Cleaning up, debugging blue sky (b36a0561) · Commits · Elphel / imagej-elphel

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

+14 −1

Original line number	Diff line number	Diff line
		@@ -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/IntersceneMatchParameters.java

+66 −8

Original line number	Diff line number	Diff line
		@@ -136,28 +136,37 @@ public class IntersceneMatchParameters {
		//------------

		// Sky detection/filtering
		public boolean sky_recalc = false; // force blue sky recalculation even if it exists
		public double sky_highest_min = -50; // lowest absolute value should not be higher (requires photometric)
		public double cold_frac = 0.005; // this and lower will scale fom by cold_scale
		public double hot_frac = 0.9; // this and above will scale fom by 1.0
		public double cold_scale = 0.2; // <=1.0. 1.0 - disables temperature dependence
		public double sky_seed = 5.0; // start with product of strength by diff_second below this

		public double sky_seed = 5.0; // 5.0 start with product of strength by diff_second below this
		public double lma_seed = 2.0; // seed - disparity_lma limit double sky_lim = 15.0; // then expand to product of strength by diff_second below this
		public double seed_temp = 0.5; // seed colder that this point between min and max temp

		public int sky_shrink = 2;
		public int seed_rows = 5; // sky should appear in this top rows
		public double max_disparity = 0.3; // maximal strong sky disparity
		public double max_disparity_strength = 0.2; // maximal strength of high disparity sky
		public double sky_lim = 15.0; // then expand to product of strength by diff_second below this
		public double lim_temp = 0.5; // sky colder that this point between min and max temp
		public int sky_expand_extra = 0; // 1?
		public int sky_bottleneck = 5;
		public int sky_reexpand_extra = 9;// re-expand after bottleneck in addition to how it was shrank
		public double min_strength = 0.08;
		public int lowest_sky_row = 50; // appears that low - invalid, remove completely
		public double sky_bottom_override = -300; // maximal average sky value to override lowest_sky_row test
		public int sky_override_shrink = 10; // shrink detected sky before finding hottest tile there
		public int sky_override_shrink = 6; // shrink detected sky before finding hottest tile there

		// Increase fom if there are enough LMA-defined similar tiles around
		public double disp_boost_min = 0.5;
		public double disp_boost_diff = 0.35;
		public int disp_boost_neibs = 2;
		public double disp_boost_amount = 2.0;

		public double scale_combo_strength = 0.4; // reduce strength when it comes from combo, not DSI-MAIN
		public boolean save_debug_images = true; // Save blue sky debug images in model directory

		// Some "AGC" to adjust how much to discard
		public int margin = 1; // do not use tiles if their centers are closer to the image edge
		@@ -519,6 +528,8 @@ public class IntersceneMatchParameters {

		gd.addTab("Sky","Featureless sky areas detection and filtering (LWIR only)");
		gd.addMessage ("Temperature-related filtering (requires photometric calibration)");
		gd.addCheckbox ("Force blue sky recalculation", this.sky_recalc,
		"Recalculate blue sky even if it already exists.");
		gd.addNumericField("High limit of the scene coldest tile", this.sky_highest_min, 5,7,"",
		"Sky is normally cold. If the (globally offset) minimal scene absolutre pixel value is above - no sky in the scene (debug images still show it)");
		gd.addNumericField("Cold level fraction", this.cold_frac, 5,7,"",
		@@ -533,17 +544,27 @@ public class IntersceneMatchParameters {
		"at infinity and 3 above parameters");
		gd.addNumericField("Seed maximal disparity", this.lma_seed, 5,7,"pix",
		"Seed tiles should not have LMA-found disparity above this");
		gd.addNumericField("Seed maximal relative temperature", this.seed_temp, 5,7,"",
		"Seed tiles should be colder than this point between min and max scene temperature.");
		gd.addNumericField("Shrink sky seed", this.sky_shrink, 0,3,"",
		"Shrink sky seed tiles to eliminate too small (false) clusters. One shrinks in hor/vert, 2 - with diagonals, ...");
		gd.addNumericField("Seed rows", this.seed_rows, 0,3,"",
		"Sky is above and normally should appear in the top image rows. Applies after shrinking.");
		gd.addMessage ("Expand seed tiles");
		gd.addNumericField("Maximal strong sky disparity", this.max_disparity, 5,7,"",
		"Maximal disparity of the sky tiles if they are strong enough.");
		gd.addNumericField("Strength of the high disparity sky", this.max_disparity_strength, 5,7,"",
		"Required tile strenghth to be considered strong to test against maximal disparity.");
		gd.addNumericField("Expand FOM limit", this.sky_lim, 5,7,"",
		"Expand while FOM is below this value (usually to a high-contrast skyline).");
		gd.addNumericField("Sky maximal relative temperature", this.lim_temp, 5,7,"",
		"Sky tiles should be colder than this point between min and max scene temperature.");
		gd.addNumericField("Expand extra", this.sky_expand_extra, 0,3,"",
		"Additionally expand sky area after reaching threshold in the previous step.");
		gd.addNumericField("Bottleneck width", this.sky_bottleneck, 0,3,"",
		"Shrink/reexpand from the seed detected sky to prevent \"leaks\" through narrow gaps in the high-contrast sky limit.");
		gd.addNumericField("Re-expand extra after bottleneck", this.sky_reexpand_extra, 0,3,"",
		"Additionally expand sky area after bottleneck shrink in excess of re-expanding by the same amount as shrank.");
		gd.addNumericField("Modify strength to be at least this", this.min_strength, 5,7,"",
		"Input strength has some with zero values resulting in zero FOM. Make them at least this.");
		gd.addNumericField("Lowest sky row", this.lowest_sky_row, 0,3,"",
		@@ -562,9 +583,12 @@ public class IntersceneMatchParameters {
		"Number of neighbors (of 8) to have small disparity difference to boost FOM.");
		gd.addNumericField("Boost amount", this.disp_boost_amount, 5,7,"x",
		"Multiply FOM by this value if number of neighbors is exactly minimal. Scale proportional to the total number of neighbors.");
		gd.addTab ("Inter-Match", "Parameters for full-resolution scene matching");

		gd.addNumericField("Scale if strength is combo, not main", this.scale_combo_strength, 5,7,"x",
		"Reduce strength when it comes from combo, not DSI-MAIN.");
		gd.addCheckbox ("Save debug images", this.save_debug_images,
		"Save debug images for Blue Sky generation in model directory.");

		gd.addTab ("Inter-Match", "Parameters for full-resolution scene matching");
		gd.addMessage ("Interscene match parameters");
		gd.addNumericField("Image margin", this.margin, 0,5,"pix",
		"Do not use tiles if their centers are closer to the virtual image edge");
		@@ -924,17 +948,23 @@ public class IntersceneMatchParameters {
		this.strong_strength = gd.getNextNumber();
		this.weak_strength = gd.getNextNumber();

		this.sky_recalc = gd.getNextBoolean();
		this.sky_highest_min = gd.getNextNumber();
		this.cold_frac = gd.getNextNumber();
		this.hot_frac = gd.getNextNumber();
		this.cold_scale = gd.getNextNumber();
		this.sky_seed = gd.getNextNumber();
		this.lma_seed = gd.getNextNumber();
		this.seed_temp = gd.getNextNumber();
		this.sky_shrink = (int) gd.getNextNumber();
		this.seed_rows = (int) gd.getNextNumber();
		this.max_disparity = gd.getNextNumber();
		this.max_disparity_strength = gd.getNextNumber();
		this.sky_lim = gd.getNextNumber();
		this.lim_temp = gd.getNextNumber();
		this.sky_expand_extra = (int) gd.getNextNumber();
		this.sky_bottleneck = (int) gd.getNextNumber();
		this.sky_reexpand_extra = (int) gd.getNextNumber();
		this.min_strength = gd.getNextNumber();
		this.lowest_sky_row = (int) gd.getNextNumber();
		this.sky_bottom_override = gd.getNextNumber();
		@@ -944,6 +974,8 @@ public class IntersceneMatchParameters {
		this.disp_boost_diff = gd.getNextNumber();
		this.disp_boost_neibs = (int) gd.getNextNumber();
		this.disp_boost_amount = gd.getNextNumber();
		this.scale_combo_strength = gd.getNextNumber();
		this.save_debug_images = gd.getNextBoolean();

		this.margin = (int) gd.getNextNumber();
		this.sensor_mask_inter= (int) gd.getNextNumber();
		@@ -1206,17 +1238,23 @@ public class IntersceneMatchParameters {
		properties.setProperty(prefix+"strong_strength", this.strong_strength+""); // double
		properties.setProperty(prefix+"weak_strength", this.weak_strength+""); // double

		properties.setProperty(prefix+"sky_recalc", this.sky_recalc+""); // boolean
		properties.setProperty(prefix+"sky_highest_min", this.sky_highest_min+""); // double
		properties.setProperty(prefix+"cold_frac", this.cold_frac+""); // double
		properties.setProperty(prefix+"hot_frac", this.hot_frac+""); // double
		properties.setProperty(prefix+"cold_scale", this.cold_scale+""); // double
		properties.setProperty(prefix+"sky_seed", this.sky_seed+""); // double
		properties.setProperty(prefix+"lma_seed", this.lma_seed+""); // double
		properties.setProperty(prefix+"seed_temp", this.seed_temp+""); // double
		properties.setProperty(prefix+"sky_shrink", this.sky_shrink+""); // int
		properties.setProperty(prefix+"seed_rows", this.seed_rows+""); // int
		properties.setProperty(prefix+"max_disparity", this.max_disparity+""); // double
		properties.setProperty(prefix+"max_disparity_strength",this.max_disparity_strength+"");// double
		properties.setProperty(prefix+"sky_lim", this.sky_lim+""); // double
		properties.setProperty(prefix+"lim_temp", this.lim_temp+""); // double
		properties.setProperty(prefix+"sky_expand_extra", this.sky_expand_extra+""); // int
		properties.setProperty(prefix+"sky_bottleneck", this.sky_bottleneck+""); // int
		properties.setProperty(prefix+"sky_reexpand_extra", this.sky_reexpand_extra+""); // int
		properties.setProperty(prefix+"min_strength", this.min_strength+""); // double
		properties.setProperty(prefix+"lowest_sky_row", this.lowest_sky_row+""); // int
		properties.setProperty(prefix+"sky_bottom_override", this.sky_bottom_override+""); // double
		@@ -1226,6 +1264,8 @@ public class IntersceneMatchParameters {
		properties.setProperty(prefix+"disp_boost_diff", this.disp_boost_diff+""); // int
		properties.setProperty(prefix+"disp_boost_neibs", this.disp_boost_neibs+""); // double
		properties.setProperty(prefix+"disp_boost_amount", this.disp_boost_amount+""); // double
		properties.setProperty(prefix+"scale_combo_strength", this.scale_combo_strength+""); // double
		properties.setProperty(prefix+"save_debug_images", this.save_debug_images+""); // boolean

		properties.setProperty(prefix+"margin", this.margin+""); // int
		properties.setProperty(prefix+"sensor_mask_inter", this.sensor_mask_inter+""); // int
		@@ -1441,17 +1481,25 @@ public class IntersceneMatchParameters {
		if (properties.getProperty(prefix+"strong_strength")!=null) this.strong_strength=Double.parseDouble(properties.getProperty(prefix+"strong_strength"));
		if (properties.getProperty(prefix+"weak_strength")!=null) this.weak_strength=Double.parseDouble(properties.getProperty(prefix+"weak_strength"));

		if (properties.getProperty(prefix+"sky_recalc")!=null) this.sky_recalc=Boolean.parseBoolean(properties.getProperty(prefix+"sky_recalc"));
		if (properties.getProperty(prefix+"sky_highest_min")!=null) this.sky_highest_min=Double.parseDouble(properties.getProperty(prefix+"sky_highest_min"));
		if (properties.getProperty(prefix+"cold_frac")!=null) this.cold_frac=Double.parseDouble(properties.getProperty(prefix+"cold_frac"));
		if (properties.getProperty(prefix+"hot_frac")!=null) this.hot_frac=Double.parseDouble(properties.getProperty(prefix+"hot_frac"));
		if (properties.getProperty(prefix+"cold_scale")!=null) this.cold_scale=Double.parseDouble(properties.getProperty(prefix+"cold_scale"));
		if (properties.getProperty(prefix+"sky_seed")!=null) this.sky_seed=Double.parseDouble(properties.getProperty(prefix+"sky_seed"));
		if (properties.getProperty(prefix+"lma_seed")!=null) this.lma_seed=Double.parseDouble(properties.getProperty(prefix+"lma_seed"));
		if (properties.getProperty(prefix+"seed_temp")!=null) this.seed_temp=Double.parseDouble(properties.getProperty(prefix+"seed_temp"));


		if (properties.getProperty(prefix+"sky_shrink")!=null) this.sky_shrink=Integer.parseInt(properties.getProperty(prefix+"sky_shrink"));
		if (properties.getProperty(prefix+"seed_rows")!=null) this.seed_rows=Integer.parseInt(properties.getProperty(prefix+"seed_rows"));
		if (properties.getProperty(prefix+"max_disparity")!=null) this.max_disparity=Double.parseDouble(properties.getProperty(prefix+"max_disparity"));
		if (properties.getProperty(prefix+"max_disparity_strength")!=null)this.max_disparity_strength=Double.parseDouble(properties.getProperty(prefix+"max_disparity_strength"));
		if (properties.getProperty(prefix+"sky_lim")!=null) this.sky_lim=Double.parseDouble(properties.getProperty(prefix+"sky_lim"));
		if (properties.getProperty(prefix+"lim_temp")!=null) this.lim_temp=Double.parseDouble(properties.getProperty(prefix+"lim_temp"));
		if (properties.getProperty(prefix+"sky_expand_extra")!=null) this.sky_expand_extra=Integer.parseInt(properties.getProperty(prefix+"sky_expand_extra"));
		if (properties.getProperty(prefix+"sky_bottleneck")!=null) this.sky_bottleneck=Integer.parseInt(properties.getProperty(prefix+"sky_bottleneck"));
		if (properties.getProperty(prefix+"sky_reexpand_extra")!=null) this.sky_reexpand_extra=Integer.parseInt(properties.getProperty(prefix+"sky_reexpand_extra"));
		if (properties.getProperty(prefix+"min_strength")!=null) this.min_strength=Double.parseDouble(properties.getProperty(prefix+"min_strength"));
		if (properties.getProperty(prefix+"lowest_sky_row")!=null) this.lowest_sky_row=Integer.parseInt(properties.getProperty(prefix+"lowest_sky_row"));
		if (properties.getProperty(prefix+"sky_bottom_override")!=null) this.sky_bottom_override=Double.parseDouble(properties.getProperty(prefix+"sky_bottom_override"));
		@@ -1461,6 +1509,8 @@ public class IntersceneMatchParameters {
		if (properties.getProperty(prefix+"disp_boost_diff")!=null) this.disp_boost_diff=Double.parseDouble(properties.getProperty(prefix+"disp_boost_diff"));
		if (properties.getProperty(prefix+"disp_boost_neibs")!=null) this.disp_boost_neibs=Integer.parseInt(properties.getProperty(prefix+"disp_boost_neibs"));
		if (properties.getProperty(prefix+"disp_boost_amount")!=null) this.disp_boost_amount=Double.parseDouble(properties.getProperty(prefix+"disp_boost_amount"));
		if (properties.getProperty(prefix+"scale_combo_strength")!=null) this.scale_combo_strength=Double.parseDouble(properties.getProperty(prefix+"scale_combo_strength"));
		if (properties.getProperty(prefix+"save_debug_images")!=null) this.save_debug_images=Boolean.parseBoolean(properties.getProperty(prefix+"save_debug_images"));

		if (properties.getProperty(prefix+"margin")!=null) this.margin=Integer.parseInt(properties.getProperty(prefix+"margin"));
		if (properties.getProperty(prefix+"sensor_mask_inter")!=null) this.sensor_mask_inter=Integer.parseInt(properties.getProperty(prefix+"sensor_mask_inter"));
		@@ -1694,17 +1744,23 @@ public class IntersceneMatchParameters {
		imp.strong_strength = this.strong_strength;
		imp.weak_strength = this.weak_strength;

		imp.sky_recalc = this.sky_recalc;
		imp.sky_highest_min = this.sky_highest_min;
		imp.cold_frac = this.cold_frac;
		imp.hot_frac = this.hot_frac;
		imp.cold_scale = this.cold_scale;
		imp.sky_seed = this.sky_seed;
		imp.lma_seed = this.lma_seed;
		imp.seed_temp = this.seed_temp;
		imp.sky_shrink = this.sky_shrink;
		imp.seed_rows = this.seed_rows;
		imp.max_disparity = this.max_disparity;
		imp.max_disparity_strength= this.max_disparity_strength;
		imp.sky_lim = this.sky_lim;
		imp.lim_temp = this.lim_temp;
		imp.sky_expand_extra = this.sky_expand_extra;
		imp.sky_bottleneck = this.sky_bottleneck;
		imp.sky_reexpand_extra = this.sky_reexpand_extra;
		imp.min_strength = this.min_strength;
		imp.lowest_sky_row = this.lowest_sky_row;
		imp.sky_bottom_override = this.sky_bottom_override;
		@@ -1714,6 +1770,8 @@ public class IntersceneMatchParameters {
		imp.disp_boost_diff = this.disp_boost_diff;
		imp.disp_boost_neibs = this.disp_boost_neibs;
		imp.disp_boost_amount = this.disp_boost_amount;
		imp.scale_combo_strength = this.scale_combo_strength;
		imp.save_debug_images = this.save_debug_images;

		imp.margin = this.margin;
		imp.sensor_mask_inter = this.sensor_mask_inter;

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

+144 −53

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

+156 −42

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

+54 −16

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