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imagej-elphel
Commit b9cc7d77 authored by Andrey Filippov's avatar Andrey Filippov
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Fixing disparity scaling (GPU only so far) between diameter cameras and 

quad (square)
parent 9fb7ab22
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Showing with 524 additions and 37 deletions
src/main/java/com/elphel/imagej/tileprocessor/Corr2dLMA.java
View file @ b9cc7d77
......@@ -740,6 +740,8 @@ public class Corr2dLMA {
/**
* Calculate initial disparity by polynomial approximation. Only works with a single tile now
* Note: combo correlation scale is one pixel for 1 pixel disparity for diameter cameras, while standard
* (pre-shift) disparity refers to a quad-camera (square) pixel offset. So the returned disparity should be divided by sqrt(2)
* @param corr_wnd_inv_limited window (same as for finding convex) to boost gain in peripheral areas, but not the very marginal ones
* @param max_offset maximal abs(disparity) value to trust
* @param dgg_title if !=null - generate debug image with this title
......
src/main/java/com/elphel/imagej/tileprocessor/ImageDtt.java
View file @ b9cc7d77
......@@ -221,7 +221,7 @@ public class ImageDtt extends ImageDttCPU {
ortho_weights[i] = 0.5*(1.0+Math.cos(Math.PI*dx))/imgdtt_params.ortho_eff_height;
}
}
if (globalDebugLevel > 0){
if (globalDebugLevel > 1){
System.out.println("ortho_height="+ imgdtt_params.ortho_height+" ortho_eff_height="+ imgdtt_params.ortho_eff_height);
for (int i = 0; i < corr_size; i++){
System.out.println(" ortho_weights["+i+"]="+ ortho_weights[i]);
......@@ -229,7 +229,7 @@ public class ImageDtt extends ImageDttCPU {
}
if (globalDebugLevel > 0) {
if (globalDebugLevel > 1) {
System.out.println("clt_aberrations_quad_corr(): width="+width+" height="+height+" transform_size="+transform_size+
" debug_tileX="+debug_tileX+" debug_tileY="+debug_tileY+" globalDebugLevel="+globalDebugLevel);
}
......@@ -1350,7 +1350,7 @@ public class ImageDtt extends ImageDttCPU {
ortho_weights[i] = 0.5*(1.0+Math.cos(Math.PI*dx))/imgdtt_params.ortho_eff_height;
}
}
if (globalDebugLevel > 0){
if (globalDebugLevel > 1){
System.out.println("ortho_height="+ imgdtt_params.ortho_height+" ortho_eff_height="+ imgdtt_params.ortho_eff_height);
for (int i = 0; i < corr_size; i++){
System.out.println(" ortho_weights["+i+"]="+ ortho_weights[i]);
......@@ -1358,7 +1358,7 @@ public class ImageDtt extends ImageDttCPU {
}
if (globalDebugLevel > 0) {
if (globalDebugLevel > 1) {
System.out.println("clt_aberrations_quad_corr(): width="+width+" height="+height+" transform_size="+transform_size+
" debug_tileX="+debug_tileX+" debug_tileY="+debug_tileY+" globalDebugLevel="+globalDebugLevel);
}
......@@ -2015,7 +2015,7 @@ public class ImageDtt extends ImageDttCPU {
ortho_weights[i] = 0.5*(1.0+Math.cos(Math.PI*dx))/imgdtt_params.ortho_eff_height;
}
}
if (globalDebugLevel > 0){
if (globalDebugLevel > 1){
System.out.println("ortho_height="+ imgdtt_params.ortho_height+" ortho_eff_height="+ imgdtt_params.ortho_eff_height);
for (int i = 0; i < corr_size; i++){
System.out.println(" ortho_weights["+i+"]="+ ortho_weights[i]);
......@@ -2023,7 +2023,7 @@ public class ImageDtt extends ImageDttCPU {
}
if (globalDebugLevel > 0) {
if (globalDebugLevel > 1) {
System.out.println("clt_aberrations_quad_corr(): width="+width+" height="+height+" transform_size="+transform_size+
" debug_tileX="+debug_tileX+" debug_tileY="+debug_tileY+" globalDebugLevel="+globalDebugLevel);
}
......@@ -2303,6 +2303,7 @@ public class ImageDtt extends ImageDttCPU {
final int threadsMax, // maximal number of threads to launch
final int globalDebugLevel)
{
final double disparity_scale = 1.0/Math.sqrt(2); // combo pixels -> disparity pixels
final boolean diameters_combo = (imgdtt_params.mcorr_dual_fract > 0.0); // add diameters-only combo after all-combo
if (this.gpuQuad == null) {
System.out.println("clt_aberrations_quad_corr_GPU(): this.gpuQuad is null, bailing out");
......@@ -2364,7 +2365,7 @@ public class ImageDtt extends ImageDttCPU {
ortho_weights[i] = 0.5*(1.0+Math.cos(Math.PI*dx))/imgdtt_params.ortho_eff_height;
}
}
if (globalDebugLevel > 0){
if (globalDebugLevel > 1){
System.out.println("ortho_height="+ imgdtt_params.ortho_height+" ortho_eff_height="+ imgdtt_params.ortho_eff_height);
for (int i = 0; i < corr_size; i++){
System.out.println(" ortho_weights["+i+"]="+ ortho_weights[i]);
......@@ -2372,7 +2373,7 @@ public class ImageDtt extends ImageDttCPU {
}
if (globalDebugLevel > 00) {
if (globalDebugLevel > 1) {
System.out.println("clt_aberrations_quad_corr(): width="+width+" height="+height+" transform_size="+transform_size+
" debug_tileX="+debug_tileX+" debug_tileY="+debug_tileY+" globalDebugLevel="+globalDebugLevel);
}
......@@ -2537,7 +2538,7 @@ public class ImageDtt extends ImageDttCPU {
corrs[npair] , //double [] corr_tile,
npair); // int num_pair)
if (pair_width < 0.1) {
if (globalDebugLevel > 0) {
if (globalDebugLevel > 1) {
System.out.println("pair_width["+npair+"]="+pair_width);
}
} else {
......@@ -2612,6 +2613,7 @@ public class ImageDtt extends ImageDttCPU {
System.out.println("clt_process_tl_correlations(): debugTile1");
}
double [][] maxes = correlation2d.getDoublePoly(
disparity_scale, // double disparity_scale,
((corr_dia_tile != null) ? corr_dia_tile : corr_combo_tile), // double [] combo_corrs,
imgdtt_params.mcorr_dual_fract); //double min_fraction
// TODO: add corr layer - copy of combo with singles as nulls
......@@ -2623,9 +2625,31 @@ public class ImageDtt extends ImageDttCPU {
if (debugTile1) {
System.out.println("clt_process_tl_correlations() maxes=");
for (int i = 0; i < maxes.length; i++) {
System.out.println(String.format("maxes[%d][0]=%f, maxes[%d][1]=%f", i, maxes[i][0], i, maxes[i][1]));
System.out.println(String.format("maxes[%d][0]=%f (quadcam disparity pixels, not combo pixels), maxes[%d][1]=%f", i, maxes[i][0], i, maxes[i][1]));
}
}
if (debugTile1) {
correlation2d.corrLMA2DualMax( // null pointer
imgdtt_params, // ImageDttParameters imgdtt_params,
imgdtt_params.lmas_LY_single, // false, // boolean adjust_ly, // adjust Lazy Eye
corr_wnd, // double [][] corr_wnd, // correlation window to save on re-calculation of the window
corr_wnd_inv_limited, // corr_wnd_limited, // correlation window, limited not to be smaller than threshold - used for finding max/convex areas (or null)
corrs, // corrs, // double [][] corrs,
disp_dist,
rXY, // double [][] rXY, // non-distorted X,Y offset per nominal pixel of disparity
// all that are not null in corr_tiles
correlation2d.selectAll(), // longToArray(imgdtt_params.dbg_pair_mask), // int pair_mask, // which pairs to process
maxes, //double[][] disp_str_dual, // -preliminary center x in pixels for largest baseline
null, // poly_disp, // double[] poly_ds, // null or pair of disparity/strength
imgdtt_params.ortho_vasw_pwr, // double vasw_pwr, // value as weight to this power,
null, // debug_lma_tile, // double [] debug_lma_tile,
(debugTile0 ? 1: -2), // int debug_level,
// -2, //0, // tile_lma_debug_level, // +2, // int debug_level,
tileX, // int tileX, // just for debug output
tileY );
}
if (disparity_map != null) {
int [] ixy = correlation2d.getMaxXYInt( // find integer pair or null if below threshold // USED in lwir
corr_combo_tile, // double [] data, // [data_size * data_size]
......@@ -2642,7 +2666,10 @@ public class ImageDtt extends ImageDttCPU {
ixy[0], // int ixcenter, // integer center x
false); // debugCluster); // (tile_lma_debug_level > 0)); // boolean debug);
if (corr_stat != null) { // almost always
disp_str = new double [] {-corr_stat[0], corr_stat[1]};
// FIXME: apply that for non-GPU version (and other variants) !
// convert to disparity for a quad camera (used in pre-shift)
disp_str = new double [] {-corr_stat[0]/Math.sqrt(2), corr_stat[1]};
// disp_str = new double [] {-corr_stat[0], corr_stat[1]};
if (disparity_map!=null) {
disparity_map[DISPARITY_INDEX_CM ][nTile] = disp_str[0];
disparity_map[DISPARITY_INDEX_CM + 1 ][nTile] = disp_str[1];
......@@ -2874,7 +2901,7 @@ public class ImageDtt extends ImageDttCPU {
ortho_weights[i] = 0.5*(1.0+Math.cos(Math.PI*dx))/imgdtt_params.ortho_eff_height;
}
}
if (globalDebugLevel > 0){
if (globalDebugLevel > 1){
System.out.println("ortho_height="+ imgdtt_params.ortho_height+" ortho_eff_height="+ imgdtt_params.ortho_eff_height);
for (int i = 0; i < corr_size; i++){
System.out.println(" ortho_weights["+i+"]="+ ortho_weights[i]);
......@@ -2882,7 +2909,7 @@ public class ImageDtt extends ImageDttCPU {
}
if (globalDebugLevel > 0) {
if (globalDebugLevel > 1) {
System.out.println("clt_aberrations_quad_corr(): width="+width+" height="+height+" transform_size="+transform_size+
" debug_tileX="+debug_tileX+" debug_tileY="+debug_tileY+" globalDebugLevel="+globalDebugLevel);
}
......
src/main/java/com/elphel/imagej/tileprocessor/ImageDttCPU.java
View file @ b9cc7d77
......@@ -1826,7 +1826,7 @@ public class ImageDttCPU {
ortho_weights[i] = 0.5*(1.0+Math.cos(Math.PI*dx))/imgdtt_params.ortho_eff_height;
}
}
if (globalDebugLevel > 0){
if (globalDebugLevel > 1){
System.out.println("ortho_height="+ imgdtt_params.ortho_height+" ortho_eff_height="+ imgdtt_params.ortho_eff_height);
for (int i = 0; i < corr_size; i++){
System.out.println(" ortho_weights["+i+"]="+ ortho_weights[i]);
......@@ -1834,7 +1834,7 @@ public class ImageDttCPU {
}
if (globalDebugLevel > 0) {
if (globalDebugLevel > 1) {
System.out.println("clt_aberrations_quad_corr(): width="+width+" height="+height+" transform_size="+transform_size+
" debug_tileX="+debug_tileX+" debug_tileY="+debug_tileY+" globalDebugLevel="+globalDebugLevel);
}
......@@ -1842,7 +1842,7 @@ public class ImageDttCPU {
final double [] filter = doubleGetCltLpfFd(corr_sigma);
// prepare disparity maps and weights
if (globalDebugLevel > 0){
if (globalDebugLevel > 1){
System.out.println("corr_fat_zero= "+corr_fat_zero);
System.out.println("disparity_array[0][0]= "+disparity_array[0][0]);
......@@ -3629,14 +3629,14 @@ public class ImageDttCPU {
ortho_weights[i] = 0.5*(1.0+Math.cos(Math.PI*dx))/imgdtt_params.ortho_eff_height;
}
}
if (globalDebugLevel > 0){
if (globalDebugLevel > 1){
System.out.println("ortho_height="+ imgdtt_params.ortho_height+" ortho_eff_height="+ imgdtt_params.ortho_eff_height);
for (int i = 0; i < corr_size; i++){
System.out.println(" ortho_weights["+i+"]="+ ortho_weights[i]);
}
}
if (globalDebugLevel > 0) {
if (globalDebugLevel > 1) {
System.out.println("clt_aberrations_quad_corr(): width="+width+" height="+height+" transform_size="+transform_size+
" debug_tileX="+debug_tileX+" debug_tileY="+debug_tileY+" globalDebugLevel="+globalDebugLevel);
}
......@@ -4605,14 +4605,14 @@ public class ImageDttCPU {
ortho_weights[i] = 0.5*(1.0+Math.cos(Math.PI*dx))/imgdtt_params.ortho_eff_height;
}
}
if (globalDebugLevel > 0){
if (globalDebugLevel > 1){
System.out.println("ortho_height="+ imgdtt_params.ortho_height+" ortho_eff_height="+ imgdtt_params.ortho_eff_height);
for (int i = 0; i < corr_size; i++){
System.out.println(" ortho_weights["+i+"]="+ ortho_weights[i]);
}
}
if (globalDebugLevel > 0) {
if (globalDebugLevel > 1) {
System.out.println("clt_aberrations_quad_corr(): width="+width+" height="+height+" transform_size="+transform_size+
" debug_tileX="+debug_tileX+" debug_tileY="+debug_tileY+" globalDebugLevel="+globalDebugLevel);
}
......@@ -7879,7 +7879,7 @@ public class ImageDttCPU {
ortho_weights[i] = 0.5*(1.0+Math.cos(Math.PI*dx))/imgdtt_params.ortho_eff_height;
}
}
if (globalDebugLevel > 0){
if (globalDebugLevel > 1){
System.out.println("ortho_height="+ imgdtt_params.ortho_height+" ortho_eff_height="+ imgdtt_params.ortho_eff_height);
for (int i = 0; i < corr_size; i++){
System.out.println(" ortho_weights["+i+"]="+ ortho_weights[i]);
......@@ -12225,7 +12225,7 @@ public class ImageDttCPU {
ortho_weights[i] = 0.5*(1.0+Math.cos(Math.PI*dx))/clt_parameters.img_dtt.ortho_eff_height;
}
}
if (globalDebugLevel > 0){
if (globalDebugLevel > 1){
System.out.println("ortho_height="+ clt_parameters.img_dtt.ortho_height+" ortho_eff_height="+ clt_parameters.img_dtt.ortho_eff_height);
for (int i = 0; i < corr_size; i++){
System.out.println(" ortho_weights["+i+"]="+ ortho_weights[i]);
......@@ -13162,7 +13162,7 @@ public class ImageDttCPU {
ortho_weights[i] = 0.5*(1.0+Math.cos(Math.PI*dx))/clt_parameters.img_dtt.ortho_eff_height;
}
}
if (globalDebugLevel > 0){
if (globalDebugLevel > 1){
System.out.println("ortho_height="+ clt_parameters.img_dtt.ortho_height+" ortho_eff_height="+ clt_parameters.img_dtt.ortho_eff_height);
for (int i = 0; i < corr_size; i++){
System.out.println(" ortho_weights["+i+"]="+ ortho_weights[i]);
......@@ -13879,14 +13879,14 @@ public class ImageDttCPU {
ortho_weights[i] = 0.5*(1.0+Math.cos(Math.PI*dx))/clt_parameters.img_dtt.ortho_eff_height;
}
}
if (globalDebugLevel > 0){
if (globalDebugLevel > 1){
System.out.println("ortho_height="+ clt_parameters.img_dtt.ortho_height+" ortho_eff_height="+ clt_parameters.img_dtt.ortho_eff_height);
for (int i = 0; i < corr_size; i++){
System.out.println(" ortho_weights["+i+"]="+ ortho_weights[i]);
}
}
if (globalDebugLevel > 0) {
if (globalDebugLevel > 1) {
System.out.println("clt_aberrations_quad_corr(): width="+width+" height="+height+" transform_size="+transform_size+
" debug_tileX="+debug_tileX+" debug_tileY="+debug_tileY+" globalDebugLevel="+globalDebugLevel);
}
......@@ -14291,7 +14291,7 @@ public class ImageDttCPU {
ortho_weights[i] = 0.5*(1.0+Math.cos(Math.PI*dx))/imgdtt_params.ortho_eff_height;
}
}
if (globalDebugLevel > 0){
if (globalDebugLevel > 1){
System.out.println("ortho_height="+ imgdtt_params.ortho_height+" ortho_eff_height="+ imgdtt_params.ortho_eff_height);
for (int i = 0; i < corr_size; i++){
System.out.println(" ortho_weights["+i+"]="+ ortho_weights[i]);
......@@ -14301,7 +14301,7 @@ public class ImageDttCPU {
if (globalDebugLevel > 0) {
if (globalDebugLevel > 1) {
System.out.println("clt_aberrations_quad_corr(): width="+width+" height="+height+" transform_size="+transform_size+
" debug_tileX="+debug_tileX+" debug_tileY="+debug_tileY+" globalDebugLevel="+globalDebugLevel);
}
......@@ -16027,7 +16027,7 @@ public class ImageDttCPU {
corrs[npair] , //double [] corr_tile,
npair); // int num_pair)
if (pair_width < 0.1) {
if (globalDebugLevel > 0) {
if (globalDebugLevel > 1) {
System.out.println("pair_width["+npair+"]="+pair_width);
}
} else {
......
src/main/java/com/elphel/imagej/tileprocessor/ImageDttParameters.java
View file @ b9cc7d77
......@@ -80,7 +80,7 @@ public class ImageDttParameters {
//lmamask_
public boolean lmamask_dbg = false; // show LMA images, exit after single BG
public boolean lmamask_en = false; // Use disparity-based LMA samples filter
public double lmamask_magic = 0.85;
public double lmamask_magic = 0.85; // Now only used for initial disparity from estimated by CM/Poly
public double lmamask_min_main = 0.4;
public double lmamask_min_neib = 0.10;
public double lmamask_weight_neib = 0.75;
......@@ -456,7 +456,7 @@ public class ImageDttParameters {
gd.addCheckbox ("Use disparity-based LMA samples filtering", this.lmamask_en,
"Generate weighs by averaging 2D correlation shape and per-pair shifting for estimated from CM disparity");
gd.addNumericField("Divide estimated disparity by magic 0.85", this.lmamask_magic, 6,8,"",
"Increase estimated disparity before averaging correlation shape and per-pair shifting the result");
"Increase estimated disparity for iniital LMA setiings");
gd.addNumericField("Minimal relative sample value for unconditional inclusion", this.lmamask_min_main, 6,8,"",
"Relatrive (to maximal) value in averaged correlation to be assigned window vlaue of 1.0 regardless of neighbors");
gd.addNumericField("Minimal relative sample value for neighbor inclusion", this.lmamask_min_neib, 6,8,"",
......
src/main/java/com/elphel/imagej/tileprocessor/QuadCLTCPU.java
View file @ b9cc7d77
......@@ -12858,7 +12858,7 @@ public class QuadCLTCPU {
final boolean save_diff = save_textures || need_diffs; // true; // separately save differences and
final boolean save_lowres = save_textures || need_diffs; // true; // low-res images
if (clust_radius > 00) { // will not generate textures
if (clust_radius > 0) { // will not generate textures
// set tasks for all non-NaN target disparities
TpTask [] tp_tasks_target = GpuQuad.setTasks(
num_sensors, // final int num_cams,
......@@ -12976,7 +12976,7 @@ public class QuadCLTCPU {
tp_tasks, // final TpTask [] tp_tasks, // data from the reference frame - will be applied to LMW for the integrated correlations
geometryCorrection.getRXY(false), // final double [][] rXY, // from geometryCorrection
// next both can be nulls
null, // final double [][][][] clt_corr_out, // sparse (by the first index) [type][tilesY][tilesX][(2*transform_size-1)*(2*transform_size-1)] or null
clt_corr_out, // null, // final double [][][][] clt_corr_out, // sparse (by the first index) [type][tilesY][tilesX][(2*transform_size-1)*(2*transform_size-1)] or null
// combo will be added as extra pair if mcorr_comb_width > 0 and clt_corr_out has a slot for it
// to be converted to float
dcorr_tiles, // final double [][][] dcorr_tiles, // [tile][pair][(2*transform_size-1)*(2*transform_size-1)] // if null - will not calculate
......
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