 0; int indx = 0;
for (int i = 0; i < len; i++){ for (int i = 0; i < len; i++){
if (selected[i]) { if (selected[i] && (neighbors[i] >= 0)) {
indices[indx++] = i; indices[indx++] = i;
} }
} }
...@@ -730,7 +745,7 @@ public class DisparityProcessor { ...@@ -730,7 +745,7 @@ public class DisparityProcessor {
int tileY = nTile/tilesX; int tileY = nTile/tilesX;
int tileX = nTile - (tileY * tilesX); int tileX = nTile - (tileY * tilesX);
int neib = neighbors[nTile]; int neib = neighbors[nTile];
if (neib < 0) neib = 0;
int b = (1 << 2); // "E" (right) int b = (1 << 2); // "E" (right)
if (((neib & b) == 0) && (tileX < (tilesX - 1) && selected[nTile + 1])) { if (((neib & b) == 0) && (tileX < (tilesX - 1) && selected[nTile + 1])) {
if (Math.abs(disparity[nTile] - disparity[nTile + 1]) < maxDiffOrto){ if (Math.abs(disparity[nTile] - disparity[nTile + 1]) < maxDiffOrto){
...@@ -806,12 +821,12 @@ public class DisparityProcessor { ...@@ -806,12 +821,12 @@ public class DisparityProcessor {
final int len = neighbors.length; final int len = neighbors.length;
int numTiles = 0; int numTiles = 0;
for (int i = 0; i < len; i++){ for (int i = 0; i < len; i++){
if (selected[i]) numTiles++; // only if not border if (selected[i] && (neighbors[i] >= 0)) numTiles++; // only if not border
} }
final int [] indices = new int [numTiles]; // internal excludes border final int [] indices = new int [numTiles]; // internal excludes border
int indx = 0; int indx = 0;
for (int i = 0; i < len; i++){ for (int i = 0; i < len; i++){
if (selected[i]) { if (selected[i] && (neighbors[i] >= 0)) {
indices[indx++] = i; indices[indx++] = i;
} }
} }
...@@ -823,7 +838,7 @@ public class DisparityProcessor { ...@@ -823,7 +838,7 @@ public class DisparityProcessor {
for (int iTile = ai.getAndIncrement(); iTile < indices.length; iTile = ai.getAndIncrement()) { for (int iTile = ai.getAndIncrement(); iTile < indices.length; iTile = ai.getAndIncrement()) {
int nTile = indices[iTile]; int nTile = indices[iTile];
int neib = neighbors[nTile]; int neib = neighbors[nTile];
if (neib < 0) neib = 0;
if ( if (
((neib & (1 << 0)) != 0) && ((neib & (1 << 0)) != 0) &&
((neighbors[nTile - tilesX] & (1 << 2)) != 0)){ ((neighbors[nTile - tilesX] & (1 << 2)) != 0)){
...@@ -943,6 +958,7 @@ public class DisparityProcessor { ...@@ -943,6 +958,7 @@ public class DisparityProcessor {
for (int ty = 0; ty < tilesY; ty++){ for (int ty = 0; ty < tilesY; ty++){
for (int tx = 0; tx < tilesX; tx++){ for (int tx = 0; tx < tilesX; tx++){
int neib = neighbors[ty * tilesX + tx]; int neib = neighbors[ty * tilesX + tx];
if (neib < 0) neib = 0;
int []cell = field[ty + 1][tx + 1]; int []cell = field[ty + 1][tx + 1];
if ( neib!= 0) { if ( neib!= 0) {
cell[0] = ((neib & NEIB_RIGHT) == 0)? FLD_EMPTY:FLD_CONN; cell[0] = ((neib & NEIB_RIGHT) == 0)? FLD_EMPTY:FLD_CONN;
...@@ -1070,7 +1086,7 @@ public class DisparityProcessor { ...@@ -1070,7 +1086,7 @@ public class DisparityProcessor {
int numTilesAll = 0; int numTilesAll = 0;
// final boolean [] selectedAll = new boolean[len]; // final boolean [] selectedAll = new boolean[len];
for (int i = 0; i < len; i++){ for (int i = 0; i < len; i++){
if (selected[i] || border[i]) { if ((selected[i] && (neighbors[i] >= 0)) || border[i]) {
// selectedAll[i] = true; // selectedAll[i] = true;
numTilesAll++; numTilesAll++;
if (!border[i]) numTiles++; if (!border[i]) numTiles++;
...@@ -1081,7 +1097,7 @@ public class DisparityProcessor { ...@@ -1081,7 +1097,7 @@ public class DisparityProcessor {
int indx = 0; int indx = 0;
int indxAll = 0; int indxAll = 0;
for (int i = 0; i < len; i++){ for (int i = 0; i < len; i++){
if (selected[i] || border[i]) { if ((selected[i] && (neighbors[i] >= 0)) || border[i]) {
indicesAll[indxAll++] = i; indicesAll[indxAll++] = i;
if (!border[i]) indices[indx++] = i; if (!border[i]) indices[indx++] = i;
} }
...@@ -1204,7 +1220,7 @@ public class DisparityProcessor { ...@@ -1204,7 +1220,7 @@ public class DisparityProcessor {
* For each cluster returns 3 arrays: indiced of internal cells, indices of fixed border cells (alpha = 0, disparity fixed) * For each cluster returns 3 arrays: indiced of internal cells, indices of fixed border cells (alpha = 0, disparity fixed)
* and floating border cells (alpha = 0, disparity - from neighbors) * and floating border cells (alpha = 0, disparity - from neighbors)
* @param diag_en true - 8 directions, false - only 4 orthogonal * @param diag_en true - 8 directions, false - only 4 orthogonal
* @param neighbors array of per-cell bitmaps - which neighbors curtrent cell is connected to (+1 - to N, +2 - to NE,...+128 = to NW) * @param neighbors array of per-cell bitmaps - which neighbors current cell is connected to (+1 - to N, +2 - to NE,...+128 = to NW)
* @param selected boolean array of celected (internal) cells * @param selected boolean array of celected (internal) cells
* @param border boolean array of border cells (added for alpha) * @param border boolean array of border cells (added for alpha)
* @param threadsMax maximal number of threads for multi-threaded application * @param threadsMax maximal number of threads for multi-threaded application
......
src/main/java/EyesisCorrectionParameters.java
View file @ b267218c
...@@ -2152,16 +2152,26 @@ public class EyesisCorrectionParameters { ...@@ -2152,16 +2152,26 @@ public class EyesisCorrectionParameters {
public boolean plDbgMerge = true; // Combine 'other' plane with current public boolean plDbgMerge = true; // Combine 'other' plane with current
public double plWorstWorsening = 1.0; // Worst case worsening after merge public double plWorstWorsening = 1.0; // Worst case worsening after merge
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 plCutCorners = true; // Add ortho to 45-degree corners
public double plPull = .1; // Relative weight of original (measured) plane when combing with neighbors public double plPull = .1; // Relative weight of original (measured) plane when combing with neighbors
public int plIterations = 10; // Maximal number of smoothing iterations for each step public int plIterations = 10; // Maximal number of smoothing iterations for each step
public int plPrecision = 6; // Maximal step difference (1/power of 10) public int plPrecision = 6; // Maximal step difference (1/power of 10)
public boolean plFuse = true; // Fuse planes together (off for debug only) public boolean plFuse = true; // Fuse planes together (off for debug only)
public boolean plKeepOrphans = true; // Keep unconnected supertiles public boolean plKeepOrphans = true; // Keep unconnected supertiles
public double plMinOrphan = 2.0; // Minimal strength unconnected supertiles to keep public double plMinOrphan = 2.0; // Minimal strength unconnected supertiles to keep
public double plSnapDisp = .2; // Maximal (scaled by plDispNorm) disparity difference to snap to plane at any strength
public double plSnapDispAny = .2; // Maximal (scaled by plDispNorm) disparity difference to snap to plane at any strength
public double plSnapStrengthAny = .2; // Maximal strength to fit any distance (if does not fit otherwise - treat as zero str4ength
public double plSnapNegAny = .5; // Maximal negative disparity difference from the best match
public double plSnapDispMax = .5; // Maximal (scaled by plDispNorm) disparity difference to snap to plane at low strength public double plSnapDispMax = .5; // Maximal (scaled by plDispNorm) disparity difference to snap to plane at low strength
public double plSnapDispWeight = .5; // Maximal disparity diff. by weight product to snap to plane public double plSnapDispWeight = .5; // Maximal disparity diff. by weight product to snap to plane
public int plSnapZeroMode = 1; // Zero strength snap mode: 0: no special treatment, 1 - strongest, 2 - farthest
public boolean replaceWeakOutlayers = true; // false;
// other debug images // other debug images
...@@ -2407,16 +2417,22 @@ public class EyesisCorrectionParameters { ...@@ -2407,16 +2417,22 @@ public class EyesisCorrectionParameters {
properties.setProperty(prefix+"plWorstWorsening", this.plWorstWorsening +""); properties.setProperty(prefix+"plWorstWorsening", this.plWorstWorsening +"");
properties.setProperty(prefix+"plMutualOnly", this.plMutualOnly+""); properties.setProperty(prefix+"plMutualOnly", this.plMutualOnly+"");
properties.setProperty(prefix+"plFillSquares", this.plFillSquares+"");
properties.setProperty(prefix+"plCutCorners", this.plCutCorners+"");
properties.setProperty(prefix+"plPull", this.plPull +""); properties.setProperty(prefix+"plPull", this.plPull +"");
properties.setProperty(prefix+"plIterations", this.plIterations+""); properties.setProperty(prefix+"plIterations", this.plIterations+"");
properties.setProperty(prefix+"plPrecision", this.plPrecision+""); properties.setProperty(prefix+"plPrecision", this.plPrecision+"");
properties.setProperty(prefix+"plFuse", this.plFuse+""); properties.setProperty(prefix+"plFuse", this.plFuse+"");
properties.setProperty(prefix+"plKeepOrphans", this.plKeepOrphans+""); properties.setProperty(prefix+"plKeepOrphans", this.plKeepOrphans+"");
properties.setProperty(prefix+"plMinOrphan", this.plMinOrphan +""); properties.setProperty(prefix+"plMinOrphan", this.plMinOrphan +"");
properties.setProperty(prefix+"plSnapDisp", this.plSnapDisp +"");
properties.setProperty(prefix+"plSnapDispAny", this.plSnapDispAny +"");
properties.setProperty(prefix+"plSnapStrengthAny",this.plSnapStrengthAny +"");
properties.setProperty(prefix+"plSnapNegAny", this.plSnapNegAny +"");
properties.setProperty(prefix+"plSnapDispMax", this.plSnapDispMax +""); properties.setProperty(prefix+"plSnapDispMax", this.plSnapDispMax +"");
properties.setProperty(prefix+"plSnapDispWeight", this.plSnapDispWeight +""); properties.setProperty(prefix+"plSnapDispWeight", this.plSnapDispWeight +"");
properties.setProperty(prefix+"plSnapZeroMode", this.plSnapZeroMode+"");
properties.setProperty(prefix+"show_ortho_combine", this.show_ortho_combine+""); properties.setProperty(prefix+"show_ortho_combine", this.show_ortho_combine+"");
properties.setProperty(prefix+"show_refine_supertiles", this.show_refine_supertiles+""); properties.setProperty(prefix+"show_refine_supertiles", this.show_refine_supertiles+"");
...@@ -2652,16 +2668,22 @@ public class EyesisCorrectionParameters { ...@@ -2652,16 +2668,22 @@ public class EyesisCorrectionParameters {
if (properties.getProperty(prefix+"plWorstWorsening")!=null) this.plWorstWorsening=Double.parseDouble(properties.getProperty(prefix+"plWorstWorsening")); if (properties.getProperty(prefix+"plWorstWorsening")!=null) this.plWorstWorsening=Double.parseDouble(properties.getProperty(prefix+"plWorstWorsening"));
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+"plCutCorners")!=null) this.plCutCorners=Boolean.parseBoolean(properties.getProperty(prefix+"plCutCorners"));
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+"plIterations")!=null) this.plIterations=Integer.parseInt(properties.getProperty(prefix+"plIterations")); if (properties.getProperty(prefix+"plIterations")!=null) this.plIterations=Integer.parseInt(properties.getProperty(prefix+"plIterations"));
if (properties.getProperty(prefix+"plPrecision")!=null) this.plPrecision=Integer.parseInt(properties.getProperty(prefix+"plPrecision")); if (properties.getProperty(prefix+"plPrecision")!=null) this.plPrecision=Integer.parseInt(properties.getProperty(prefix+"plPrecision"));
if (properties.getProperty(prefix+"plFuse")!=null) this.plFuse=Boolean.parseBoolean(properties.getProperty(prefix+"plFuse")); if (properties.getProperty(prefix+"plFuse")!=null) this.plFuse=Boolean.parseBoolean(properties.getProperty(prefix+"plFuse"));
if (properties.getProperty(prefix+"plKeepOrphans")!=null) this.plKeepOrphans=Boolean.parseBoolean(properties.getProperty(prefix+"plKeepOrphans")); if (properties.getProperty(prefix+"plKeepOrphans")!=null) this.plKeepOrphans=Boolean.parseBoolean(properties.getProperty(prefix+"plKeepOrphans"));
if (properties.getProperty(prefix+"plMinOrphan")!=null) this.plMinOrphan=Double.parseDouble(properties.getProperty(prefix+"plMinOrphan")); if (properties.getProperty(prefix+"plMinOrphan")!=null) this.plMinOrphan=Double.parseDouble(properties.getProperty(prefix+"plMinOrphan"));
if (properties.getProperty(prefix+"plSnapDisp")!=null) this.plSnapDisp=Double.parseDouble(properties.getProperty(prefix+"plSnapDisp"));
if (properties.getProperty(prefix+"plSnapDispAny")!=null) this.plSnapDispAny=Double.parseDouble(properties.getProperty(prefix+"plSnapDispAny"));
if (properties.getProperty(prefix+"plSnapStrengthAny")!=null) this.plSnapStrengthAny=Double.parseDouble(properties.getProperty(prefix+"plSnapStrengthAny"));
if (properties.getProperty(prefix+"plSnapNegAny")!=null) this.plSnapNegAny=Double.parseDouble(properties.getProperty(prefix+"plSnapNegAny"));
if (properties.getProperty(prefix+"plSnapDispMax")!=null) this.plSnapDispMax=Double.parseDouble(properties.getProperty(prefix+"plSnapDispMax")); if (properties.getProperty(prefix+"plSnapDispMax")!=null) this.plSnapDispMax=Double.parseDouble(properties.getProperty(prefix+"plSnapDispMax"));
if (properties.getProperty(prefix+"plSnapDispWeight")!=null) this.plSnapDispWeight=Double.parseDouble(properties.getProperty(prefix+"plSnapDispWeight")); if (properties.getProperty(prefix+"plSnapDispWeight")!=null) this.plSnapDispWeight=Double.parseDouble(properties.getProperty(prefix+"plSnapDispWeight"));
if (properties.getProperty(prefix+"plSnapZeroMode")!=null) this.plPrecision=Integer.parseInt(properties.getProperty(prefix+"plSnapZeroMode"));
if (properties.getProperty(prefix+"show_ortho_combine")!=null) this.show_ortho_combine=Boolean.parseBoolean(properties.getProperty(prefix+"show_ortho_combine")); if (properties.getProperty(prefix+"show_ortho_combine")!=null) this.show_ortho_combine=Boolean.parseBoolean(properties.getProperty(prefix+"show_ortho_combine"));
if (properties.getProperty(prefix+"show_refine_supertiles")!=null) this.show_refine_supertiles=Boolean.parseBoolean(properties.getProperty(prefix+"show_refine_supertiles")); if (properties.getProperty(prefix+"show_refine_supertiles")!=null) this.show_refine_supertiles=Boolean.parseBoolean(properties.getProperty(prefix+"show_refine_supertiles"));
...@@ -2919,17 +2941,23 @@ public class EyesisCorrectionParameters { ...@@ -2919,17 +2941,23 @@ public class EyesisCorrectionParameters {
gd.addNumericField("Worst case worsening after merge", this.plWorstWorsening, 6); gd.addNumericField("Worst case worsening after merge", this.plWorstWorsening, 6);
gd.addCheckbox ("Keep only mutual links, remove weakest if conflict", this.plMutualOnly); gd.addCheckbox ("Keep only mutual links, remove weakest if conflict", this.plMutualOnly);
gd.addCheckbox ("Add diagonals to full squares", this.plFillSquares);
gd.addCheckbox ("Add ortho to 45-degree corners", this.plCutCorners);
gd.addNumericField("Relative weight of original (measured) plane when combing with neighbors", this.plPull, 6); gd.addNumericField("Relative weight of original (measured) plane when combing with neighbors", this.plPull, 6);
gd.addNumericField("Maximal number of smoothing iterations for each step", this.plIterations, 0); gd.addNumericField("Maximal number of smoothing iterations for each step", this.plIterations, 0);
gd.addNumericField("Maximal step difference (1/power of 10) ", this.plPrecision, 0); gd.addNumericField("Maximal step difference (1/power of 10)", this.plPrecision, 0);
gd.addCheckbox ("Fuse planes together (off for debug only)", this.plFuse); gd.addCheckbox ("Fuse planes together (off for debug only)", this.plFuse);
gd.addCheckbox ("Keep unconnected supertiles", this.plKeepOrphans); gd.addCheckbox ("Keep unconnected supertiles", this.plKeepOrphans);
gd.addNumericField("Minimal strength unconnected supertiles to keep", this.plMinOrphan, 6); gd.addNumericField("Minimal strength unconnected supertiles to keep", this.plMinOrphan, 6);
gd.addMessage ("--- Snap to planes ---"); gd.addMessage ("--- Snap to planes ---");
gd.addNumericField("Maximal (scaled by plDispNorm) disparity difference to snap to plane at any strength", this.plSnapDisp, 6); gd.addNumericField("Maximal (scaled by plDispNorm) disparity difference to snap to plane at any strength", this.plSnapDispAny, 6);
gd.addNumericField("Maximal strength to fit any distance (if does not fit otherwise - treat as zero strength", this.plSnapStrengthAny, 6);
gd.addNumericField("Maximal negative disparity difference from the best match", this.plSnapNegAny, 6);
gd.addNumericField("Maximal (scaled by plDispNorm) disparity difference to snap to plane at low strength", this.plSnapDispMax, 6); gd.addNumericField("Maximal (scaled by plDispNorm) disparity difference to snap to plane at low strength", this.plSnapDispMax, 6);
gd.addNumericField("Maximal disparity diff. by weight product to snap to plane", this.plSnapDispWeight, 6); gd.addNumericField("Maximal disparity diff. by weight product to snap to plane", this.plSnapDispWeight, 6);
gd.addNumericField("Zero strength snap mode: 0: no special treatment, 1 - strongest, 2 - farthest",this.plSnapZeroMode, 0);
gd.addMessage ("--- Other debug images ---"); gd.addMessage ("--- Other debug images ---");
gd.addCheckbox ("Show 'ortho_combine'", this.show_ortho_combine); gd.addCheckbox ("Show 'ortho_combine'", this.show_ortho_combine);
...@@ -3174,16 +3202,22 @@ public class EyesisCorrectionParameters { ...@@ -3174,16 +3202,22 @@ public class EyesisCorrectionParameters {
this.plWorstWorsening= gd.getNextNumber(); this.plWorstWorsening= gd.getNextNumber();
this.plMutualOnly= gd.getNextBoolean(); this.plMutualOnly= gd.getNextBoolean();
this.plFillSquares= gd.getNextBoolean();
this.plCutCorners= gd.getNextBoolean();
this.plPull= gd.getNextNumber(); this.plPull= gd.getNextNumber();
this.plIterations= (int) gd.getNextNumber(); this.plIterations= (int) gd.getNextNumber();
this.plPrecision= (int) gd.getNextNumber(); this.plPrecision= (int) gd.getNextNumber();
this.plFuse= gd.getNextBoolean(); this.plFuse= gd.getNextBoolean();
this.plKeepOrphans= gd.getNextBoolean(); this.plKeepOrphans= gd.getNextBoolean();
this.plMinOrphan= gd.getNextNumber(); this.plMinOrphan= gd.getNextNumber();
this.plSnapDisp= gd.getNextNumber();
this.plSnapDispAny= gd.getNextNumber();
this.plSnapStrengthAny= gd.getNextNumber();
this.plSnapNegAny= gd.getNextNumber();
this.plSnapDispMax= gd.getNextNumber(); this.plSnapDispMax= gd.getNextNumber();
this.plSnapDispWeight= gd.getNextNumber(); this.plSnapDispWeight= gd.getNextNumber();
this.plSnapZeroMode= (int) gd.getNextNumber();
this.show_ortho_combine= gd.getNextBoolean(); this.show_ortho_combine= gd.getNextBoolean();
this.show_refine_supertiles=gd.getNextBoolean(); this.show_refine_supertiles=gd.getNextBoolean();
......
src/main/java/Eyesis_Correction.java
View file @ b267218c
...@@ -507,6 +507,7 @@ private Panel panel1, ...@@ -507,6 +507,7 @@ private Panel panel1,
addButton("CLT reset 3D", panelClt1, color_stop); addButton("CLT reset 3D", panelClt1, color_stop);
addButton("CLT 3D", panelClt1, color_conf_process); addButton("CLT 3D", panelClt1, color_conf_process);
addButton("CLT planes", panelClt1, color_conf_process); addButton("CLT planes", panelClt1, color_conf_process);
addButton("CLT OUT 3D", panelClt1, color_process);
add(panelClt1); add(panelClt1);
} }
...@@ -4756,6 +4757,9 @@ private Panel panel1, ...@@ -4756,6 +4757,9 @@ private Panel panel1,
UPDATE_STATUS, //final boolean updateStatus, UPDATE_STATUS, //final boolean updateStatus,
DEBUG_LEVEL); //final int debugLevel); DEBUG_LEVEL); //final int debugLevel);
if (configPath!=null) { if (configPath!=null) {
saveTimestampedProperties( // save config again saveTimestampedProperties( // save config again
configPath, // full path or null configPath, // full path or null
...@@ -4772,14 +4776,88 @@ private Panel panel1, ...@@ -4772,14 +4776,88 @@ private Panel panel1,
System.out.println("QUAD_CLT is null, nothing to show"); System.out.println("QUAD_CLT is null, nothing to show");
return; return;
} }
//"CLT planes"
QUAD_CLT.showCLTPlanes( QUAD_CLT.showCLTPlanes(
CLT_PARAMETERS, // EyesisCorrectionParameters.DCTParameters dct_parameters, CLT_PARAMETERS, // EyesisCorrectionParameters.DCTParameters dct_parameters,
THREADS_MAX, //final int threadsMax, // maximal number of threads to launch THREADS_MAX, //final int threadsMax, // maximal number of threads to launch
UPDATE_STATUS, //final boolean updateStatus, UPDATE_STATUS, //final boolean updateStatus,
DEBUG_LEVEL); //final int debugLevel); DEBUG_LEVEL); //final int debugLevel);
return; return;
} else if (label.equals("CLT OUT 3D")) {
DEBUG_LEVEL=MASTER_DEBUG_LEVEL;
EYESIS_CORRECTIONS.setDebug(DEBUG_LEVEL);
if (QUAD_CLT == null){
System.out.println("QUAD_CLT is null, nothing to show (will add previous steps)");
return;
}
String configPath=null;
if (EYESIS_CORRECTIONS.correctionsParameters.saveSettings) {
configPath=EYESIS_CORRECTIONS.correctionsParameters.selectResultsDirectory(
true,
true);
if (configPath==null){
String msg="No results directory selected, command aborted";
System.out.println("Warning: "+msg);
IJ.showMessage("Warning",msg);
return;
}
configPath+=Prefs.getFileSeparator()+"autoconfig";
try {
saveTimestampedProperties(
configPath, // full path or null
null, // use as default directory if path==null
true,
PROPERTIES);
} catch (Exception e){
String msg="Failed to save configuration to "+configPath+", command aborted";
System.out.println("Error: "+msg);
IJ.showMessage("Error",msg);
return;
}
}
/*
public boolean output3d(
EyesisCorrectionParameters.CLTParameters clt_parameters,
EyesisCorrectionParameters.ColorProcParameters colorProcParameters,
EyesisCorrectionParameters.RGBParameters rgbParameters,
final int threadsMax, // maximal number of threads to launch
final boolean updateStatus,
final int debugLevel)
*/
boolean OK = QUAD_CLT.output3d(
CLT_PARAMETERS, // EyesisCorrectionParameters.DCTParameters dct_parameters,
COLOR_PROC_PARAMETERS, //EyesisCorrectionParameters.ColorProcParameters colorProcParameters,
RGB_PARAMETERS, //EyesisCorrectionParameters.RGBParameters rgbParameters,
THREADS_MAX, //final int threadsMax, // maximal number of threads to launch
UPDATE_STATUS, //final boolean updateStatus,
DEBUG_LEVEL); //final int debugLevel);
if (!OK) {
String msg="Image data not initialized, run 'CLT 3D' command first";
System.out.println("Error: "+msg);
IJ.showMessage("Error",msg);
}
/*
if (configPath!=null) {
saveTimestampedProperties( // save config again
configPath, // full path or null
null, // use as default directory if path==null
true,
PROPERTIES);
}
*/
return;
// //
// End of buttons code // End of buttons code
} }
......
src/main/java/QuadCLT.java
View file @ b267218c
...@@ -51,6 +51,9 @@ public class QuadCLT { ...@@ -51,6 +51,9 @@ public class QuadCLT {
public double [][][] fine_corr = new double [4][2][6]; // per port, per x/y, set of 6 coefficient for fine geometric corrections public double [][][] fine_corr = new double [4][2][6]; // per port, per x/y, set of 6 coefficient for fine geometric corrections
TileProcessor tp = null; TileProcessor tp = null;
String image_name = null;
double [][][] image_data = null;
// magic scale should be set before using TileProcessor (calculated disparities depend on it) // magic scale should be set before using TileProcessor (calculated disparities depend on it)
...@@ -4474,6 +4477,30 @@ public class QuadCLT { ...@@ -4474,6 +4477,30 @@ public class QuadCLT {
} }
tp.showPlanes( tp.showPlanes(
clt_parameters, clt_parameters,
geometryCorrection,
threadsMax,
updateStatus,
debugLevel);
// CLTPass3d last_scan = tp.clt_3d_passes.get(tp.clt_3d_passes.size() -1); // get last one
}
public void out3d(
EyesisCorrectionParameters.CLTParameters clt_parameters,
final int threadsMax, // maximal number of threads to launch
final boolean updateStatus,
final int debugLevel)
{
if (tp == null){
System.out.println("showCLTPlanes(): tp is null");
return;
}
if (tp.clt_3d_passes == null){
System.out.println("showCLTPlanes(): tp.clt_3d_passes is null");
return;
}
tp.showPlanes(
clt_parameters,
geometryCorrection,
threadsMax, threadsMax,
updateStatus, updateStatus,
debugLevel); debugLevel);
...@@ -4683,7 +4710,7 @@ public class QuadCLT { ...@@ -4683,7 +4710,7 @@ public class QuadCLT {
clt_parameters.colors_equalize, clt_parameters.colors_equalize,
channelFiles, channelFiles,
imp_srcs, imp_srcs,
setNames.get(nSet), // just for debug messeges == setNames.get(nSet) setNames.get(nSet), // just for debug messages == setNames.get(nSet)
debugLevel); debugLevel);
} }
// once per quad here // once per quad here
...@@ -4740,6 +4767,11 @@ public class QuadCLT { ...@@ -4740,6 +4767,11 @@ public class QuadCLT {
setTiles (imp_quad[0], // set global tp.tilesX, tp.tilesY setTiles (imp_quad[0], // set global tp.tilesX, tp.tilesY
clt_parameters, clt_parameters,
threadsMax); threadsMax);
this.image_name = name;
this.image_data = image_data;
tp.resetCLTPasses(); tp.resetCLTPasses();
tp.setTrustedCorrelation(clt_parameters.grow_disp_trust); tp.setTrustedCorrelation(clt_parameters.grow_disp_trust);
final int tilesX = tp.getTilesX(); final int tilesX = tp.getTilesX();
...@@ -5083,16 +5115,20 @@ public class QuadCLT { ...@@ -5083,16 +5115,20 @@ public class QuadCLT {
geometryCorrection, geometryCorrection,
threadsMax, // maximal number of threads to launch threadsMax, // maximal number of threads to launch
updateStatus, updateStatus,
2); // debugLevel); 0); // 2); // debugLevel);
// get images for predefined regions and disparities. First - with just fixed scans 1 .. list.size() // get images for predefined regions and disparities. First - with just fixed scans 1 .. list.size()
// TEMPORARY EXIT // TEMPORARY EXIT
if (tp.clt_3d_passes.size() > 0) { // Save tp.clt_3d_passes.size() to roll back without restarting the program
System.out.println("-------- temporary exit after secondPassSetup() ------- "); tp.saveCLTPasses();
return null; // just to fool compiler
}
if (tp.clt_3d_passes.size() > 0) {
System.out.println("-------- temporary exit after secondPassSetup() ------- ");
return null; // just to fool compiler
}
tp.showScan( tp.showScan(
tp.clt_3d_passes.get(next_pass-1), // CLTPass3d scan, tp.clt_3d_passes.get(next_pass-1), // CLTPass3d scan,
...@@ -5206,6 +5242,167 @@ public class QuadCLT { ...@@ -5206,6 +5242,167 @@ public class QuadCLT {
return imp_bgnd; // relative (to x3d directory) path - (String) imp_bgnd.getProperty("name"); return imp_bgnd; // relative (to x3d directory) path - (String) imp_bgnd.getProperty("name");
} }
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// public ImagePlus output3d(
public boolean output3d(
EyesisCorrectionParameters.CLTParameters clt_parameters,
EyesisCorrectionParameters.ColorProcParameters colorProcParameters,
EyesisCorrectionParameters.RGBParameters rgbParameters,
final int threadsMax, // maximal number of threads to launch
final boolean updateStatus,
final int debugLevel)
{
final int tilesX = tp.getTilesX();
final int tilesY = tp.getTilesY();
if (this.image_data == null){
return false;
}
tp.trimCLTPasses(); // make possible to run this method multiple time - remove extra passes added by it last time
int next_pass = tp.clt_3d_passes.size(); //
tp.showScan(
tp.clt_3d_passes.get(next_pass-1), // CLTPass3d scan,
"after_pass2-"+(next_pass-1)); //String title)
tp.thirdPassSetup( // prepare tile tasks for the second pass based on the previous one(s)
clt_parameters,
clt_parameters.bgnd_range, // double disparity_far,
clt_parameters.grow_disp_max, // other_range, //double disparity_near, //
geometryCorrection,
threadsMax, // maximal number of threads to launch
updateStatus,
0); // final int debugLevel)
tp.showScan(
tp.clt_3d_passes.get(next_pass-1), // CLTPass3d scan,
"after_pass3-"+(next_pass-1)); //String title)
// create x3d file
X3dOutput x3dOutput = new X3dOutput(
clt_parameters,
correctionsParameters,
geometryCorrection,
tp.clt_3d_passes);
x3dOutput.generateBackground();
String x3d_path= correctionsParameters.selectX3dDirectory(
true, // smart,
true); //newAllowed, // save
for (int scanIndex = next_pass; scanIndex < tp.clt_3d_passes.size(); scanIndex++){
if (debugLevel > 0){
System.out.println("FPGA processing scan #"+scanIndex);
}
CLTPass3d scan = CLTMeasure( // perform single pass according to prepared tiles operations and disparity
image_data, // first index - number of image in a quad
clt_parameters,
scanIndex,
threadsMax, // maximal number of threads to launch
updateStatus,
debugLevel);
/**
if ((scanIndex == 49) || (scanIndex == 54) ) tp.showScan(
scan, // tp.clt_3d_passes.get(scanIndex), // CLTPass3d scan,
"MEASURED-"+scanIndex);
*/
}
// TEMPORARY EXIT
// if (tp.clt_3d_passes.size() > 0) return null; // just to fool compiler
// int scan_limit = 10;
for (int scanIndex = next_pass; (scanIndex < tp.clt_3d_passes.size()) && (scanIndex < clt_parameters.max_clusters); scanIndex++){ // just temporary limiting
if (debugLevel > -1){
System.out.println("Generating cluster images (limit is set to "+clt_parameters.max_clusters+") largest, scan #"+scanIndex);
}
// ImagePlus cluster_image = getPassImage( // get image form a single pass
String texturePath = getPassImage( // get image from a single pass
clt_parameters,
colorProcParameters,
rgbParameters,
this.image_name+"-img"+scanIndex,
scanIndex,
threadsMax, // maximal number of threads to launch
updateStatus,
debugLevel);
CLTPass3d scan = tp.clt_3d_passes.get(scanIndex);
if ((scanIndex == 73) ) {
tp.showScan(
tp.clt_3d_passes.get(scanIndex), // CLTPass3d scan,
"SELECTED-"+scanIndex);
}
// TODO: use new updated disparity, for now just what was forced for the picture
double [] scan_disparity = new double [tilesX * tilesY];
int indx = 0;
// boolean [] scan_selected = scan.getSelected();
for (int ty = 0; ty < tilesY; ty ++) for (int tx = 0; tx < tilesX; tx ++){
// scan_selected[indx] = scan.tile_op[ty][tx] != 0;
scan_disparity[indx++] = scan.disparity[ty][tx];
}
if (clt_parameters.avg_cluster_disp){
double sw = 0.0, sdw = 0.0;
for (int i = 0; i< scan_disparity.length; i++){
if (scan.selected[i] && !scan.border_tiles[i]){
double w = scan.disparity_map[ImageDtt.DISPARITY_STRENGTH_INDEX][i];
sw +=w;
sdw += scan_disparity[i]*w;
}
}
sdw/=sw;
for (int i = 0; i< scan_disparity.length; i++){
scan_disparity[i] = sdw;
}
}
if ((scanIndex == 73)) {
tp.showScan(
tp.clt_3d_passes.get(scanIndex), // CLTPass3d scan,
"X3D-"+scanIndex);
}
boolean showTri = ((scanIndex < next_pass + 1) && clt_parameters.show_triangles) ||(scanIndex == 73);
// boolean showTri = ((scanIndex < next_pass + 1) && clt_parameters.show_triangles) ||(scanIndex == 49) || (scanIndex == 54);
generateClusterX3d(
x3dOutput,
texturePath,
scan.bounds,
scan.selected,
scan_disparity, // scan.disparity_map[ImageDtt.DISPARITY_INDEX_CM],
clt_parameters.transform_size,
clt_parameters.correct_distortions, // requires backdrop image to be corrected also
showTri, // (scanIndex < next_pass + 1) && clt_parameters.show_triangles,
clt_parameters.bgnd_range, // 0.3
clt_parameters.grow_disp_max, // other_range, // 2.0 'other_range - difference from the specified (*_CM)
clt_parameters.maxDispTriangle);
}
// now generate and save texture files (start with full, later use bounding rectangle?)
if (x3d_path != null){
x3d_path+=Prefs.getFileSeparator()+this.image_name+".x3d";
x3dOutput.generateX3D(x3d_path);
}
return true;
// return imp_bgnd; // relative (to x3d directory) path - (String) imp_bgnd.getProperty("name");
}
//*****************************************************************
public void generateClusterX3d( public void generateClusterX3d(
X3dOutput x3dOutput, X3dOutput x3dOutput,
String texturePath, String texturePath,
......
src/main/java/SuperTiles.java
View file @ b267218c
This source diff could not be displayed because it is too large. You can view the blob instead.
src/main/java/TilePlanes.java
View file @ b267218c
...@@ -764,10 +764,10 @@ public class TilePlanes { ...@@ -764,10 +764,10 @@ public class TilePlanes {
// double px = tileSize*(superTileSize * sTileXY[0] + superTileSize/2) + zxy[1]; // [3] - plane point {disparity, x, y), x=0, y=0 is a 4,4 point of an 8x8 supertile // double px = tileSize*(superTileSize * sTileXY[0] + superTileSize/2) + zxy[1]; // [3] - plane point {disparity, x, y), x=0, y=0 is a 4,4 point of an 8x8 supertile
// double py = tileSize*(superTileSize * sTileXY[1] + superTileSize/2) + zxy[2]; // double py = tileSize*(superTileSize * sTileXY[1] + superTileSize/2) + zxy[2];
double [] px_py = getCenterPxPy(); double [] px_py = getCenterPxPy();
if ((px_py[0] == 1760) && (px_py[1] == 1056)){ // 27, 15 // if ((px_py[0] == 1760) && (px_py[1] == 1056)){ // 27, 15
System.out.println("getWorldXYZ, px_py = {"+px_py[0]+","+px_py[1]+"}"); // System.out.println("getWorldXYZ, px_py = {"+px_py[0]+","+px_py[1]+"}");
debugLevel = 2; // debugLevel = 2;
} // }
double px = px_py[0] + zxy[1]; double px = px_py[0] + zxy[1];
double py = px_py[1] + zxy[2]; double py = px_py[1] + zxy[2];
...@@ -780,6 +780,10 @@ public class TilePlanes { ...@@ -780,6 +780,10 @@ public class TilePlanes {
Matrix xyz = new Matrix(center_xyz, 3); // column matrix Matrix xyz = new Matrix(center_xyz, 3); // column matrix
Matrix dpxpy = new Matrix(vectors[0],3); // 3 rows, 1 column Matrix dpxpy = new Matrix(vectors[0],3); // 3 rows, 1 column
if (debugLevel > 0){ if (debugLevel > 0){
// if (sTileXY[0] == 27 ){
// System.out.println("STOP");
//
// }
System.out.println("getWorldXYZ("+sTileXY[0]+","+sTileXY[1]+"), correctDistortions="+correctDistortions+", xyz= {"+ System.out.println("getWorldXYZ("+sTileXY[0]+","+sTileXY[1]+"), correctDistortions="+correctDistortions+", xyz= {"+
xyz.get(0, 0)+","+xyz.get(1, 0)+","+xyz.get(2, 0)+"}, weight = "+getWeight()); xyz.get(0, 0)+","+xyz.get(1, 0)+","+xyz.get(2, 0)+"}, weight = "+getWeight());
// xyz.print(10, 6); // w,d // xyz.print(10, 6); // w,d
...@@ -842,7 +846,7 @@ public class TilePlanes { ...@@ -842,7 +846,7 @@ public class TilePlanes {
} }
norm_xyz.timesEquals(1.0/norm_xyz.normF()); // unity normal vector; norm_xyz.timesEquals(1.0/norm_xyz.normF()); // unity normal vector;
if (debugLevel > 0){ if (debugLevel > 1){
System.out.println("+getWorldXYZ("+sTileXY[0]+","+sTileXY[1]+"): unit plane normal={"+ System.out.println("+getWorldXYZ("+sTileXY[0]+","+sTileXY[1]+"): unit plane normal={"+
norm_xyz.get(0, 0)+", "+norm_xyz.get(1, 0)+", "+norm_xyz.get(2, 0)+"})"); norm_xyz.get(0, 0)+", "+norm_xyz.get(1, 0)+", "+norm_xyz.get(2, 0)+"})");
double dotprod = xyz.transpose().times(norm_xyz).get(0,0); double dotprod = xyz.transpose().times(norm_xyz).get(0,0);
...@@ -1070,7 +1074,7 @@ public class TilePlanes { ...@@ -1070,7 +1074,7 @@ public class TilePlanes {
int numRemoved = 0; int numRemoved = 0;
for (; (pd.getValue() > targetEigen) && (numRemoved < maxRemoved); numRemoved++){ for (; (pd.getValue() > targetEigen) && (numRemoved < maxRemoved); numRemoved++){
if (debugLevel > 2){ if (debugLevel > 2){
System.out.println("removePlaneOutliers(): numRemoved = "+numRemoved+" eigenValue = "+pd.getValue()+" target = "+targetEigen); System.out.println("removePlaneOutliers("+sTileXY[0]+":"+sTileXY[1]+"): numRemoved = "+numRemoved+" eigenValue = "+pd.getValue()+" target = "+targetEigen);
} }
// make a plane and find the worst (largest disparity difference) tile // make a plane and find the worst (largest disparity difference) tile
// z = -(x*Vx + y*Vy)/Vz // z = -(x*Vx + y*Vy)/Vz
......
src/main/java/TileProcessor.java
View file @ b267218c
...@@ -29,6 +29,7 @@ import java.util.concurrent.atomic.AtomicInteger; ...@@ -29,6 +29,7 @@ import java.util.concurrent.atomic.AtomicInteger;
public class TileProcessor { public class TileProcessor {
public ArrayList <CLTPass3d> clt_3d_passes = null; public ArrayList <CLTPass3d> clt_3d_passes = null;
public int clt_3d_passes_size = 0; //clt_3d_passes size after initial processing
private int tilesX; private int tilesX;
private int tilesY; private int tilesY;
private double corr_magic_scale = 0.85; // reported correlation offset vs. actual one (not yet understood) private double corr_magic_scale = 0.85; // reported correlation offset vs. actual one (not yet understood)
...@@ -82,8 +83,22 @@ public class TileProcessor { ...@@ -82,8 +83,22 @@ public class TileProcessor {
public void resetCLTPasses(){ public void resetCLTPasses(){
clt_3d_passes = new ArrayList<CLTPass3d>(); clt_3d_passes = new ArrayList<CLTPass3d>();
clt_3d_passes_size = 0;
} }
public void saveCLTPasses(){
clt_3d_passes_size = clt_3d_passes.size();
}
public void trimCLTPasses(){
while (clt_3d_passes.size() > clt_3d_passes_size){
clt_3d_passes.remove(clt_3d_passes_size);
}
}
/** /**
* Basic combining: find smallest residual disparity and use the tile data from it * Basic combining: find smallest residual disparity and use the tile data from it
* Copy link to texture tile from the same pass, "forced" bit in tile_op is copied too * Copy link to texture tile from the same pass, "forced" bit in tile_op is copied too
...@@ -1319,7 +1334,7 @@ public class TileProcessor { ...@@ -1319,7 +1334,7 @@ public class TileProcessor {
clusterSize++; clusterSize++;
bcluster[i] = true; bcluster[i] = true;
} }
if (debugLevel > 1) { if (debugLevel > -1) {
System.out.println("createTileTasks(), cluster #"+ncl+", cluster size = "+clusterSize); System.out.println("createTileTasks(), cluster #"+ncl+", cluster size = "+clusterSize);
} }
if ((clusterSize < minClusterArea) || (clusterSize == 0)) break; if ((clusterSize < minClusterArea) || (clusterSize == 0)) break;
...@@ -1437,6 +1452,116 @@ public class TileProcessor { ...@@ -1437,6 +1452,116 @@ public class TileProcessor {
public int createTileTasks(
int maxClusters,
int minClusterArea,
double [] disparity_in,
int [] clusters_in,
int debugLevel)
{
showDoubleFloatArrays sdfa_instance = null;
if (debugLevel > -1) sdfa_instance = new showDoubleFloatArrays(); // just for debugging?
// adding 1-tile frame around to avoid checking for the borders
int tilesX4 = tilesX + 4;
int tilesY4 = tilesY + 4;
int tlen4 = tilesX4*tilesY4;
double [] disparity0 = new double [tlen4];
int [] clusters = new int [tlen4];
for (int i = 0; i < tlen4; i++) {
clusters[i] = 0;
}
for (int i = 0; i < tilesY; i++) {
for (int j = 0; j < tilesX; j++) {
clusters[(i + 2) * tilesX4 + j + 2] = clusters_in[i * tilesX + j];
disparity0[(i + 2) * tilesX4 + j + 2] = disparity_in[i * tilesX + j];
}
}
int [] dirs8 = {-tilesX4, -tilesX4 + 1, 1, tilesX4 +1, tilesX4, tilesX4 - 1, -1, -tilesX4 - 1};
int [] dirs = dirs8;
int op = ImageDtt.setImgMask(0, 0xf);
op = ImageDtt.setPairMask(op,0xf);
op = ImageDtt.setForcedDisparity(op,true);
int tlen = clusters.length;
int numClusters = 0;
for (int ncl = 0; (maxClusters == 0) || (ncl < maxClusters); ncl++){ // need to break;
double [] disparity = disparity0.clone();
boolean [] bcluster = new boolean [tlen];
int clusterSize = 0;
int cindx = ncl + 1;
for (int i = 0; i < tlen; i++) if (clusters[i] == cindx) {
clusterSize++;
bcluster[i] = true;
}
if (debugLevel > -1) {
System.out.println("createTileTasks(), cluster #"+ncl+", cluster size = "+clusterSize);
}
if ((clusterSize < minClusterArea) || (clusterSize == 0)) break;
boolean [] grown_clusters = bcluster.clone();
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
grown_clusters,
null,
tilesX4,
tilesY4);
// now fill border pixels disparity disregarding known for that tile
for (int i = 0; i < tlen ; i++){
if (!bcluster[i] && grown_clusters[i]){ // only border
double sd = 0.0;
int n = 0;
for (int d = 0; d < dirs.length; d++){
int indx = i + dirs[d];
if (bcluster[indx]){
sd += disparity[indx];
n++;
}
}
if (n > 0){
disparity[i] = sd/n;
} else {
System.out.println("**** Program BUG, should not happen ****");
disparity[i] = 0.0;
}
}
}
// return to original dimensions
double [][] disparityTask = new double [tilesY][tilesX];
int [][] tile_op = new int [tilesY][tilesX];
boolean [] borderTiles = new boolean[tilesY*tilesX]; // to zero alpha in the images
for (int ty = 0; ty < tilesY; ty++) for (int tx = 0; tx <tilesX; tx++){
int indx = tilesX * ty + tx;
int indx4 = tilesX4 * (ty+2) + (tx + 2);
if (grown_clusters[indx4]){
disparityTask[ty][tx] = disparity[indx4];
tile_op[ty][tx] = op;
borderTiles[indx] = !bcluster[indx4];
} else {
disparityTask[ty][tx] = 0.0;
tile_op[ty][tx] = 0;
borderTiles[indx] = false;
}
}
// Create FPGA task for this cluster
CLTPass3d scan_next =new CLTPass3d(this);
scan_next.disparity = disparityTask;
scan_next.tile_op = tile_op;
scan_next.border_tiles = borderTiles;
clt_3d_passes.add(scan_next);
numClusters++;
}
return numClusters;
}
// temporary - simple separation until continuous tile areas are split along disparity steps // temporary - simple separation until continuous tile areas are split along disparity steps
...@@ -2810,12 +2935,31 @@ public class TileProcessor { ...@@ -2810,12 +2935,31 @@ public class TileProcessor {
//====================== //======================
public void showPlanes( public void showPlanes(
EyesisCorrectionParameters.CLTParameters clt_parameters, EyesisCorrectionParameters.CLTParameters clt_parameters,
GeometryCorrection geometryCorrection,
final int threadsMax, // maximal number of threads to launch final int threadsMax, // maximal number of threads to launch
final boolean updateStatus, final boolean updateStatus,
final int debugLevel) final int debugLevel)
{ {
CLTPass3d scan_prev = clt_3d_passes.get(clt_3d_passes.size() -1); // get last one CLTPass3d scan_prev = clt_3d_passes.get(clt_3d_passes.size() -1); // get last one
SuperTiles st = scan_prev.getSuperTiles(); SuperTiles st = scan_prev.getSuperTiles();
// moved here
st.processPlanes2(
null, // final boolean [] selected, // or null
0.3, // final double min_disp,
false, // final boolean invert_disp, // use 1/disparity
clt_parameters.plDispNorm, // = 2.0; // Normalize disparities to the average if above
clt_parameters.plMinPoints, // = 5; // Minimal number of points for plane detection
clt_parameters.plTargetEigen, // = 0.1; // Remove outliers until main axis eigenvalue (possibly scaled by plDispNorm) gets below
clt_parameters.plFractOutliers, // = 0.3; // Maximal fraction of outliers to remove
clt_parameters.plMaxOutliers, // = 20; // Maximal number of outliers to remove
geometryCorrection,
clt_parameters.correct_distortions,
0, // -1, // debugLevel, // final int debugLevel)
clt_parameters.tileX,
clt_parameters.tileY);
showDoubleFloatArrays sdfa_instance = null; showDoubleFloatArrays sdfa_instance = null;
if (debugLevel > -1) sdfa_instance = new showDoubleFloatArrays(); // just for debugging? if (debugLevel > -1) sdfa_instance = new showDoubleFloatArrays(); // just for debugging?
...@@ -2830,7 +2974,16 @@ public class TileProcessor { ...@@ -2830,7 +2974,16 @@ public class TileProcessor {
clt_parameters.plMinStrength, clt_parameters.plMinStrength,
0, // final int debugLevel) 0, // final int debugLevel)
clt_parameters.tileX, clt_parameters.tileX,
clt_parameters.tileY); clt_parameters.tileY);
if (clt_parameters.plFillSquares){
st.fillSquares();
}
if (clt_parameters.plCutCorners){
st.cutCorners();
}
TilePlanes.PlaneData [][] planes_mod = null; TilePlanes.PlaneData [][] planes_mod = null;
// smooth planes (by averaging with neighbors and the "measured" one with variable "pull") // smooth planes (by averaging with neighbors and the "measured" one with variable "pull")
...@@ -2936,6 +3089,104 @@ public class TileProcessor { ...@@ -2936,6 +3089,104 @@ public class TileProcessor {
10.0, // double arrow_dark, 10.0, // double arrow_dark,
10.0); // double arrow_white) 10.0); // double arrow_white)
sdfa_instance.showArrays(plane_data, wh[0], wh[1], true, "shells"); sdfa_instance.showArrays(plane_data, wh[0], wh[1], true, "shells");
// also test snap here
int [] snap_surf = st.snapSort(
st.cltPass3d.getDisparity(), // final double [] disparity,
st.cltPass3d.getStrength(), // final double [] strength,
st.cltPass3d.getSelected(), // null, // this_selection, // final boolean [] selection, // can be null
clt_parameters.plDispNorm, // final double dispNorm, // plDispNorm
clt_parameters.plSnapDispAny, //final double snapDispAny, // = .2, // Maximal (scaled by plDispNorm) disparity difference to snap to plane at any strength
clt_parameters.plSnapStrengthAny,//final double snapStrengthAny, // = .2, // Maximal strength to fit any distance (if does not fit otherwise - treat as zero strength
clt_parameters.plSnapNegAny, //final double snapNegAny, // = .2, // Maximal negative disparity difference from the best match
clt_parameters.plSnapDispMax, // final double snapDispMax, // = .5, // Maximal (scaled by plDispNorm) disparity difference to snap to plane at low strength
clt_parameters.plSnapDispWeight, // final double snapDispWeight, // = .5, // Maximal disparity diff. by weight product to snap to plane
clt_parameters.plSnapZeroMode, // final int snapZeroMode, // Zero strength snap mode: 0: no special treatment, 1 - strongest, 2 - farthest
1); // final int debugLevel)
double [] snap_disparity = st.snapDisparity(
st.cltPass3d.getDisparity(), // final double [] disparity,
st.cltPass3d.getStrength(), // final double [] strength,
null, // this_selection, // final boolean [] selection, // can be null
clt_parameters.plDispNorm, // final double dispNorm, // plDispNorm
clt_parameters.plSnapDispAny, //final double snapDispAny, // = .2, // Maximal (scaled by plDispNorm) disparity difference to snap to plane at any strength
clt_parameters.plSnapStrengthAny,//final double snapStrengthAny, // = .2, // Maximal strength to fit any distance (if does not fit otherwise - treat as zero strength
clt_parameters.plSnapNegAny, //final double snapNegAny, // = .2, // Maximal negative disparity difference from the best match
clt_parameters.plSnapDispMax, // final double snapDispMax, // = .5, // Maximal (scaled by plDispNorm) disparity difference to snap to plane at low strength
clt_parameters.plSnapDispWeight, // final double snapDispWeight, // = .5, // Maximal disparity diff. by weight product to snap to plane
clt_parameters.plSnapZeroMode, // final int snapZeroMode, // Zero strength snap mode: 0: no special treatment, 1 - strongest, 2 - farthest
1); // final int debugLevel)
double [] snap_disparity_masked = snap_disparity.clone();
double [] disparity_masked = st.cltPass3d.getDisparity().clone();
double [] strength_masked = st.cltPass3d.getStrength().clone();
boolean [] selected = st.cltPass3d.getSelected();
for (int i = 0; i < snap_disparity_masked.length; i++){
if ( !selected[i]){
disparity_masked[i] = Double.NaN;
snap_disparity_masked[i] = Double.NaN;
strength_masked[i] = Double.NaN;
}
}
String [] snap_titles = {"disp","snap_disp","strength","disp_masked","snap_disp_masked","unmatched","strength_masked"};
double [][] snap_img = new double [snap_titles.length][];
snap_img[5] = new double [snap_surf.length];
for (int i = 0; i < snap_surf.length; i++){
snap_img[5][i] = (selected[i] && (snap_surf[i] == 0)) ? 10.0: 0.0;
}
snap_img[0] = st.cltPass3d.getDisparity();
snap_img[1] = snap_disparity;
snap_img[2] = st.cltPass3d.getStrength();
snap_img[3] = disparity_masked;
snap_img[4] = snap_disparity_masked;
snap_img[6] = strength_masked;
sdfa_instance.showArrays(snap_img, tilesX, tilesY, true, "snap",snap_titles);
boolean [] these_tiles = scan_prev.getSelected();
DisparityProcessor dp = new DisparityProcessor(this, clt_parameters.transform_size * geometryCorrection.getScaleDzDx());
boolean [] grown = these_tiles.clone();
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
grown, // boolean [] tiles,
null); // boolean [] prohibit)
boolean [] border = grown.clone();
for (int i = 0; i < border.length; i++) border[i] &= !these_tiles[i];
int num_unmatched = st.getNumNotMatched(
snap_surf,
these_tiles);
int num_surf = st.getNumSurf(
snap_surf,
null); // these_tiles);
if (debugLevel > -1){
System.out.println("thirdPassSetup(): surfaces = "+num_surf+" left unmatched="+num_unmatched);
}
int [][] neib_surf = new int [num_surf][];
double [][] dbg_neibs = new double [num_surf][];
for (int ns = 0 ; ns < num_surf; ns ++){
neib_surf[ns] = st.getNeighbors( // creates neighbors mask from bitmask
these_tiles, // final boolean [] selected, // or null
snap_surf, // final int [] snap_surf, // use this size - it matches image, not supertiles
ns); // final int surf_index)
dbg_neibs[ns]= dp.dbgShowNeighbors(
these_tiles, // grown, // these_tiles,
neib_surf[ns], // _orig, // int [] neighbors,
clt_parameters.transform_size, // int tile_size,
-1.0, // Double.NaN, // double bgnd,
10.0); // double fgnd)
}
sdfa_instance.showArrays(dbg_neibs,
tilesX*clt_parameters.transform_size,
tilesY*clt_parameters.transform_size,
true,
"surf-neighbors");
} }
} }
...@@ -3043,8 +3294,27 @@ public class TileProcessor { ...@@ -3043,8 +3294,27 @@ public class TileProcessor {
scan_prev.combineHorVertStrength(true, false); // strength now max of original and horizontal. Use scale instead of boolean? scan_prev.combineHorVertStrength(true, false); // strength now max of original and horizontal. Use scale instead of boolean?
} }
double [] this_disparity = scan_prev.getDisparity(); // returns a copy of the FPGA-generated disparity combined with the target one double [] this_disparity = scan_prev.getDisparity(); // returns a copy of the FPGA-generated disparity combined with the target one
double [] this_strength = scan_prev.getStrength(); // cloned, can be modified/ read back double [] this_strength = scan_prev.getStrength(); // cloned, can be modified/ read back
String [] dbg_test_titles = {"was_selected","these_tiles", "disparity","strength"};
double [][] dbg_test_img = new double [dbg_test_titles.length][];
dbg_test_img[0] = new double [tilesX * tilesY];
dbg_test_img[1] = new double [tilesX * tilesY];
boolean [] dbg_test_selected = scan_prev.getSelected();
for (int i = 0; i < dbg_test_img[0].length; i++){
if (dbg_test_selected != null) dbg_test_img[0][i] = dbg_test_selected[i]?1.0:0.0;
dbg_test_img[1][i] = these_tiles[i]?1.0:0.0;
}
dbg_test_img[2] = this_disparity;
dbg_test_img[3] = this_strength;
if (sdfa_instance != null) sdfa_instance.showArrays(dbg_test_img, tilesX, tilesY, true, "dbg_test_img",dbg_test_titles);
scan_prev.setSelected(these_tiles); // New
//************************************************ //************************************************
// Show supertiles histograms // Show supertiles histograms
...@@ -3090,7 +3360,7 @@ public class TileProcessor { ...@@ -3090,7 +3360,7 @@ public class TileProcessor {
if (show_st){ if (show_st){
sdfa_instance.showArrays(dbg_hist, hist_width0, hist_height0, true, "disparity_supertiles_histograms",dbg_st_titles); sdfa_instance.showArrays(dbg_hist, hist_width0, hist_height0, true, "disparity_supertiles_histograms",dbg_st_titles);
} }
/**
st.processPlanes2( st.processPlanes2(
null, // final boolean [] selected, // or null null, // final boolean [] selected, // or null
0.3, // final double min_disp, 0.3, // final double min_disp,
...@@ -3104,14 +3374,7 @@ public class TileProcessor { ...@@ -3104,14 +3374,7 @@ public class TileProcessor {
clt_parameters.correct_distortions, clt_parameters.correct_distortions,
0, // -1, // debugLevel, // final int debugLevel) 0, // -1, // debugLevel, // final int debugLevel)
clt_parameters.tileX, clt_parameters.tileX,
clt_parameters.tileY); clt_parameters.tileY);
if (debugLevel < 100) {
return; // just temporarily
}
if (use_supertiles) { if (use_supertiles) {
...@@ -3131,41 +3394,318 @@ public class TileProcessor { ...@@ -3131,41 +3394,318 @@ public class TileProcessor {
if (dbg_with_super_disp != null) dbg_with_super_disp = dbg_with_super_disp.clone(); // else no super disparity available if (dbg_with_super_disp != null) dbg_with_super_disp = dbg_with_super_disp.clone(); // else no super disparity available
} }
*/
} }
// replace weak outlier tiles with weighted averages (modifies disparity)
boolean[] outlayers = scan_prev.replaceWeakOutlayers( // return scan_next;
null, // final boolean [] selection, }
clt_parameters.outlayerStrength , //final double weakStrength, // strength to be considered weak, subject to this replacement
clt_parameters.outlayerDiff, // final double maxDiff) //==================
clt_parameters.outlayerDiffPos, // final double maxDiff) public void thirdPassSetup( // prepare tile tasks for the second pass based on the previous one(s)
clt_parameters.outlayerDiffNeg, // final double maxDiff) EyesisCorrectionParameters.CLTParameters clt_parameters,
0.5 * disparity_far, double disparity_far, //
2.0 * disparity_near, double disparity_near, //
GeometryCorrection geometryCorrection,
final int threadsMax, // maximal number of threads to launch
final boolean updateStatus,
final int debugLevel)
{
CLTPass3d scan_prev = clt_3d_passes.get(clt_3d_passes.size() -1); // get last one
/// double [] dbg_orig_disparity = null;
/// double [] dbg_with_super_disp = null;
/// double [] dbg_outlayers = null;
showDoubleFloatArrays sdfa_instance = null;
if (debugLevel > -1) sdfa_instance = new showDoubleFloatArrays(); // just for debugging?
boolean [] these_tiles = scan_prev.getSelected();
double [] this_disparity = scan_prev.getDisparity(); // returns a copy of the FPGA-generated disparity combined with the target one
double [] this_strength = scan_prev.getStrength(); // cloned, can be modified/ read back
scan_prev.fixNaNDisparity(
null, // border, // boolean [] select, // which tiles to correct (null - all)
scan_prev.getDisparity(), // double [] disparity,
scan_prev.getStrength()); // double [] strength)
/// dbg_orig_disparity = this_disparity.clone();
SuperTiles st = scan_prev.getSuperTiles();
// if (clt_parameters.plSnapDispAny >= 0.0) {
double [] snap_disparity = st.snapDisparity(
this_disparity, // final double [] disparity,
this_strength, // final double [] strength,
null, // this_selection, // final boolean [] selection, // can be null
clt_parameters.plDispNorm, // final double dispNorm, // plDispNorm
clt_parameters.plSnapDispAny, //final double snapDispAny, // = .2, // Maximal (scaled by plDispNorm) disparity difference to snap to plane at any strength
clt_parameters.plSnapStrengthAny,//final double snapStrengthAny, // = .2, // Maximal strength to fit any distance (if does not fit otherwise - treat as zero strength
clt_parameters.plSnapNegAny, //final double snapNegAny, // = .2, // Maximal negative disparity difference from the best match
clt_parameters.plSnapDispMax, // final double snapDispMax, // = .5, // Maximal (scaled by plDispNorm) disparity difference to snap to plane at low strength
clt_parameters.plSnapDispWeight, // final double snapDispWeight, // = .5, // Maximal disparity diff. by weight product to snap to plane
clt_parameters.plSnapZeroMode, // final int snapZeroMode, // Zero strength snap mode: 0: no special treatment, 1 - strongest, 2 - farthest
1); // final int debugLevel)
System.arraycopy(snap_disparity, 0, this_disparity, 0, snap_disparity.length);
// }
/**
// Replace weak outlayers
if (clt_parameters.replaceWeakOutlayers) {
// boolean[] outlayers =
scan_prev.replaceWeakOutlayers(
null, // final boolean [] selection,
clt_parameters.outlayerStrength , //final double weakStrength, // strength to be considered weak, subject to this replacement
clt_parameters.outlayerDiff, // final double maxDiff)
clt_parameters.outlayerDiffPos, // final double maxDiff)
clt_parameters.outlayerDiffNeg, // final double maxDiff)
0.5 * disparity_far,
2.0 * disparity_near,
debugLevel);
}
*/
int [] snap_surf = st.snapSort(
this_disparity, // final double [] disparity,
this_strength, // final double [] strength,
null, // this_selection, // final boolean [] selection, // can be null
clt_parameters.plDispNorm, // final double dispNorm, // plDispNorm
clt_parameters.plSnapDispAny, //final double snapDispAny, // = .2, // Maximal (scaled by plDispNorm) disparity difference to snap to plane at any strength
clt_parameters.plSnapStrengthAny,//final double snapStrengthAny, // = .2, // Maximal strength to fit any distance (if does not fit otherwise - treat as zero strength
clt_parameters.plSnapNegAny, //final double snapNegAny, // = .2, // Maximal negative disparity difference from the best match
clt_parameters.plSnapDispMax, // final double snapDispMax, // = .5, // Maximal (scaled by plDispNorm) disparity difference to snap to plane at low strength
clt_parameters.plSnapDispWeight, // final double snapDispWeight, // = .5, // Maximal disparity diff. by weight product to snap to plane
clt_parameters.plSnapZeroMode, // final int snapZeroMode, // Zero strength snap mode: 0: no special treatment, 1 - strongest, 2 - farthest
1); // final int debugLevel)
//
DisparityProcessor dp = new DisparityProcessor(this, clt_parameters.transform_size * geometryCorrection.getScaleDzDx());
boolean [] grown = these_tiles.clone();
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
grown, // boolean [] tiles,
null); // boolean [] prohibit)
boolean [] border = grown.clone();
for (int i = 0; i < border.length; i++) border[i] &= !these_tiles[i];
int num_unmatched = st.getNumNotMatched(
snap_surf,
these_tiles);
int num_surf = st.getNumSurf(
snap_surf,
null); // these_tiles);
if (debugLevel > -1){
System.out.println("thirdPassSetup(): surfaces = "+num_surf+" left unmatched="+num_unmatched);
}
int [][] neib_surf = new int [num_surf][];
double [][] dbg_neibs = new double [num_surf][];
for (int ns = 0 ; ns < num_surf; ns ++){
neib_surf[ns] = st.getNeighbors( // creates neighbors mask from bitmask
these_tiles, // final boolean [] selected, // or null
snap_surf, // final int [] snap_surf, // use this size - it matches image, not supertiles
ns); // final int surf_index)
dbg_neibs[ns]= dp.dbgShowNeighbors(
these_tiles, // grown, // these_tiles,
neib_surf[ns], // _orig, // int [] neighbors,
clt_parameters.transform_size, // int tile_size,
-1.0, // Double.NaN, // double bgnd,
10.0); // double fgnd)
}
sdfa_instance.showArrays(dbg_neibs,
tilesX*clt_parameters.transform_size,
tilesY*clt_parameters.transform_size,
true,
"surf-neighbors");
int numScans0 = 0;
for (int ns = 0 ; ns < num_surf; ns ++){
// for (int ns = 1 ; (ns < num_surf) && (ns < 2); ns ++){
boolean [] surface_selection = new boolean [these_tiles.length];
for (int i = 0; i < surface_selection.length; i++) {
surface_selection[i] = these_tiles[i] && (neib_surf[ns][i] >= 0);
}
grown = surface_selection.clone();
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
grown, // boolean [] tiles,
null); // boolean [] prohibit)
border = grown.clone();
for (int i = 0; i < border.length; i++) border[i] &= !these_tiles[i];
int [] enum_clusters = enumerateClusters(
true, // boolean diag_en,
surface_selection); // grown); // these_tiles); // boolean [] tiles_src)
double [] new_disparity0 = this_disparity.clone();
numScans0 += createTileTasks(
50, // int maxClusters,
0, // int minClusterArea,
new_disparity0, // this_disparity, // [] disparity_in, masked ok too
enum_clusters, // int [] clusters_in,
(ns == 1)?2:0); // debugLevel);
if (debugLevel > -1){
System.out.println("thirdPassSetup(): surface=" + ns + " created "+ numScans0+ " FPGA passes.");
}
}
/**
int [] neighbors = dp.getNeighbors( // creates neighbors mask from bitmask
grown, // these_tiles, // grown, // these_tiles, // boolean [] selected,
tilesX);
// int [] neighbors_orig = neighbors.clone();
double [] dbg_neib = dp.dbgShowNeighbors(
grown, // these_tiles, // grown, // these_tiles,
neighbors, // _orig, // int [] neighbors,
clt_parameters.transform_size, // int tile_size,
-1.0, // double bgnd,
1.0); // double fgnd)
double [] new_disparity = this_disparity.clone();
double [][]dbgDeriv = new double [2][]; // [these_tiles.length];
// sdfa_instance.showArrays(dbg_neib,tilesX*clt_parameters.transform_size, tilesY*clt_parameters.transform_size,"neighbors");
dp.smoothDisparity(
clt_parameters.tiDispPull, // final double dispPull, // clt_parameters.tiDispPull or 0.0
3, // final int mask, // 1 - work on internal elements, 2 - on border elements, 3 - both (internal first);
clt_parameters.tiIterations, // final int num_passes,
Math.pow(10.0, -clt_parameters.tiPrecision), // final double maxDiff, // maximal change in any of the disparity values
neighbors, // final int [] neighbors, // +1 - up (N), +2 - up-right - NE, ... +0x80 - NW
new_disparity, // final double [] disparity, // current disparity value
this_disparity, // final double [] measured_disparity, // measured disparity
this_strength, // final double [] strength,
null, // this_hor_disparity, // final double hor_disparity, // not yet used
null, // hor_strength_conv, // final double hor_strength, // not yet used
these_tiles, // grown, // these_tiles, // final boolean [] selected,
border, // final boolean [] border,
clt_parameters,
// dbgDeriv, // final double [][] dbgDeriv, //double [2][len] or null;
threadsMax, // maximal number of threads to launch
debugLevel);
int [][][] clustersNO= dp.extractNonOlerlap(
true, // diag_en,
neighbors, // +1 - up (N), +2 - up-right - NE, ... +0x80 - NW
grown, // these_tiles, // final boolean [] selected, // only inner?
border, // border should be diagonal!
threadsMax, // maximal number of threads to launch
debugLevel); debugLevel);
dbg_outlayers = new double[outlayers.length];
int numScans= 0;
for (int i = 0; i < outlayers.length; i++){ if (clt_parameters.shUseFlaps) {
dbg_outlayers[i] = outlayers[i]? 1.0:0.0; numScans = createTileOverlapTasks(
} clt_parameters.max_clusters, // 50, // int maxClusters,
clt_parameters.shMinArea, // int minClusterArea,
new_disparity, // [] disparity_in, masked ok too
this_strength, // double [] strength_in,
Math.pow(10.0, -clt_parameters.tiPrecision), // double maxChange, // adjust border disparity until change is below this.
clt_parameters.shMinStrength, // double minStrength,
clustersNO, // int [] clusters_in,
disparity_far,
disparity_near,
clt_parameters.show_shells,
debugLevel);
} else {
int [] enum_clusters = enumerateClusters(
true, // boolean diag_en,
grown); // these_tiles); // boolean [] tiles_src)
numScans = createTileTasks(
50, // int maxClusters,
0, // int minClusterArea,
new_disparity, // this_disparity, // [] disparity_in, masked ok too
this_strength, // double [] strength_in,
0.0, // double minStrength,
enum_clusters, // int [] clusters_in,
disparity_far,
disparity_near,
debugLevel);
}
if (debugLevel > -1){
System.out.println("thirdPassSetup(): created "+ numScans+ " FPGA passes.");
}
*/
}
public void thirdPassSetupOld( // prepare tile tasks for the second pass based on the previous one(s)
EyesisCorrectionParameters.CLTParameters clt_parameters,
double disparity_far, //
double disparity_near, //
GeometryCorrection geometryCorrection,
final int threadsMax, // maximal number of threads to launch
final boolean updateStatus,
final int debugLevel)
{
CLTPass3d scan_prev = clt_3d_passes.get(clt_3d_passes.size() -1); // get last one
double [] dbg_orig_disparity = null;
double [] dbg_with_super_disp = null;
double [] dbg_outlayers = null;
showDoubleFloatArrays sdfa_instance = null;
if (debugLevel > -1) sdfa_instance = new showDoubleFloatArrays(); // just for debugging?
boolean [] these_tiles = scan_prev.getSelected();
double [] this_disparity = scan_prev.getDisparity(); // returns a copy of the FPGA-generated disparity combined with the target one
double [] this_strength = scan_prev.getStrength(); // cloned, can be modified/ read back
double [] masked_filtered = scan_prev.getDisparity().clone();
if (clt_parameters.stShow){
String [] dbg_disp_tiltes={"masked", "filtered", "disp_combo", "disparity","st_disparity", "strength", "st_strength","outlayers"};
double [][] dbg_disp = new double [dbg_disp_tiltes.length][];
dbg_disp[0] = masked_filtered;
dbg_disp[1] = scan_prev.getDisparity();
dbg_disp[2] = dbg_with_super_disp;
dbg_disp[3] = dbg_orig_disparity;
dbg_disp[4] = scan_prev.getBgDisparity();
dbg_disp[5] = scan_prev.getStrength();
dbg_disp[6] = scan_prev.getBgStrength();
dbg_disp[7] = dbg_outlayers;
sdfa_instance.showArrays(dbg_disp, tilesX, tilesY, true, "disparity_supertiles",dbg_disp_tiltes);
}
dbg_orig_disparity = this_disparity.clone();
//clt_parameters.transform_size; SuperTiles st = scan_prev.getSuperTiles();
if (clt_parameters.plSnapDispAny >= 0.0) {
double [] snap_disparity = st.snapDisparity(
this_disparity, // final double [] disparity,
this_strength, // final double [] strength,
null, // this_selection, // final boolean [] selection, // can be null
clt_parameters.plDispNorm, // final double dispNorm, // plDispNorm
clt_parameters.plSnapDispAny, //final double snapDispAny, // = .2, // Maximal (scaled by plDispNorm) disparity difference to snap to plane at any strength
clt_parameters.plSnapStrengthAny,//final double snapStrengthAny, // = .2, // Maximal strength to fit any distance (if does not fit otherwise - treat as zero strength
clt_parameters.plSnapNegAny, //final double snapNegAny, // = .2, // Maximal negative disparity difference from the best match
clt_parameters.plSnapDispMax, // final double snapDispMax, // = .5, // Maximal (scaled by plDispNorm) disparity difference to snap to plane at low strength
clt_parameters.plSnapDispWeight, // final double snapDispWeight, // = .5, // Maximal disparity diff. by weight product to snap to plane
clt_parameters.plSnapZeroMode, // final int snapZeroMode, // Zero strength snap mode: 0: no special treatment, 1 - strongest, 2 - farthest
1); // final int debugLevel)
System.arraycopy(snap_disparity, 0, this_disparity, 0, snap_disparity.length);
}
if (clt_parameters.replaceWeakOutlayers) {
boolean[] outlayers = scan_prev.replaceWeakOutlayers(
null, // final boolean [] selection,
clt_parameters.outlayerStrength , //final double weakStrength, // strength to be considered weak, subject to this replacement
clt_parameters.outlayerDiff, // final double maxDiff)
clt_parameters.outlayerDiffPos, // final double maxDiff)
clt_parameters.outlayerDiffNeg, // final double maxDiff)
0.5 * disparity_far,
2.0 * disparity_near,
debugLevel);
dbg_outlayers = new double[outlayers.length];
for (int i = 0; i < outlayers.length; i++){
dbg_outlayers[i] = outlayers[i]? 1.0:0.0;
}
double [] masked_filtered = scan_prev.getDisparity().clone();
if (clt_parameters.stShow){
String [] dbg_disp_tiltes={"masked", "filtered", "disp_combo", "disparity","st_disparity", "strength", "st_strength","outlayers"};
double [][] dbg_disp = new double [dbg_disp_tiltes.length][];
dbg_disp[0] = masked_filtered; //+
dbg_disp[1] = scan_prev.getDisparity(); //+
dbg_disp[2] = dbg_with_super_disp; // -
dbg_disp[3] = dbg_orig_disparity; //+
dbg_disp[4] = scan_prev.getBgDisparity();
dbg_disp[5] = scan_prev.getStrength(); //+
dbg_disp[6] = scan_prev.getBgStrength();
dbg_disp[7] = dbg_outlayers; // + (all 0)
sdfa_instance.showArrays(dbg_disp, tilesX, tilesY, true, "disparity_supertiles",dbg_disp_tiltes);
}
}
//clt_parameters.transform_size;
DisparityProcessor dp = new DisparityProcessor(this, clt_parameters.transform_size * geometryCorrection.getScaleDzDx()); DisparityProcessor dp = new DisparityProcessor(this, clt_parameters.transform_size * geometryCorrection.getScaleDzDx());
boolean [] grown = these_tiles.clone(); boolean [] grown = these_tiles.clone();
...@@ -3175,20 +3715,21 @@ public class TileProcessor { ...@@ -3175,20 +3715,21 @@ public class TileProcessor {
null); // boolean [] prohibit) null); // boolean [] prohibit)
boolean [] border = grown.clone(); boolean [] border = grown.clone();
for (int i = 0; i < border.length; i++) border[i] &= !these_tiles[i]; for (int i = 0; i < border.length; i++) border[i] &= !these_tiles[i];
// double [] dbg_before = scan_prev.getDisparity().clone(); // double [] dbg_before = scan_prev.getDisparity().clone();
scan_prev.fixNaNDisparity( scan_prev.fixNaNDisparity(
grown, // border, // boolean [] select, // which tiles to correct (null - all) grown, // border, // boolean [] select, // which tiles to correct (null - all)
scan_prev.getDisparity(), // double [] disparity, scan_prev.getDisparity(), // double [] disparity,
scan_prev.getStrength()); // double [] strength) scan_prev.getStrength()); // double [] strength)
// double [] dbg_after = scan_prev.getDisparity().clone();
for (int i = 0; i < masked_filtered.length; i++){
if (!grown[i]) masked_filtered[i] = Double.NaN;
}
// double [] dbg_after = scan_prev.getDisparity().clone();
/// for (int i = 0; i < masked_filtered.length; i++){
/// if (!grown[i]) masked_filtered[i] = Double.NaN;
/// }
int [] neighbors = dp.getNeighbors( // creates neighbors mask from bitmask int [] neighbors = dp.getNeighbors( // creates neighbors mask from bitmask
grown, // these_tiles, // grown, // these_tiles, // boolean [] selected, grown, // these_tiles, // grown, // these_tiles, // boolean [] selected,
tilesX); tilesX);
// int [] neighbors_orig = neighbors.clone(); // int [] neighbors_orig = neighbors.clone();
double [] dbg_neib = dp.dbgShowNeighbors( double [] dbg_neib = dp.dbgShowNeighbors(
grown, // these_tiles, // grown, // these_tiles, grown, // these_tiles, // grown, // these_tiles,
neighbors, // _orig, // int [] neighbors, neighbors, // _orig, // int [] neighbors,
...@@ -3198,8 +3739,8 @@ public class TileProcessor { ...@@ -3198,8 +3739,8 @@ public class TileProcessor {
double [] new_disparity = this_disparity.clone(); double [] new_disparity = this_disparity.clone();
double [][]dbgDeriv = new double [2][]; // [these_tiles.length]; double [][]dbgDeriv = new double [2][]; // [these_tiles.length];
// sdfa_instance.showArrays(dbg_neib,tilesX*clt_parameters.transform_size, tilesY*clt_parameters.transform_size,"neighbors"); // sdfa_instance.showArrays(dbg_neib,tilesX*clt_parameters.transform_size, tilesY*clt_parameters.transform_size,"neighbors");
dp.smoothDisparity( dp.smoothDisparity(
clt_parameters.tiDispPull, // final double dispPull, // clt_parameters.tiDispPull or 0.0 clt_parameters.tiDispPull, // final double dispPull, // clt_parameters.tiDispPull or 0.0
3, // final int mask, // 1 - work on internal elements, 2 - on border elements, 3 - both (internal first); 3, // final int mask, // 1 - work on internal elements, 2 - on border elements, 3 - both (internal first);
...@@ -3214,14 +3755,14 @@ public class TileProcessor { ...@@ -3214,14 +3755,14 @@ public class TileProcessor {
these_tiles, // grown, // these_tiles, // final boolean [] selected, these_tiles, // grown, // these_tiles, // final boolean [] selected,
border, // final boolean [] border, border, // final boolean [] border,
clt_parameters, clt_parameters,
// dbgDeriv, // final double [][] dbgDeriv, //double [2][len] or null; // dbgDeriv, // final double [][] dbgDeriv, //double [2][len] or null;
threadsMax, // maximal number of threads to launch threadsMax, // maximal number of threads to launch
debugLevel); debugLevel);
double [] measured_disparity = dp.dbgRescaleToPixels( double [] measured_disparity = dp.dbgRescaleToPixels(
this_disparity, this_disparity,
clt_parameters.transform_size); // int tile_size) clt_parameters.transform_size); // int tile_size)
// break once //break once
double [][] stresses = new double [clt_parameters.tiNumCycles + 1][]; double [][] stresses = new double [clt_parameters.tiNumCycles + 1][];
double [][] neibs_broken = new double [clt_parameters.tiNumCycles][]; double [][] neibs_broken = new double [clt_parameters.tiNumCycles][];
double [][] smooth_disparities = new double [clt_parameters.tiNumCycles + 1][]; double [][] smooth_disparities = new double [clt_parameters.tiNumCycles + 1][];
...@@ -3232,25 +3773,22 @@ public class TileProcessor { ...@@ -3232,25 +3773,22 @@ public class TileProcessor {
boolean [] too_near = new boolean [this_strength.length]; boolean [] too_near = new boolean [this_strength.length];
double [] true_strength = this_strength.clone(); // this strength will be modified to remove too near tiles (too far - TBD) double [] true_strength = this_strength.clone(); // this strength will be modified to remove too near tiles (too far - TBD)
for (int numCycle = 0; numCycle < clt_parameters.tiNumCycles; numCycle++) { // = 5; // Number of cycles break-smooth (after the first smooth) /** */
/* // for (int numCycle = 0; numCycle < clt_parameters.tiNumCycles; numCycle++) { // = 5; // Number of cycles break-smooth (after the first smooth)
public double tiDispPull = .1; // 10.0 tiDispPull: multiply strength*disparity difference to pull force for (int numCycle = 0; numCycle < 1; numCycle++) { // = 5; // Number of cycles break-smooth (after the first smooth)
public double tiDispPullPreFinal= .1; // 5.0 Scale tiDispPull for pre-final pass
public double tiDispPullFinal = .01; // 2.0 Scale tiDispPull for final pass
*/
// more smoothing // more smoothing
double disp_pull = clt_parameters.tiDispPull; double disp_pull = clt_parameters.tiDispPull;
if (numCycle >= (clt_parameters.tiNumCycles -2)) { if (numCycle >= (clt_parameters.tiNumCycles -2)) {
disp_pull = clt_parameters.tiDispPullPreFinal; // 0.1 * clt_parameters.tiDispPull; disp_pull = clt_parameters.tiDispPullPreFinal; // 0.1 * clt_parameters.tiDispPull;
if (numCycle >= (clt_parameters.tiNumCycles -1)) { if (numCycle >= (clt_parameters.tiNumCycles -1)) {
disp_pull = clt_parameters.tiDispPullPreFinal; // 0.01 * clt_parameters.tiDispPull; disp_pull = clt_parameters.tiDispPullPreFinal; // 0.01 * clt_parameters.tiDispPull;
} }
} }
double breakScale = disp_pull / clt_parameters.tiDispPull; // 1.0; double breakScale = disp_pull / clt_parameters.tiDispPull; // 1.0;
/** */
if ((clt_parameters.tiBreakMode & 1) != 0) { if ((clt_parameters.tiBreakMode & 1) != 0) {
dp.breakDisparity( // break using derivatives dp.breakDisparity( // break using derivatives
clt_parameters.tiBreak3 * breakScale, // clt_parameters.tiBreak, // final double break4, // clt_parameters.tiBreak/0 allow disconnecting from neighbors (fg/bg) clt_parameters.tiBreak3 * breakScale, // clt_parameters.tiBreak, // final double break4, // clt_parameters.tiBreak/0 allow disconnecting from neighbors (fg/bg)
...@@ -3314,8 +3852,8 @@ public class TileProcessor { ...@@ -3314,8 +3852,8 @@ public class TileProcessor {
} }
} }
} }
if ((clt_parameters.tiBreakMode & 16) != 0) { // remove too near if ((clt_parameters.tiBreakMode & 16) != 0) { // remove too near
boolean [] found = dp.findNearFar( boolean [] found = dp.findNearFar(
false, // boolean findFar, false, // boolean findFar,
...@@ -3331,7 +3869,7 @@ public class TileProcessor { ...@@ -3331,7 +3869,7 @@ public class TileProcessor {
} }
} }
} }
/* */
if ((dbgDeriv != null) && (dbgDeriv[0] != null)) { if ((dbgDeriv != null) && (dbgDeriv[0] != null)) {
stresses[numCycle] = dp.dbgShowStress( stresses[numCycle] = dp.dbgShowStress(
dbgDeriv, // double [][] stress, dbgDeriv, // double [][] stress,
...@@ -3341,13 +3879,13 @@ public class TileProcessor { ...@@ -3341,13 +3879,13 @@ public class TileProcessor {
} }
// Now heal some broken gaps back // Now heal some broken gaps back
double healOrtho = 0.0; double healOrtho = 0.0;
if (numCycle >= (clt_parameters.tiNumCycles -2)) { if (numCycle >= (clt_parameters.tiNumCycles -2)) {
healOrtho = clt_parameters.tiHealPreLast; healOrtho = clt_parameters.tiHealPreLast;
if (numCycle >= (clt_parameters.tiNumCycles -1)) { if (numCycle >= (clt_parameters.tiNumCycles -1)) {
healOrtho =clt_parameters.tiHealLast; healOrtho =clt_parameters.tiHealLast;
} }
} }
if (healOrtho > 0.0){ if (healOrtho > 0.0){
dp.reconnectDisparity( // connect disconnected tiles if they have close approximated disparity dp.reconnectDisparity( // connect disconnected tiles if they have close approximated disparity
...@@ -3401,13 +3939,11 @@ public class TileProcessor { ...@@ -3401,13 +3939,11 @@ public class TileProcessor {
smooth_disparities[numCycle+1] = dp.dbgRescaleToPixels( smooth_disparities[numCycle+1] = dp.dbgRescaleToPixels(
new_disparity, new_disparity,
clt_parameters.transform_size); clt_parameters.transform_size);
} }
/** */
// Just calculate stress, do not actually break (after last smoothing) // Just calculate stress, do not actually break (after last smoothing)
dp.breakDisparity( dp.breakDisparity(
0.0, // final double break4, // clt_parameters.tiBreak/0 allow disconnecting from neighbors (fg/bg) 0.0, // final double break4, // clt_parameters.tiBreak/0 allow disconnecting from neighbors (fg/bg)
...@@ -3425,8 +3961,8 @@ public class TileProcessor { ...@@ -3425,8 +3961,8 @@ public class TileProcessor {
stresses[clt_parameters.tiNumCycles] = dp.dbgShowStress( stresses[clt_parameters.tiNumCycles] = dp.dbgShowStress(
dbgDeriv, // double [][] stress, dbgDeriv, // double [][] stress,
clt_parameters.transform_size); // int tile_size) clt_parameters.transform_size); // int tile_size)
// String [] titles0 = {"neib", "neib_broken", "stress", "stress1", "disp-measured", "disp-result","disp-result1"}; // String [] titles0 = {"neib", "neib_broken", "stress", "stress1", "disp-measured", "disp-result","disp-result1"};
double [] dbg_far_near=new double[too_far.length]; double [] dbg_far_near=new double[too_far.length];
for (int i = 0; i < dbg_far_near.length; i++){ for (int i = 0; i < dbg_far_near.length; i++){
if (!these_tiles[i]) dbg_far_near[i]= Double.NaN; if (!these_tiles[i]) dbg_far_near[i]= Double.NaN;
...@@ -3443,7 +3979,7 @@ public class TileProcessor { ...@@ -3443,7 +3979,7 @@ public class TileProcessor {
if (too_near[i]) disp_diff[2][i] = this_disparity[i]-new_disparity[i]; if (too_near[i]) disp_diff[2][i] = this_disparity[i]-new_disparity[i];
else disp_diff[2][i] = Double.NaN; else disp_diff[2][i] = Double.NaN;
} }
if (clt_parameters.show_neighbors) { if (clt_parameters.show_neighbors) {
int numImages = 2 + 3*clt_parameters.tiNumCycles+2+3 + 3; int numImages = 2 + 3*clt_parameters.tiNumCycles+2+3 + 3;
String [] titles_all = new String[numImages]; String [] titles_all = new String[numImages];
...@@ -3496,8 +4032,8 @@ public class TileProcessor { ...@@ -3496,8 +4032,8 @@ public class TileProcessor {
sdfa_instance.showArrays(dbg_img, tilesX*clt_parameters.transform_size, tilesY*clt_parameters.transform_size, sdfa_instance.showArrays(dbg_img, tilesX*clt_parameters.transform_size, tilesY*clt_parameters.transform_size,
true, "neighbors", titles_all); true, "neighbors", titles_all);
} }
//disp_diff //disp_diff
//************************************************ //************************************************
int [][] flaps = dp.createOverlapGeometry( int [][] flaps = dp.createOverlapGeometry(
neighbors, // +1 - up (N), +2 - up-right - NE, ... +0x80 - NW neighbors, // +1 - up (N), +2 - up-right - NE, ... +0x80 - NW
grown, // these_tiles, // final boolean [] selected, // only inner? grown, // these_tiles, // final boolean [] selected, // only inner?
...@@ -3566,7 +4102,7 @@ public class TileProcessor { ...@@ -3566,7 +4102,7 @@ public class TileProcessor {
sdfa_instance.showArrays(dbg_clusters_show, tilesX, tilesY, true, "first "+dbg_max_cluster_show+" clusters",titleClusters); sdfa_instance.showArrays(dbg_clusters_show, tilesX, tilesY, true, "first "+dbg_max_cluster_show+" clusters",titleClusters);
} }
int numScans= 0; int numScans= 0;
if (clt_parameters.shUseFlaps) { if (clt_parameters.shUseFlaps) {
numScans = createTileOverlapTasks( numScans = createTileOverlapTasks(
clt_parameters.max_clusters, // 50, // int maxClusters, clt_parameters.max_clusters, // 50, // int maxClusters,
...@@ -3580,7 +4116,7 @@ public class TileProcessor { ...@@ -3580,7 +4116,7 @@ public class TileProcessor {
disparity_near, disparity_near,
clt_parameters.show_shells, clt_parameters.show_shells,
debugLevel); debugLevel);
} else { } else {
int [] enum_clusters = enumerateClusters( int [] enum_clusters = enumerateClusters(
true, // boolean diag_en, true, // boolean diag_en,
...@@ -3597,7 +4133,7 @@ public class TileProcessor { ...@@ -3597,7 +4133,7 @@ public class TileProcessor {
disparity_near, disparity_near,
debugLevel); debugLevel);
} }
if (debugLevel > -1){ if (debugLevel > -1){
System.out.println("secondPassSetup(): created "+ numScans+ " FPGA passes."); System.out.println("secondPassSetup(): created "+ numScans+ " FPGA passes.");
} }
...@@ -3613,11 +4149,14 @@ public class TileProcessor { ...@@ -3613,11 +4149,14 @@ public class TileProcessor {
} }
sdfa_instance.showArrays(disparities, tilesX, tilesY, true, "disparities_scans",titles); sdfa_instance.showArrays(disparities, tilesX, tilesY, true, "disparities_scans",titles);
} }
// return scan_next; // return scan_next;
} }
//================== //==================
public void secondPassSetupOld( // prepare tile tasks for the second pass based on the previous one(s) public void secondPassSetupOld( // prepare tile tasks for the second pass based on the previous one(s)
// final double [][][] image_data, // first index - number of image in a quad // final double [][][] image_data, // first index - number of image in a quad
......
src/main/java/X3dOutput.java
View file @ b267218c
...@@ -160,10 +160,11 @@ public class X3dOutput { ...@@ -160,10 +160,11 @@ public class X3dOutput {
Element el_appearance = x3dDoc.createElement("Appearance"); Element el_appearance = x3dDoc.createElement("Appearance");
el_shape.appendChild(el_appearance); el_shape.appendChild(el_appearance);
/*
Element el_material = x3dDoc.createElement("Material"); Element el_material = x3dDoc.createElement("Material");
el_appearance.appendChild(el_material); el_appearance.appendChild(el_material);
el_material.setAttribute("diffuseColor", "0.376471 0.5 0.376471"); el_material.setAttribute("diffuseColor", "0.376471 0.5 0.376471");
*/
Element el_imageTexture = x3dDoc.createElement("ImageTexture"); Element el_imageTexture = x3dDoc.createElement("ImageTexture");
el_imageTexture.setAttribute("url",url); el_imageTexture.setAttribute("url",url);
...@@ -182,8 +183,6 @@ public class X3dOutput { ...@@ -182,8 +183,6 @@ public class X3dOutput {
el_texCoordinate.setAttribute("point", stcoord); el_texCoordinate.setAttribute("point", stcoord);
el_IFC.appendChild(el_texCoordinate); el_IFC.appendChild(el_texCoordinate);
} }
......
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