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imagej-elphel
Commit b569637d authored by Andrey Filippov's avatar Andrey Filippov
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added more code to debug

parent 73b9d03b
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Showing with 1474 additions and 27 deletions
src/main/java/SuperTiles.java
View file @ b569637d
...@@ -397,7 +397,7 @@ public class SuperTiles{ ...@@ -397,7 +397,7 @@ public class SuperTiles{
final double [] strengthHist = new double [nStiles]; final double [] strengthHist = new double [nStiles];
final Thread[] threads = ImageDtt.newThreadArray(tileProcessor.threadsMax); final Thread[] threads = ImageDtt.newThreadArray(tileProcessor.threadsMax);
final AtomicInteger ai = new AtomicInteger(0); final AtomicInteger ai = new AtomicInteger(0);
final TilePlanes tpl = new TilePlanes(tileProcessor.getTileSize(),superTileSize); // final TilePlanes tpl = new TilePlanes(tileProcessor.getTileSize(),superTileSize);
for (int ithread = 0; ithread < threads.length; ithread++) { for (int ithread = 0; ithread < threads.length; ithread++) {
threads[ithread] = new Thread() { threads[ithread] = new Thread() {
...@@ -1578,6 +1578,7 @@ public class SuperTiles{ ...@@ -1578,6 +1578,7 @@ public class SuperTiles{
double [][] ellipsoids = planes[npd +LOWEST_PLANE(planes.length)].getDoublePlaneDisparityStrength( double [][] ellipsoids = planes[npd +LOWEST_PLANE(planes.length)].getDoublePlaneDisparityStrength(
null, // double [] window, null, // double [] window,
true, // boolean use_sel, true, // boolean use_sel,
true, // boolean divide_by_area,
1.5, // double scale_projection, 1.5, // double scale_projection,
1); // int debugLevel) 1); // int debugLevel)
......
src/main/java/TilePlanes.java
View file @ b569637d
...@@ -1387,19 +1387,22 @@ public class TilePlanes { ...@@ -1387,19 +1387,22 @@ public class TilePlanes {
* Get disparity values for the tiles of this overlapping supertile as [2*superTileSize * 2*superTileSize] array * Get disparity values for the tiles of this overlapping supertile as [2*superTileSize * 2*superTileSize] array
* and weights combined from provided window function, optional selection and using ellipsoid projection on the * and weights combined from provided window function, optional selection and using ellipsoid projection on the
* px, py plane (constant disparity * px, py plane (constant disparity
* Sharp weights - when selecting the best match - use exponent of (delta_disp) ^2 ?
* Or divide weight by ellipse arae?
* @param window null or window function as [2*superTileSize * 2*superTileSize] array * @param window null or window function as [2*superTileSize * 2*superTileSize] array
* @param use_sel use plane selection (this.sel_mask) to select only some part of the plane * @param use_sel use plane selection (this.sel_mask) to select only some part of the plane
* @param divide_by_area divide weights by ellipsoid area
* @param scale_projection use plane ellipsoid projection for weight: 0 - do not use, > 0 linearly scale ellipsoid * @param scale_projection use plane ellipsoid projection for weight: 0 - do not use, > 0 linearly scale ellipsoid
* @return a pair of ar5rays {disparity, strength}, each [2*superTileSize * 2*superTileSize] * @return a pair of arrays {disparity, strength}, each [2*superTileSize * 2*superTileSize]
*/ */
public double[][] getDoublePlaneDisparityStrength( public double[][] getDoublePlaneDisparityStrength(
double [] window, double [] window,
boolean use_sel, boolean use_sel,
boolean divide_by_area,
double scale_projection, double scale_projection,
int debugLevel) int debugLevel)
{ {
double [][] disp_strength = new double[2][4*superTileSize*superTileSize]; double [][] disp_strength = new double[2][4*superTileSize*superTileSize];
int indx = 0;
double [] normal = getVector(); double [] normal = getVector();
double [] zxy = getZxy(); // {disparity, x center in pixels, y center in pixels (relative to a supertile center) double [] zxy = getZxy(); // {disparity, x center in pixels, y center in pixels (relative to a supertile center)
double weight = getWeight(); double weight = getWeight();
...@@ -1425,8 +1428,15 @@ public class TilePlanes { ...@@ -1425,8 +1428,15 @@ public class TilePlanes {
val2d = eig.getD(); val2d = eig.getD();
vect2d = eig.getV().transpose(); vect2d = eig.getV().transpose();
k_gauss = 0.5/(scale_projection*scale_projection); k_gauss = 0.5/(scale_projection*scale_projection);
if (divide_by_area) {
double area = Math.sqrt(val2d.get(0, 0)*val2d.get(1, 1));
if (area > 0){
weight /= area;
}
}
} }
int indx = 0;
for (int sy = -superTileSize; sy < superTileSize; sy++){ for (int sy = -superTileSize; sy < superTileSize; sy++){
// adding half-tile and half-pixel to match the center of the pixel. Supertile center is between // adding half-tile and half-pixel to match the center of the pixel. Supertile center is between
// pixel 31 and pixel 32 (counting from 0) in both directions // pixel 31 and pixel 32 (counting from 0) in both directions
...@@ -1445,7 +1455,7 @@ public class TilePlanes { ...@@ -1445,7 +1455,7 @@ public class TilePlanes {
double d = vxy.get(i,0); double d = vxy.get(i,0);
r2 += d * d / val2d.get(i, i); r2 += d * d / val2d.get(i, i);
} }
w *= Math.exp(-k_gauss*r2); // verify it is correct size - maybe it should be -0.5*r2 ? w *= Math.exp(-k_gauss*r2);
} }
disp_strength[1][indx] = w; disp_strength[1][indx] = w;
indx++; indx++;
...@@ -1454,6 +1464,222 @@ public class TilePlanes { ...@@ -1454,6 +1464,222 @@ public class TilePlanes {
return disp_strength; return disp_strength;
} }
/**
* Get disparity values for the tiles of this overlapping supertile as [2*superTileSize * 2*superTileSize] array
* and weights combined from provided window function, optional selection and using ellipsoid projection on the
* px, py plane (constant disparity
* Sharp weights - when selecting the best match - use exponent of (delta_disp) ^2 ?
* Or divide weight by ellipse area?
* @param window null or window function as [2*superTileSize * 2*superTileSize] array
* @param dir - source tile shift from the target: -1 center, 0 - N, 1 - NE
* @param use_sel use plane selection (this.sel_mask) to select only some part of the plane
* @param divide_by_area divide weights by ellipsoid area
* @param scale_projection use plane ellipsoid projection for weight: 0 - do not use, > 0 linearly scale ellipsoid
* @return a pair of arrays {disparity, strength}, each [2 * superTileSize * 2 * superTileSize], only 1/2 or 1/4 used for offset tiles\
* TODO: add a combination of the ellipses and infinite planes?
*
*/
public double[][] getDoublePlaneDisparityStrength(
double [] window,
int dir,
boolean use_sel,
boolean divide_by_area,
double scale_projection,
int debugLevel)
{
double [][] disp_strength = new double[2][superTileSize*superTileSize];
double [] normal = getVector();
double [] zxy = getZxy(); // {disparity, x center in pixels, y center in pixels (relative to a supertile center)
double weight = getWeight();
double k_gauss = 0;
Matrix val2d = null, vect2d = null;
if (scale_projection > 0.0){
double [] vals3d = getValues();
double [][] vectors3d = getVectors();
double [][] acovar = new double [2][2];
for (int i = 0; i < 2; i++){
for (int j = i; j < 2; j++){
acovar[i][j] = 0.0;
for (int k = 0; k < 3; k++){
acovar[i][j] += vals3d[k] * vectors3d[k][i+1] * vectors3d[k][j+1]; // 0 - z, disparity == 0
}
if (i != j) {
acovar[j][i] =acovar[i][j];
}
}
}
Matrix covar = new Matrix(acovar); // 2d, x y only
EigenvalueDecomposition eig = covar.eig();
val2d = eig.getD();
vect2d = eig.getV().transpose();
k_gauss = 0.5/(scale_projection*scale_projection);
if (divide_by_area) {
double area = Math.sqrt(val2d.get(0, 0)*val2d.get(1, 1));
if (area > 0){
weight /= area;
}
}
}
// int ss1 = superTileSize / 2;
int ss2 = superTileSize;
// int ss3 = 3 *ss1;
int ss4 = 2 * superTileSize;
int [][] offsets = {
// ymin, ymax, xmin,xmax, offsy, offsx
{ 0, ss4, 0, ss4, 0, 0 }, // center
{ss2, ss4, 0, ss4, -ss2, 0 }, // N
{ss2, ss4, 0, ss2, -ss2, ss2 }, // NE
{ 0, ss4, 0, ss2, 0, ss2 }, // E
{ 0, ss2, 0, ss2, ss2, ss2 }, // SE
{ 0, ss2, 0, ss2, ss2, 0 }, // S
{ 0, ss2, ss2, ss4, ss2, -ss2 }, // SW
{ 0, ss4, ss2, ss4, 0, -ss2 }, // W
{ss2, ss4, 0, ss4, -ss2, -ss2 }}; // NW
int dir1 = dir + 1;
// for (int sy = -superTileSize; sy < superTileSize; sy++){
for (int iy = offsets[dir1][0]; iy < offsets[dir1][1]; iy++){
// adding half-tile and half-pixel to match the center of the pixel. Supertile center is between
// pixel 31 and pixel 32 (counting from 0) in both directions
double y = tileSize * (iy - ss2 + 0.5) + 0.5 - zxy[2];
int oy = iy + offsets[dir1][4]; //vert index in the result tile
// for (int sx = -superTileSize; sx < superTileSize; sx++){
for (int ix = offsets[dir1][2]; ix < offsets[dir1][3]; ix++){
double x = tileSize * (ix - ss2 + 0.5) + 0.5 - zxy[1];
// int indx = ss2 * oy + ix + offsets[dir1][5];
int indx = ss4 * oy + ix + offsets[dir1][5];
int indx_i = iy * ss4 + ix; // input index
disp_strength[0][indx] = zxy[0] - (normal[1] * x + normal[2] * y)/normal[0];
double w = weight;
if (window != null) w *= window[indx_i];
if (use_sel && (sel_mask != null) && !(sel_mask[indx_i])) w = 0.0;
if ((w > 0.0) && (scale_projection > 0.0)){
double [] xy = {x,y};
Matrix vxy = vect2d.times(new Matrix(xy,2)); // verify if it is correct
double r2 = 0;
for (int i = 0; i <2; i++){
double d = vxy.get(i,0);
r2 += d * d / val2d.get(i, i);
}
w *= Math.exp(-k_gauss*r2);
}
disp_strength[1][indx] = w;
}
}
return disp_strength;
}
/**
* Get disparity values for the tiles of this overlapping supertile as [superTileSize * superTileSize] array
* and weights combined from provided window function, optional selection and using ellipsoid projection on the
* px, py plane (constant disparity
* Sharp weights - when selecting the best match - use exponent of (delta_disp) ^2 ?
* Or divide weight by ellipse arae?
* @param window null or window function as [2*superTileSize * 2*superTileSize] array
* @param dir - source tile shift from the targer: -1 center, 0 - N, 1 - NE
* @param use_sel use plane selection (this.sel_mask) to select only some part of the plane
* @param divide_by_area divide weights by ellipsoid area
* @param scale_projection use plane ellipsoid projection for weight: 0 - do not use, > 0 linearly scale ellipsoid
* @return a pair of arrays {disparity, strength}, each [superTileSize * superTileSize], only 1/2 or 1/4 used for offset tiles\
* TODO: add a combination of the ellipses and infinite planes?
*
*/
public double[][] getSinglePlaneDisparityStrength(
double [] window,
int dir,
boolean use_sel,
boolean divide_by_area,
double scale_projection,
int debugLevel)
{
double [][] disp_strength = new double[2][superTileSize*superTileSize];
double [] normal = getVector();
double [] zxy = getZxy(); // {disparity, x center in pixels, y center in pixels (relative to a supertile center)
double weight = getWeight();
double k_gauss = 0;
Matrix val2d = null, vect2d = null;
if (scale_projection > 0.0){
double [] vals3d = getValues();
double [][] vectors3d = getVectors();
double [][] acovar = new double [2][2];
for (int i = 0; i < 2; i++){
for (int j = i; j < 2; j++){
acovar[i][j] = 0.0;
for (int k = 0; k < 3; k++){
acovar[i][j] += vals3d[k] * vectors3d[k][i+1] * vectors3d[k][j+1]; // 0 - z, disparity == 0
}
if (i != j) {
acovar[j][i] =acovar[i][j];
}
}
}
Matrix covar = new Matrix(acovar); // 2d, x y only
EigenvalueDecomposition eig = covar.eig();
val2d = eig.getD();
vect2d = eig.getV().transpose();
k_gauss = 0.5/(scale_projection*scale_projection);
if (divide_by_area) {
double area = Math.sqrt(val2d.get(0, 0)*val2d.get(1, 1));
if (area > 0){
weight /= area;
}
}
}
int ss1 = superTileSize / 2;
int ss2 = superTileSize;
int ss3 = 3 *ss1;
int ss4 = 2 * superTileSize;
int [][] offsets = {
// ymin, ymax, xmin,xmax, offsy, offsx
{ss1, ss3, ss1, ss3, -ss1, -ss1 }, // center
{ss3, ss4, ss1, ss3, -ss3, -ss1 }, // N
{ss3, ss4, 0, ss1, -ss3, ss1 }, // NE
{ss1, ss3, 0, ss1, -ss1, ss1 }, // E
{ 0, ss1, 0, ss1, ss1, ss1 }, // SE
{ 0, ss1, ss1, ss3, ss1, -ss1 }, // S
{ 0, ss1, ss3, ss4, ss1, -ss3 }, // SW
{ss1, ss3, ss3, ss4, -ss1, -ss3 }, // W
{ss3, ss4, ss3, ss4, -ss3, -ss3 }}; // NW
int dir1 = dir + 1;
// for (int sy = -superTileSize; sy < superTileSize; sy++){
for (int iy = offsets[dir1][0]; iy < offsets[dir1][1]; iy++){
// adding half-tile and half-pixel to match the center of the pixel. Supertile center is between
// pixel 31 and pixel 32 (counting from 0) in both directions
double y = tileSize * (iy - ss2 + 0.5) + 0.5 - zxy[2];
int oy = iy + offsets[dir1][4]; //vert index in the result tile
// for (int sx = -superTileSize; sx < superTileSize; sx++){
for (int ix = offsets[dir1][2]; ix < offsets[dir1][3]; ix++){
double x = tileSize * (ix - ss2 + 0.5) + 0.5 - zxy[1];
int indx = ss2 * oy + ix + offsets[dir1][5];
int indx_i = iy * ss4 + ix; // ss2;
disp_strength[0][indx] = zxy[0] - (normal[1] * x + normal[2] * y)/normal[0];
double w = weight;
if (window != null) w *= window[indx_i];
if (use_sel && (sel_mask != null) && !(sel_mask[indx_i])) w = 0.0;
if ((w > 0.0) && (scale_projection > 0.0)){
double [] xy = {x,y};
Matrix vxy = vect2d.times(new Matrix(xy,2)); // verify if it is correct
double r2 = 0;
for (int i = 0; i <2; i++){
double d = vxy.get(i,0);
r2 += d * d / val2d.get(i, i);
}
w *= Math.exp(-k_gauss*r2);
}
disp_strength[1][indx] = w;
}
}
return disp_strength;
}
/** /**
* Cross product of 2 3-d vectors as column matrices * Cross product of 2 3-d vectors as column matrices
......
src/main/java/TileSurface.java
View file @ b569637d
import java.util.ArrayList;
import java.util.Collections;
import java.util.Comparator;
import java.util.concurrent.atomic.AtomicInteger;
/** /**
** **
** TileSurface - hadle tile surfaces ** TileSurface - hadle tile surfaces
...@@ -25,61 +30,363 @@ ...@@ -25,61 +30,363 @@
public class TileSurface { public class TileSurface {
// public // public
private int tileSize; private int tileSize;
private int stSize; private int superTileSize;
private int tilesX; private int tilesX;
private int tilesY; private int tilesY;
private int stilesX;
private int stilesY;
private int [] st_dirs8; private int [] st_dirs8;
private int [] t_dirs8;
private int [] ss_dirs8;
private double [] window;
private int threadsMax = 100;
// private int nsTilesstSize = 0; // 8; // private int nsTilesstSize = 0; // 8;
GeometryCorrection geometryCorrection = null; GeometryCorrection geometryCorrection = null;
public TileSurface( public TileSurface(
int tileSize, int tileSize,
int stSize, int superTileSize,
int tilesX, int tilesX,
int tilesY, int tilesY,
GeometryCorrection geometryCorrection){ GeometryCorrection geometryCorrection,
int threadsMax){
this.tileSize = tileSize; this.tileSize = tileSize;
this.stSize = stSize; this.superTileSize = superTileSize;
this.geometryCorrection =geometryCorrection; this.geometryCorrection =geometryCorrection;
this.tilesX = tilesX; this.tilesX = tilesX;
this.tilesY = tilesY; this.tilesY = tilesY;
int [] dirs = {-tilesX, -tilesX + 1, 1, tilesX + 1, tilesX, tilesX - 1, -1, -tilesX - 1}; // int [] dirs = {-tilesX, -tilesX + 1, 1, tilesX + 1, tilesX, tilesX - 1, -1, -tilesX - 1};
int [] dirs = {-stilesX, -stilesX + 1, 1, stilesX + 1, stilesX, stilesX - 1, -1, -stilesX - 1};
this.st_dirs8 = dirs; this.st_dirs8 = dirs;
int tx = superTileSize * stilesX;
int [] tdirs = {-tx, -tx + 1, 1, tx + 1, tx, tx - 1, -1, -tx - 1};
this.t_dirs8 = tdirs;
int [] dirs_ss = {-superTileSize, -superTileSize + 1, 1, superTileSize + 1, superTileSize, superTileSize - 1, -1, -superTileSize - 1};
this.ss_dirs8 = dirs_ss;
this.window = getWindow(2*superTileSize);
this.threadsMax = threadsMax;
stilesX = (tilesX + superTileSize -1)/superTileSize;
stilesY = (tilesY + superTileSize -1)/superTileSize;
} }
public class TileData{ public class TileData{
double disparity; double [] disp_strength;
double strength; int indx = 0;
double enable; int new_index = 0;
boolean enable = true;
int [] neighbors = null; int [] neighbors = null;
public TileData (
double disparity,
double strength)
{
setDisparityStrength(disparity,strength);
}
public void setIndex(int indx)
{
this.indx = indx;
}
public int getIndex()
{
return this.indx;
}
public void setNewIndex(int indx)
{
this.new_index = indx;
}
public int getNewIndex()
{
return this.new_index;
}
public void setNeighbors(int [] neighbors)
{
this.neighbors = neighbors;
}
public int [] getNeighbors()
{
return this.neighbors;
}
public void setNeighbor(int neib, int dir)
{
if (this.neighbors == null) this.neighbors = new int[8];
this.neighbors[dir] = neib;
}
public int getNeighbor(int dir)
{
if (this.neighbors == null) this.neighbors = new int[8];
return this.neighbors[dir];
}
public void setEnable(boolean enable)
{
this.enable = enable;
}
public boolean getEnable()
{
return this.enable;
}
public void setDisparityStrength(
double disparity,
double strength)
{
this.disp_strength = new double[2];
this.disp_strength[0] = disparity;
this.disp_strength[1] = strength;
}
public void setDisparity(double disparity)
{
if (this.disp_strength == null){
this.disp_strength = new double[2];
}
this.disp_strength[0] = disparity;
}
public double getDisparity()
{
if (this.disp_strength == null){
this.disp_strength = new double[2];
}
return this.disp_strength[0];
}
public double getDisparity(boolean useNaN)
{
if (useNaN && (this.disp_strength == null)) return Double.NaN;
if (this.disp_strength == null){
this.disp_strength = new double[2];
}
if (useNaN && (this.disp_strength[1] == 0.0)) return Double.NaN;
return this.disp_strength[0];
}
public double getDisparityNaN()
{
return getDisparity(true);
}
public void setStrength(double strength)
{
if (this.disp_strength == null){
this.disp_strength = new double[2];
}
this.disp_strength[1] = strength;
}
public double getStrength()
{
if (this.disp_strength == null){
this.disp_strength = new double[2];
}
return this.disp_strength[1];
}
}
public class TileNeibs{
int size;
TileNeibs(int size){
this.size = size;
}
/**
* Get 2d element index after step N, NE, ... NW. Returns -1 if leaving array
* @param indx start index
* @param dir step direction (CW from up)
* @return new index or -1 if leaving
*/
int getNeibIndex(int indx, int dir)
{
int y = indx / size;
int x = indx % size;
if (dir < 0) return indx;
switch (dir % 8){
case 0: return (y == 0) ? -1 : (indx - size);
case 1: return ((y == 0) || ( x == (size-1))) ? -1 : (indx - size + 1);
case 2: return ( ( x == (size-1))) ? -1 : (indx + 1);
case 3: return ((y == (size -1)) || ( x == (size-1))) ? -1 : (indx + size + 1);
case 4: return ((y == (size -1)) ) ? -1 : (indx + size);
case 5: return ((y == (size -1)) || ( x == 0)) ? -1 : (indx + size - 1);
case 6: return ( ( x == 0)) ? -1 : (indx - 1);
case 7: return ((y == 0) || ( x == 0)) ? -1 : (indx - size - 1);
default: return indx;
}
}
/**
* Return tile segment for 50% overlap. -1 - center, 0 N, 1 - NE,... 7 - NW
* @param indx element index
* @return which of the 9 areas this element belongs
*/
int getSegment(int indx)
{
int s1 = size / 4;
int s2 = size /2;
int s3 = 3 * size / 4;
int x = indx % size;
int y = indx / size;
boolean up = y < s1;
boolean down = y >= s3;
boolean left = x < s1;
boolean right = x >= s3;
if (up){
if (left) return 7;
if (right) return 1;
return 0;
}
if (down){
if (left) return 5;
if (right) return 3;
return 4;
}
if (left) return 6;
if (right) return 2;
return -1;
}
/**
* Find if the step leaves the center half of all area
* @param indx start point
* @param dir direction
* @return direction to the new tile (assuming 50% overlap) or -1 if did not cross the border
*/
int leaveOvderlapedCenter(int indx, int dir)
{
int segm = getSegment(indx);
int indx1 = getNeibIndex(indx, dir);
if (indx1 < 0 ) {
return -1; // should not happen
}
int segm1 = getSegment(indx1);
if (segm1 == segm) return -1;
if (segm == -1) return segm1;
int [][] dxy = {
{ 0, 0},
{-1, 0},
{-1, 1},
{ 0, 1},
{ 1, 1},
{ 1, 0},
{ 1,-1},
{ 0,-1},
{-1,-1}};
int dx = dxy[segm1 + 1][1] - dxy[segm + 1][1];
int dy = dxy[segm1 + 1][0] - dxy[segm + 1][0];
for (int dp1 = 0; dp1 <=8; dp1++) {
int sdx = (dx > 0) ? 1: ( (dx < 0) ? -1 : 0);
int sdy = (dy > 0) ? 1: ( (dy < 0) ? -1 : 0);
if ((dxy[dp1][0] == sdy) && (dxy[dp1][1] == sdx)){
return dp1 -1;
}
}
return -1; // shpuld not happen
}
} }
public int getNStileDir(
int nsTile,
int dir)
{
if (dir < 0) return nsTile;
int sty = nsTile / stilesX;
int stx = nsTile % stilesX;
if ((stx > 0) && (sty > 0) && (sty == (stilesY - 1)) && (stx == (stilesX - 1))) return nsTile + st_dirs8[dir]; // most likely case
if ((sty == 0) && ((dir < 2) || (dir == 7))) return -1;
if ((sty == (stilesY - 1)) && (dir > 2) && (dir < 6)) return -1;
if ((stx == 0) && (dir > 4)) return -1;
if ((stx == (stilesX - 1)) && (dir > 0) && (dir < 4)) return -1;
return nsTile + st_dirs8[dir];
}
public int getNtileDir(
int nTile,
int dir)
{
if (dir < 0) return nTile;
int tilesX = stilesX * superTileSize;
int tilesY = stilesY * superTileSize;
int ty = nTile / tilesX;
int tx = nTile % tilesX;
if ((tx > 0) && (ty > 0) && (ty == (tilesY - 1)) && (tx == (tilesX - 1))) return nTile + t_dirs8[dir]; // most likely case
if ((ty == 0) && ((dir < 2) || (dir == 7))) return -1;
if ((ty == (tilesY - 1)) && (dir > 2) && (dir < 6)) return -1;
if ((tx == 0) && (dir > 4)) return -1;
if ((tx == (tilesX - 1)) && (dir > 0) && (dir < 4)) return -1;
return nTile + t_dirs8[dir];
}
public int getDirToStile(
int nsTile,
int nsTile1)
{
int sty = nsTile / stilesX;
int stx = nsTile % stilesX;
int sty1 = nsTile1 / stilesX;
int stx1 = nsTile1 % stilesX;
int dx = stx1 - stx;
int dy = sty1 - sty;
int sdx = (dx > 0) ? 1: ( (dx < 0) ? -1 : 0);
int sdy = (dy > 0) ? 1: ( (dy < 0) ? -1 : 0);
if ((dy ==0 ) && (dx == 0)) return -1; // same tile
if (dy < 0) {
if (dx < 0) return 7;
if (dx > 0) return 1;
return 0;
}
if (dy > 0) {
if (dx < 0) return 5;
if (dx > 0) return 3;
return 4;
}
if (dx < 0) return 2;
if (dx > 0) return 6;
return -1;
}
/** /**
* Get tile surface number from supertile number, direction (-1 same) and the supertile plane index * Get tile surface number from supertile number, direction (-1 same) and the supertile plane index
* @param nsTile number of the supertile * @param nsTile number of the supertile
* @param dir direction -1 - same supertile, 0 - N (up), 1 - NE, .. 7 - NW * @param dir direction -1 - same supertile, 0 - N (up), 1 - NE, .. 7 - NW
* @param np number of the supertile plane * @param np number of the supertile plane
* @param planes array of the per-supertile, per plane plane data (each level can be null) * @param planes array of the per-supertile, per plane plane data (each level can be null)
* @return unique tile plane index * @return unique tile surface index, if ((dir == 8) && (np == 0)) returns total number of tile surfaces
*/ */
public int getTileSurfaceNumber ( public int getTileSurfaceNumber (
int nsTile, int nsTile,
int dir, // direction, or -1 (same) int dir, // direction, or -1 (same)
int np, int np,
TilePlanes.PlaneData [][] planes TilePlanes.PlaneData [][] planes)
){ {
if ((planes[nsTile] == null) || (planes[nsTile][np] == null)){ // if (planes[nsTile] == null){
return -1; // empty supertile or supertile plane // return -1; // empty supertile or supertile plane
} // }
int tsn = (planes[nsTile] == null) ? 0 : planes[nsTile].length;
if (dir < 0) { if (dir < 0) {
if (np >= tsn){
return -1;
}
return np; return np;
} }
int tsn = planes[nsTile].length; int nsTile1 = -1;
for (int d = 0; d < dir; d ++){ for (int d = 0; d < dir; d ++){
int nsTile1 = nsTile + st_dirs8[d]; nsTile1 = getNStileDir(nsTile, d);
if (planes[nsTile1] != null){ if ((nsTile1 >=0) && (planes[nsTile1] != null)){
tsn += planes[nsTile1].length; tsn += planes[nsTile1].length;
} }
} }
if (dir < 8) {
int last_Length = (planes[nsTile1] == null) ? 0: planes[nsTile1].length;
if (np >= last_Length) {
return -1;
}
}
return tsn + np; return tsn + np;
} }
/** /**
...@@ -93,16 +400,15 @@ public class TileSurface { ...@@ -93,16 +400,15 @@ public class TileSurface {
public int [] getSuperTileDirPlane ( public int [] getSuperTileDirPlane (
int nsTile, int nsTile,
int tp, int tp,
TilePlanes.PlaneData [][] planes TilePlanes.PlaneData [][] planes)
)
{ {
int num_planes = (planes[nsTile] == null)? 0: planes[nsTile].length; int num_planes = (planes[nsTile] == null)? 0: planes[nsTile].length;
int [] rslt = {-1, tp}; int [] rslt = {-1, tp};
if (tp < num_planes) return rslt; if (tp < num_planes) return rslt;
tp -= num_planes; tp -= num_planes;
for (int d = 0; d < st_dirs8.length; d ++){ for (int d = 0; d < st_dirs8.length; d ++){
int nsTile1 = nsTile + st_dirs8[d]; int nsTile1 = getNStileDir(nsTile, d);
num_planes = (planes[nsTile1] == null)? 0: planes[nsTile1].length; num_planes = ((nsTile1 >=0) && (planes[nsTile1] != null))? planes[nsTile1].length : 0;
if (tp < num_planes){ if (tp < num_planes){
rslt[0] = d; rslt[0] = d;
rslt[1] = tp; rslt[1] = tp;
...@@ -113,5 +419,919 @@ public class TileSurface { ...@@ -113,5 +419,919 @@ public class TileSurface {
return null; // error - invalid input return null; // error - invalid input
} }
public double [] getWindow (
int size)
{
double [] wnd1d = new double [size];
for (int i = 0; i < size/2; i++){
wnd1d[i] = 0.5 * (1.0 - Math.cos(2*Math.PI*(i+0.5)/size));
wnd1d[size - i -1] = wnd1d[i];
}
double [] wnd = new double [size * size];
int indx = 0;
for (int i = 0; i < size; i++){
for (int j = 0; i < size; i++){
wnd[indx++] = wnd1d[i]*wnd1d[j];
}
}
return wnd;
}
public double [] getWindow()
{
return window;
}
/**
* Calculate per-tile surface data (TileData) including disparity, strength, and 8 neighbors indices
* @param use_sel use plane selection (this.sel_mask) to select only some part of the plane
* @param divide_by_area divide weights by ellipsoid area
* @param scale_projection use plane ellipsoid projection for weight: 0 - do not use, > 0 linearly scale ellipsoid
* @param planes array of the per-supertile, per plane plane data (each level can be null)
* @param debugLevel debug level
* @param dbg_X debug supertile X coordinate
* @param dbg_Y debug supertile Y coordinate
* @return per-tile (rounded up to contain whole supertiles) sparse array of TileData instances
*/
public TileData [][][] createTileShells0 (
final boolean use_sel,
final boolean divide_by_area,
final double scale_projection,
final TilePlanes.PlaneData [][] planes,
final int debugLevel,
final int dbg_X,
final int dbg_Y)
{
final int nStiles = stilesX * stilesY;
final int nTiles = nStiles * superTileSize * superTileSize;
final TileData [][][] tile_data = new TileData [nTiles][][];
final Thread[] threads = ImageDtt.newThreadArray(threadsMax);
final AtomicInteger ai = new AtomicInteger(0);
final int len_st = superTileSize * superTileSize;
// final int ss2 = 2 * superTileSize;
// final int sh = superTileSize/2;
// final int len2 = ss2 * ss2 ;
final int [][] neib_of_neib_dir = {
// N NE E SE S SW W NW
{-1, -1, 1, 2, -1, 6, 7, -1}, // N then E = NE, N then SE = E, N then SW = W, N then W = NW
{-1, -1, -1, -1, 2, -1, 0, -1}, // NE then S = E, NE then W = N
{ 1, -1, -1, -1, 3, 4, -1, 0}, // E then N = NE, E then S = SE, E then SW = S, E then NW = N
{ 2, -1, 4, -1, -1, -1, -1, -1}, // SE then N = E, SE then W = S
{-1, 2, 3, -1, -1, -1, 5, 6}, // S then NE = E, S then E = SE, S then W = SW, S then NW = W
{ 6, -1, 4, -1, -1, -1, -1, -1}, // SW then N = W, SW then E = S
{ 7, 0, -1, 4, 5, -1, -1, -1}, // W then N = NW, W then NE = N, W then SE = S, W then S = SW
{-1, -1, 0, -1, 6, -1, -1, -1}, // NW then E = N, NW then S = W
};
for (int ithread = 0; ithread < threads.length; ithread++) {
threads[ithread] = new Thread() {
public void run() {
for (int nsTile = ai.getAndIncrement(); nsTile < nStiles; nsTile = ai.getAndIncrement()) {
double [][][][] disp_strengths = new double [9][][][];
for (int dir = -1; dir < st_dirs8.length; dir++){
int nsTile1 = getNStileDir(nsTile, dir); // nsTile + ((dir < 0) ? 0: st_dirs8[dir]);
if ((nsTile1 >= 0) && (planes[nsTile1] != null)){
disp_strengths[dir] = new double [planes[nsTile1].length][][];
for (int np = 0; np < planes[nsTile1].length; np++) {
disp_strengths[dir + 1][np] = planes[nsTile1][np].getSinglePlaneDisparityStrength(
getWindow(), // double [] window,
dir, // int dir (-1 - center, 0- N, 1 - NE, .. 7 - NW
use_sel, // boolean use_sel,
divide_by_area, //boolean divide_by_area,
scale_projection, // double scale_projection,
debugLevel-1); // int debugLevel)
}
}
}
// GET shifted/center value
int num_surf = getTileSurfaceNumber ( // maximal number of surfaces in this supertile
nsTile, // int nsTile,
8, // int dir, // direction, or -1 (same)
0, // int np,
planes); // TilePlanes.PlaneData [][] planes)
if (num_surf > 0) {
// int stileY = nsTile / stilesX;
// int stileX = nsTile % stilesX;
tile_data[nsTile] = new TileData[superTileSize * superTileSize][num_surf];
double [][][] all_disp_strengths = new double [num_surf][][];
// First - process all surfaces for the existing supertile planes in this supertile
if (planes[nsTile] != null) {
for (int np = 0; np < planes[nsTile].length; np++) if (planes[nsTile][np] != null) {
double [] strength = disp_strengths[0][np][1].clone();
double [] disparity = new double [len_st];
for (int i = 0; i < len_st; i++){
disparity[i] = disp_strengths[0][np][0][i] * disp_strengths[0][np][1][i];
}
for (int dir = 0; dir < st_dirs8.length; dir++){
int sNeib = planes[nsTile][np].getNeibBest(dir);
// add certain already shifted data from other planes around this one
if (sNeib >= 0){
double [][] ds = disp_strengths[dir + 1][sNeib];
for (int i = 0; i < len_st; i++){
if (ds[1][i] > 0.0){
strength[i] += ds[1][i];
disparity[i] += ds[1][i] * ds[0][i];
}
}
}
}
int ns = getTileSurfaceNumber ( // maximal number of surfaces in this supertile
nsTile, // int nsTile,
-1, // int dir, // direction, or -1 (same)
np, // int np,
planes); // TilePlanes.PlaneData [][] planes)
all_disp_strengths[ns] = new double [2][];
all_disp_strengths[ns][0] = disparity;
all_disp_strengths[ns][1] = strength;
}
}
// now process all tiles that are not connected to this one and let their planes "leak" here
for (int dir = 0; dir < st_dirs8.length; dir++){
int nsTile1 = getNStileDir(nsTile, dir); // nsTile + ((dir < 0) ? 0: st_dirs8[dir]);
if ((nsTile1 >= 0) && (planes[nsTile1] != null)){
for (int np = 0; np < planes[nsTile1].length; np++) if (planes[nsTile1][np] != null) {
// make sure it is not connected to the nsTile;
int sNeib = planes[nsTile1][np].getNeibBest((dir + st_dirs8.length/2) % st_dirs8.length);
if (sNeib < 0) { // surfaces connected to the current tile are already processed
double [] strength = disp_strengths[dir + 1][np][1].clone();
double [] disparity = new double [len_st];
for (int i = 0; i < len_st; i++){
disparity[i] = disp_strengths[dir + 1][np][0][i] * disp_strengths[dir + 1][np][1][i];
}
for (int dir1 = 0; dir1 < st_dirs8.length; dir1++){
int dir2 = neib_of_neib_dir[dir][dir1];
if (dir2 >= 0) {
sNeib = planes[nsTile1][np].getNeibBest(dir1);
// add certain already shifted data from other planes around this one
if (sNeib >= 0){
double [][] ds = disp_strengths[dir2 + 1][sNeib];
for (int i = 0; i < len_st; i++){
if (ds[1][i] > 0.0){
strength[i] += ds[1][i];
disparity[i] += ds[1][i] * ds[0][i];
}
}
}
}
}
int ns = getTileSurfaceNumber ( // maximal number of surfaces in this supertile
nsTile, // int nsTile,
dir, // int dir, // direction, or -1 (same)
np, // int np,
planes); // TilePlanes.PlaneData [][] planes)
all_disp_strengths[ns] = new double [2][];
all_disp_strengths[ns][0] = disparity;
all_disp_strengths[ns][1] = strength;
}
}
}
}
}
}
}
};
}
ImageDtt.startAndJoin(threads);
return tile_data;
}
/**
* Calculate per-tile surface data (TileData) including disparity, strength, and 8 neighbors indices
* @param use_sel use plane selection (this.sel_mask) to select only some part of the plane
* @param divide_by_area divide weights by ellipsoid area
* @param scale_projection use plane ellipsoid projection for weight: 0 - do not use, > 0 linearly scale ellipsoid
* @param planes array of the per-supertile, per plane plane data (each level can be null)
* @param debugLevel debug level
* @param dbg_X debug supertile X coordinate
* @param dbg_Y debug supertile Y coordinate
* @return per-tile (rounded up to contain whole supertiles) sparse array of TileData instances
*/
public double [][][][] fuseSupertilePlanes (
final boolean use_sel,
final boolean divide_by_area,
final double scale_projection,
final TilePlanes.PlaneData [][] planes,
final int debugLevel,
final int dbg_X,
final int dbg_Y)
{
final int nStiles = stilesX * stilesY;
final int nTiles = nStiles * superTileSize * superTileSize;
final double [][][][] fused_data = new double [nTiles][][][];
final Thread[] threads = ImageDtt.newThreadArray(threadsMax);
final AtomicInteger ai = new AtomicInteger(0);
for (int ithread = 0; ithread < threads.length; ithread++) {
threads[ithread] = new Thread() {
public void run() {
for (int nsTile = ai.getAndIncrement(); nsTile < nStiles; nsTile = ai.getAndIncrement()) {
if (planes[nsTile] != null) {
double [][][] disp_strength = new double [planes[nsTile].length][][];
for (int np = 0; np < disp_strength.length; np++){
if (planes[nsTile][np] != null){
disp_strength[np] = planes[nsTile][np].getSinglePlaneDisparityStrength(
getWindow(), // double [] window,
-1, // int dir (-1 - center, 0- N, 1 - NE, .. 7 - NW
use_sel, // boolean use_sel,
divide_by_area, //boolean divide_by_area,
scale_projection, // double scale_projection,
debugLevel-1); // int debugLevel)
// multiply disparities by strengths to calculate weighted averages
for (int i = 0; i < disp_strength[np][1].length; i++){
disp_strength[np][0][i] *= disp_strength[np][1][i];
}
}
for (int dir = 0; dir < st_dirs8.length; dir++){
int sNeib = planes[nsTile][np].getNeibBest(dir);
if (sNeib >= 0){
int nsTile1 = getNStileDir(nsTile, dir); // nsTile + ((dir < 0) ? 0: st_dirs8[dir]);
if ((nsTile1 >= 0) && (planes[nsTile1] != null)){
double [][] ds = planes[nsTile1][np].getSinglePlaneDisparityStrength(
getWindow(), // double [] window,
dir, // int dir (-1 - center, 0- N, 1 - NE, .. 7 - NW
use_sel, // boolean use_sel,
divide_by_area, //boolean divide_by_area,
scale_projection, // double scale_projection,
debugLevel-1); // int debugLevel)
for (int i = 0; i < disp_strength[np][1].length; i++){
if (ds[1][i] > 0.0){
disp_strength[np][1][i] += ds[1][i];
disp_strength[np][0][i] += ds[1][i] * ds[0][i];
}
}
}
}
}
// calculate weighted average for each tile
for (int i = 0; i < disp_strength[np][1].length; i++){
if (disp_strength[np][1][i] > 0.0){
disp_strength[np][0][i] /= disp_strength[np][1][i];
}
}
}
fused_data[nsTile] = disp_strength;
}
}
}
};
}
ImageDtt.startAndJoin(threads);
return fused_data;
}
/**
* Prepare topology of the supertiles connections. For each of the 4 quadrants (0, 1 / 2, 3) of each
* used supertile plane, get 4 plane indices that contribute to it (also in linescan (0, 1/ 2,3) order
* That will tell which of the overlapping 2x supertile planes can be merged
* @param planes array of the per-supertile, per plane plane data (each level can be null)
* @param debugLevel debug level
* @param dbg_X debug supertile X coordinate
* @param dbg_Y debug supertile Y coordinate
* @return per-tile , per plane, per quadrant, per quadrant 4 corners - index of contributing plane (or -1 if none)
*/
public int [][][][] getSupertilesTopology (
final TilePlanes.PlaneData [][] planes,
final int debugLevel,
final int dbg_X,
final int dbg_Y)
{
final int nStiles = stilesX * stilesY;
final int nTiles = nStiles * superTileSize * superTileSize;
final Thread[] threads = ImageDtt.newThreadArray(threadsMax);
final AtomicInteger ai = new AtomicInteger(0);
final int [][] dir_corn = {
{ 7, 0, 6, -1}, // 0 (top left)
{ 0, 1, -1, 2}, // 1 (top right)
{ 6, -1, 5, 4}, // 2 (bottom left)
{-1, 2, 4, 3}}; // 3 (bottom right)
final int [][][][] corners = new int [nTiles][][][];
for (int ithread = 0; ithread < threads.length; ithread++) {
threads[ithread] = new Thread() {
public void run() {
for (int nsTile = ai.getAndIncrement(); nsTile < nStiles; nsTile = ai.getAndIncrement()) {
if (planes[nsTile] != null) {
corners[nsTile] = new int [planes[nsTile].length][][];
for (int np = 0; np < planes[nsTile].length; np++){
if (planes[nsTile][np] != null){
int [] neibs = planes[nsTile][np].getNeibBest();
corners[nsTile][np]= new int [4][4];
for (int i= 0; i < 4; i++){
for (int j = 0; j < 4; j++){
if (dir_corn[i][j] < 0){
corners[nsTile][np][i][j] = np;
} else {
corners[nsTile][np][i][j] = neibs[dir_corn[i][j]];
}
}
}
}
}
}
}
}
};
}
ImageDtt.startAndJoin(threads);
return corners;
}
/**
* Calculate per-tile surface data (TileData) including disparity, strength, and 8 neighbors indices
* @param planes array of the per-supertile, per plane plane data (each level can be null)
* @param corners - topology data generated by getSupertilesTopology() method
* @param debugLevel debug level
* @param dbg_X debug supertile X coordinate
* @param dbg_Y debug supertile Y coordinate
* @return per-tile (rounded up to contain whole supertiles) sparse array of TileData instances
*/
public int [][][][][] generateOverlappingMeshes (
final TilePlanes.PlaneData [][] planes,
final int [][][][] corners,
final int debugLevel,
final int dbg_X,
final int dbg_Y)
{
final int nStiles = stilesX * stilesY;
final int nTiles = nStiles * superTileSize * superTileSize;
final int [][][][][] meshes = new int [nTiles][][][][];
final Thread[] threads = ImageDtt.newThreadArray(threadsMax);
final AtomicInteger ai = new AtomicInteger(0);
final int ss2 = 2 * superTileSize;
final int ss1 = superTileSize;
final int sh = superTileSize/2;
final int len_st2 = ss2 * ss2 ;
final int [][][] quad_check = { // [quadrant 01/23][dir: left, right, diagonal]{dir, quadrant}
{ // top left quadrant
{6, 1}, //left
{0, 2}, //right
{7, 3} //diagonal
},
{ // top right quadrant
{0, 3}, //left
{2, 0}, //right
{1, 2} //diagonal
},
{ // bottom left quadrant
{4, 0}, //left
{6, 3}, //right
{5, 1} //diagonal
},
{ // bottom right quadrant
{2, 2}, //left
{4, 1}, //right
{3, 0}}};//diagonal
final int [][][] cut_ortho = { // [quadrant][left, right][index, width, height}
{ // quadrant 0 - top left
{0, sh, ss1}, // left path
{0, ss1, sh } // right path
},
{ // quadrant 1 - top right
{ss1, ss1, sh},
{3 * sh, sh, ss1}
},
{ // quadrant 2 - bottom left
{ss2 * ss1 * 3 * sh, sh, ss1},
{3 * sh * ss2 + ss1, ss1, sh}
},
{ // quadrant 3 - bottom right
{3 * sh * ss2, ss1, sh},
{ss1 * ss2, sh, ss1}
},
};
final TileNeibs tileNeibs = new TileNeibs(2*superTileSize);
for (int ithread = 0; ithread < threads.length; ithread++) {
threads[ithread] = new Thread() {
public void run() {
for (int nsTile = ai.getAndIncrement(); nsTile < nStiles; nsTile = ai.getAndIncrement()) {
if (planes[nsTile] != null) {
meshes[nsTile] = new int [planes[nsTile].length][][][];
for (int np = 0; np < planes[nsTile].length; np++){
if (planes[nsTile][np] != null){
int [][] pre_mesh = new int [len_st2][2];
for (int i = 0; i < len_st2; i ++){
pre_mesh[i][0] = nsTile;
pre_mesh[i][1] = np;
}
int [] neibs = planes[nsTile][np].getNeibBest();
for (int quadrant = 0; quadrant <4; quadrant ++) {
int [] these_corner_planes = corners[nsTile][np][quadrant];
int [][] neib_id = new int[3][2];
for (int arr = 0; arr < 3; arr++){
int dir = quad_check[quadrant][arr][0];
if (neibs[dir] >= 0) {
int nsTile1 = nsTile + st_dirs8[dir];
int [] other_corner_planes = corners[nsTile1][neibs[dir]][quad_check[quadrant][arr][1]];
neib_id[arr][0] = nsTile1;
neib_id[arr][1] = neibs[dir];
for (int i = 0; i < these_corner_planes.length; i++){
if (other_corner_planes[i] != these_corner_planes[i]){
neib_id[arr] = null;
break;
}
}
}
}
// depending on match values, cut and join mesh with the neighbor
// erase ortho
for (int arr = 0; arr < 2; arr++) if (neib_id[arr] != null){
for (int y = 0; y < cut_ortho[quadrant][arr][2]; y++){
for (int x = 0; x < cut_ortho[quadrant][arr][1]; x++){
int indx = cut_ortho[quadrant][arr][0] + y * ss2 + x;
pre_mesh[indx] = neib_id[arr];
// meshes[nsTile][np][indx] = null;
}
}
}
// erase diagonal
if (neib_id[2] != null){
switch (quadrant){
case 0: // top left
for (int j = 0; j < (ss1 - 1); j++){
for (int i = ss1 - 1 - j; i>=0; i--){
// meshes[nsTile][np][i * ss2 + j] = null;
pre_mesh[i * ss2 + j] = neib_id[2];
}
}
break;
case 1: // top right
for (int j = ss1; j < ss2; j++){
for (int i = j - ss1; i >= 0; i--){
// meshes[nsTile][np][i * ss2 + j] = null;
pre_mesh[i * ss2 + j] = neib_id[2];
}
}
break;
case 2: // bottom left
for (int j = 0; j < (ss1 - 1); j++){
for (int i = ss1 + 1 + j; i < ss2; i++){
// meshes[nsTile][np][i * ss2 + j] = null;
pre_mesh[i * ss2 + j] = neib_id[2];
}
}
break;
case 3: // bottom right
for (int j = ss1; j < ss2; j++){
for (int i = ss2 + sh - 1 - j; i < ss2; i++){
// meshes[nsTile][np][i * ss2 + j] = null;
pre_mesh[i * ss2 + j] = neib_id[2];
}
}
break;
}
}
}
// build mesh , then add cuts if needed
meshes[nsTile][np] = new int [len_st2][][];
for (int i = 0; i < len_st2; i ++){
if ((pre_mesh[i] != null) && (pre_mesh[i][0] == nsTile)){
meshes[nsTile][np][i] = new int [8][];
for (int dir = 0; dir < 8; dir++) {
int ineib = tileNeibs.getNeibIndex(i, dir);
if (ineib >= 0) meshes[nsTile][np][i][dir] = pre_mesh[ineib];
}
}
}
// add cuts
// up
for (int ncut = 0; ncut <8; ncut++){
int indx, dir_go = -1, dir_start = -1;
boolean cut_right = false;
switch (ncut){
case 0: dir_go = 0; dir_start = 6; cut_right = true; break;
case 1: dir_go = 0; dir_start = -1; cut_right = false; break;
case 2: dir_go = 2; dir_start = 0; cut_right = true; break;
case 3: dir_go = 2; dir_start = -1; cut_right = false; break;
case 4: dir_go = 4; dir_start = -1; cut_right = true; break;
case 5: dir_go = 4; dir_start = 6; cut_right = false; break;
case 6: dir_go = 6; dir_start = -1; cut_right = true; break;
case 7: dir_go = 6; dir_start = 0; cut_right = false; break;
}
int dir_go45 = (dir_go + (cut_right ? 1:7)) % 8;
int dir_go90 = (dir_go + (cut_right ? 2:6)) % 8;
int dir_go135 = (dir_go + (cut_right ? 3:5)) % 8;
int dir_go180 = (dir_go + 4) % 8;
indx = ss1 * (ss2 + 1); // center point
for (int i = 0; i < sh; i++) indx = tileNeibs.getNeibIndex(indx, dir_go);
if (dir_start >= 0) indx = tileNeibs.getNeibIndex(indx, dir_start);
int indx1 = tileNeibs.getNeibIndex(indx, dir_go90);
if ((pre_mesh[indx] != null) && (pre_mesh[indx1] == null)){ // there is a cut
for (int i = 0; i < sh; i++){
meshes[nsTile][np][tileNeibs.getNeibIndex(indx, dir_go180)][dir_go45] = null; // NE for N, right
meshes[nsTile][np][indx][dir_go90] = null; // E for N, right
if (i > 0){
meshes[nsTile][np][indx][dir_go135] = null; // SE for N, right
}
indx = tileNeibs.getNeibIndex(indx, dir_go);
}
}
}
}
}
}
}
}
};
}
ImageDtt.startAndJoin(threads);
return meshes;
}
/**
* Calculate per-tile surface data (TileData) including disparity, strength, and 8 neighbors indices
* @param planes array of the per-supertile, per plane plane data (each level can be null)
* @param fusedSupertilePlanes disparity/strength data generated by fuseSupertilePlanes() method
* @param lappingMeshes per super-tile overlapping surface meshes, generateOverlappingMeshes
* @param debugLevel debug level
* @param dbg_X debug supertile X coordinate
* @param dbg_Y debug supertile Y coordinate
* @return per-tile (rounded up to contain whole supertiles) sparse array of TileData instances
*/
public TileData [][] createTileShells (
final TilePlanes.PlaneData [][] planes,
final double [][][][] fusedSupertilePlanes,
final int [][][][][] lappingMeshes,
final int debugLevel,
final int dbg_X,
final int dbg_Y)
{
final int nStiles = stilesX * stilesY;
final int tilesX = stilesX * superTileSize;
final int nTiles = nStiles * superTileSize * superTileSize;
final TileData [][] tile_data = new TileData [nTiles][];
final Thread[] threads = ImageDtt.newThreadArray(threadsMax);
final AtomicInteger ai = new AtomicInteger(0);
final int ss2 = 2 * superTileSize;
final int sh = superTileSize/2;
final int len2 = ss2 * ss2 ;
final TileNeibs tileNeibs = new TileNeibs(2 * superTileSize);
// initialize result structure
for (int ithread = 0; ithread < threads.length; ithread++) {
threads[ithread] = new Thread() {
public void run() {
for (int nsTile = ai.getAndIncrement(); nsTile < nStiles; nsTile = ai.getAndIncrement()) {
int num_surf = getTileSurfaceNumber ( // maximal number of surfaces in this supertile
nsTile, // int nsTile,
8, // int dir, // direction, or -1 (same)
0, // int np,
planes); // TilePlanes.PlaneData [][] planes)
if (num_surf > 0) { // 0 - nothing in this supertile, none around - remove
if (num_surf > 0) { // 0 - nothing in this supertile, none around
int stileY = nsTile / stilesX;
int stileX = nsTile % stilesX;
for (int ty = 0; ty < superTileSize; ty++){
for (int tx = 0; tx < superTileSize; tx++){
int indx = ((stileY * superTileSize) + ty) * tilesX + ((stileX * superTileSize) + tx);
tile_data[indx] = new TileData[num_surf];
}
}
}
}
}
}
};
}
ImageDtt.startAndJoin(threads);
ai.set(0);
for (int ithread = 0; ithread < threads.length; ithread++) {
threads[ithread] = new Thread() {
public void run() {
for (int nsTile = ai.getAndIncrement(); nsTile < nStiles; nsTile = ai.getAndIncrement()) {
if (planes[nsTile] != null) {
int stileY = nsTile / stilesX;
int stileX = nsTile % stilesX;
for (int np = 0; np < planes[nsTile].length; np++){
int surf_number = getTileSurfaceNumber ( // maximal number of surfaces in this supertile
nsTile, // int nsTile,
-1, // int dir, // direction, or -1 (same)
0, // int np,
planes); // TilePlanes.PlaneData [][] planes)
int [][][] src_mesh = lappingMeshes[nsTile][np];
double [][] disp_strength = fusedSupertilePlanes[nsTile][np];
TileData [] dual_mesh = new TileData [len2]; // full overlapping dual-sized mesh
int [] sNeibs = planes[nsTile][np].getNeibBest();
int [] surface_numbers = new int [8];
for (int dir = 0; dir < 8; dir++){
int nsTile1 = getNStileDir(nsTile, dir);
if (sNeibs[dir] >= 0){
surface_numbers[dir] = getTileSurfaceNumber ( // maximal number of surfaces in this supertile
nsTile1, // int nsTile,
-1, // int dir, // direction, or -1 (same)
sNeibs[dir], // int np,
planes);
} else if (nsTile1 >= 0){
surface_numbers[dir] = getTileSurfaceNumber ( // maximal number of surfaces in this supertile
nsTile1, // int nsTile,
((dir + 4) % 4), // int dir, // direction, or -1 (same)
0, // int np,
planes);
} else { // out of the picture
surface_numbers[dir] = -1; // out of the picture
}
}
for (int indx = 0 ; indx < len2; indx++){
if (src_mesh[indx] != null){
int [][] src_neibs = src_mesh[indx];
if (src_neibs != null){
dual_mesh[indx] = new TileData(
disp_strength[0][indx], // disparity
disp_strength[1][indx]); // strength
int tsegm = tileNeibs.getSegment(indx);
if (tsegm < 0) {
dual_mesh[indx].setIndex(surf_number);
} else {
dual_mesh[indx].setIndex(surface_numbers[tsegm]);
}
for (int dir = 0; dir < 8; dir++) {
if (src_neibs[dir] != null){
int nsTile1 = src_neibs[dir][0];
int np1 = src_neibs[dir][1];
int indx1 = tileNeibs.getNeibIndex(indx,dir); // index of the destination tile
// now find tile location - it may be outside of both nsTile and nsTile_1
int segm1 = tileNeibs.getSegment(indx1);
int nsTile2 = getNStileDir(nsTile, segm1); // negative segm 1 is OK ?
// now: nsTile - this supertile,
// nsTile1 - to which supertile surface we switch
// nsTile2 - non-overlapping supertile where the destination tile belongs
// Unique surface number should be determined for nsTile2, generated by nsTile1,
// for direction how nsTile1 is visible from the nsTile2
int dir1from2 = getDirToStile(nsTile2, nsTile1); // can be -1;
int surf = getTileSurfaceNumber ( // maximal number of surfaces in this supertile
nsTile2, // int nsTile,
dir1from2, // int dir, // direction, or -1 (same)
np1, // int np,
planes);
dual_mesh[indx].setNeighbor(dir, surf);
}
}
}
}
}
// Now we have a double-sized surface with all tiles set with correct absolute indices, now just split it
//surf_number =
int sh3 = 3 * sh;
for (int ty = 0; ty < ss2; ty++ ){
for (int tx = 0; tx < ss2; tx++ ){
int indx = ty * ss2 + tx;
int tsegm = tileNeibs.getSegment(indx);
int nsTile1 = getNStileDir(nsTile,tsegm);
int ix, iy;
switch (tsegm){
case -1 : ix = tx - sh ; iy = ty - sh ; break;
case 0 : ix = tx - sh ; iy = ty + sh ; break;
case 1 : ix = tx - sh3; iy = ty + sh ; break;
case 2 : ix = tx - sh3; iy = ty - sh ; break;
case 3 : ix = tx - sh3; iy = ty + sh3; break;
case 4 : ix = tx - sh ; iy = ty + sh3; break;
case 5 : ix = tx + sh ; iy = ty + sh3; break;
case 6 : ix = tx + sh ; iy = ty - sh ; break;
case 7 : ix = tx + sh ; iy = ty + sh ; break;
default:
ix = tx -sh; iy = ty -sh;
}
if ((ix >= 0) && (ix < superTileSize) && (iy >= 0) && (iy < superTileSize)) {
int tindx = ((stileY * superTileSize) + iy) * tilesX + ((stileX * superTileSize) + ix);
tile_data[tindx][dual_mesh[indx].getIndex()] = dual_mesh[indx];
// tile_data[nsTile1][iy * superTileSize + ix][dual_mesh[indx].getIndex()] = dual_mesh[indx];
}
}
}
}
}
}
}
};
}
ImageDtt.startAndJoin(threads);
return tile_data;
}
public TileData [][] compactSortShells (
final TileData [][] tileData_src,
final int debugLevel,
final int dbg_X,
final int dbg_Y)
{
final int nStiles = stilesX * stilesY;
final int nTiles = nStiles * superTileSize * superTileSize;
final TileData [][] tile_data = new TileData [nTiles][];
final Thread[] threads = ImageDtt.newThreadArray(threadsMax);
final AtomicInteger ai = new AtomicInteger(0);
final int ss2 = 2 * superTileSize;
final int sh = superTileSize/2;
final int len2 = ss2 * ss2 ;
for (int ithread = 0; ithread < threads.length; ithread++) {
threads[ithread] = new Thread() {
public void run() {
for (int nTile = ai.getAndIncrement(); nTile < nTiles; nTile = ai.getAndIncrement()) {
if (tileData_src[nTile] != null){
ArrayList<TileData> tdList = new ArrayList<TileData>();
for (int nl = 0; nl < tileData_src[nTile].length; nl++){
if (tileData_src[nTile][nl] != null){
tdList.add(tileData_src[nTile][nl]);
}
}
Collections.sort(tdList, new Comparator<TileData>() {
@Override
public int compare(TileData lhs, TileData rhs) {
double lhs_d =lhs.getDisparity();
double rhs_d =rhs.getDisparity();
if (Double.isNaN(lhs_d) && Double.isNaN(rhs_d)) return 0;
if (Double.isNaN(lhs_d)) return 1;
if (Double.isNaN(rhs_d)) return -1;
int sgn = (lhs.getDisparity() > rhs.getDisparity()) ? 1 : (lhs.getDisparity() < rhs.getDisparity() ) ? -1 : 0;
return sgn;
}
});
// increasing disparity
for (int i = 0; i < tdList.size(); i++){
tdList.get(0).setNewIndex(i);
}
tile_data[nTile] = tdList.toArray(new TileData[0] );
}
}
}
};
}
ImageDtt.startAndJoin(threads);
ai.set(0);
for (int ithread = 0; ithread < threads.length; ithread++) {
threads[ithread] = new Thread() {
public void run() {
for (int nTile = ai.getAndIncrement(); nTile < nTiles; nTile = ai.getAndIncrement()) {
if (tile_data[nTile] != null){
for (int i = 0; i < tile_data[nTile].length; i++){
int [] neibs = tile_data[nTile][i].getNeighbors();
for (int dir = 0; dir < neibs.length; dir++){
if (neibs[dir] >= 0){
int nTile1 = getNtileDir(nTile, dir);
if (nTile1 >= 0){
neibs[dir] = tile_data[nTile1][neibs[dir]].getNewIndex();
}
}
}
}
}
}
}
};
}
ImageDtt.startAndJoin(threads);
return tile_data;
}
public int getTileLayersNumber (
final TileData [][] tileData)
{
int num = 0;
for (int i = 0; i < tileData.length; i++){
if (tileData[i].length > num ){
num = tileData[i].length;
}
}
return num;
}
public double [][][] getTileDisparityStrengths (
final TileData [][] tileData,
final boolean useNaN)
{
final int nStiles = stilesX * stilesY;
final int nTiles = nStiles * superTileSize * superTileSize;
final Thread[] threads = ImageDtt.newThreadArray(threadsMax);
final AtomicInteger ai = new AtomicInteger(0);
final int numLayers = getTileLayersNumber(tileData);
final double [][][] disp_strength = new double [numLayers][2][tileData.length];
for (int ithread = 0; ithread < threads.length; ithread++) {
threads[ithread] = new Thread() {
public void run() {
for (int nTile = ai.getAndIncrement(); nTile < nTiles; nTile = ai.getAndIncrement()) {
if (tileData[nTile] != null){
for (int nl = 0; nl < tileData[nTile].length; nl++) if (tileData[nTile][nl]!=null){ // only beforfe compacting
disp_strength[nl][0][nTile] = tileData[nTile][nl].getDisparity(useNaN);
disp_strength[nl][1][nTile] = tileData[nTile][nl].getStrength();
}
if (useNaN){
for (int nl = tileData[nTile].length; nl < numLayers; nl++){
disp_strength[nl][0][nTile] = Double.NaN;
}
}
} else if (useNaN){
for (int nl = 0; nl < numLayers; nl++){
disp_strength[nl][0][nTile] = Double.NaN;
}
}
}
}
};
}
ImageDtt.startAndJoin(threads);
return disp_strength;
}
public int [][][] getTileConnections (
final TileData [][] tileData)
{
final int nStiles = stilesX * stilesY;
final int nTiles = nStiles * superTileSize * superTileSize;
final Thread[] threads = ImageDtt.newThreadArray(threadsMax);
final AtomicInteger ai = new AtomicInteger(0);
final int numLayers = getTileLayersNumber(tileData);
final double [][][] disp_strength = new double [numLayers][2][tileData.length];
final int [][][] connections = new int [numLayers][tileData.length][8];
for (int ithread = 0; ithread < threads.length; ithread++) {
threads[ithread] = new Thread() {
public void run() {
for (int nTile = ai.getAndIncrement(); nTile < nTiles; nTile = ai.getAndIncrement()) {
if (tileData[nTile] != null) {
for (int nl = 0; nl < tileData[nTile].length; nl++) if (tileData[nTile][nl] != null) {
for (int indx = 0 ; indx < tileData.length; indx++){
for (int dir = 0; dir < 8; dir ++){
if (tileData[nTile][nl].getNeighbor(dir) >= 0){
connections[nl][nTile][dir] = tileData[nTile][nl].getNeighbor(dir)+1;
}
}
}
}
}
}
}
};
}
ImageDtt.startAndJoin(threads);
return connections;
}
/**
* Calculate per-tile surface data (TileData) including disparity, strength, and 8 neighbors indices
* @param use_sel use plane selection (this.sel_mask) to select only some part of the plane
* @param divide_by_area divide weights by ellipsoid area
* @param scale_projection use plane ellipsoid projection for weight: 0 - do not use, > 0 linearly scale ellipsoid
* @param planes array of the per-supertile, per plane plane data (each level can be null)
* @param debugLevel debug level
* @param dbg_X debug supertile X coordinate
* @param dbg_Y debug supertile Y coordinate
* @return per-tile (rounded up to contain whole supertiles) array of TileData instances
*/
public TileData [][] createTileShells (
final boolean use_sel,
final boolean divide_by_area,
final double scale_projection,
final TilePlanes.PlaneData [][] planes,
final int debugLevel,
final int dbg_X,
final int dbg_Y)
{
double [][][][] fused_planes = fuseSupertilePlanes (
use_sel, // final boolean use_sel,
divide_by_area, // final boolean divide_by_area,
scale_projection, // final double scale_projection,
planes, // final TilePlanes.PlaneData [][] planes,
debugLevel, // final int debugLevel,
dbg_X, // final int dbg_X,
dbg_Y); // final int dbg_Y);
int [][][][] surf_topology = getSupertilesTopology (
planes, // final TilePlanes.PlaneData [][] planes,
debugLevel, // final int debugLevel,
dbg_X, // final int dbg_X,
dbg_Y); // final int dbg_Y);
int [][][][][] overlapped_meshes = generateOverlappingMeshes (
planes, // final TilePlanes.PlaneData [][] planes,
surf_topology , // final int [][][][] corners,
debugLevel, // final int debugLevel,
dbg_X, // final int dbg_X,
dbg_Y); // final int dbg_Y);
TileData [][] tileData = createTileShells (
planes, // final TilePlanes.PlaneData [][] planes,
fused_planes, // final double [][][][] fusedSupertilePlanes,
overlapped_meshes, // final int [][][][][] lappingMeshes,
debugLevel, // final int debugLevel,
dbg_X, // final int dbg_X,
dbg_Y); // final int dbg_Y);
tileData = compactSortShells (
tileData, // final TileData [][] tileData_src,
debugLevel, // final int debugLevel,
dbg_X, // final int dbg_X,
dbg_Y); // final int dbg_Y);
return tileData;
}
//getNtileDir
} }
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