Cleaning up, debugging blue sky

src/main/java/com/elphel/imagej/cameras/CLTParameters.java

@@ -385,6 +385,7 @@ public class CLTParameters {
 	public double     photo_offs =                 21946;    // weighted average offset target value, if photo_offs_set (and not photo_offs_balance)
 	
 	public boolean    photo_debug =                   false;// Generate images and text
+	public boolean    photo_each_debug =              false;// Debug after Blue Sky
 	
 	public double     tex_disp_adiffo =               0.10; // 0.35; // 0.3;  disparity absolute tolerance to connect in ortho directions 
 	public double     tex_disp_rdiffo =               0.08; // 0.12; // 0.1;  disparity relative tolerance to connect in ortho directions
@@ -448,6 +449,8 @@ public class CLTParameters {
 	public double     maxZ              = 20000;  // maximal distance to far object
 	public boolean    limitZ            = true;   // limit Z, if false - remove triangle
 	public double     infinityDistance  = 10000;  // Distance to generate backdrop (0 - use regular backdrop)
+	public double     min_from_inf =      500;    // farthest non-infinity closer than infinity
+	
 	public int        min_bgnd_tiles    = 10;     // Minimal number of background tiles to generate background
 
 	public boolean    gltf_emissive =     false; // true;   // Use emissive textures
@@ -1487,6 +1490,7 @@ public class CLTParameters {
 		properties.setProperty(prefix+"photo_offs_set",             this.photo_offs_set+"");      // int
 		properties.setProperty(prefix+"photo_offs",                 this.photo_offs+"");          // double
 		properties.setProperty(prefix+"photo_debug",                this.photo_debug+"");         // boolean
+		properties.setProperty(prefix+"photo_each_debug",           this.photo_each_debug+"");         // boolean
 		
 		properties.setProperty(prefix+"tex_disp_adiffo",            this.tex_disp_adiffo+"");     // double
 		properties.setProperty(prefix+"tex_disp_rdiffo",            this.tex_disp_rdiffo+"");     // double
@@ -1551,6 +1555,7 @@ public class CLTParameters {
 		properties.setProperty(prefix+"limitZ",                     this.limitZ+"");
 		
 		properties.setProperty(prefix+"infinityDistance",           this.infinityDistance +"");
+		properties.setProperty(prefix+"min_from_inf",               this.min_from_inf +"");
 		properties.setProperty(prefix+"min_bgnd_tiles",             this.min_bgnd_tiles+"");
 
 		properties.setProperty(prefix+"gltf_emissive",              this.gltf_emissive+"");
@@ -2467,6 +2472,7 @@ public class CLTParameters {
 		if (properties.getProperty(prefix+"photo_offs_set")!=null)       this.photo_offs_set=Integer.parseInt(properties.getProperty(prefix+"photo_offs_set"));		
 		if (properties.getProperty(prefix+"photo_offs")!=null)           this.photo_offs=Double.parseDouble(properties.getProperty(prefix+"photo_offs"));
 		if (properties.getProperty(prefix+"photo_debug")!=null)          this.photo_debug=Boolean.parseBoolean(properties.getProperty(prefix+"photo_debug"));		
+		if (properties.getProperty(prefix+"photo_each_debug")!=null)     this.photo_each_debug=Boolean.parseBoolean(properties.getProperty(prefix+"photo_each_debug"));		
 		
 		if (properties.getProperty(prefix+"tex_disp_adiffo")!=null)      this.tex_disp_adiffo=Double.parseDouble(properties.getProperty(prefix+"tex_disp_adiffo"));
 		if (properties.getProperty(prefix+"tex_disp_rdiffo")!=null)      this.tex_disp_rdiffo=Double.parseDouble(properties.getProperty(prefix+"tex_disp_rdiffo"));
@@ -2530,6 +2536,7 @@ public class CLTParameters {
 		if (properties.getProperty(prefix+"limitZ")!=null)                        this.limitZ=Boolean.parseBoolean(properties.getProperty(prefix+"limitZ"));
 		
 		if (properties.getProperty(prefix+"infinityDistance")!=null)              this.infinityDistance=Double.parseDouble(properties.getProperty(prefix+"infinityDistance"));
+		if (properties.getProperty(prefix+"min_from_inf")!=null)                  this.min_from_inf=Double.parseDouble(properties.getProperty(prefix+"min_from_inf"));
 		if (properties.getProperty(prefix+"min_bgnd_tiles")!=null)                this.min_bgnd_tiles=Integer.parseInt(properties.getProperty(prefix+"min_bgnd_tiles"));
 		
 		if (properties.getProperty(prefix+"gltf_emissive")!=null)                 this.gltf_emissive=Boolean.parseBoolean(properties.getProperty(prefix+"gltf_emissive"));
@@ -3600,7 +3607,9 @@ public class CLTParameters {
 				"Target weighted (by scales) average offset.");
 		gd.addCheckbox ("Debug photometric calibration",             this.photo_debug,
 				"Generate debug images an text output.");
-		
+		gd.addCheckbox ("Debug photometric calibration 'each'",      this.photo_each_debug,
+				"Generate debug images after Blue Sky.");
+//		
 		gd.addTab         ("3D", "3D reconstruction");
 		gd.addMessage     ("Meshes clustering for texture generation");
 		gd.addNumericField("Ortho tolerance absolute",           this.tex_disp_adiffo, 5,7,"pix",
@@ -3726,6 +3735,8 @@ public class CLTParameters {
 		
 		gd.addNumericField("Distance to a backdrop",               this.infinityDistance,8,8,"m",
 				"Distance to generate backdrop (0 - use regular backdrop).");
+		gd.addNumericField("Minimal distance from backdrop",       this.min_from_inf,8,8,"m",
+				"Minimal distance of the fartest object from backdrop to be resolved.");
 		gd.addNumericField("Minimal background tiles",             this.min_bgnd_tiles,   0,4,"",
 				"Minimal number of background tiles to generate background.");
 		
@@ -4827,6 +4838,7 @@ public class CLTParameters {
 		this.photo_offs_set =     (int) gd.getNextNumber();
 		this.photo_offs =               gd.getNextNumber();
 		this.photo_debug =              gd.getNextBoolean();
+		this.photo_each_debug =         gd.getNextBoolean();
 		
 		this.tex_disp_adiffo =          gd.getNextNumber();
 		this.tex_disp_rdiffo =          gd.getNextNumber();
@@ -4891,6 +4903,7 @@ public class CLTParameters {
 		this.limitZ=                gd.getNextBoolean();
 		
 		this.infinityDistance=      gd.getNextNumber();
+		this.min_from_inf=          gd.getNextNumber();
 		this.min_bgnd_tiles=  (int) gd.getNextNumber();
 		
 		this.gltf_emissive=         gd.getNextBoolean();

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

@@ -572,6 +572,10 @@ public class TexturedModel {
 			final int             tilesX,
 			int             debugLevel_in)
 	{
+		if ((debugLevel_in > -2) && is_sky_cluster) {
+			System.out.println("buildTileCluster(): processing sky clusterm cluster_list.size()="+cluster_list.size());
+		}
+
 		final int dbg_tile = -2410; // 858; // -3868; // 28+48*80;
 		//		final int       num_layers = disparity_layers.length;
 		final int        tiles =        source_disparity.length;
@@ -1417,6 +1421,9 @@ public class TexturedModel {
 			}
 			// next_seed_tile_layer is now {tile, layer}
 			final boolean is_sky_cluster = (next_seed_tile_layer[1] == blue_sky_layer) &&  blue_sky[next_seed_tile_layer[0]];
+			if ((debugLevel > -2) && is_sky_cluster) {
+				System.out.println("clusterizeFgBg(): processing sky clusterm cluster_list.size()="+cluster_list.size());
+			}
 			double [] cluster_initial_disparity = buildInitialCluster(
 					disparity_layers,        // final double [][]     disparity_layers, // should not have same tile disparity on multiple layers
 			        seams_layers,            // final int [][]        seams_layers,
@@ -1655,7 +1662,7 @@ public class TexturedModel {
 		final boolean showTri =          !batch_mode && (debugLevel > -1) && (clt_parameters.show_triangles);
 		final boolean disp_hires_tri =   !batch_mode && clt_parameters.tex_disp_hires_tri;
 		final int dbg_scale_mesh =        clt_parameters.tex_dbg_scale_mesh; //  4; // <=0 - do not show
-		
+///		final double min_non_inf = 0.01; // relative to infinity disparity
 		
 		
 		final int sky_layer = 0; // source disparity layer that contains "blue sky" 
@@ -1668,6 +1675,7 @@ public class TexturedModel {
 			return false; // not used in lwir
 		}
 		double infinity_disparity = 	ref_scene.getGeometryCorrection().getDisparityFromZ(clt_parameters.infinityDistance);
+		double min_obj_disparity = ref_scene.getGeometryCorrection().getDisparityFromZ(clt_parameters.infinityDistance-clt_parameters.min_from_inf);
 		X3dOutput x3dOutput = null;
 		WavefrontExport    wfOutput = null; 
 		ArrayList<TriMesh> tri_meshes = null; 
@@ -1683,17 +1691,17 @@ public class TexturedModel {
 			System.out.println("As there was a problem with (wrong?) blue sky setting strength to 0.0001");
 			combo_dsn_final = null;
 		}
-		if (combo_dsn_final == null) {
-			combo_dsn_final =scenes[ref_index].readDoubleArrayFromModelDirectory(
-					"-INTER-INTRA-LMA", // String      suffix,
-					0,                  // int         num_slices, // (0 - all)
-					null);              // int []      wh);
+		if (combo_dsn_final == null) { // does not set scene.dsi from file !!!
+			combo_dsn_final =scenes[ref_index].restoreComboDSI(true);  // also sets quadCLTs[ref_index].dsi and blue sky
 		}
 		boolean [] sky_tiles =  new boolean[combo_dsn_final[OpticalFlow.COMBO_DSN_INDX_BLUE_SKY].length];
-		boolean [] sky_invert = new boolean[combo_dsn_final[OpticalFlow.COMBO_DSN_INDX_BLUE_SKY].length];
+		int num_sky_tiles = 0;
 		for (int i = 0; i < sky_tiles.length; i++) {
 			sky_tiles[i] = combo_dsn_final[OpticalFlow.COMBO_DSN_INDX_BLUE_SKY][i] > 0.0;
-			sky_invert[i] =  !sky_tiles[i]; // not used
+			num_sky_tiles += sky_tiles[i]? 1: 0; 
+		}
+		if (debugLevel > -2) {
+			System.out.println("output3d(): num_sky_tiles="+num_sky_tiles);
 		}
 		// re-load , should create quadCLTs[ref_index].dsi
 		double [][] dls_fg = {
@@ -1703,18 +1711,19 @@ public class TexturedModel {
 		};
 		
 		// currently conditionInitialDS() zeroes disparity for blue_sky. TODO: allow some FG over blue_sky?
+		// gets Blue Sky from scene.dsi , not from the file!
 		double [][] ds_fg = OpticalFlow.conditionInitialDS(
-				true, // boolean        use_conf,       // use configuration parameters, false - use following  
+				true,                // boolean        use_conf,       // use configuration parameters, false - use following  
 				clt_parameters,      // CLTParameters  clt_parameters,
-				dls_fg,                 // double [][]    dls
-				scenes[ref_index], // QuadCLT        scene,
+				dls_fg,              // double [][]    dls
+				scenes[ref_index],   // QuadCLT        scene,
 				debugLevel);         // int debug_level)
 		double [][] dls_bg = {
 				combo_dsn_final[OpticalFlow.COMBO_DSN_INDX_DISP_BG].clone(),
 				combo_dsn_final[OpticalFlow.COMBO_DSN_INDX_LMA_BG].clone(),
 				combo_dsn_final[OpticalFlow.COMBO_DSN_INDX_STRENGTH_BG].clone()
 		};
-		for (int i = 0; i < sky_tiles.length; i++) if (Double.isNaN(dls_bg[0][i])){
+		for (int i = 0; i < dls_bg[0].length; i++) if (Double.isNaN(dls_bg[0][i])){
 			dls_bg[0][i] = dls_fg[0][i];
 			dls_bg[1][i] = dls_fg[1][i];
 			dls_bg[2][i] = dls_fg[2][i];
@@ -1726,11 +1735,37 @@ public class TexturedModel {
 				scenes[ref_index], // QuadCLT        scene,
 				debugLevel);         // int debug_level)
 		double[][] ds_fg_bg = {ds_fg[0], ds_bg[0].clone()}; 
-		for (int i = 0; i < sky_tiles.length; i++) {
+		for (int i = 0; i < dls_bg[0].length; i++) {
 			if (Math.abs(ds_fg_bg[1][i]-ds_fg_bg[0][i]) < tex_fg_bg) {
 				ds_fg_bg[1][i] = Double.NaN;
 			}
 		}
+		if (debugLevel > -2) {
+			System.out.println("Limiting non-infinity objects' disparity to "+min_obj_disparity+
+					", infinity_disparity = "+infinity_disparity);
+		}
+		for (int nl = 0; nl < ds_fg_bg.length; nl++) {
+			for (int i = 0; i < dls_bg[nl].length; i++) {
+				if ((nl != sky_layer) || !sky_tiles[i]) {
+					if (ds_fg_bg[nl][i] < min_obj_disparity) {
+						ds_fg_bg[nl][i] = min_obj_disparity;
+					}
+				}
+			}
+		}
+		
+		if (debugLevel > -2) { // was > 0
+			String [] dbg_titles = {"FG","BG","BS"};
+			double [][] dbg_img = {ds_fg_bg[0], ds_fg_bg[1],combo_dsn_final[OpticalFlow.COMBO_DSN_INDX_BLUE_SKY]};
+			ShowDoubleFloatArrays.showArrays(
+					dbg_img,
+					tilesX,
+					dbg_img[0].length/tilesX,
+					true,
+					ref_scene.getImageName()+"-disparity_layers",
+					dbg_titles);
+		}
+		
 		// Create data for consolidated textures (multiple texture segments combined in same "passes" 
 		TileCluster [] tileClusters = clusterizeFgBg( // wrong result type, not decided
 				tilesX,            // final int          tilesX,
@@ -1951,7 +1986,9 @@ public class TexturedModel {
 				boolean [] scan_selected = tileClusters[nslice].getSubSelected(sub_i); // limited to cluster bounds
 				int [] scan_border_int =   tileClusters[nslice].getSubBorderInt(sub_i); // limited to cluster bounds
 				int    max_border =        tileClusters[nslice].getBorderIntMax();
-
+				boolean is_sky = tileClusters[nslice].isSky();
+				double min_disparity = is_sky? infinity_disparity : min_obj_disparity;
+				
 				// skipping averaging disparity for a whole cluster (needs strength and does not seem to be useful)
 				try {
 					if (alpha == null) {
@@ -2008,7 +2045,7 @@ public class TexturedModel {
 								((dbg_mesh_imgs != null) ? dbg_mesh_imgs[nslice]:null),  //   double []       tri_img,   //
 								dbg_scaled_width,       // int             tri_img_width,
 								// FIXME: make a separate parameter:
-								infinity_disparity,            //  0.25 * clt_parameters.bgnd_range,  // 0.3
+								infinity_disparity,            //min_disparity, // infinity_disparity,            //  0.25 * 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,
 							    clt_parameters.maxZtoXY,       // double          maxZtoXY,       // 10.0. <=0 - do not use
@@ -3663,7 +3700,8 @@ public class TexturedModel {
 					sky_pixels,               // final double [] data,
 					null,                     // final boolean [] prohibit,
 					sky_pixels_bounds.width,  // int       width,
-					3 * Math.min(sky_pixels_bounds.width,sky_pixels_bounds.height) / 2, // 16,           // final int grow,
+//					3 * Math.min(sky_pixels_bounds.width,sky_pixels_bounds.height) / 2, // 16,           // final int grow,
+					2 * Math.max(sky_pixels_bounds.width,sky_pixels_bounds.height), // 16,           // final int grow,
 					0.7,                      // double    diagonal_weight, // relative to ortho
 					100,                      // int       num_passes,
 					0.01,                     // final double     max_rchange, //  = 0.01

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

@@ -8687,6 +8687,9 @@ ImageDtt.startAndJoin(threads);
 			Arrays.fill(all_nan, Double.NaN);
  			return all_nan;
 		}
+		if (davg2 == 0) {
+			davg2 = 1; // for sky with disparity ==0
+		}
 		final double fdavg = davg;
 		final double max_change = Math.abs(davg2 * max_rchange);
 

src/main/java/com/elphel/imagej/tileprocessor/lwoc/LwirWorld.java

@@ -209,10 +209,15 @@ public class LwirWorld {
  		double cold_scale =          clt_parameters.imp.cold_scale;
  		double sky_seed =            clt_parameters.imp.sky_seed;
  		double lma_seed =            clt_parameters.imp.lma_seed;
+		double seed_temp =           clt_parameters.imp.seed_temp;
  		int    sky_shrink =          clt_parameters.imp.sky_shrink;
  		int    sky_bottleneck =      clt_parameters.imp.sky_bottleneck;
+ 		int    sky_reexpand_extra =  clt_parameters.imp.sky_reexpand_extra;
  		int    seed_rows =           clt_parameters.imp.seed_rows;
+ 		double max_disparity =       clt_parameters.imp.max_disparity;
+ 		double max_disparity_strength=clt_parameters.imp.max_disparity_strength;
  		double sky_lim =             clt_parameters.imp.sky_lim;
+		double lim_temp =            clt_parameters.imp.lim_temp;
  		int    sky_expand_extra =    clt_parameters.imp.sky_expand_extra;
  		double min_strength =        clt_parameters.imp.min_strength;
  		int    lowest_sky_row =      clt_parameters.imp.lowest_sky_row;
@@ -366,13 +371,19 @@ public class LwirWorld {
 					System.out.println("(Re)using photometric calibration from this sequence reference "+quadCLTs[ref_index].getPhotometricScene());
 					quadCLTs[ref_index].setQuadClt(); // just in case ?
 				}
+				QuadCLT   dbg_scene = clt_parameters.imp.save_debug_images? quadCLTs[ref_index]: null; // use to save debug images if not null
 				quadCLTs[ref_index].setBlueSky  (
+						max_disparity,
+						max_disparity_strength,
 						sky_seed,           // double sky_seed, //  =       7.0;  // start with product of strength by diff_second below this
 						lma_seed,
+						seed_temp,     //double seed_temp, //         0.5;  // seed colder that this point between min and max temp						
 						sky_lim,            // double sky_lim, //   =      15.0; // then expand to product of strength by diff_second below this
+						lim_temp, //						double lim_temp, //          0.5;  // sky colder that this point between min and max temp		
 						sky_shrink,         // int    sky_shrink, //  =       4;
 						sky_expand_extra,   // int    sky_expand_extra, //  = 100; // 1?
-						sky_bottleneck,     //int    sky_bottleneck, // 
+						sky_bottleneck,     //int    sky_bottleneck, //
+						sky_reexpand_extra,   //int    sky_reexpand_extra,  // 9; re-expand after bottleneck in addition to how it was shrank
 						cold_scale, // =       0.2;  // <=1.0. 1.0 - disables temperature dependence
 						cold_frac, // =        0.005; // this and lower will scale fom by  cold_scale
 						hot_frac, // =         0.9;    // this and above will scale fom by 1.0
@@ -390,6 +401,7 @@ public class LwirWorld {
 						dsi[TwoQuadCLT.DSI_SPREAD_AUX], // double [] spread,
 						dsi[TwoQuadCLT.DSI_DISPARITY_AUX_LMA], // double [] spread,
 						dsi[TwoQuadCLT.DSI_AVGVAL_AUX],//	double [] avg_val,
+						dbg_scene,          // QuadCLT   dbg_scene,    // use to save debug images if not null
 						batch_mode? -1: 1); /// debugLevel);        // int debugLevel)
 				if (ran_photo_each) {
 					double []  blue_sky = quadCLTs[ref_index].getDoubleBlueSky();
@@ -464,13 +476,19 @@ public class LwirWorld {
 				if (dsi[TwoQuadCLT.DSI_SPREAD_AUX] == null) {
 					System.out.println("DSI_MAIN file has old format and does not have spread data, will recalculate.");
 				} else {
+					QuadCLT   dbg_scene = clt_parameters.imp.save_debug_images? quadCLTs[ref_index]: null; // use to save debug images if not null
 					quadCLTs[ref_index].setBlueSky  (
+							max_disparity,
+							max_disparity_strength,
 							sky_seed,                              // double sky_seed, //  =       7.0;  // start with product of strength by diff_second below this
 							lma_seed,                              //          2.0;  // seed - disparity_lma limit
-							sky_lim,                               // double sky_lim, //   =      15.0; // then expand to product of strength by diff_second below this
+							seed_temp,     //double seed_temp, //         0.5;  // seed colder that this point between min and max temp						
+							sky_lim,            // double sky_lim, //   =      15.0; // then expand to product of strength by diff_second below this
+							lim_temp, //						double lim_temp, //          0.5;  // sky colder that this point between min and max temp		
 							sky_shrink,                            // int    sky_shrink, //  =       4;
 							sky_expand_extra,                      // int    sky_expand_extra, //  = 100; // 1?
 							sky_bottleneck,       //int    sky_bottleneck, // 
+							sky_reexpand_extra,   //int    sky_reexpand_extra,  // 9; re-expand after bottleneck in addition to how it was shrank
 							cold_scale, // =       0.2;  // <=1.0. 1.0 - disables temperature dependence
 							cold_frac, // =        0.005; // this and lower will scale fom by  cold_scale
 							hot_frac, // =         0.9;    // this and above will scale fom by 1.0
@@ -488,12 +506,12 @@ public class LwirWorld {
 							dsi[TwoQuadCLT.DSI_SPREAD_AUX],        // double [] spread,
 							dsi[TwoQuadCLT.DSI_DISPARITY_AUX_LMA], //double [] disp_lma,
 							dsi[TwoQuadCLT.DSI_AVGVAL_AUX],//	double [] avg_val,
+							dbg_scene,          // QuadCLT   dbg_scene,    // use to save debug images if not null
 							debugLevel);        // int debugLevel)
 				}
 			}
 		} // while (blue_sky == null) 
  /* */
-    	
     	return null;
     }
 }